WO2019227306A1 - Environment monitoring system using unmanned surface vehicle as carrier and application thereof - Google Patents

Environment monitoring system using unmanned surface vehicle as carrier and application thereof Download PDF

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Publication number
WO2019227306A1
WO2019227306A1 PCT/CN2018/088846 CN2018088846W WO2019227306A1 WO 2019227306 A1 WO2019227306 A1 WO 2019227306A1 CN 2018088846 W CN2018088846 W CN 2018088846W WO 2019227306 A1 WO2019227306 A1 WO 2019227306A1
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WIPO (PCT)
Prior art keywords
unmanned boat
information
completion
sensor
navigation
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PCT/CN2018/088846
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French (fr)
Chinese (zh)
Inventor
邢博闻
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上海海洋大学
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Application filed by 上海海洋大学 filed Critical 上海海洋大学
Priority to PCT/CN2018/088846 priority Critical patent/WO2019227306A1/en
Priority to ZA2018/06328A priority patent/ZA201806328B/en
Priority to AU2018101590A priority patent/AU2018101590A6/en
Priority to DE202019001528.0U priority patent/DE202019001528U1/en
Publication of WO2019227306A1 publication Critical patent/WO2019227306A1/en

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    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G3/00Traffic control systems for marine craft
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01NINVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18Water
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G3/00Traffic control systems for marine craft
    • G08G3/02Anti-collision systems
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007Unmanned surface vessels, e.g. remotely controlled autonomously operating

Definitions

  • the invention relates to the technical field of environmental monitoring, and in particular to an environmental monitoring system using an unmanned boat as a carrier and its application.
  • Water quality monitoring as an indispensable technical link in the production and living process of environmental protection, aquaculture, agricultural irrigation, sewage treatment, etc., has a broad market prospect and application space.
  • the more traditional monitoring methods mainly include: manual sampling, buoy carrier monitoring and unmanned boat monitoring.
  • manual sampling costs are high and it is difficult to achieve all-weather water quality monitoring.
  • Monitoring based on the buoy carrier can only continuously monitor fixed areas, and it is difficult to achieve global dynamic monitoring of target waters. Therefore, environmental monitoring based on unmanned boats has become the main and inevitable development trend of water quality testing.
  • the current monitoring system generally uses a single unmanned boat for monitoring, its monitoring efficiency is low, and repeated or missing measurements are common. Situation, which affects monitoring effectiveness and accuracy.
  • the present invention provides an unmanned boat as an environment monitoring system, which has the advantages of high real-time sampling, good dynamics and high efficiency, and solves the current monitoring system generally adopts a single unmanned boat.
  • the monitoring efficiency is low, and the problems of repeated measurement or missing measurement generally affect the monitoring effect and accuracy.
  • the present invention provides the following technical solution: An environmental monitoring system using an unmanned boat as a carrier, including an unmanned boat device, and the unmanned The boat device is bidirectionally connected to the network communication base station, and the network communication base station is bidirectionally connected to the integrated operation platform and the cloud server.
  • the unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N, and the unmanned boat device 1, unmanned boat device 2, and unmanned boat device N are all in communication with the network base station. Two-way signal connection.
  • the unmanned boat device is composed of an information acquisition module, a communication module, a GPS module, a camera module, and a lidar module.
  • the information acquisition module, GPS module, camera module, and lidar module are bidirectional with the communication module.
  • Signal connection, the communication module is bidirectionally connected to the network communication base station, the information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor, and the communication module is composed of WIFI and 4G.
  • the internal structure of the unmanned boat device 1 is the same as that of the unmanned boat device 2 and the unmanned boat device N.
  • the internal structure of the unmanned boat device 1 is different from the unmanned boat device 2 and the unmanned boat device N.
  • the navigation mode of the unmanned boat device includes three types of remote manual control, automatic independent cruise and cooperative detection.
  • the network communication base station is composed of a WIFI communication base station and a 4G communication base station.
  • WIFI communication is used when it is within the signal range of the WIFI communication base station
  • 4G communication is used when the WIFI link is disconnected.
  • the model of the turbidity sensor may be Rs485, the model of the dissolved oxygen sensor may be 840P, the model of the COD sensor may be LHB-50, and the model of the PH sensor may be SIN-PH160.
  • the type of the temperature sensor may be CWDZ11.
  • the present invention provides an application of the environmental monitoring system of the present invention in an unmanned boat automatic cruise control program.
  • the present invention provides an application of the environmental monitoring system according to the present invention in an unmanned boat cooperative detection control program.
  • the present invention provides an environmental monitoring system using an unmanned boat as a carrier, which has the following beneficial effects:
  • the unmanned boat-based environmental monitoring system uses multiple unmanned boats for environmental monitoring.
  • the dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor set on the unmanned boat can monitor the environment. More comprehensive; GPS module, camera module and lidar module set on the unmanned boat can realize automatic trajectory planning and avoid obstacles in real time, improving the real-time and dynamic performance of environmental monitoring; at the same time, multiple unmanned boats can be in independent cruise.
  • the mode or in the cooperative detection mode improves the efficiency of environmental monitoring and makes it more convenient to use.
  • FIG. 1 is a system diagram of an environmental monitoring system using an unmanned boat as a carrier
  • FIG. 2 is a composition diagram of a regional environmental cooperative monitoring system based on an unmanned boat as an environmental monitoring system according to the present invention
  • FIG. 3 is a schematic structural diagram of an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention
  • FIG. 4 is a schematic structural diagram of an integrated operation platform of an environmental monitoring system using an unmanned boat as a carrier according to the present invention
  • FIG. 5 is a schematic diagram of a control interface of an integrated control platform for an environmental monitoring system using an unmanned boat as a carrier according to the present invention
  • FIG. 6 is a flowchart of an automatic cruise control program for an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention
  • FIG. 7 is a flowchart of a cooperative detection and control program for an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention.
  • An environmental monitoring system using an unmanned boat as a carrier includes an unmanned boat device.
  • the navigation mode of the unmanned device includes three types of remote manual control, automatic independent cruise, and cooperative detection.
  • the unmanned boat in the automatic independent cruise mode performs track planning according to the preset navigation area and its own real-time GPS information, and performs real-time obstacle avoidance based on lidar data. It also adjusts real-time navigation tasks based on sensor data collected by dynamic analysis.
  • the unmanned boat in the cooperative detection mode adjusts the coordinated detection task based on the preset detection area, its own and other unmanned boat position information, and the sensor information on each unmanned boat.
  • the unmanned boat device is connected to the network communication base station in two-way signals.
  • the communication base station is connected to the integrated operation platform and the cloud server with two-way signals.
  • the integrated operation platform can complete remote manual control of a single unmanned boat to realize the detection area settings, the position information of each unmanned boat, and related area sensor data.
  • the communication base station is composed of a WIFI communication base station and a 4G communication base station, and is used to receive information transmitted by the communication module on the unmanned boat device.
  • the unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N.
  • the internal structure of unmanned boat device 1 is the same as that of unmanned boat device 2 and unmanned boat device N (in In some embodiments, it may also be different.)
  • the unmanned boat device 1, the unmanned boat device 2, and the unmanned boat device N are all connected to the network communication base station in two-way signals.
  • the unmanned boat device 1 is provided by an information acquisition module and a communication module.
  • GPS module, camera module and lidar module the information acquisition module, GPS module, camera module and lidar module are all bidirectionally connected to the communication module, and the GPS module, camera module and lidar module are used to collect the unmanned boat navigation status It has two-way signal connection with channel information, communication module and network communication base station.
  • the information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor.
  • the type of dissolved oxygen sensor can be 840P, and the type of COD sensor can be It is LHB-50, the turbidity sensor model can be Rs485, the PH sensor model can be SIN-PH160, and the temperature sensor model can be CWDZ11, the dissolved oxygen sensor, COD sensor, turbidity sensor, PH sensor and temperature sensor set on the unmanned boat can more comprehensively monitor the environment.
  • the communication module is composed of WIFI and 4G. When it is within the signal range of the WIFI communication base station WIFI communication is adopted, and 4G communication is adopted when the WIFI link is disconnected.
  • A1, A2, ..., An are unmanned boat devices (n ⁇ 2), the number of which depends on the size of the detection area and the number of types of parameters to be detected. Multiple unmanned boat devices work together to form this
  • B is the WIFI network communication base station
  • C is the integrated control platform
  • D is the 4G network communication base station
  • E is the remote cloud server.
  • the unmanned boat Ai if it is in the signal coverage area of the B base station, Then it uses WIFI communication to communicate with the base station, and the communication link is represented by Li1 (L11, L21, ...., Ln1).
  • the communication base station B maintains network communication with the remote cloud server E. Its communication link is indicated by L0.
  • the communication base station B uploads the status information of each unmanned boat and the sensor information to the cloud server E through the link L0.
  • the user uses the integrated control platform C to communicate with the communication base station B through the communication link L01, so as to control each unmanned boat and read the data information.
  • the unmanned boat Ai if it is not In the signal coverage area of the B base station, it uses a 4G module to send data information to the remote cloud server E through the 4G network communication base station D.
  • the communication link between Ai and D is represented by Li2 (L12, L22, ... ⁇ , Ln2)
  • the communication between the 4G network communication base station D and the cloud server E is represented by L02.
