WO2020133709A1 - 一种水生态监测与修复水面机器人及水生态修复控制方法 - Google Patents
一种水生态监测与修复水面机器人及水生态修复控制方法 Download PDFInfo
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- WO2020133709A1 WO2020133709A1 PCT/CN2019/077604 CN2019077604W WO2020133709A1 WO 2020133709 A1 WO2020133709 A1 WO 2020133709A1 CN 2019077604 W CN2019077604 W CN 2019077604W WO 2020133709 A1 WO2020133709 A1 WO 2020133709A1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2211/00—Applications
- B63B2211/02—Oceanography
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/8851—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges
- G01N2021/8883—Scan or image signal processing specially adapted therefor, e.g. for scan signal adjustment, for detecting different kinds of defects, for compensating for structures, markings, edges involving the calculation of gauges, generating models
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/95—Investigating the presence of flaws or contamination characterised by the material or shape of the object to be examined
- G01N21/9515—Objects of complex shape, e.g. examined with use of a surface follower device
- G01N2021/9518—Objects of complex shape, e.g. examined with use of a surface follower device using a surface follower, e.g. robot
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/85—Investigating moving fluids or granular solids
Definitions
- the invention relates to the technical field of water ecological environment monitoring and restoration, in particular to a water ecology monitoring and water surface restoration robot and a water ecology restoration control method.
- China's existing water pollution control technology still has deficiencies: First, the existing water ecological health monitoring and evaluation methods are limited to manual sampling and analysis, and it is difficult to dynamically and timely control the process and development trend of water pollution; second, the current There are water pollution treatment methods that are basically lagging and unannounced, and it is difficult to intervene and deal with water pollution at an early stage; third, the existing water pollution treatment is basically a single technology, and it is difficult to correlate and systemize the existing technical methods. It is impossible to achieve intelligence and automation. Therefore, there is an urgent need for a device that can automatically monitor and repair the water ecological environment in real time.
- the present invention provides the following solutions:
- An aquatic ecology monitoring and repairing water surface robot including: hull, control cabin, water quality monitoring cabin, water surface shooting equipment, water treatment equipment cabin and remote communication equipment; the hull cabin is provided with the control cabin and the water quality monitoring A cabin and the water treatment equipment cabin, the water surface shooting equipment and the remote communication equipment are provided outside the cabin;
- the control cabin is respectively connected with the water quality monitoring cabin, the water surface shooting equipment, and the water treatment equipment cabin; the water quality monitoring cabin is used for monitoring water quality parameters of the water body to be measured, and acquiring underwater biological images;
- the water surface shooting equipment is used to obtain the biological image of the water surface;
- the water quality parameters include five general water quality parameters and water quality eutrophication parameters;
- the water quality eutrophication parameters include chlorophyll content, blue-green algae content, nitrogen, phosphorus and organic pollutant content
- the control cabin is used to receive the water quality parameters, the underwater biological image and the surface biological image, and controls the water treatment equipment cabin to repair the water body to be tested;
- the remote communication equipment is respectively The water quality monitoring cabin and the water treatment equipment cabin are connected for sending the acquired data remotely.
- the water quality monitoring cabin includes:
- the water ecology monitor is connected with the control cabin and used for monitoring the water quality parameters of the water body to be tested;
- An underwater camera is connected to the control cabin and used to shoot underwater creatures in the water body to be measured to obtain underwater creature images.
- the water ecology monitor includes:
- the five-parameter water quality monitor is used to monitor the five conventional water quality parameters of the water body to be tested; the five conventional water quality parameters include dissolved oxygen concentration, pH value, temperature, turbidity and conductivity;
- a chlorophyll monitor for monitoring the chlorophyll content in the water body to be measured
- Blue-green algae monitor for monitoring the blue-green algae content in the water body to be tested
- the COD monitor is used to monitor the COD content in the water body to be measured
- An ammonia nitrogen monitor for monitoring the ammonia nitrogen content in the water body to be measured
- a total nitrogen monitor is used to monitor the total nitrogen content in the water body to be measured.
