Autonomous cruise type intelligent monitoring boat for water pollution discharge based on side cloud cooperation

Abstract

The invention discloses a side cloud collaborative autonomous cruise type water pollution discharge intelligent monitoring boat. The system comprises a ship body, a Beidou navigation module which is carried on the ship body and has a positioning function, a monitoring function unit, a discharge pipeline and concealed conduit imaging recognition unit, an autonomous cruise obstacle avoidance unit, an edge calculation unit, a communication unit and a control unit. The discharge pipeline and concealed conduit imaging recognition unit adopts a plane camera to recognize the water surface pollution discharge condition, and adopts an underwater sonar side scanning device to recognize an underwater pipeline and a ground screen; the autonomous cruise obstacle avoidance unit performs real-time mapping and positioning through an ROS2.0 robot operating system, a laser radar and an ultrasonic radar, and determines the distance between a surrounding object and a ship body through a fusion algorithm so as to perform obstacle avoidance; and the edge computing function unit performs edge end and cloud end collaborative reasoning on different sensing data. The system has water quality fixed-point sampling monitoring and autonomous cruising capabilities, and can be used for supervision and treatment of river and lake wastewater stealing discharge.

Description

technical field [0001] The invention relates to the technical fields of environmental monitoring and artificial intelligence, in particular to an autonomous cruising intelligent monitoring boat for water pollution discharge with edge-cloud coordination. Background technique [0002] The important factors of water quality parameters in environmental science are measuring dissolved oxygen (DO), pH value, conductivity, temperature, chemical oxygen demand (COD), ammonia nitrogen (NH3-N) electrode, total phosphorus (TP), oxidation Reduction potential (ORP), turbidity, chloride ion, nitrate nitrogen and other factors. [0003] The use of traditional water quality monitoring ships has great limitations. The monitoring personnel need to go to the water to realize water quality sampling and judgment. The physical fitness requirements of the water operators are high, the risk factor is high, the operation process is complicated and cumbersome, and the improper manual operation makes t...

AI Technical Summary

Problems solved by technology

[0004] In view of the lack of real-time performance of water quality monitoring ships in the prior art, the use of large limitations, and the difficulty of discovering the illegal discharge of river sewage, the purpose of the present invention is to provide a system for monitoring and controlling the illegal discharge of wastewater from rivers and lakes. The intelligent water body monitoring ship has the ability of regular fixed-point sampling and monitoring of water quality. At the same time, it is based on edge-cloud collaboration technology, which can realize the function of identifying pollution discharge pipelines on images collected above and below the water; based on the ROS2.0 robot operating system , ultrasonic positioning, laser radar positioning, and Beidou navigation positioning, which can realize the function of autonomous cruise

Images