  • the user reads the status information and sensor information of Ai through the links L0 and L01.
  • FIG. 3 it is a composition diagram of the unmanned boat device.
  • the unmanned boat uses Raspberry Pi as the core data processing module, which is represented as U1, U2 is an SD card, which is used to store the operating system and computing data of Raspberry Pi. U2 is installed on U1.
  • U3 is an RS485 bus module, which is used to send sensor information to U1.
  • the UART / RX end of U3 is connected to GPIO discipline 8 and discipline 10 of U1, and U4, U5, U6, and U7 are dissolved oxygen. , COD, PH and turbidity sensors, which are connected to U3 through the 485 bus.
  • U8 is a dual DC motor drive module with RZ7899 chip as the core to control the DC motors on the left and right sides of the stern of the unmanned ship (respectively (M1 and M2 indicate)
  • the unmanned boat of the propulsion device adjusts its own heading by configuring the speed difference between the DC motors on the left and right sides.
  • U8 and U1 are connected through the GPIO on U1.
  • U9 is a camera module installed on the bow of the unmanned boat.
  • U10 is used to collect image information in the direction of travel of the unmanned boat.
  • U10 is a LiDAR module (Light Detection and Ranging Equipment, LiDAR) connected to U1 through a USB interface to detect the blocking situation around the unmanned boat.
  • LiDAR Light Detection and Ranging Equipment
  • U11 is GPS Block to obtain real-time position information of the unmanned boat
  • U12 is a 4G communication module to provide a backup communication link Li2 for the unmanned boat Ai
  • U13 is a WIFI module, connected to U1 through a network interface
  • U14 is based on an electronic compass sensor HMC5883L unmanned boat bow direction acquisition module, used to determine the current unmanned boat bow direction
  • U14 realizes IIC data transmission through SDA pin (pin 3) and SCL pin (pin 5) on U1,
  • U15 For the power supply module, it provides 5V working voltage for U1, and U15 also provides 5V or 12V driving voltage required for sensor operation for U4, U5, U6, U7, and 12V motor driving voltage required for M1, M2.
  • Combining Figure 4 shows the structure of the integrated control platform.
  • the core of the platform is an embedded tablet device with WIFI communication capabilities.
  • P1 is the WIFI communication antenna
  • P2 is the GPS communication antenna
  • P3 is the power switch button
  • P4 is the touch screen.
  • the control program software of the invention patent is installed in the integrated control platform, and is displayed and controlled by P4.
  • the position information (P0) of the control platform will be used as the default point for each unmanned boat to return to the voyage.
  • this is the composition chart of the integrated control platform control interface.
  • the functions of the integrated control platform can be analyzed and explained through the interface composition chart.
  • Z8 is the unmanned boat control selection area, which can be touched by A1, A2, A3, ⁇ An to select the unmanned boat that needs to be controlled and displayed.
  • the Z1 area displays the image collected by the unmanned boat Ai camera, and the laser is integrated in Ai.
  • the navigation environment obstacle information returned by the radar. If there are obstacles in the forward route, the dashed line frame (Z9) is marked in the corresponding area to remind the operator of the obstacle information.
  • the Z2 area displays the type of communication link used by Ai (4G or WIFI) and battery power (percentage)
  • Z3 shows the current operating mode (RD, SD, CD) of the unmanned boat Ai
  • Z4 is the map information of the current location of Ai (embedded electronic map), including its current location, scheduled route and set detection area, etc.
  • Z6 is the sensor parameter display area
  • box P displays the current location of Ai (GPS data information )
  • Box T displays the water temperature information (temperature sensor information) collected by Ai
  • box PH displays the water pH information (PF sensor information) collected by Ai
  • box NTU displays the water turbidity information (turbidity) collected by Ai Degree sensor information)
  • the frame COD displays the chemical oxygen demand information (COD sensor information) of the water body collected by Ai
  • the frame DO displays the dissolved oxygen information information (dissolved oxygen sensor information) of the water body collected by Ai
  • the area Z7 is unmanned
  • the control area of the boat Ai is used to
  • button "A” is the global setting interface display button.
  • the Z4 area is enlarged and covers Z1, Z2, Z3, Z8, and Z9 areas. At this time, all The position information and navigation path of the unmanned boat will be displayed on the map. The operator can set the global detection area of the unmanned boat and the return position after detection and detection. Press “B” to set the interface for the single boat. Display button. When the operator touches the button “B”, the positions of Z4 and Z1 are replaced.
  • the operator sets the navigation area and detection range of the unmanned boat Ai.
  • the button “S” is the communication update button. When the button “S” is touched, the integrated control platform issues data acquisition instructions to each unmanned boat, thereby obtaining the latest data information of each unmanned boat and its onboard sensors.
  • the button “R” is the task termination button. Unmanned Stop the current mission function and return home. It should be noted that when there are obstacles on the Ai route of the unmanned boat, the collected sensor data is abnormal, or the power of the power supply, Z1, Z2, Z3, Z4, Z6, Z8, Z9 automatically switch to Interface for Ai.
  • FIG. 6 it is a flowchart of an automatic cruise control program for an unmanned boat.
  • Step 1 Obtain the automatic cruise control mode.
  • the unmanned boat Ai obtains the coordinated detection task instruction issued by the integrated monitoring platform through the link Ai1 (2), and enters step 2 after completion;
  • Step 2 Obtain the detection area mission.
  • the unmanned boat Ai obtains the detection water range and the sensor type data that need to be collected by the integrated monitoring platform through the link Ai1 (2), and proceeds to step 3 after completion;
  • Step 3 Obtain the position information and heading information.
  • the unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;
  • Step 4 adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 5 after completion;
  • Step 5 Upload the data.
  • the data includes the position, heading, current mission, video information and sensor data of the unmanned boat Ai.
  • the unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai1 (2). , When completed, proceed to step 6;
  • step 6 the motors M1 and M2 are controlled, and the unmanned boat Ai controls the motors M1 and M2 to control forward and reverse by controlling the U8 module, so as to achieve heading and speed control.
  • step 7 the motors M1 and M2 are controlled, and the unmanned boat Ai controls the motors M1 and M2 to control forward and reverse by controlling the U8 module, so as to achieve heading and speed control.
  • Step 7 Collect lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 8 after completion;
  • Step 8 judge, if there are no obstacles in the direction of Ai navigation, go to step 9, if there are obstacles, go to step 12;
  • Step 9 Collect sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 10 after completion;
  • Step 10 judge, if the collected sensor data is normal, go to step 11, if abnormal, go to step 14;
  • Step 11 Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;
  • step 12 an alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform through the link Ai1 (2), and after the completion, it proceeds to step 13;
  • Step 13 Obstacle avoidance algorithm.
  • the unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation task. After completion, it proceeds to step 4.
  • Step 14 An alarm is issued, and the unmanned boat Ai sends the sensor data (abnormal data) exceeding the threshold to the integrated control platform through the link Ai1 (2). At this time, Z1, Z2, Z3, Z4 and Z8 of the integrated control platform The area automatically switches to the control interface for the unmanned boat Ai, and after completion, it proceeds to step 15;
  • Step 15 The optimization strategy of the detection task.
  • the unmanned boat Ai runs the detection task optimization strategy based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 4.
  • FIG. 7 it is a flowchart of a cooperative detection and control program for an unmanned boat.
  • Step 1 Obtain the cooperative detection task mode.
  • the unmanned boat Ai obtains the cooperative detection task instruction issued by the integrated monitoring platform through the link Ai1 (2), and enters step 2 after completion;
  • Step 2 Obtain the detection area mission.
  • the unmanned boat Ai obtains the detection water range and the sensor type data that need to be collected by the integrated monitoring platform through the link Ai1 (2), and proceeds to step 3 after completion;
  • Step 3 Obtain the position information and heading information.
  • the unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;
  • Step 4 Obtain navigation information of other ships, and the unmanned boat Ai obtains the navigation position and navigation mission information uploaded by other ships through the link Ai1 (2), and enters Step 5 after completion;
  • Step 5 The coordinated detection strategy.
  • the unmanned boat Ai calculates the coordinated detection strategy to optimize its own navigation task based on its own navigation position, navigation task, and other navigation task information being performed by the unmanned boat. After completion, it proceeds to step 6;
  • Step 6 adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 7 after completion;
  • Step 7 Upload the data.
  • the data includes the position, heading, current mission, video information and sensor data of the unmanned boat Ai.
  • the unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai1 (2). , Go to step 8 after completion;
  • step 8 the motors M1 and M2 are controlled.
  • the unmanned boat Ai controls the motors M1 and M2 by controlling the U8 module to achieve forward and reverse rotation control, thereby achieving heading and speed control.
  • step 9 the process proceeds to step 9;
  • Step 9 Collect the lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 10 after completion;
  • Step 10 judge, if there are no obstacles in the direction of Ai navigation, go to step 11, if there are obstacles, go to step 14;
  • Step 11 Collect the sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 12 after completion;
  • Step 12 judge, if the collected sensor data is normal, go to step 13, if abnormal, go to step 16;
  • Step 13 Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;
  • Step 14 An alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform via the link Ai1 (2). At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to For the control interface of the unmanned boat Ai, go to step 15 after completion;
  • Step 15 Obstacle avoidance algorithm.