- the water treatment equipment cabin includes:
- An oxygen explosion machine connected to the control cabin, is used to provide oxygen to the water body to be measured through micro-nano or conventional explosion gas;
- An automatic water treatment agent delivery device connected to the control cabin, is used to place water treatment agents for the water body to be tested;
- a biological bacterial species automatic delivery device is connected to the control cabin and used for delivering biological bacterial species to the water body to be tested.
- the aquatic ecology monitoring and repairing water surface robot further includes:
- the power equipment cabin is provided in the cabin for driving the hull;
- a solar panel connected to the power equipment cabin and provided on the outer surface of the ship cabin, for charging equipment in the power equipment cabin.
- the power equipment compartment includes a generator set, a lithium battery pack, a hybrid power control device, a control cabinet, a frequency converter, an AC motor, a reducer, and a propeller;
- the hybrid power control device is respectively connected to the generator set and the lithium battery pack, and is used to control automatic switching between the generator set and the lithium battery pack;
- the control cabinet is respectively connected to the control cabin,
- the inverter is connected, the inverter is connected to the AC motor;
- the AC motor is connected to the reducer;
- the reducer is connected to the propeller;
- the control cabinet controls the The AC motor rotates, and the AC motor drives the propeller through the speed reducer.
- the remote communication device includes a radar and an antenna; both the radar and the antenna are installed outside the cabin through an equipment rack; and the equipment rack is also used to set the water surface shooting equipment.
- the power equipment cabin further includes a control screen; the control screen is connected to the generator set, and is used to display operating parameters of the generator set.
- the invention also provides a water ecological restoration control method, which is used for the above-mentioned water ecology monitoring and water restoration robot; the method includes:
- the water quality parameters include dissolved oxygen concentration, pH value, temperature, turbidity, conductivity, chlorophyll content, blue-green algae content, nitrogen, phosphorus and organic Pollutant content;
- a PID control algorithm is used to obtain the aquatic ecological restoration factor; the proportional gain, integral gain, and differential gain in the PID algorithm are determined using a neural network algorithm;
- the water treatment equipment cabin is controlled according to the water ecological restoration factor to repair the water body to be tested.
- the obtaining the water ecological health index of the water body to be tested according to the water quality parameter and the statistical result of the aquatic organism survival rate specifically includes:
- TLI(j) represents the normalized value of the jth monitoring indicator in the water quality parameter
- m represents the total number of detection indicators corresponding to the water quality parameter
- W j represents the weighting coefficient of the jth monitoring indicator
- s represents the number of species of organisms
- a i represents the pollution resistance value of the i-th species
- a i is obtained based on the statistical results of the survival rate of the aquatic organisms
- n i represents the number of the i-th species
- N represents all The total number of creatures
- I CH I 1 ⁇ W 1 ′+I 2 ⁇ W′ 2
- W′ 1 represents the weight coefficient corresponding to the normalized value of the water nutrient index
- W′ 2 represents the weight coefficient corresponding to the normalized value of the biodiversity index.
- the invention provides an aquatic ecology monitoring and repairing surface robot.
- a control cabin, a water quality monitoring cabin and a water treatment equipment cabin are provided in a cabin of a ship body, and a water surface shooting device and a remote communication device are provided outside the cabin ;
- the control cabin is connected to the water quality monitoring cabin, water surface shooting equipment, and water treatment equipment cabin;
- the water quality monitoring cabin is used to monitor the water quality parameters of the water body to be measured and obtain underwater biological images;
- the water surface shooting equipment is used to obtain water surface biological images;
- water quality The parameters include five general water quality parameters and water quality eutrophication parameters;
- the water quality eutrophication parameters include chlorophyll content, blue-green algae content, nitrogen, phosphorus and organic pollutant content;
- the control cabin is used to receive water quality parameters and underwater biological images And the biological image of the water surface, and control the water treatment equipment cabin to repair the water body to be tested.
