A collaborative control method for bionic fish for large-scale water quality monitoring

Abstract

The invention relates to a bionic fish cooperative control method for large-scale water quality monitoring, which adopts a formation control mode of multiple mobile nodes to collect water quality parameter information. The leading bionic node and the following bionic node adopt the appearance design of tuna. The pilot bionic node floats on the water surface and cruises, informs the formation information of the following bionic nodes in the water through underwater acoustic broadcasting, and at the same time collects the water quality parameter information collected by the following bionic nodes, and communicates with the shore base station. Follow the bionic mobile node to receive the formation information and move with the pilot bionic node in a certain geometric configuration, and collect and send water quality parameter information. Underwater acoustic communication technology is used between the pilot and following bionic nodes, and GPRS communication technology is used between the pilot bionic node and the shore base station. The formation system adopts the distributed fuzzy formation control method, which can realize remote control, wide test range, high precision, online monitoring of water quality parameters in different water areas, and has a good application prospect.

Description

【Technical field】 [0001] The invention relates to a water quality monitoring method, in particular to a bionic fish collaborative control method for large-scale water quality monitoring, and belongs to the technical field of water quality monitoring. 【Background technique】 [0002] At present, my country's water quality monitoring methods include laboratory monitoring, automatic monitoring and mobile monitoring. Laboratory monitoring is to set certain cross-sections to take timed and fixed-point instant samples, and then bring the samples back to the laboratory for instrumental analysis. Although the analysis accuracy is high, the stored water samples will be affected by the coagulation and sedimentation of suspended solids, the metabolic process of organisms, and the decomposition process of death. etc., and the real-time performance of the data is poor. Automatic monitoring is an on-site water quality automatic monitoring station set in the river basin. The construction o...

AI Technical Summary

Problems solved by technology

Laboratory monitoring is to set certain cross-sections to take timed and fixed-point instant samples, and then bring the samples back to the laboratory for instrumental analysis. Although the analysis accuracy is high, the stored water samples will be affected by the coagulation and sedimentation of suspended solids, the metabolic process of organisms, and the decomposition process of death. etc., and the data real-time performance is poor

Automatic monitoring is an on-site water quality automatic monitoring station set in the river basin. The construction of an automatic monitoring station requires the construction of a special factory building, and the online water quality analysis instrument is also very expensive.

Mobile monitoring is mostly manually driven water quality monitoring ships, which not only cost high but also cause secondary pollution

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