  • the unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation mission. After completion, it proceeds to step 6;
  • Step 16 An alert is issued, and the unmanned boat Ai sends the sensor data (abnormal data) exceeding the threshold to the integrated control platform through the link Ai1 (2). At this time, Z1, Z2, Z3, Z4 and Z8 of the integrated control platform The area automatically switches to the control interface for the unmanned boat Ai, and when it is completed, it proceeds to step 17;
  • Step 17 The optimization strategy of the detection task.
  • the unmanned boat Ai runs the optimization strategy of the detection task based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 6.
  • the unmanned boat-based environmental monitoring system uses multiple unmanned boats for environmental monitoring.
  • the dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor, and temperature sensor are installed on the unmanned boat.
  • the environmental monitoring can be more comprehensive.
  • the GPS module, camera module and lidar module on the unmanned boat can realize automatic trajectory planning and avoid obstacles in real time, which improves the real-time and dynamic performance of environmental monitoring.

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Abstract

The present invention relates to the technical field of environment monitoring. Disclosed are an environment monitoring system using unmanned surface vehicles as a carrier and an application thereof, comprising unmanned surface vehicles. The unmanned surface vehicles are in a bidirectional signal connection with a network communication base station; and the network communication base station is in a bidirectional signal connection with an integrated operating platform and a cloud server. According to the environment monitoring system using unmanned surface vehicles as a carrier, a plurality of unmanned surface vehicles are provided for environment monitoring; a dissolved oxygen sensor, a COD sensor, a turbidity sensor, a PH sensor and a temperature sensor provided on the unmanned surface vehicle can monitor environment more comprehensively; a GPS module, a camera module and a laser radar module provided on the unmanned surface vehicle can implement automatic track planning and real-time obstacle avoidance, thus improving environment monitoring real-time performance and dynamic performance; and besides, the plurality of unmanned surface vehicles can be in an automatic independent cruising mode or in a collaborative detection mode, and thus environment monitoring efficiency is improved and use convenience is facilitated.

Description

一种以无人艇为载体的环境监测系统及其应用Environment monitoring system using unmanned boat as carrier and application thereof 技术领域Technical field
本发明涉及环境监测技术领域,具体为一种以无人艇为载体的环境监测系统及其应用。The invention relates to the technical field of environmental monitoring, and in particular to an environmental monitoring system using an unmanned boat as a carrier and its application.
背景技术Background technique
水质监测作为环境保护、水产养殖、农业灌溉、污水处理等生产和生活过程中所必备的技术环节,其具有广泛的市场前景与应用空间。Water quality monitoring, as an indispensable technical link in the production and living process of environmental protection, aquaculture, agricultural irrigation, sewage treatment, etc., has a broad market prospect and application space.
目前比较传统的监测手段主要包括:人工采样、基于浮标载体监测与基于无人艇装置监测三种。其中,人工采样人力成本较高且难以实现全天候的水质监测,基于浮标载体的监测只能对固定区域进行持续监测,难以实现对目标水域的全域动态监测。因此,基于无人艇的环境监测已经成为了水质检测的主要及必然发展趋势,而目前的监测系统一般采用单一无人艇进行监测,其监测效率较低,而且普遍存在重复测量或缺失测量的情况,从而影响监测效果与准确度。At present, the more traditional monitoring methods mainly include: manual sampling, buoy carrier monitoring and unmanned boat monitoring. Among them, manual sampling costs are high and it is difficult to achieve all-weather water quality monitoring. Monitoring based on the buoy carrier can only continuously monitor fixed areas, and it is difficult to achieve global dynamic monitoring of target waters. Therefore, environmental monitoring based on unmanned boats has become the main and inevitable development trend of water quality testing. The current monitoring system generally uses a single unmanned boat for monitoring, its monitoring efficiency is low, and repeated or missing measurements are common. Situation, which affects monitoring effectiveness and accuracy.
故而,提出一种新型的以无人艇为载体的环境监测系统来解决以上所提出的问题。Therefore, a new type of environmental monitoring system based on unmanned boats is proposed to solve the above-mentioned problems.
发明内容Summary of the Invention
(一)解决的技术问题(1) Technical problems solved
针对现有技术的不足,本发明提供了一种以无人艇为载体的环境监测系统,具备采样实时性高、动态性好和效率高等优点,解决了目前的监测系统一般采用单一无人艇进行监测,其监测效率较低,而且普遍存在重复测量或缺失测量的情况从而影响监测效果与准确度的问题。In response to the shortcomings of the prior art, the present invention provides an unmanned boat as an environment monitoring system, which has the advantages of high real-time sampling, good dynamics and high efficiency, and solves the current monitoring system generally adopts a single unmanned boat. When monitoring, the monitoring efficiency is low, and the problems of repeated measurement or missing measurement generally affect the monitoring effect and accuracy.
(二)技术方案(Two) technical solutions
为实现上述采样实时性高、动态性好和效率高目的,在一个方面,本发 明提供如下技术方案:一种以无人艇为载体的环境监测系统,包括无人艇装置,所述无人艇装置与网络通信基站双向信号连接,网络通信基站与一体化操作平台和云服务器双向信号连接。In order to achieve the objectives of high real-time sampling, good dynamics, and high efficiency, in one aspect, the present invention provides the following technical solution: An environmental monitoring system using an unmanned boat as a carrier, including an unmanned boat device, and the unmanned The boat device is bidirectionally connected to the network communication base station, and the network communication base station is bidirectionally connected to the integrated operation platform and the cloud server.
所述无人艇装置由无人艇装置一、无人艇装置二和无人艇装置N组成,所述无人艇装置一、无人艇装置二和无人艇装置N均与网络通信基站双向信号连接,所述无人艇装置一由信息采集模块、通信模块、GPS模块、摄像头模块和激光雷达模块组成,所述信息采集模块、GPS模块、摄像头模块和激光雷达模块均与通信模块双向信号连接,通信模块与网络通信基站双向信号连接,所述信息采集模块由溶解氧传感器、COD传感器、浊度传感器、PH传感器和温度传感器组成,所述通信模块由WIFI和4G组成。The unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N, and the unmanned boat device 1, unmanned boat device 2, and unmanned boat device N are all in communication with the network base station. Two-way signal connection. The unmanned boat device is composed of an information acquisition module, a communication module, a GPS module, a camera module, and a lidar module. The information acquisition module, GPS module, camera module, and lidar module are bidirectional with the communication module. Signal connection, the communication module is bidirectionally connected to the network communication base station, the information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor, and the communication module is composed of WIFI and 4G.
优选的,所述无人艇装置一与无人艇装置二和无人艇装置N的内部组成结构为相同的。Preferably, the internal structure of the unmanned boat device 1 is the same as that of the unmanned boat device 2 and the unmanned boat device N.
在一些实施方案中,所述无人艇装置一与无人艇装置二和无人艇装置N的内部组成结构为不同的。In some embodiments, the internal structure of the unmanned boat device 1 is different from the unmanned boat device 2 and the unmanned boat device N.
优选的,所述无人艇装置的航行模式包括远程手动操控、自动独立巡航以及协同探测三种。Preferably, the navigation mode of the unmanned boat device includes three types of remote manual control, automatic independent cruise and cooperative detection.
优选的,所述网络通信基站由WIFI通信基站和4G通信基站组成。Preferably, the network communication base station is composed of a WIFI communication base station and a 4G communication base station.
在本发明的实施方案中,当其处于WIFI通信基站信号范围内时采用WIFI通信,当WIFI链路断路情况下采用4G通信。In the embodiment of the present invention, WIFI communication is used when it is within the signal range of the WIFI communication base station, and 4G communication is used when the WIFI link is disconnected.
优选的,所述浊度传感器的型号可为Rs485,所述溶解氧传感器的型号可为840P,所述COD传感器的型号可为LHB-50,所述PH传感器的型号可为SIN-PH160,所述温度传感器的型号可为CWDZ11。Preferably, the model of the turbidity sensor may be Rs485, the model of the dissolved oxygen sensor may be 840P, the model of the COD sensor may be LHB-50, and the model of the PH sensor may be SIN-PH160. The type of the temperature sensor may be CWDZ11.
在另一方面,本发明提供了本发明所述的环境监测系统在无人艇自动巡航控制程序中的应用。In another aspect, the present invention provides an application of the environmental monitoring system of the present invention in an unmanned boat automatic cruise control program.
在又一方面,本发明提供了本发明所述的环境监测系统在无人艇协同探 测控制程序中的应用。In yet another aspect, the present invention provides an application of the environmental monitoring system according to the present invention in an unmanned boat cooperative detection control program.