- the water surface robot can realize automatic real-time dynamic monitoring of water ecology and early
- the invention proposes an aquatic ecological restoration control method, in which, based on water quality parameters and aquatic ecological health index, a PID control algorithm is used to obtain aquatic ecological restoration factors, and the proportional gain, integral gain and differential gain in the PID algorithm are determined by a neural network algorithm , To achieve self-cleaning and self-balancing of the ecological environment of waters.
- FIG. 1 is a plan view of the structure of an aquatic ecology monitoring and repairing surface robot cabin according to an embodiment of the present invention
- FIG. 2 is a front view of an aquatic ecology monitoring and repairing surface robot according to an embodiment of the present invention
- FIG. 3 is a spatio-temporal distribution diagram of water ecological health in an embodiment of the present invention.
- FIG. 4 is a schematic structural diagram of an ecological restoration intelligent controller according to an embodiment of the present invention.
- FIG. 5 is a schematic diagram of a control method of a single controller according to an embodiment of the present invention.
- FIG. 1 is a top view of a structure of an aquatic ecological monitoring and repairing surface robot cabin according to an embodiment of the present invention
- FIG. 2 is a front view of an aquatic ecological monitoring and repairing surface robot of an embodiment of the present invention.
- an embodiment of an aquatic ecology monitoring and repairing surface robot includes: hull 1, control cabin 2, water quality monitoring cabin 3, water surface shooting equipment 4, water treatment equipment cabin 5, remote communication equipment, power Equipment cabin 6 and solar panel 7; the control cabin 2, the water quality monitoring cabin 3, the water treatment equipment cabin 5 and the power equipment cabin 6 are provided in the cabin of the hull 1; the cabin is provided outside The water surface shooting equipment 4 and the remote communication equipment; the solar panel 7 is connected to the power equipment cabin 6 and is provided on the outer surface of the ship cabin for charging equipment in the power equipment cabin 6 .
- the hull 1 is a single hull 1 or a double hull 1 made of aluminum alloy, steel, or fiberglass material.
- the control cabin 2 is respectively connected to the water quality monitoring cabin 3, the water surface photographing equipment 4, and the water treatment equipment cabin 5; the water quality monitoring cabin 3 is used to monitor water quality parameters of the water body to be measured and obtain underwater Biological image; the water surface shooting device 4 is used to obtain a biological image of the water surface; the water quality parameters include five water quality parameters and water quality eutrophication parameters; the water quality eutrophication parameters include chlorophyll content, blue-green algae content, nitrogen, Phosphorus and organic pollutant content; the control cabin 2 is used to receive the water quality parameters, the underwater biological image and the water surface biological image, and controls the water treatment equipment cabin 5 to repair the water body to be tested
- the remote communication equipment is respectively connected to the water quality monitoring cabin 3 and the water treatment equipment cabin 5 for remotely sending the acquired data; the power equipment cabin 6 is used to drive the hull 1.
- the water quality monitoring cabin 3 includes: an aquatic ecology monitor 8 connected to the control cabin 2 for monitoring water quality parameters of the water body to be measured; an underwater camera 9 connected to the control cabin 2 for monitoring the water quality The underwater creatures in the water body to be tested are photographed to obtain underwater creature images.
- the water ecology monitor 8 includes: a five-parameter water quality monitor for monitoring the five conventional water quality parameters of the water body to be measured; the five conventional water quality parameters include dissolved oxygen concentration, pH value, temperature, turbidity and conductivity ; Chlorophyll monitor, used to monitor the chlorophyll content in the water body to be measured; blue-green algae monitor, used to monitor the blue-green algae content in the water body to be tested; COD monitor, used to monitor the to-be-measured COD content in the water body; ammonia nitrogen monitor for monitoring the ammonia nitrogen content in the water body to be measured; total phosphorus monitor for monitoring the total phosphorus content in the water body to be tested; total nitrogen monitor for monitoring The total nitrogen content in the water body to be measured.
