CN215005324U - Unmanned detecting system of empty unmanned system of water cooperation quality of water - Google Patents
Unmanned detecting system of empty unmanned system of water cooperation quality of water Download PDFInfo
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- CN215005324U CN215005324U CN202120668631.6U CN202120668631U CN215005324U CN 215005324 U CN215005324 U CN 215005324U CN 202120668631 U CN202120668631 U CN 202120668631U CN 215005324 U CN215005324 U CN 215005324U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 99
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Abstract
The utility model relates to a water quality testing technical field, specifically speaking relates to an unmanned detecting system of quality of water in coordination of empty unmanned system of water. The unmanned ship system comprises a water quality detection unit and an autonomous cruising unit, the unmanned ship system comprises a hyperspectral remote sensing unit and a GPS positioning route planning unit, and the autonomous cruising unit is provided with a digital compass module, a BD-GPS module and an IMU module; the unmanned ship system controls the unmanned ship to sail along a set route through a GPS positioning technology, water quality information of each point on the route is sampled in real time through a shipborne high-precision water quality sensor, the water quality information is uploaded through a cloud platform, and the water quality information is analyzed through a cloud server. The hyperspectral remote sensing image analysis method based on unmanned aerial vehicle navigation is characterized in that abnormal spectrum points are extracted according to hyperspectral remote sensing image analysis acquired by the unmanned aerial vehicle, the abnormal points on the image are corresponding to longitude and latitude coordinates on an actual map through camera coordinate conversion by combining with GPS position information inside the unmanned aerial vehicle, and cruise points are set for unmanned ship cruise monitoring.
Description
Technical Field
The utility model relates to a water quality testing technical field, specifically speaking relates to an unmanned detecting system of quality of water in coordination of empty unmanned system of water.
Background
The shipborne water quality monitoring technology is very perfect, and the detection of water quality parameters can realize accurate acquisition of various water quality parameter information by carrying high-precision water quality monitoring sensors, so that the shipborne water quality monitoring can continuously monitor and sample water quality at the same point position and monitor the pollution range taking a pollution source as a center. However, due to the limitation of the ship body and the limitation of the navigation speed, the shipborne water quality monitoring cannot detect water quality information of a large-area water area and quickly and efficiently search for a water quality pollution source, and the water quality pollution source can only be searched by sampling the water area traversal navigation water quality.
The hyperspectral remote sensing of the unmanned aerial vehicle is an aerial remote sensing technology which takes a remote control low-altitude flight platform as a carrier, takes a hyperspectral imager and the like as main sensors and flexibly, quickly and efficiently acquires spectral information of a high-resolution image in a working area. Because of unmanned aerial vehicle's the flexibility that has the space and remove, and high altitude is shot and can be acquireed spectral information on a large scale fast, the event can realize the water quality information acquisition to the large tracts of land waters, because the optical characteristic of water is more complicated, present high spectrum remote sensing water quality monitoring is mainly through the spectral information who gathers passing through the approximate information of water quality parameters such as semi-empirical inversion suspended solid, chlorophyll and soluble organic matter, to some other important water quality parameters, only can estimate its component content through indirect statistical analysis, so unmanned aerial vehicle carries high spectrum remote sensing monitoring water quality and can't obtain the detailed and accurate information of quality of water, and the high spectrum quality of water image collection of machine carrier still involves the image and shoots a series of problems such as height, shoot weather, sensor imaging accuracy, can't be to waters within range problem water quality area accurate positioning.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an unmanned detecting system of quality of water is in coordination with empty unmanned system to solve the problem that proposes in the above-mentioned background art.
In order to achieve the purpose, the utility model provides a water-air unmanned system is unmanned detecting system of quality of water in coordination, including unmanned ship system, unmanned aerial vehicle system, unmanned ship system includes water quality testing unit, autonomous cruise unit, unmanned aerial vehicle system includes hyperspectral remote sensing unit, GPS location course planning unit, autonomous cruise unit and GPS location course planning unit all are equipped with digital compass module, BD-GPS module, IMU module;
the unmanned ship system controls the unmanned ship to navigate along a set route through a GPS positioning technology, water quality information of each point on the route is sampled in real time through a shipborne high-precision water quality sensor, the water quality information is uploaded through a cloud platform, and the water quality information is analyzed through a cloud server;
the unmanned aerial vehicle system collects the spectral information of the water area through a flight route set by a GPS positioning technology, and acquires the spectral information of the whole water quality water body of the target water area as far as possible.