(三)有益效果(Three) beneficial effects
与现有技术相比,本发明提供了一种以无人艇为载体的环境监测系统,具备以下有益效果:Compared with the prior art, the present invention provides an environmental monitoring system using an unmanned boat as a carrier, which has the following beneficial effects:
该以无人艇为载体的环境监测系统,通过设置多个无人艇进行环境监测,无人艇上设置的溶解氧传感器、COD传感器、浊度传感器、PH传感器和温度传感器可以对环境监测的更加全面;无人艇上设置的GPS模块、摄像头模块和激光雷达模块可以实现航迹自动规划和实时躲避障碍,提高了环境监测实时性和动态性;同时多个无人艇可以处于自动独立巡航模式或处于协同探测模式,提高了环境监测的效率,使用起来更加方便。The unmanned boat-based environmental monitoring system uses multiple unmanned boats for environmental monitoring. The dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor set on the unmanned boat can monitor the environment. More comprehensive; GPS module, camera module and lidar module set on the unmanned boat can realize automatic trajectory planning and avoid obstacles in real time, improving the real-time and dynamic performance of environmental monitoring; at the same time, multiple unmanned boats can be in independent cruise The mode or in the cooperative detection mode improves the efficiency of environmental monitoring and makes it more convenient to use.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
图1为本发明提出的一种以无人艇为载体的环境监测系统的系统图;FIG. 1 is a system diagram of an environmental monitoring system using an unmanned boat as a carrier;
图2为本发明提出的一种以无人艇为载体的环境监测系统区域环境协同监测系统组成图;FIG. 2 is a composition diagram of a regional environmental cooperative monitoring system based on an unmanned boat as an environmental monitoring system according to the present invention; FIG.
图3为本发明提出的一种以无人艇为载体的环境监测系统无人艇装置组成结构示意图;3 is a schematic structural diagram of an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention;
图4为本发明提出的一种以无人艇为载体的环境监测系统一体化操作平台结构示意图;4 is a schematic structural diagram of an integrated operation platform of an environmental monitoring system using an unmanned boat as a carrier according to the present invention;
图5为本发明提出的一种以无人艇为载体的环境监测系统一体化操控平台操控界面示意图;5 is a schematic diagram of a control interface of an integrated control platform for an environmental monitoring system using an unmanned boat as a carrier according to the present invention;
图6为本发明提出的一种以无人艇为载体的环境监测系统无人艇装置自动巡航控制程序流程图;6 is a flowchart of an automatic cruise control program for an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention;
图7为本发明提出的一种以无人艇为载体的环境监测系统无人艇装置协同探测控制程序流程图。FIG. 7 is a flowchart of a cooperative detection and control program for an unmanned boat device of an environmental monitoring system using the unmanned boat as a carrier according to the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。In the following, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
结合图1,为环境监测系统示意图,一种以无人艇为载体的环境监测系统,包括无人艇装置,无人艇装置的航行模式包括远程手动操控、自动独立巡航以及协同探测三种,处于自动独立巡航模式的无人艇根据预设的航行区域、自身实时GPS信息进行航迹规划和根据激光雷达数据进行实时避障,并根据动态分析采集到的传感器数据进行实时航行任务调整,处于协同探测模式的无人艇根据预设探测区域、自身及其他无人艇位置信息和各无人艇上搭载的传感器信息进行协同探测任务调整,无人艇装置与网络通信基站双向信号连接,网络通信基站与一体化操作平台和云服务器双向信号连接,一体化操作平台可完成对单个无人艇进行远程手动操控,用以实现对探测区域设置、各无人艇位置信息和相关区域传感器数据的集中显示,并设定各无人艇的航行模式,网络通信基站由WIFI通信基站和4G通信基站组成,用以接收无人艇装置上通信模块传递出的信息。1 is a schematic diagram of an environmental monitoring system. An environmental monitoring system using an unmanned boat as a carrier includes an unmanned boat device. The navigation mode of the unmanned device includes three types of remote manual control, automatic independent cruise, and cooperative detection. The unmanned boat in the automatic independent cruise mode performs track planning according to the preset navigation area and its own real-time GPS information, and performs real-time obstacle avoidance based on lidar data. It also adjusts real-time navigation tasks based on sensor data collected by dynamic analysis. The unmanned boat in the cooperative detection mode adjusts the coordinated detection task based on the preset detection area, its own and other unmanned boat position information, and the sensor information on each unmanned boat. The unmanned boat device is connected to the network communication base station in two-way signals. The communication base station is connected to the integrated operation platform and the cloud server with two-way signals. The integrated operation platform can complete remote manual control of a single unmanned boat to realize the detection area settings, the position information of each unmanned boat, and related area sensor data. Centralized display, and set the navigation mode of each unmanned boat, network The communication base station is composed of a WIFI communication base station and a 4G communication base station, and is used to receive information transmitted by the communication module on the unmanned boat device.
无人艇装置由无人艇装置一、无人艇装置二和无人艇装置N组成,无人艇装置一与无人艇装置二和无人艇装置N的内部组成结构为相同的(在一些实施例中,也可以是不同的),无人艇装置一、无人艇装置二和无人艇装置N均与网络通信基站双向信号连接,无人艇装置一由信息采集模块、通信模块、GPS模块、摄像头模块和激光雷达模块组成,信息采集模块、GPS模块、摄像头模块和激光雷达模块均与通信模块双向信号连接,GPS模块、摄像头模块和激光雷达模块用以采集无人艇航行状态与航道信息,通信模块与网络通信基站双向信号连接,信息采集模块由溶解氧传感器、COD传感器、浊度传感器、PH传感器和温度传感器组成,溶解氧传感器的型号可为840P,COD传感器的 型号可为LHB-50,浊度传感器的型号可为Rs485,PH传感器的型号可为SIN-PH160,温度传感器的型号可为CWDZ11,无人艇上设置的溶解氧传感器、COD传感器、浊度传感器、PH传感器和温度传感器可以对环境监测的更加全面,通信模块由WIFI和4G组成,当其处于WIFI通信基站信号范围内时采用WIFI通信,当WIFI链路断路情况下采用4G通信。The unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N. The internal structure of unmanned boat device 1 is the same as that of unmanned boat device 2 and unmanned boat device N (in In some embodiments, it may also be different.) The unmanned boat device 1, the unmanned boat device 2, and the unmanned boat device N are all connected to the network communication base station in two-way signals. The unmanned boat device 1 is provided by an information acquisition module and a communication module. , GPS module, camera module and lidar module, the information acquisition module, GPS module, camera module and lidar module are all bidirectionally connected to the communication module, and the GPS module, camera module and lidar module are used to collect the unmanned boat navigation status It has two-way signal connection with channel information, communication module and network communication base station. The information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor. The type of dissolved oxygen sensor can be 840P, and the type of COD sensor can be It is LHB-50, the turbidity sensor model can be Rs485, the PH sensor model can be SIN-PH160, and the temperature sensor model can be CWDZ11, the dissolved oxygen sensor, COD sensor, turbidity sensor, PH sensor and temperature sensor set on the unmanned boat can more comprehensively monitor the environment. The communication module is composed of WIFI and 4G. When it is within the signal range of the WIFI communication base station WIFI communication is adopted, and 4G communication is adopted when the WIFI link is disconnected.
结合图2,为区域环境协同监测系统组成图。Combining with Figure 2, it is a composition diagram of the regional environmental cooperative monitoring system.
其中A1、A2、······、An为无人艇装置(n≥2),其数量取决于探测区域大小及探测的参数种类数量,多个无人艇装置共同工作并以此组成了无人艇集群,B为WIFI网络通信基站,C为一体化操控平台,D为4G网络通信基站,E为远程云服务器,对于无人艇Ai而言,若其处于B基站信号覆盖区域,则其使用WIFI通信与基站进行通信,通信链路由Li1表示(L11、L21、······、Ln1)。与此同时,通信基站B与远程云服务器E之间保持网络通信,其通信链路由L0表示,通信基站B通过链路L0将各无人艇状态信息与传感器信息上传至云服务器E,用以存储数据信息,用户使用一体化操控平台C通过通信链路L01与通信基站B联通,以此对各无人艇的控制以及数据信息的读取,对于无人艇Ai而言,若其不处于B基站信号覆盖区域,则其使用4G模块将数据信息通过4G网络通信基站D发送到远程云服务器E,Ai与D之间的通信链路由Li2表示(L12、L22、······、Ln2),4G网络通信基站D与云服务器E之间的通信用L02表示,此时用户通过链路L0与L01读取Ai的状态信息与传感器信息。Among them, A1, A2, ..., An are unmanned boat devices (n≥2), the number of which depends on the size of the detection area and the number of types of parameters to be detected. Multiple unmanned boat devices work together to form this For the unmanned boat cluster, B is the WIFI network communication base station, C is the integrated control platform, D is the 4G network communication base station, and E is the remote cloud server. For the unmanned boat Ai, if it is in the signal coverage area of the B base station, Then it uses WIFI communication to communicate with the base station, and the communication link is represented by Li1 (L11, L21, ...., Ln1). At the same time, the communication base station B maintains network communication with the remote cloud server E. Its communication link is indicated by L0. The communication base station B uploads the status information of each unmanned boat and the sensor information to the cloud server E through the link L0. In order to store data information, the user uses the integrated control platform C to communicate with the communication base station B through the communication link L01, so as to control each unmanned boat and read the data information. For the unmanned boat Ai, if it is not In the signal coverage area of the B base station, it uses a 4G module to send data information to the remote cloud server E through the 4G network communication base station D. The communication link between Ai and D is represented by Li2 (L12, L22, ... ·, Ln2), the communication between the 4G network communication base station D and the cloud server E is represented by L02. At this time, the user reads the status information and sensor information of Ai through the links L0 and L01.