- Chlorophyll monitor used to monitor the chlorophyll content in the water body to be measured
- blue-green algae monitor used to monitor the blue-green algae content in the water body to be tested
- COD monitor used to monitor the to-be-measured COD content in the water
- the water treatment equipment cabin 5 includes: an oxygen explosion machine 10 connected to the control cabin 2 for supplying oxygen to the water body to be tested through micro-nano or conventional explosion gas; an automatic water treatment agent delivery device 11 and The connection of the control cabin 2 is used to place a water treatment agent for the water body to be tested; the biological strain automatic delivery device 12 is connected to the control cabin 2 and is used to place a biological strain to the water body to be tested.
- the oxygen detonator 10 in this embodiment is a micro-nano bubble oxygen detonator, which provides air to the water body and increases the dissolved oxygen concentration in the water. Compared with ordinary detonation equipment, the oxygen supply efficiency of the micro-nano bubble detonator is higher. 1.
- the water treatment agent put into the water treatment agent automatic delivery device 11 is mainly a fast flocculant, which is used as an emergency treatment method for water pollution;
- the biological strains put into the device 12 include biological bacteria that degrade water pollution, mainly including biological bacteria such as nitrogen and phosphorus removal microbial agents, sediment degrading bacteria, etc., which are used for the removal and removal of nutrients from nitrogen and phosphorus in eutrophic water degradation.
- the power equipment compartment 6 includes a generator set 13, a lithium battery pack 14, a hybrid power control device 15, a control cabinet 16, an inverter 17, an AC motor 18, a speed reducer 19, and a propeller 20;
- the hybrid power control device 15 is The generator set 13 and the lithium battery pack 14 are connected to control automatic switching between the generator set 13 and the lithium battery pack 14;
- the control cabinet 16 is connected to the control cabin 2 and the A frequency converter 17 is connected, the frequency converter 17 is connected to the AC motor 18; the AC motor 18 is connected to the speed reducer 19; the speed reducer 19 is connected to the propeller 20;
- the control cabinet 16 passes through The frequency converter 17 controls the rotation of the AC motor 18, and the AC motor 18 drives the propeller 20 through the speed reducer 19.
- the generator set 13 and the lithium battery pack 14 are connected to each electrical equipment for powering each equipment on the hull, and the solar panel 7 is connected to the lithium battery pack 14 through a power control manager. Automatic charge management.
- the frequency converter 17 is used to control the rotation speed of the AC motor 18 to achieve the cruising speed control of the hull 1.
- the frequency converter 17 is given a frequency size given by the control cabin 2, and the frequency size determines the motor speed control.
- the remote communication device includes a radar 21 and an antenna 22; the radar 21 and the antenna 22 are both arranged outside the cabin through an equipment rack 23; the equipment rack 23 is also used to set the water surface shooting device 4.
- the power equipment compartment 6 further includes a control screen 24; the control screen is connected to the generator set, and is used to display operating parameters of the generator set.
- the water ecology monitoring and water surface restoration robot of this embodiment can realize automatic real-time dynamic monitoring of water ecology and early warning of water pollution.
- the invention also provides a water ecological restoration control method, which is used for the above-mentioned water ecology monitoring and water restoration robot; the method includes:
- Step S1 Obtain water quality parameters, underwater biological images and water surface biological images of the water body to be measured; the water quality parameters include dissolved oxygen concentration, pH value, temperature, turbidity, electrical conductivity, chlorophyll content, blue-green algae content, nitrogen, Phosphorus and organic pollutant content.
- Step S2 Obtain the statistical result of the survival rate of the aquatic organisms in the water body to be measured according to the underwater creature images and the water surface creature images.
- Step S3 Obtain the water ecological health index of the water body to be tested according to the water quality parameter and the statistical result of the survival rate of the aquatic organisms.