As a further improvement of the technical scheme, the water quality detection unit comprises a dissolved oxygen detection module for measuring the index of the self-purification capacity of the water body; the PH value detection module is used for detecting the PH value in the water; the temperature detection module is used for detecting the water temperature; saturation detection module, turbidity detection module.
As a further improvement of the technical scheme, the hyperspectral remote sensing unit transmits data to the OneNet cloud platform through an Nsno-Hyperspec VNIR type imaging spectrometer.
As a further improvement of the technical scheme, the digital compass module provides heading information by using a magneto-resistive sensor and a two-axis tilt sensor.
As a further improvement of the technical scheme, the BD-GPS module is used for determining longitude and latitude coordinates, so that high-precision positioning detection of water pollution sources on a large-scale water area is realized.
As a further improvement of the technical scheme, the IMU module is used for modularly operating the dynamic system, so that a user can observe the influence of nonlinear factors and various random factors in the real world on the system behavior.
Compared with the prior art, the beneficial effects of the utility model are that:
1. in the unmanned detection system of quality of water in coordination of this empty unmanned systems of water, supplementary unmanned ship through the unmanned aerial vehicle that sets up realizes the course fixed point planning. The hyperspectral remote sensing image analysis method based on unmanned aerial vehicle navigation is characterized in that abnormal spectrum points are extracted according to hyperspectral remote sensing image analysis acquired by the unmanned aerial vehicle, the abnormal points on the image are corresponding to longitude and latitude coordinates on an actual map through camera coordinate conversion by combining with GPS position information inside the unmanned aerial vehicle, and cruise points are set for unmanned ship cruise monitoring.
2. In the unmanned detection system of water and air system cooperation quality of water, the whole system runs in an unmanned mode, a cruising route is automatically planned for world longitude and latitude coordinates where abnormal water particles on a hyperspectral remote sensing picture are located through cloud system analysis, an unmanned water quality measuring ship is automatically dispatched to measure and analyze the quality of water at fixed points, and the quality of water information is uploaded to a cloud storage and analysis.
Drawings
Fig. 1 is a block diagram of the unmanned ship system of embodiment 1;
fig. 2 is a block diagram of the structure of the unmanned aerial vehicle system of embodiment 1;
FIG. 3 is a flow chart of the large-scale water area water quality monitoring and pollution source finding technology of the shipborne unmanned aerial vehicle in embodiment 1;
fig. 4 is a schematic diagram of an autonomous cruise process according to embodiment 1;
fig. 5 is a flow chart of the integrated navigation module programming of embodiment 1.
The various reference numbers in the figures mean:
100. an unmanned ship system;
110. a water quality detection unit; 111. a dissolved oxygen detection module; 112. a PH value detection module; 113. a temperature detection module; 114. a saturation detection module; 115. a turbidity detection module;
120. an autonomous cruise unit;
121. a digital compass module; 122. a BD-GPS module; 123. an IMU module;
200. an unmanned aerial vehicle system;
210. a hyperspectral remote sensing unit; 220. and a GPS positioning air route planning unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Example 1
Referring to fig. 1 to 5, the present embodiment provides a water-air unmanned system collaborative water quality unmanned detection system, including an unmanned ship system 100 and an unmanned aerial vehicle system 200, where the unmanned ship system 100 includes a water quality detection unit 110 and an autonomous cruise unit 120, the unmanned aerial vehicle system 200 includes a hyperspectral remote sensing unit 210 and a GPS positioning route planning unit 220, and the autonomous cruise unit 120 and the GPS positioning route planning unit 220 are both provided with a digital compass module 121, a BD-GPS module 122, and an IMU module 123;
the unmanned ship system 100 controls the unmanned ship to navigate along a set route through a GPS positioning technology, samples water quality information of each point on the route in real time through a ship-mounted high-precision water quality sensor, uploads the water quality information through a cloud platform, and a cloud server analyzes the water quality information;
the unmanned aerial vehicle system 200 collects the spectral information of the water area through a flight route set by a GPS positioning technology, and acquires the spectral information of the whole water quality and water body of the target water area as much as possible.
In this embodiment, the water quality detection unit 110 includes a dissolved oxygen detection module 111 for measuring an index of a self-purification capability of a water body; a PH detection module 112, configured to detect a PH value in water; the temperature detection module 113 is used for detecting the water temperature; saturation detection module 114, turbidity detection module 115.
Specifically, the hyperspectral remote sensing unit 210 transmits data to the OneNET cloud platform through an Nsno-hypersppec VNIR type imaging spectrometer.
Further, the digital compass module 121 provides heading information using a magnetoresistive sensor and a two-axis tilt sensor.