结合图3,为无人艇装置组成图,无人艇采用Raspberry Pi作为核心数据处理模块,表示为U1,U2为SD卡,用以存储Raspberry Pi的操作系统及运算数据,U2安装在U1的SD卡槽上,U3为RS485总线模块,用以将传感器信息发送给U1,U3的UART RX/TX端分别与U1的GPIO管教8与管教10连接,U4、U5、U6、U7分别为溶解氧、COD、PH及浊度传感器,其均通过485总线 与U3连接,U8是以RZ7899芯片为核心的双直流电机驱动模块,用以控制无人船船尾左侧及右侧的直流电机(分别用M1、M2表示)推进装置无人艇通过配置左右两侧直流电机的转速差实现自身航向的调节,U8与U1通过U1上的GPIO进行连接,U9为摄像头模块,安装在无人艇船头,用以采集无人艇行进方向上的图像信息,U10为激光雷达模块(Light Detection and Ranging equipment,LiDAR)通过USB接口与U1连接,用以探测无人艇周围区域的阻挡情况,U11为GPS模块,用以获取无人艇的实时位置信息,U12为4G通信模块,用以为无人艇Ai提供备用通信链路Li2,U13为WIFI模块,通过网络接口与U1连接,U14为基于电子罗盘传感器HMC5883L的无人艇船首方向采集模块,用以确定当前无人艇的船首方向,U14通过U1上的SDA管脚(管脚3)与SCL管脚(管脚5)实现IIC形式数据传输,U15为电能供给模块,为U1提供5V工作电压,同时U15也为U4、U5、U6、U7提供传感器工作所需的5V或12V驱动电压以及M1、M2所需的12V电机驱动电压。Combined with Figure 3, it is a composition diagram of the unmanned boat device. The unmanned boat uses Raspberry Pi as the core data processing module, which is represented as U1, U2 is an SD card, which is used to store the operating system and computing data of Raspberry Pi. U2 is installed on U1. On the SD card slot, U3 is an RS485 bus module, which is used to send sensor information to U1. The UART / RX end of U3 is connected to GPIO discipline 8 and discipline 10 of U1, and U4, U5, U6, and U7 are dissolved oxygen. , COD, PH and turbidity sensors, which are connected to U3 through the 485 bus. U8 is a dual DC motor drive module with RZ7899 chip as the core to control the DC motors on the left and right sides of the stern of the unmanned ship (respectively (M1 and M2 indicate) The unmanned boat of the propulsion device adjusts its own heading by configuring the speed difference between the DC motors on the left and right sides. U8 and U1 are connected through the GPIO on U1. U9 is a camera module installed on the bow of the unmanned boat. U10 is used to collect image information in the direction of travel of the unmanned boat. U10 is a LiDAR module (Light Detection and Ranging Equipment, LiDAR) connected to U1 through a USB interface to detect the blocking situation around the unmanned boat. U11 is GPS Block to obtain real-time position information of the unmanned boat, U12 is a 4G communication module to provide a backup communication link Li2 for the unmanned boat Ai, U13 is a WIFI module, connected to U1 through a network interface, and U14 is based on an electronic compass sensor HMC5883L unmanned boat bow direction acquisition module, used to determine the current unmanned boat bow direction, U14 realizes IIC data transmission through SDA pin (pin 3) and SCL pin (pin 5) on U1, U15 For the power supply module, it provides 5V working voltage for U1, and U15 also provides 5V or 12V driving voltage required for sensor operation for U4, U5, U6, U7, and 12V motor driving voltage required for M1, M2.
结合图4,为一体化操控平台构成图,该平台的核心是具有WIFI通信能力的嵌入式平板装置,其中P1是WIFI通信天线,P2是GPS通信天线,P3为电源开关按键,P4为触摸屏,本发明专利的操控程序软件安装在一体化操控平台中,并通过P4进行显示与控制,操纵平台的位置信息(P0)将作为各无人艇返航的默认点。Combining Figure 4 shows the structure of the integrated control platform. The core of the platform is an embedded tablet device with WIFI communication capabilities. Among them, P1 is the WIFI communication antenna, P2 is the GPS communication antenna, P3 is the power switch button, and P4 is the touch screen. The control program software of the invention patent is installed in the integrated control platform, and is displayed and controlled by P4. The position information (P0) of the control platform will be used as the default point for each unmanned boat to return to the voyage.
结合图5,为一体化操控平台操控界面组成图,通过界面组成图可对一体化操控平台的功能进行分析与阐述,其中Z8为无人艇操控选取区域,通过触控A1、A2、A3、···、An来选取需要操控及进行显示的无人艇,以无人艇Ai为例,对各区域功能进行阐述,Z1区域显示无人艇Ai摄像头采集的图像、同时Ai内会整合激光雷达的返回的航行环境障碍物信息,若前方航线存在障碍物,则在相应区域标注虚线线框(Z9)提醒操控员障碍物信息,Z2区域显示当前Ai所采用的通信链路类型(4G或WIFI)及电池电量(百分比),Z3显示 当前无人艇Ai的运行模式(RD、SD、CD)。Z4为当前Ai所处位置的地图信息(内嵌电子地图),包括其当前位置、预定航线及设定的探测区域等,Z6为传感器参数显示区域,框格P显示Ai当前位置(GPS数据信息)、框格T显示Ai采集到的水体温度信息(温度传感器信息)、框格PH显示Ai采集到的水体PH信息(PF传感器信息)、框格NTU显示Ai采集到的水体浊度信息(浊度传感器信息)、框格COD显示Ai采集到的水体化学需氧量信息(COD传感器信息)、框格DO显示Ai采集到的水体溶氧量信息(溶解氧传感器信息),区域Z7是无人艇Ai的操控区域,用以实时控制无人艇的行进方向。“↑”按键表示前行、“↓”按键表示后退、“←”按键表示左转、“→”按键表示右转,Z5为功能设定区域,用以设定环境监控系统及各无人艇的相关任务及功能,按键“A”为全局设定界面显示按键,当操控员触控按键“A”时,Z4区域等比例扩大并覆盖Z1、Z2、Z3、Z8、Z9区域,此时所有无人艇的位置信息及其航行路径将在地图上进行显示,操控员可在Z4区域设置无人艇的全局探测区域及探测探测结束后的返航位置,按键“B”为单船设定界面显示按键,当操控员触控按键“B”时,Z4与Z1区域位置替换,操控员对无人艇Ai的航行区域、探测范围进行设定,按键“S”为通信更新按键,当操控员触控按键“S”时,一体化操控平台向各无人艇发布数据获取指令,从而获取各无人艇及其搭载传感器最新的数据信息,按键“R”为任务终止按键,此时所以有无人艇停止当前任务功能进行返航,需要说明的是,当无人艇Ai航线上存在障碍物、采集到的传感器数据异常或电源电量时,Z1、Z2、Z3、Z4、Z6、Z8、Z9自动切换到针对Ai的界面。With reference to Figure 5, this is the composition chart of the integrated control platform control interface. The functions of the integrated control platform can be analyzed and explained through the interface composition chart. Among them, Z8 is the unmanned boat control selection area, which can be touched by A1, A2, A3, ··· An to select the unmanned boat that needs to be controlled and displayed. Take the unmanned boat Ai as an example to explain the functions of each area. The Z1 area displays the image collected by the unmanned boat Ai camera, and the laser is integrated in Ai. The navigation environment obstacle information returned by the radar. If there are obstacles in the forward route, the dashed line frame (Z9) is marked in the corresponding area to remind the operator of the obstacle information. The Z2 area displays the type of communication link used by Ai (4G or WIFI) and battery power (percentage), Z3 shows the current operating mode (RD, SD, CD) of the unmanned boat Ai. Z4 is the map information of the current location of Ai (embedded electronic map), including its current location, scheduled route and set detection area, etc., Z6 is the sensor parameter display area, and box P displays the current location of Ai (GPS data information ), Box T displays the water temperature information (temperature sensor information) collected by Ai, box PH displays the water pH information (PF sensor information) collected by Ai, and box NTU displays the water turbidity information (turbidity) collected by Ai Degree sensor information), the frame COD displays the chemical oxygen demand information (COD sensor information) of the water body collected by Ai, the frame DO displays the dissolved oxygen information information (dissolved oxygen sensor information) of the water body collected by Ai, and the area Z7 is unmanned The control area of the boat Ai is used to control the direction of the drone in real time. "↑" button means forward, "↓" button means backward, "←" button means turn left, "→" button means turn right, Z5 is a function setting area for setting the environmental monitoring system and each unmanned boat For related tasks and functions, button "A" is the global setting interface display button. When the operator touches button "A", the Z4 area is enlarged and covers Z1, Z2, Z3, Z8, and Z9 areas. At this time, all The position information and navigation path of the unmanned boat will be displayed on the map. The operator can set the global detection area of the unmanned boat and the return position after detection and detection. Press "B" to set the interface for the single boat. Display button. When the operator touches the button "B", the positions of Z4 and Z1 are replaced. The operator sets the navigation area and detection range of the unmanned boat Ai. The button "S" is the communication update button. When the button "S" is touched, the integrated control platform issues data acquisition instructions to each unmanned boat, thereby obtaining the latest data information of each unmanned boat and its onboard sensors. The button "R" is the task termination button. unmanned Stop the current mission function and return home. It should be noted that when there are obstacles on the Ai route of the unmanned boat, the collected sensor data is abnormal, or the power of the power supply, Z1, Z2, Z3, Z4, Z6, Z8, Z9 automatically switch to Interface for Ai.