- the step S3 specifically includes:
- TLI(j) represents the normalized value of the jth monitoring indicator in the water quality parameter
- m represents the total number of detection indicators corresponding to the water quality parameter
- W j represents the weighting coefficient of the jth monitoring indicator.
- s represents the number of species of organisms
- a i represents the pollution resistance value of the i-th species
- a i is obtained based on the statistical results of the survival rate of the aquatic organisms
- n i represents the number of the i-th species
- N represents all The total number of creatures.
- the aquatic health index of the water body to be tested is obtained according to the normalized value of the water area nutrition index and the normalized value of the biodiversity index
- I CH I 1 ⁇ W 1 ′+I 2 ⁇ W′ 2
- W′ 1 represents the weight coefficient corresponding to the normalized value of the water nutrient index
- W′ 2 represents the weight coefficient corresponding to the normalized value of the biodiversity index.
- Step S4 Based on the water quality parameters and the aquatic ecological health index, a PID control algorithm is used to obtain a water ecological restoration factor; the proportional gain, integral gain, and differential gain in the PID algorithm are determined using a neural network algorithm.
- Step S5 Control the water treatment equipment cabin to repair the water body to be tested according to the water ecological repair factor.
- Aquatic ecology monitoring and repairing surface robots cruise in accordance with the planned path in the water area to be operated. As shown in Figure 3, the water area to be operated is divided into 13 grids. Cruise and check the water quality in each grid.
- the detection indicators include: dissolved oxygen concentration, pH value, temperature, turbidity, conductivity, chlorophyll content, blue-green algae content, ammonia nitrogen content, total phosphorus content and total nitrogen content Etc.; at the same time, use the shipboard water surface shooting equipment and underwater camera to collect water surface biological images and underwater biological images respectively.
- Aquatic organisms include benthic organisms, fish and aquatic plants, etc.
- benthic organisms include snails, shellfish, omnivorous shrimps and small omnivorous crabs, etc.
- the specific recognition methods are as follows: 1 Use the wavelet algorithm to denoise the image and further perform background subtraction; 2 Use the morphological binary image dilation corrosion algorithm to enhance the image; 3 Use the deep neural network algorithm to recognize the target; 4 Use the normal Distribution statistics on the survival rate of aquatic organisms.
- I CH I 1 ⁇ W ' 1 + I 2 ⁇ W' 2, where I 1 represents the nutritional quality index normalized value, I 2 represents a diversity index normalized values; W '1 represents water eutrophication index
- the weight coefficient corresponding to the normalized value, W′ 2 represents the weight coefficient corresponding to the normalized value of the biodiversity index, W′ 1 and W′ 2 come from the empirical value and unsupervised learning of the ecological environment model.
- TLI(j) represents the normalized value of the jth monitoring indicator in the water quality parameter
- m represents the total number of detection indicators corresponding to the water quality parameter
- W j represents the weighting coefficient of the jth monitoring indicator
- W j comes from the empirical value and Unsupervised learning of ecological environment model.
- s represents the number of species of organisms
- a i represents the pollution resistance value of the i-th category of organisms
- a i is obtained based on the statistical results of the survival rate of the aquatic organisms
- n i represents the number of the i-th category of organisms
- N represents all types of organisms The total number of.
- Set the threshold of the aquatic ecological health index to 0.5. If the aquatic ecological health index exceeds 0.5, immediately start the ecological restoration process.
- the spatial and temporal distribution of the water ecological health gridding, the water ecological health index gridding spatial and temporal distribution is based on the water ecological health index I CH value calculated in step 3), and the water ecological health status is drawn according to the gridding in the working water area
- the interval of each grid is 10-50 meters.
- the water ecological health index of each grid is represented by different depth colors. The darker the color, the worse the health status.
- FIG. 4 is a schematic structural diagram of an ecological repair intelligent controller according to an embodiment of the present invention; the controller incorporates an artificial neural network algorithm and PID closed-loop control.
