An underwater robot control system for water quality detection

Abstract

The present invention provides an underwater robot control system for water quality detection, including: an identification module: identifying an underwater robot in a control area, determining a target robot, and establishing a communication link with the target robot; a positioning module: determining a water quality detection point in the control area, and obtaining the position parameters of the target detection point; a control module: transmitting a signal instruction generated by the position parameter to the target robot, and controlling the target robot to go to the target monitoring point; a detection module: the target robot detects the water source of the target monitoring point, obtains water quality detection data, and analyzes the water quality detection data to determine the law of water quality changes; an integration module: receiving the water quality change law, generating a fitting result and making a judgment, and generating a judgment result and transmitting it to a control terminal. The present invention uses artificial intelligence technology to achieve high-precision control of underwater robots, effectively detect the water source in the control area, and make a judgment on the water quality, thereby improving efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of water quality detection, and in particular to an underwater robot control system and method for water quality detection. Background Art

[0002] In the 21st century, the rich energy and resources contained in the ocean are important supplies for human survival. At the same time, intelligent systems have become a new frontier for national development. At present, the main form of underwater intelligent equipment is underwater robots, and their main functions include exploration, collection, maintenance, infrastructure, military use, and search and rescue. At present, underwater multi-robot systems are particularly valued because they are easy to transport and can give full play to the advantages of the system.

[0003] However, nowadays, if a multi-robot system is directly operated, it requires the participation of a large number of technicians, and consumes a lot of manpower and material resources, but it is difficult to complete effective docking. In this way, the multi-robot system may gradually become a dispensable and useless thing. In this regard, the demand for communication capabilities in the field of robotics is increasing day by day. Summary of the invention

[0004] The present invention provides an underwater robot control system for water quality detection, which is used to solve the problems arising in the above-mentioned background technology.

[0005] The present invention provides an underwater robot control system for water quality detection, comprising:

[0006] Identification module: identifies the underwater robot in the control area, determines the target robot, and establishes a communication link with the target robot;

[0007] Positioning module: determine the water quality detection points in the control area and obtain the position parameters of the target detection points;

[0008] Control module: transmitting the position parameter generation signal instruction to the target robot, and controlling the target robot to go to the target monitoring point;

[0009] Detection module: the target robot detects the water source of the target monitoring point, obtains water quality detection data, and analyzes the water quality detection data to determine the law of water quality changes;

[0010] Integrated module: receiving the water quality change law, generating a fitting result and making a judgment, and transmitting the generated judgment result to the control terminal.

[0011] As an embodiment of the present technical solution, the identification module includes:

[0012] Sensing unit: used to obtain the position of the underwater robot in the control area and generate positioning;

[0013] Identification unit: used to identify the identification number of the underwater robot and retrieve the corresponding information of the control center;

[0014] Retrieval unit: used to record the underwater robots that have been successfully retrieved and determine the target robot;

[0015] Communication unit: establishes a communication link between the target robot and the control center through a preset communication device to track the location point information in real time.

[0016] As an embodiment of the present technical solution, it includes: a mechanical wave communication subunit, a sonar subunit and an infrared subunit; wherein,

[0017] Mechanical wave communication subunit: used to generate mechanical waves for long-distance communication;

[0018] Sonar subunit: used to generate high-frequency ultrasonic waves for medium-range communications;

[0019] Infrared subunit: used to generate infrared signals for short-range communication.

[0020] As an embodiment of the present technical solution, the positioning module includes:

[0021] Determination unit: used to divide the control area and determine the water quality detection points based on the pre-acquired three-dimensional model of the control area and the water flow parameter information of the inlet and outlet;

[0022] Positioning unit: used to connect the control center and the water quality detection point, and determine the relative position of the control center and the water quality detection point;

[0023] Parameter unit: used to generate position parameters representing the relative position with the control center as the origin.