结合图6,为无人艇自动巡航控制程序流程图。With reference to FIG. 6, it is a flowchart of an automatic cruise control program for an unmanned boat.
步骤1,获取自动巡航控制模式,无人艇Ai通过链路Ai1(2)获取一体化监控平台发布的协同探测任务指令,完成后进入步骤2;Step 1. Obtain the automatic cruise control mode. The unmanned boat Ai obtains the coordinated detection task instruction issued by the integrated monitoring platform through the link Ai1 (2), and enters step 2 after completion;
步骤2,获取探测区域任务,无人艇Ai通过链路Ai1(2)获取一体化监控平台发布的探测水域范围及需要采集的传感器类型数据,完成后进入步骤3;Step 2: Obtain the detection area mission. The unmanned boat Ai obtains the detection water range and the sensor type data that need to be collected by the integrated monitoring platform through the link Ai1 (2), and proceeds to step 3 after completion;
步骤3,获取位置信息与航向信息,无人艇Ai通过读取U11及U14信息获取当前的位置与船首方向信息,完成后进入步骤4;Step 3: Obtain the position information and heading information. The unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;
步骤4,调整航行任务,根据运算算法的结果,无人艇Ai对自身航行任务进行更新,完成后进入步骤5; Step 4, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 5 after completion;
步骤5,上传数据,数据内容包括无人艇Ai的位置、航向、目前执行的航行任务、视频信息及传感器数据,无人艇Ai通过链路Ai1(2)将上述数据上传至一体化监控平台,完成后进入步骤6;Step 5. Upload the data. The data includes the position, heading, current mission, video information and sensor data of the unmanned boat Ai. The unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai1 (2). , When completed, proceed to step 6;
步骤6,控制电机M1、M2,无人艇Ai通过控制U8模块实现对电机M1、M2的正反转控制,从而实现航向、航速控制,完成后进入步骤7;In step 6, the motors M1 and M2 are controlled, and the unmanned boat Ai controls the motors M1 and M2 to control forward and reverse by controlling the U8 module, so as to achieve heading and speed control. After completion, proceed to step 7;
步骤7,采集激光雷达数据,无人艇Ai通过读取U10信息获取当前的航行区域的障碍物信息,完成后进入步骤8;Step 7: Collect lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 8 after completion;
步骤8,判断,若Ai航行方向上不存在障碍物则进入步骤9,若存在障碍物则进入步骤12;Step 8, judge, if there are no obstacles in the direction of Ai navigation, go to step 9, if there are obstacles, go to step 12;
步骤9,采集传感器信息,无人艇Ai通过U3获取采用485总线形式的溶解氧、COD、PH及浊度传感器信息,完成后进图步骤10;Step 9: Collect sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 10 after completion;
步骤10,判断,若采集的传感器数据正常则进入步骤11,若异常则进入步骤14;Step 10, judge, if the collected sensor data is normal, go to step 11, if abnormal, go to step 14;
步骤11,采集视频信息,无人艇Ai通过U9摄像头模块获取航行区域的视频信息,完成后返回步骤2;Step 11: Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;
步骤12,发布报警,无人艇Ai通过链路Ai1(2)将发现障碍物的信息发送至一体化操控平台,完成后进入步骤13;In step 12, an alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform through the link Ai1 (2), and after the completion, it proceeds to step 13;
步骤13,避障算法,无人艇Ai根据周围障碍物距离、方位信息运行避障算法,得出新的航行任务,完成后进入步骤4;Step 13. Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation task. After completion, it proceeds to step 4.
步骤14,发布警报,无人艇Ai通过链路Ai1(2)将超过阈值的传感器数据(异常数据)发送至一体化操控平台,此时一体化操控平台的Z1、Z2、Z3、Z4及Z8区域自动切换到针对无人艇Ai的操控界面,完成后进入步骤15;Step 14: An alarm is issued, and the unmanned boat Ai sends the sensor data (abnormal data) exceeding the threshold to the integrated control platform through the link Ai1 (2). At this time, Z1, Z2, Z3, Z4 and Z8 of the integrated control platform The area automatically switches to the control interface for the unmanned boat Ai, and after completion, it proceeds to step 15;
步骤15,探测任务优化策略,无人艇Ai根据异常传感器数据运行探测任务优化策略以此确定需要重点监测的水域位置,完成后进入步骤4。Step 15: The optimization strategy of the detection task. The unmanned boat Ai runs the detection task optimization strategy based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 4.
结合图7,为无人艇协同探测控制程序流程图。With reference to FIG. 7, it is a flowchart of a cooperative detection and control program for an unmanned boat.
步骤1,获取协同探测任务模式,无人艇Ai通过链路Ai1(2)获取一体化监控平台发布的协同探测任务指令,完成后进入步骤2;Step 1: Obtain the cooperative detection task mode. The unmanned boat Ai obtains the cooperative detection task instruction issued by the integrated monitoring platform through the link Ai1 (2), and enters step 2 after completion;
步骤2,获取探测区域任务,无人艇Ai通过链路Ai1(2)获取一体化监控平台发布的探测水域范围及需要采集的传感器类型数据,完成后进入步骤3;Step 2: Obtain the detection area mission. The unmanned boat Ai obtains the detection water range and the sensor type data that need to be collected by the integrated monitoring platform through the link Ai1 (2), and proceeds to step 3 after completion;
步骤3,获取位置信息与航向信息,无人艇Ai通过读取U11及U14信息获取当前的位置与船首方向信息,完成后进入步骤4;Step 3: Obtain the position information and heading information. The unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;
步骤4,获取他船航行情况信息,无人艇Ai通过链路Ai1(2)获取其他船只上传的航行位置、航行任务信息,完成后进入步骤5;Step 4: Obtain navigation information of other ships, and the unmanned boat Ai obtains the navigation position and navigation mission information uploaded by other ships through the link Ai1 (2), and enters Step 5 after completion;
步骤5,协同探测策略,无人艇Ai根据自身航行位置、航行任务及其他无人艇正在执行的航行任务信息,运算协同探测策略,优化自身航行任务,完成后进入步骤6;Step 5. The coordinated detection strategy. The unmanned boat Ai calculates the coordinated detection strategy to optimize its own navigation task based on its own navigation position, navigation task, and other navigation task information being performed by the unmanned boat. After completion, it proceeds to step 6;
步骤6,调整航行任务,根据运算算法的结果,无人艇Ai对自身航行任务进行更新,完成后进入步骤7;Step 6, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 7 after completion;
步骤7,上传数据,数据内容包括无人艇Ai的位置、航向、目前执行的航行任务、视频信息及传感器数据,无人艇Ai通过链路Ai1(2)将上述数据上传至一体化监控平台,完成后进入步骤8; Step 7. Upload the data. The data includes the position, heading, current mission, video information and sensor data of the unmanned boat Ai. The unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai1 (2). , Go to step 8 after completion;
步骤8,控制电机M1、M2,无人艇Ai通过控制U8模块实现对电机M1、M2的正反转控制,从而实现航向、航速控制,完成后进入步骤9;In step 8, the motors M1 and M2 are controlled. The unmanned boat Ai controls the motors M1 and M2 by controlling the U8 module to achieve forward and reverse rotation control, thereby achieving heading and speed control. After completion, the process proceeds to step 9;
步骤9,采集激光雷达数据,无人艇Ai通过读取U10信息获取当前的航行区域的障碍物信息,完成后进入步骤10;Step 9: Collect the lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 10 after completion;
步骤10,判断,若Ai航行方向上不存在障碍物则进入步骤11,若存在障碍物则进入步骤14;Step 10, judge, if there are no obstacles in the direction of Ai navigation, go to step 11, if there are obstacles, go to step 14;
步骤11,采集传感器信息,无人艇Ai通过U3获取采用485总线形式的溶解氧、COD、PH及浊度传感器信息,完成后进图步骤12;Step 11: Collect the sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 12 after completion;
步骤12,判断,若采集的传感器数据正常则进入步骤13,若异常则进入步骤16;Step 12, judge, if the collected sensor data is normal, go to step 13, if abnormal, go to step 16;
步骤13,采集视频信息,无人艇Ai通过U9摄像头模块获取航行区域的视频信息,完成后返回步骤2;Step 13. Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;
步骤14,发布报警,无人艇Ai通过链路Ai1(2)将发现障碍物的信息发送至一体化操控平台,此时一体化操控平台的Z1、Z2、Z3、Z4及Z8区域自动切换到针对无人艇Ai的操控界面,完成后进入步骤15;Step 14: An alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform via the link Ai1 (2). At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to For the control interface of the unmanned boat Ai, go to step 15 after completion;
步骤15,避障算法,无人艇Ai根据周围障碍物距离、方位信息运行避障算法,得出新的航行任务,完成后进入步骤6;Step 15: Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation mission. After completion, it proceeds to step 6;
步骤16,发布警报,无人艇Ai通过链路Ai1(2)将超过阈值的传感器数据(异常数据)发送至一体化操控平台,此时一体化操控平台的Z1、Z2、Z3、Z4及Z8区域自动切换到针对无人艇Ai的操控界面,完成后进入步骤17;Step 16. An alert is issued, and the unmanned boat Ai sends the sensor data (abnormal data) exceeding the threshold to the integrated control platform through the link Ai1 (2). At this time, Z1, Z2, Z3, Z4 and Z8 of the integrated control platform The area automatically switches to the control interface for the unmanned boat Ai, and when it is completed, it proceeds to step 17;
步骤17,探测任务优化策略,无人艇Ai根据异常传感器数据运行探测任务优化策略以此确定需要重点监测的水域位置,完成后进入步骤6。Step 17: The optimization strategy of the detection task. The unmanned boat Ai runs the optimization strategy of the detection task based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 6.