In addition, the BD-GPS module 122 is used for determining longitude and latitude coordinates, so that high-precision positioning detection of water quality pollution sources on a large-scale water area is realized.
In addition, the IMU module 123 is used to modularize the dynamic system, so that the user can observe the influence of non-linear factors and various random factors in the real world on the system behavior.
The method for the cooperation of the water-air unmanned system and the water quality unmanned detection system comprises the following steps:
s1, collecting the hyperspectral images through an unmanned aerial vehicle, firstly carrying out low-altitude shooting on a water area for path planning, then collecting the hyperspectral remote sensing images, and then uploading the data to a cloud server for processing;
s2, analyzing and determining a navigation point of the unmanned ship through the collected spectrum, matching an onboard GPS (global positioning system) for positioning through a satellite remote sensing map, and marking a water quality spectrum abnormal area as a planning point of a navigation route;
s3, sampling water quality when the unmanned ship sails, and uploading collected water quality data to a cloud server for processing and analysis;
and S4, accurately positioning the pollution source.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the description in the above embodiments and the description is only preferred examples of the present invention, and is not intended to limit the present invention, and that the present invention can have various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications all fall into the scope of the claimed invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. A water-air unmanned system collaborative water quality unmanned detection system comprises an unmanned ship system (100) and an unmanned aerial vehicle system (200), wherein the unmanned ship system (100) comprises a water quality detection unit (110) and an autonomous cruising unit (120), the unmanned aerial vehicle system (200) comprises a hyperspectral remote sensing unit (210) and a GPS positioning route planning unit (220), and the autonomous cruising unit (120) and the GPS positioning route planning unit (220) are respectively provided with a digital compass module (121), a BD-GPS module (122) and an IMU module (123);
the unmanned ship system (100) is used for controlling the unmanned ship to navigate along a set route;
the unmanned aerial vehicle system (200) is used for setting a flight route.
2. The unmanned detection system of empty unmanned system of water cooperation quality of water of claim 1 characterized in that: the water quality detection unit (110) comprises a dissolved oxygen detection module (111) for measuring the index of the self-purification capacity of the water body; the PH value detection module (112) is used for detecting the PH value in the water; the temperature detection module (113) is used for detecting the water temperature; a saturation detection module (114) and a turbidity detection module (115).
3. The unmanned detection system of empty unmanned system of water cooperation quality of water of claim 1 characterized in that: the digital compass module (121) is used for providing heading information.
4. The unmanned detection system of empty unmanned system of water cooperation quality of water of claim 1 characterized in that: the BD-GPS module (122) is used for determining longitude and latitude coordinates.
5. The unmanned detection system of empty unmanned system of water cooperation quality of water of claim 1 characterized in that: the IMU module (123) is used for modularly operating the dynamic system.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114354872A (en) * | 2021-12-28 | 2022-04-15 | 安徽新宇环保科技股份有限公司 | Unmanned intelligent river patrol system for river chang |
| CN116499429A (en) * | 2023-05-25 | 2023-07-28 | 江苏方洋智能科技有限公司 | Marine environment monitoring method, marine environment monitoring device, computer equipment and storage medium |
| CN116626255A (en) * | 2023-07-21 | 2023-08-22 | 深圳市天地互通科技有限公司 | Emergent quick-checking system of quality of water and emergent quick-checking mobile terminal of energy-storage type quality of water |
-
2021
- 2021-04-01 CN CN202120668631.6U patent/CN215005324U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114354872A (en) * | 2021-12-28 | 2022-04-15 | 安徽新宇环保科技股份有限公司 | Unmanned intelligent river patrol system for river chang |
| CN114354872B (en) * | 2021-12-28 | 2023-10-17 | 安徽新宇环保科技股份有限公司 | Unmanned intelligent river-length patrol system |
| CN116499429A (en) * | 2023-05-25 | 2023-07-28 | 江苏方洋智能科技有限公司 | Marine environment monitoring method, marine environment monitoring device, computer equipment and storage medium |
| CN116499429B (en) * | 2023-05-25 | 2024-02-06 | 江苏方洋智能科技有限公司 | Marine environment monitoring method, marine environment monitoring device, computer equipment and storage medium |
| CN116626255A (en) * | 2023-07-21 | 2023-08-22 | 深圳市天地互通科技有限公司 | Emergent quick-checking system of quality of water and emergent quick-checking mobile terminal of energy-storage type quality of water |
| CN116626255B (en) * | 2023-07-21 | 2023-11-21 | 深圳市天地互通科技有限公司 | Emergent quick-checking system of quality of water and emergent quick-checking mobile terminal of energy-storage type quality of water |
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