[0024] As an embodiment of the present technical solution, the control module includes:

[0025] Instruction unit: used for outputting the position parameter as a signal instruction based on a preset laser radar, and transmitting the signal instruction to the target robot;

[0026] Receiving unit: used for the target robot to receive the signal instruction and the position point information at the preset RTK base station;

[0027] Control unit: used to control the target robot to move to the target position for monitoring at a preset moving speed based on the signal instruction and the position point information.

[0028] As an embodiment of the present technical solution, the control module includes:

[0029] Detection unit: used to detect the water source of the target monitoring point using a preset water quality detector to obtain water quality detection data; wherein,

[0030] The water quality detector at least includes an image detector, a water temperature detector, a pH value detector, a turbidity detector and a total dissolved solid value detector;

[0031] The water quality detection data at least includes garbage data, temperature data, pH value data, turbidity value data and total dissolved solid value data;

[0032] Verification unit: used to review the water quality monitoring data and eliminate errors;

[0033] Analysis unit: performs quantitative analysis on the water quality monitoring data and preset historical data to determine the water quality change pattern of the target detection point.

[0034] As an embodiment of the present technical solution, the detection unit includes:

[0035] An image detector subunit: used for contacting a water source at the target detection point and acquiring garbage data of the water source;

[0036] A water temperature detector subunit: used for contacting the water source of the target detection point and obtaining temperature data of the water source;

[0037] pH value detector subunit: used for contacting the water source of the target detection point and obtaining pH value data of the water source;

[0038] Turbidity detector subunit: used for irradiating the water source of the target detection point, generating scattered light, and obtaining turbidity value data of the scattered light;

[0039] Total dissolved solids value detector subunit: used to contact the water source of the target detection point to obtain total dissolved solids value data.

[0040] As an embodiment of the present technical solution, the integrated module includes:

[0041] Fitting unit: used for interpolating and fitting the acquired water quality variation law to generate a fitting result;

[0042] The judging unit is used to analyze and judge the fitting result to determine the judging result; wherein,

[0043] The judgment results include normal results and abnormal results;

[0044] Early warning unit: used to generate an abnormal signal for the abnormal result, transmit it to the control terminal, and call the corresponding plan.

[0045] As an embodiment of the present technical solution, the preset communication device further includes: when the control center communicates with the target machine in real time, an information delay detection instruction is added to the communication information, the purpose of which is to analyze the delay degree of the target robot in data analysis and processing during the current communication, and generate a control instruction for the delay indicator light in the control center according to the delay degree of the target robot in data analysis and processing. Then, the personnel of the control center can know the delay degree of the current real-time communication and control of the target machine according to the speed of the delay indicator light on and off, thereby further reminding the control personnel to make corresponding adjustments according to the current delay degree. The specific steps include:

[0046] Step A1: Use formula (1) to add information delay detection instructions to the communication information to obtain communication information containing delay detection

[0047]

[0048] Where W 16 Indicates the hexadecimal form of the communication information including delay detection; len[] indicates the number of data bits X in the binary number in brackets. 16 Indicates the hexadecimal form of communication information without delay detection; Y 16 Indicates the hexadecimal form of the delay detection instruction; << indicates a left shift symbol; ()2 indicates converting the value in the brackets into a binary number;

[0049] Step A2: Using formula (2), according to the time when the communication information containing the delay detection is sent, the time when the return instruction about the communication information containing the delay detection is received, the data length of the communication information containing the delay detection, the data length of the return instruction of the communication information containing the delay detection, and the transmission speed of the communication link, the delay time of the current target robot for data analysis and processing is obtained.