综上所述,该以无人艇为载体的环境监测系统,通过设置多个无人艇进行环境监测,无人艇上设置的溶解氧传感器、COD传感器、浊度传感器、PH传感器和温度传感器可以对环境监测的更加全面,无人艇上设置的GPS模块、 摄像头模块和激光雷达模块可以实现航迹自动规划和实时躲避障碍,提高了环境监测实时性和动态性,同时多个无人艇可以处于自动独立巡航模式或处于协同探测模式,提高了环境监测的效率,使用起来更加方便,解决了目前的监测系统一般采用单一无人艇进行监测,其监测效率较低,而且普遍存在重复测量或缺失测量的情况从而影响监测效果与准确度的问题。In summary, the unmanned boat-based environmental monitoring system uses multiple unmanned boats for environmental monitoring. The dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor, and temperature sensor are installed on the unmanned boat. The environmental monitoring can be more comprehensive. The GPS module, camera module and lidar module on the unmanned boat can realize automatic trajectory planning and avoid obstacles in real time, which improves the real-time and dynamic performance of environmental monitoring. Can be in automatic independent cruise mode or in cooperative detection mode, which improves the efficiency of environmental monitoring and is more convenient to use. It solves the current monitoring system generally adopts a single unmanned boat for monitoring, its monitoring efficiency is low, and repeated measurements are common. Or the lack of measurement will affect the monitoring effect and accuracy.
需要说明的是,在本文中,诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来,而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且,术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含,从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素,而且还包括没有明确列出的其他要素,或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下,由语句“包括一个……”限定的要素,并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this article, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that these entities or operations There is any such actual relationship or order among them. Moreover, the terms "including", "comprising", or any other variation thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or device that includes a series of elements includes not only those elements but also those that are not explicitly listed Or other elements inherent to such a process, method, article, or device. Without more restrictions, the elements defined by the sentence "including a ..." do not exclude the existence of other identical elements in the process, method, article, or equipment that includes the elements.
尽管已经示出和描述了本发明的实施例,对于本领域的普通技术人员而言,可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型,本发明的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. And variations, the scope of the invention is defined by the appended claims and their equivalents.

Claims (10)

  1. 一种以无人艇为载体的环境监测系统,包括无人艇装置,其特征在于:所述无人艇装置与网络通信基站双向信号连接,网络通信基站与一体化操作平台和云服务器双向信号连接;An environmental monitoring system using an unmanned boat as a carrier includes an unmanned boat device, which is characterized in that: the unmanned boat device is connected to a bidirectional signal of a network communication base station, and the bidirectional signal of the network communication base station and an integrated operation platform and a cloud server connection;
    所述无人艇装置由无人艇装置一、无人艇装置二和无人艇装置N组成,所述无人艇装置一、无人艇装置二和无人艇装置N均与网络通信基站双向信号连接,所述无人艇装置一由信息采集模块、通信模块、GPS模块、摄像头模块和激光雷达模块组成,所述信息采集模块、GPS模块、摄像头模块和激光雷达模块均与通信模块双向信号连接,通信模块与网络通信基站双向信号连接,所述信息采集模块由溶解氧传感器、COD传感器、浊度传感器、PH传感器和温度传感器组成,所述通信模块由WIFI和4G组成。The unmanned boat device consists of unmanned boat device 1, unmanned boat device 2, and unmanned boat device N, and the unmanned boat device 1, unmanned boat device 2, and unmanned boat device N are all in communication with the network base station. Two-way signal connection. The unmanned boat device is composed of an information acquisition module, a communication module, a GPS module, a camera module, and a lidar module. The information acquisition module, GPS module, camera module, and lidar module are bidirectional with the communication module. Signal connection, the communication module is bidirectionally connected to the network communication base station, the information acquisition module is composed of dissolved oxygen sensor, COD sensor, turbidity sensor, pH sensor and temperature sensor, and the communication module is composed of WIFI and 4G.
  2. 根据权利要求1所述的一种以无人艇为载体的环境监测系统,其特征在于:所述无人艇装置一与无人艇装置二和无人艇装置N的内部组成结构为相同的或不同的。The environmental monitoring system using unmanned boat as a carrier according to claim 1, characterized in that the internal structure of the unmanned boat device 1 and the unmanned boat device 2 and the unmanned boat device N are the same Or different.
  3. 根据权利要求1所述的一种以无人艇为载体的环境监测系统,其特征在于:所述无人艇装置的航行模式包括远程手动操控、自动独立巡航以及协同探测三种。The environmental monitoring system using an unmanned boat as a carrier according to claim 1, characterized in that the navigation mode of the unmanned boat device includes three types of remote manual control, automatic independent cruise and cooperative detection.
  4. 根据权利要求1所述的一种以无人艇为载体的环境监测系统,其特征在于:所述网络通信基站由WIFI通信基站和4G通信基站组成。The environment monitoring system using an unmanned boat as a carrier according to claim 1, wherein the network communication base station comprises a WIFI communication base station and a 4G communication base station.
  5. 根据权利要求4所述的一种以无人艇为载体的环境监测系统,其特征在于:当其处于WIFI通信基站信号范围内时采用WIFI通信,当WIFI链路断路情况下采用4G通信。The environmental monitoring system using an unmanned boat as a carrier according to claim 4, characterized in that when it is within the signal range of the WIFI communication base station, WIFI communication is used, and 4G communication is used when the WIFI link is disconnected.
  6. 根据权利要求1所述的一种以无人艇为载体的环境监测系统,其特征在于:所述浊度传感器的型号为Rs485,所述溶解氧传感器的型号为840P,所述COD传感器的型号为LHB-50,所述PH传感器的型号为SIN-PH160,所述温度传感器的型号为CWDZ11。The environmental monitoring system using an unmanned boat as a carrier according to claim 1, wherein the model of the turbidity sensor is Rs485, the model of the dissolved oxygen sensor is 840P, and the model of the COD sensor It is LHB-50, the model of the pH sensor is SIN-PH160, and the model of the temperature sensor is CWDZ11.
  7. 根据权利要求1-6任一项所述的环境监测系统在无人艇自动巡航控制程序中的应用,其特征在于,包括如下步骤或由如下步骤组成:The application of the environmental monitoring system according to any one of claims 1 to 6 in an unmanned boat automatic cruise control program, comprising the following steps or consisting of the following steps:
    步骤1,获取自动巡航控制模式,无人艇Ai通过链路Ai12获取一体化监控平台发布的协同探测任务指令,完成后进入步骤2;Step 1: Obtain the automatic cruise control mode. The unmanned boat Ai obtains the coordinated detection task instruction issued by the integrated monitoring platform through the link Ai12, and enters step 2 after completion;
    步骤2,获取探测区域任务,无人艇通过链路获取一体化监控平台发布的探测水域范围及需要采集的传感器类型数据,完成后进入步骤3;Step 2: Obtain the detection area mission. The unmanned boat acquires the detection water area and the sensor type data that need to be collected by the integrated monitoring platform through the link. After the completion, the process proceeds to step 3.
    步骤3,获取位置信息与航向信息,无人艇Ai通过读取U11及U14信息获取当前的位置与船首方向信息,完成后进入步骤4;Step 3: Obtain the position information and heading information. The unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;
    步骤4,调整航行任务,根据运算算法的结果,无人艇Ai对自身航行任务进行更新,完成后进入步骤5;Step 4, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 5 after completion;
    步骤5,上传数据,无人艇Ai通过链路Ai12将上述数据上传至一体化监控平台,完成后进入步骤6;Step 5: upload the data, and the unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai12, and proceeds to step 6 after completion;
    步骤6,控制电机M1、M2,无人艇Ai通过控制U8模块实现对电机M1、M2的正反转控制,从而实现航向、航速控制,完成后进入步骤7;In step 6, the motors M1 and M2 are controlled, and the unmanned boat Ai controls the motors M1 and M2 to control forward and reverse by controlling the U8 module, so as to achieve heading and speed control. After completion, proceed to step 7;
    步骤7,采集激光雷达数据,无人艇Ai通过读取U10信息获取当前的航行区域的障碍物信息,完成后进入步骤8;Step 7: Collect lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 8 after completion;
    步骤8,判断,若Ai航行方向上不存在障碍物则进入步骤9,若存在障碍物则进入步骤12;Step 8, judge, if there are no obstacles in the direction of Ai navigation, go to step 9, if there are obstacles, go to step 12;
    步骤9,采集传感器信息,无人艇Ai通过U3获取采用485总线形式的溶解氧、COD、PH及浊度传感器信息,完成后进图步骤10;Step 9: Collect sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 10 after completion;
    步骤10,判断,若采集的传感器数据正常则进入步骤11,若异常则进入步骤14;Step 10, judge, if the collected sensor data is normal, go to step 11, if abnormal, go to step 14;
    步骤11,采集视频信息,无人艇Ai通过U9摄像头模块获取航行区域的视频信息,完成后返回步骤2;Step 11: Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;
    步骤12,发布报警,无人艇Ai通过链路Ai12将发现障碍物的信息发送至一体化操控平台,完成后进入步骤13;In step 12, an alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform through the link Ai12, and after completion, it proceeds to step 13;
    步骤13,避障算法,无人艇Ai根据周围障碍物距离、方位信息运行避障算法,得出新的航行任务,完成后进入步骤4;Step 13. Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation task. After completion, it proceeds to step 4.
