Hydrological environment monitoring method based on water surface mobile robot

A mobile robot and environmental monitoring technology, applied in the field of environmental monitoring and path planning, can solve problems such as the inability to meet the monitoring timeliness, achieve rapid monitoring and traversal, improve acquisition accuracy, and reduce data isolation.

Pending Publication Date: 2020-11-10
西北工业大学太仓长三角研究院
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Problems solved by technology

Although this method saves space loss, the hydrological data is still processed offline, which cannot meet the timeliness requirements of monitoring

Method used

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  • Hydrological environment monitoring method based on water surface mobile robot
  • Hydrological environment monitoring method based on water surface mobile robot
  • Hydrological environment monitoring method based on water surface mobile robot

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Embodiment

[0056] The path planner and hydrological environment index proposed in this embodiment are deployed on a surface mobile robot platform. The platform carries the sensors required for hydrological environment monitoring, such as pH value, oxygen saturation sensor, etc. The water surface mobile robot can move freely on the water surface, and at the same time can be fixed at a certain position on the water surface, so that the robot can collect the hydrological environment data at that point. The purpose of the present invention is to provide a hydrological environment monitoring method based on a water surface mobile robot. This paper mainly proposes a path planner for hydrological environment monitoring, which can find the position of the area of ​​interest in the area to be investigated; and generate a path planner that mobile sensors can visit all representative areas under the given energy and path loss. optimal path. The region of interest is generated by decomposing the e...

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Abstract

The invention relates to a hydrological environment monitoring method based on a water surface mobile robot, and the method comprises the following steps: (1) carrying out the uniform segmentation ofa to-be-monitored region according to a cellular decomposition method, and determining a representative sampling point according to the to-be-monitored region after uniform segmentation; (2) planninga path of a sampling point by adopting a method based on a minimum spanning tree, and determining a sampling monitoring moving path of the water surface mobile robot; and (3) enabling the water surface mobile robot to perform uniform sampling according to the sampling monitoring moving path to obtain hydrological environment data of all sampling points of the whole water area. The method is used for data acquisition under limited resources, and has good expression capability and reliable data sensitivity for noisy hydrological environment data acquired by a mobile sensor.

Description

technical field [0001] The invention belongs to the technical field of path planning, relates to the field of environmental monitoring, and provides a hydrological environment monitoring method based on a water surface mobile robot, in particular to a water surface mobile robot carrying related sensors to automatically complete the monitoring and evaluation of the hydrological environment. Background technique [0002] Hydrological environment monitoring has a wide range of functions in the study of hydrology and ecology, monitoring the quality of livestock, human drinking water sources, and irrigation. Traditional hydrological environment monitoring often uses manual collection to collect hydrological environmental data. This method of hydrological data collection is time-consuming and laborious, and the collected data is not representative. The collected hydrological environmental data is usually offline, and the relevant indicators are analyzed by professionals in the la...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C13/00G05D1/02
CPCG01C13/00G05D1/0206G05D1/0088
Inventor 王超群李腾夏敏
Owner 西北工业大学太仓长三角研究院
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