[0050]

[0051] Where T represents the delay time of the current target robot for data analysis and processing; t e represents the time (in seconds) when the target robot receives the return instruction of the communication information containing the delayed detection; t0 represents the time (in seconds) when the communication information containing the delayed detection is sent to the target robot; F2(W 16 ) indicates that the target robot has received the information about W 16 Binary form of the information return instruction; v bit / s Indicates the transmission speed of the communication link, in bit / s;

[0052] Step A3: Use formula (3) to generate the control instruction of the delay indicator light of the control center according to the delay time of the current target robot for data analysis and processing

[0053]

[0054] Wherein E represents the control instruction generated for the delay indicator light of the control center; T min Indicates the shortest delay duration of the target robot for data analysis and processing within a theoretical range; Indicates rounding up;

[0055] The control instructions of the delay indicator light of the control center generate a PWM wave for controlling the control pin of the delay indicator light (the 1s in the instructions are all pin high levels, and the 0s are all pin low levels to form a PWM wave), thereby further reminding the control personnel to make corresponding adjustments according to the current delay level.

[0056] The present invention also provides an underwater robot, which is the underwater robot mentioned above, including an outer shell, wherein the outer shell includes a cylindrical main body and an end cover, one end of the main body is sealed and the other end is open, and the end cover is detachably arranged at one end of the opening of the main body 1b to selectively open or seal the opening, a plurality of connecting holes are arranged on the end cover, a circle of annular groove is arranged on the side of the end cover facing the main body, and a sealing ring is arranged in the annular groove.

[0057] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description and the accompanying drawings.

[0058] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0060] Figure 1 This is a module flow chart of an underwater robot control system for water quality detection in Embodiment 1 of the present invention;

[0061] Figure 2 This is a module flow chart of an underwater robot control system for water quality detection in Embodiment 1 of the present invention;

[0062] Figure 3This is a module flow chart of an underwater robot control system for water quality detection in Embodiment 1 of the present invention;

[0063] Figure 4 It is a three-dimensional diagram of an underwater robot in Embodiment 2 of the present invention;

[0064] Figure 5 A bottom view of an underwater robot in Embodiment 2 of the present invention;

[0065] Figure 6 It is a cross-sectional view at CC in the second embodiment of the present invention;

[0066] Figure 7 is a structural diagram of the end cover in the second embodiment of the present invention;

[0067] Figure 8 This is a structural diagram of the mounting plate in the second embodiment of the present invention. DETAILED DESCRIPTION

[0068] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0069] Embodiment 1

[0070] According to the attached Figure 1 As shown, an embodiment of the present invention provides an underwater robot control system for water quality detection, comprising:

[0071] Identification module: identifies the underwater robot in the control area, determines the target robot, and establishes a communication link with the target robot;

[0072] Positioning module: determine the water quality detection points in the control area and obtain the position parameters of the target detection points;

[0073] Control module: transmitting the position parameter generation signal instruction to the target robot, and controlling the target robot to go to the target monitoring point;

[0074] Detection module: the target robot detects the water source of the target monitoring point, obtains water quality detection data, and analyzes the water quality detection data to determine the law of water quality changes;

[0075] Integrated module: receiving the water quality change law, generating a fitting result and making a judgment, and transmitting the generated judgment result to the control terminal.

[0076] The working principle and beneficial effects of the above technical solution are:

[0077] In the present technical scheme, the identification module identifies the underwater robot in the control area, determines the target robot, and establishes a communication link with the target robot; the positioning module determines the water quality detection point in the control area and obtains the position parameters of the target detection point; the control module generates a signal instruction from the position parameter and transmits it to the target robot, and controls the target robot to go to the target monitoring point; the detection module controls the target robot to detect the water source of the target monitoring point, obtains water quality detection data, and analyzes the water quality detection data to determine the law of water quality changes; the integration module receives the law of water quality changes, generates a fitting result and makes a judgment, and transmits the generated judgment result to the control terminal, which strengthens the precise connection between the control center and the underwater robot, effectively guides the robot to operate underwater, detects water quality, and saves manpower and material resources.