    步骤14,发布警报,无人艇Ai通过链路Ai12将超过阈值的传感器数据:异常数据发送至一体化操控平台,此时一体化操控平台的Z1、Z2、Z3、Z4及Z8区域自动切换到针对无人艇Ai的操控界面,完成后进入步骤15;Step 14. An alarm is issued, and the unmanned boat Ai sends the sensor data exceeding the threshold value through the link Ai12 to the integrated control platform. At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to For the control interface of the unmanned boat Ai, go to step 15 after completion;
    步骤15,探测任务优化策略,无人艇Ai根据异常传感器数据运行探测任务优化策略以此确定需要重点监测的水域位置,完成后进入步骤4。Step 15: The optimization strategy of the detection task. The unmanned boat Ai runs the detection task optimization strategy based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 4.
  8. 根据权利要求7所述的在无人艇自动巡航控制程序中的应用,其特征在于,在步骤5中,所述数据内容包括无人艇Ai的位置、航向、目前执行的航行任务、视频信息及传感器数据。The application in the automatic cruise control program for an unmanned boat according to claim 7, characterized in that, in step 5, the data content includes a position, a heading of the unmanned boat Ai, a current sailing mission, and video information And sensor data.
  9. 根据权利要求1-6任一项所述的环境监测系统在无人艇协同探测控制程序中应用,其特征在于,包括如下步骤或由如下步骤组成:The application of the environmental monitoring system according to any one of claims 1 to 6 in an unmanned boat cooperative detection and control program, which comprises the following steps or consists of the following steps:
    步骤1,获取协同探测任务模式,无人艇Ai通过链路Ai12获取一体化监控平台发布的协同探测任务指令,完成后进入步骤2;Step 1: Obtain the cooperative detection task mode. The unmanned boat Ai obtains the cooperative detection task instruction issued by the integrated monitoring platform through the link Ai12, and enters step 2 after completion;
    步骤2,获取探测区域任务,无人艇Ai通过链路Ai12获取一体化监控平台发布的探测水域范围及需要采集的传感器类型数据,完成后进入步骤3;Step 2: Obtain the detection area mission. The unmanned boat Ai obtains the detection water range issued by the integrated monitoring platform and the sensor type data to be collected through the link Ai12, and proceeds to step 3 after completion;
    步骤3,获取位置信息与航向信息,无人艇Ai通过读取U11及U14信息获取当前的位置与船首方向信息,完成后进入步骤4;Step 3: Obtain the position information and heading information. The unmanned boat Ai obtains the current position and bow direction information by reading the U11 and U14 information, and proceeds to step 4 after completion;
    步骤4,获取他船航行情况信息,无人艇Ai通过链路Ai12获取其他船只上传的航行位置、航行任务信息,完成后进入步骤5;Step 4: Obtain navigation information of other ships, and the unmanned boat Ai obtains the navigation position and navigation mission information uploaded by other ships through the link Ai12, and enters Step 5 after completion;
    步骤5,协同探测策略,无人艇Ai根据自身航行位置、航行任务及其他无人艇正在执行的航行任务信息,运算协同探测策略,优化自身航行任务,完成后进入步骤6;Step 5. The coordinated detection strategy. The unmanned boat Ai calculates the coordinated detection strategy to optimize its own navigation task based on its own navigation position, navigation task, and other navigation task information being performed by the unmanned boat. After completion, it proceeds to step 6;
    步骤6,调整航行任务,根据运算算法的结果,无人艇Ai对自身航行任务进行更新,完成后进入步骤7;Step 6, adjust the navigation task, and according to the result of the calculation algorithm, the unmanned boat Ai updates its own navigation task, and enters step 7 after completion;
    步骤7,上传数据,无人艇Ai通过链路Ai12将上述数据上传至一体化监控平台,完成后进入步骤8;Step 7: upload the data, and the unmanned boat Ai uploads the above data to the integrated monitoring platform through the link Ai12, and enters step 8 after completion;
    步骤8,控制电机M1、M2,无人艇Ai通过控制U8模块实现对电机M1、M2的正反转控制,从而实现航向、航速控制,完成后进入步骤9;In step 8, the motors M1 and M2 are controlled. The unmanned boat Ai controls the motors M1 and M2 by controlling the U8 module to achieve forward and reverse rotation control, thereby achieving heading and speed control. After completion, the process proceeds to step 9;
    步骤9,采集激光雷达数据,无人艇Ai通过读取U10信息获取当前的航行区域的障碍物信息,完成后进入步骤10;Step 9: Collect the lidar data, and the unmanned boat Ai obtains the obstacle information of the current navigation area by reading the U10 information, and proceeds to step 10 after completion;
    步骤10,判断,若Ai航行方向上不存在障碍物则进入步骤11,若存在障碍物则进入步骤14;Step 10, judge, if there are no obstacles in the direction of Ai navigation, go to step 11, if there are obstacles, go to step 14;
    步骤11,采集传感器信息,无人艇Ai通过U3获取采用485总线形式的溶解氧、COD、PH及浊度传感器信息,完成后进图步骤12;Step 11: Collect the sensor information, and the unmanned boat Ai obtains the dissolved oxygen, COD, PH, and turbidity sensor information in the form of 485 bus through U3, and proceeds to step 12 after completion;
    步骤12,判断,若采集的传感器数据正常则进入步骤13,若异常则进入步骤16;Step 12, judge, if the collected sensor data is normal, go to step 13, if abnormal, go to step 16;
    步骤13,采集视频信息,无人艇Ai通过U9摄像头模块获取航行区域的视频信息,完成后返回步骤2;Step 13. Collect video information, and the unmanned boat Ai obtains video information of the navigation area through the U9 camera module, and returns to step 2 after completion;
    步骤14,发布报警,无人艇Ai通过链路Ai12将发现障碍物的信息发送至一体化操控平台,此时一体化操控平台的Z1、Z2、Z3、Z4及Z8区域自动切换到针对无人艇Ai的操控界面,完成后进入步骤15;Step 14: An alarm is issued, and the unmanned boat Ai sends the information of finding obstacles to the integrated control platform through the link Ai12. At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to target unmanned. The control interface of the boat Ai, after the completion, proceed to step 15;
    步骤15,避障算法,无人艇Ai根据周围障碍物距离、方位信息运行避障算法,得出新的航行任务,完成后进入步骤6;Step 15: Obstacle avoidance algorithm. The unmanned boat Ai runs the obstacle avoidance algorithm according to the distance and azimuth information of the surrounding obstacles to obtain a new navigation mission. After completion, it proceeds to step 6;
    步骤16,发布警报,无人艇Ai通过链路Ai12将超过阈值的传感器数据:异常数据发送至一体化操控平台,此时一体化操控平台的Z1、Z2、Z3、Z4及Z8区域自动切换到针对无人艇Ai的操控界面,完成后进入步骤17;Step 16. An alarm is issued, and the unmanned boat Ai sends the sensor data exceeding the threshold value through the link Ai12 to the integrated control platform. At this time, the Z1, Z2, Z3, Z4 and Z8 areas of the integrated control platform are automatically switched to For the control interface of the unmanned boat Ai, go to step 17 after completion;
    步骤17,探测任务优化策略,无人艇Ai根据异常传感器数据运行探测任务优化策略以此确定需要重点监测的水域位置,完成后进入步骤6。Step 17: The optimization strategy of the detection task. The unmanned boat Ai runs the optimization strategy of the detection task based on the abnormal sensor data to determine the location of the water area that needs to be monitored. After completion, it proceeds to step 6.
  10. 根据权利要求9所述的在无人艇协同探测控制程序中的应用,其特征在于,在步骤7中,所述数据内容包括无人艇Ai的位置、航向、目前执行的航行任务、视频信息及传感器数据。The application in the unmanned boat cooperative detection and control program according to claim 9, characterized in that, in step 7, the data content includes the position, heading of the unmanned boat Ai, the current sailing mission, and video information And sensor data.
PCT/CN2018/088846 2018-05-29 2018-05-29 Environment monitoring system using unmanned surface vehicle as carrier and application thereof WO2019227306A1 (en)

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CN111928889A (en) * 2020-06-30 2020-11-13 上海威派格智慧水务股份有限公司 Intelligent water quality monitoring system
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