- the input of the controller is r i -r m , which are dissolved oxygen. , PH, temperature, turbidity, conductivity, chlorophyll, blue-green algae, ammonia nitrogen, total phosphorus, total nitrogen and other water nutrient parameters; and aquatic organisms' aquatic health index.
- the intelligent controller consists of two parts, namely the classic PID controller and the neural network algorithm.
- the classic PID controller uses the error error, error change value de/dt of the input r in and output y out , and the ki, kp, and kd parameters adjusted online by the neural network algorithm to obtain the regulator output u(k) by the intelligent control algorithm. Then the system output y out is obtained according to the transfer function of the control object, so as to realize the closed-loop control of the controlled object directly.
- the neural network algorithm part that is, according to the optimization of the system running state and a certain water quality index, through the self-learning of the neural network and the adjustment of the weighting coefficient, its output corresponds to the PID controller parameters ki, kp under some optimal control , Kd.
- the parameter tuning method of PID controller based on neural network mainly has the following steps:
- the output layer corresponds to three adjustable parameters, it must be selected to be more than 3 layers, so only need to determine the number of input layers and hidden layers, and initialize the weight of each layer , Select the learning rate and inertia coefficient.
- the neural network adjusts the weighting coefficient through online learning to realize the self-adjustment of three parameters of the PID controller.
- the aquatic ecological restoration control method of this embodiment automatically recognizes images obtained by water surface shooting equipment and underwater cameras, calculates the probability distribution of aquatic organisms through statistical algorithms, and further obtains the growth status and ecological factors of aquatic organisms;
- the ecological restoration intelligent control method adopts the closed loop control of the ecological environment factor neural network, the online monitoring parameters of the aquatic ecological factor and the aquatic environmental factor are used as the network input, the aquatic environmental restoration factor is the output parameter, and the output parameter is used as the feedback coefficient of the closed restoration control system , And ultimately achieve self-cleaning and self-balancing of the ecological environment of waters.