[0078] According to the attached Figure 2 As shown, the identification module includes:

[0079] Sensing unit: used to obtain the position of the underwater robot in the control area and generate positioning;

[0080] Identification unit: used to identify the identification number of the underwater robot and retrieve the corresponding information of the control center;

[0081] Retrieval unit: used to record the underwater robots that have been successfully retrieved and determine the target robot;

[0082] Communication unit: establishes a communication link between the target robot and the control center through a preset communication device to track the location point information in real time.

[0083] The working principle and beneficial effects of the above technical solution are:

[0084] In the present technical solution, the sensing unit is used to obtain the position of the underwater robot in the control area and generate positioning; the identification unit is used to identify the mark number of the underwater robot and retrieve the corresponding information of the control center; the retrieval unit is used to record the underwater robot that has been successfully retrieved and determine the target robot; the communication unit establishes a communication link between the target robot and the control center through a preset communication device, tracks the location point information in real time, and completes precise docking by identifying the target robot and establishing communication contact, thereby ensuring effective coverage of water quality detection activities.

[0085] The preset communication device includes: a mechanical wave communication subunit, a sonar subunit and an infrared subunit; wherein,

[0086] Mechanical wave communication subunit: used to generate mechanical waves for long-distance communication;

[0087] Sonar subunit: used to generate high-frequency ultrasonic waves for medium-range communications;

[0088] Infrared subunit: used to generate infrared signals for short-range communication.

[0089] The working principle and beneficial effects of the above technical solution are:

[0090] In this technical solution, the mechanical wave communication subunit is used to generate mechanical waves for long-distance communication; the sonar subunit is used to generate high-frequency ultrasonic waves for medium-distance communication; the infrared subunit is used to generate infrared signals for short-distance communication, ensuring effective coverage of various communication signals and improving communication smoothness.

[0091] According to the attached Figure 3 As shown, the positioning module includes:

[0092] Determination unit: used to divide the control area and determine the water quality detection points based on the pre-acquired three-dimensional model of the control area and the water flow parameter information of the inlet and outlet;

[0093] Positioning unit: used to connect the control center and the water quality detection point, and determine the relative position of the control center and the water quality detection point;

[0094] Parameter unit: used to generate position parameters representing the relative position with the control center as the origin.

[0095] The working principle and beneficial effects of the above technical solution are:

[0096] In the present technical solution, the determination unit is used to divide the control area and determine the water quality detection points based on the pre-acquired three-dimensional model of the control area and the water flow parameter information of the inlet and outlet; the positioning unit is used to connect the control center and the water quality detection points and determine the relative position of the control center and the water quality detection points; the parameter unit is used to generate position parameters characterizing the relative position with the control center as the origin, so as to enhance the scientific nature of the sample selection and improve the credibility of the fitting results.

[0097] The feature training unit includes: the control module includes:

[0098] Instruction unit: used for outputting the position parameter as a signal instruction based on a preset laser radar, and transmitting the signal instruction to the target robot;

[0099] Receiving unit: used for the target robot to receive the signal instruction and the position point information at the preset RTK base station;

[0100] Control unit: used to control the target robot to move to the target position for monitoring at a preset moving speed based on the signal instruction and the position point information.

[0101] The working principle and beneficial effects of the above technical solution are:

[0102] In the present technical solution, the command unit is used to output the position parameters as signal commands based on a preset laser radar and transmit them to the target robot; the receiving unit is used for the target robot to receive the signal commands and position point information at a preset RTK base station; the control unit is used to control the target robot to move to the target position for monitoring at a preset moving speed based on the signal commands and the position point information, and to accurately control the heading and speed of the underwater robot by importing digital parameters, thereby realizing point-to-point water quality detection and improving effectiveness.