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Abstract
Description
Claims (10)
- 一种水生态监测与修复水面机器人,其特征在于,包括:船体、控制舱、水质监测舱、水面拍摄设备、水处理设备舱以及远程通信设备;所述船体的船舱内设置所述控制舱、所述水质监测舱以及所述水处理设备舱,所述船舱外部设置所述水面拍摄设备和所述远程通信设备;所述控制舱分别与所述水质监测舱、所述水面拍摄设备、所述水处理设备舱连接;所述水质监测舱用于监测待测水体的水质参数,并获取水下生物图像;所述水面拍摄设备用于获取水面生物图像;所述水质参数包括水质常规五参数和水质营养化程度参数;所述水质营养化程度参数包括叶绿素含量、蓝绿藻含量、氮、磷和有机污染物含量;所述控制舱用于接收所述水质参数、所述水下生物图像以及所述水面生物图像,并控制所述水处理设备舱对所述待测水体进行修复;所述远程通信设备分别与所述水质监测舱、所述水处理设备舱连接,用于将获取的数据远程发送出去。
- 根据权利要求1所述的一种水生态监测与修复水面机器人,其特征在于,所述水质监测舱包括:水生态监测仪,与所述控制舱连接,用于监测所述待测水体的水质参数;水下摄像机,与所述控制舱连接,用于对所述待测水体的水下生物进行拍摄,得到水下生物图像。
- 根据权利要求2所述的一种水生态监测与修复水面机器人,其特征在于,所述水生态监测仪包括:水质五参数监测仪,用于监测所述待测水体的水质常规五参数;所述水质常规五参数包括溶解氧浓度、pH值、温度、浊度和电导率;叶绿素监测仪,用于监测所述待测水体中的叶绿素含量;蓝绿藻监测仪,用于监测所述待测水体中的蓝绿藻含量;COD监测仪,用于监测所述待测水体中的COD含量;氨氮监测仪,用于监测所述待测水体中的氨氮含量;总磷监测仪,用于监测所述待测水体中的总磷含量;总氮监测仪,用于监测所述待测水体中的总氮含量。
- 根据权利要求1所述的一种水生态监测与修复水面机器人,其特征在于,所述水处理设备舱包括:爆氧机,与所述控制舱连接,用于通过微纳米或常规爆气为所述待测水体提供氧气;水处理药剂自动投放装置,与所述控制舱连接,用于为所述待测水体投放水处理药剂;生物菌种自动投放装置,与所述控制舱连接,用于为所述待测水体投放生物菌种。
- 根据权利要求1所述的一种水生态监测与修复水面机器人,其特征在于,还包括:动力设备舱,设置在所述船舱内,用于驱动所述船体;太阳能电池板,与所述动力设备舱连接,设置在所述船舱的外表面,用于为所述动力设备舱内的设备充电。
- 根据权利要求5所述的一种水生态监测与修复水面机器人,其特征在于,所述动力设备舱包括发电机组、锂电池组、混合动力控制装置、控制柜、变频器、交流电机、减速器和螺旋桨;所述混合动力控制装置分别与所述发电机组、所述锂电池组连接,用于控制所述发电机组与所述锂电池组之间的自动切换;所述控制柜分别与所述控制舱、所述变频器连接,所述变频器与所述交流电机连接;所述交流电机与所述减速器连接;所述减速器与所述螺旋桨连接;所述控制柜通过所述变频器控制所述交流电机转动,所述交流电机通过所述减速器驱动所述螺旋桨。
- 根据权利要求1所述的一种水生态监测与修复水面机器人,其特征在于,所述远程通信设备包括雷达和天线;所述雷达和天线均通过设备架设置在所述船舱外部;所述设备架还用于设置所述水面拍摄设备。
- 根据权利要求5所述的一种水生态监测与修复水面机器人,其特征在于,所述动力设备舱还包括控制屏;所述控制屏与所述发电机组连接,用于显示所述发电机组的运行参数。
- 一种水生态修复控制方法,其特征在于,所述控制方法用于如权利要求1-8任意一项所述的水生态监测与修复水面机器人;所述方法包括:获取待测水体的水质参数、水下生物图像以及水面生物图像;所述水 质参数包括溶解氧浓度、pH值、温度、浊度、电导率、叶绿素含量、蓝绿藻含量、氮、磷和有机污染物含量;依据所述水下生物图像以及水面生物图像,得到所述待测水体的水生生物成活率统计结果;依据所述水质参数以及所述水生生物成活率统计结果得到所述待测水体的水生态健康指数;依据所述水质参数、所述水生态健康指数,采用PID控制算法得到水生态修复因子;所述PID算法中的比例增益、积分增益以及微分增益是采用神经网络算法确定的;依据所述水生态修复因子控制水处理设备舱对所述待测水体进行修复。
- 根据权利要求9所述的一种水生态修复控制方法,其特征在于,所述依据所述水质参数以及所述水生生物成活率统计得到所述待测水体的水生态健康指数,具体包括:依据所述水质参数确定水域营养化指数归一化值其中,TLI(j)表示水质参数中第j个监测指标的归一化值,m表示水质参数对应的检测指标的总数量,W j表示第j个监测指标的权重系数;依据所述水生生物成活率统计结果确定生物多样性指数归一化值其中,s表示生物的种类数,a i表示第i类生物的耐污值,a i是依据所述水生生物成活率统计结果得到的,n i表示第i类生物的个数,N表示所有类生物的总个数;依据所述水域营养化指数归一化值和所述生物多样性指数归一化值得到所述待测水体的水生态健康指数I CH=I 1·W 1′+I 2·W′ 2其中,W 1′表示水域营养化指数归一化值对应的权重系数,W′ 2表示生物多样性指数归一化值对应的权重系数。
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