[0103] The control module comprises:

[0104] Detection unit: used to detect the water source of the target monitoring point using a preset water quality detector to obtain water quality detection data; wherein,

[0105] The water quality detector at least includes an image detector, a water temperature detector, a pH value detector, a turbidity detector and a total dissolved solid value detector;

[0106] The water quality detection data at least includes garbage data, temperature data, pH value data, turbidity value data and total dissolved solid value data;

[0107] Verification unit: used to review the water quality monitoring data and eliminate errors;

[0108] Analysis unit: performs quantitative analysis on the water quality monitoring data and preset historical data to determine the water quality change pattern of the target detection point.

[0109] The working principle and beneficial effects of the above technical solution are:

[0110] In the present technical solution, the detection unit is used to detect the water source of the target monitoring point using a preset water quality detector to obtain water quality detection data; wherein the water quality detector includes at least an image detector, a water temperature detector, a pH value detector, a turbidity detector and a total dissolved solids value detector; the water quality detection data includes at least garbage data, temperature data, pH value data, turbidity value data and total dissolved solids value data; the verification unit is used to review the water quality monitoring data and eliminate errors; the analysis unit performs quantitative analysis on the water quality monitoring data and the preset historical data to determine the water quality change pattern of the target detection point.

[0111] The present technical solution provides an embodiment, wherein the detection unit comprises:

[0112] Image detection subunit: used for detecting the water source of the target detection point through an image detector, and obtaining image detection data of the water source;

[0113] Water temperature detection subunit: used to detect the water source of the target detection point through a water temperature detector and obtain temperature data of the water source;

[0114] PH value detection subunit: used to detect the water source of the target detection point through a PH value detector, and obtain the PH value data of the water source;

[0115] Turbidity detection subunit: used for detecting the water source of the target detection point through a turbidity detector, generating scattered light, and obtaining turbidity value data of the scattered light;

[0116] Total dissolved solids value detector subunit: used to detect the water source of the target detection point through the total dissolved solids value detector to obtain the total dissolved solids value data.

[0117] The working principle and beneficial effects of the above technical solution are:

[0118] In the present technical solution, the image detector subunit is used to contact the water source of the target detection point and obtain the garbage data of the water source; the water temperature detector subunit is used to contact the water source of the target detection point and obtain the temperature data of the water source; the pH value detector subunit is used to contact the water source of the target detection point and obtain the pH value data of the water source; the turbidity detector subunit is used to irradiate the water source of the target detection point, generate scattered light, and obtain the turbidity value data of the scattered light; the total dissolved solid value detector subunit is used to contact the water source of the target detection point and obtain the total dissolved solid value data.

[0119] The integrated module comprises:

[0120] Fitting unit: used for interpolating and fitting the acquired water quality variation law to generate a fitting result;

[0121] The judging unit is used to analyze and judge the fitting result to determine the judging result; wherein,

[0122] The judgment results include normal results and abnormal results;

[0123] Early warning unit: used to generate an abnormal signal for the abnormal result, transmit it to the control terminal, and call the corresponding plan.

[0124] The working principle and beneficial effects of the above technical solution are:

[0125] In the present technical solution, the fitting unit is used to interpolate and fit the acquired water quality change law to generate a fitting result; the judgment unit is used to analyze and judge the fitting result to determine the judgment result; wherein the judgment result includes a normal result and an abnormal result; the early warning unit is used to generate an abnormal signal for the abnormal result, transmit it to the control terminal, and call up the corresponding solution.

[0126] The preset communication device also includes: when the control center communicates with the target machine in real time, an information delay detection instruction is added to the communication information, the purpose of which is to analyze the delay degree of the target robot in data analysis and processing during the current communication, and generate a control instruction for the delay indicator light in the control center according to the delay degree of the target robot in data analysis and processing. Then, the personnel of the control center can know the delay degree of the current real-time communication and control of the target machine according to the speed of the delay indicator light on and off, thereby further reminding the control personnel to make corresponding adjustments according to the current delay degree. The specific steps include:

[0127] Step A1: Use formula (1) to add information delay detection instructions to the communication information to obtain communication information containing delay detection

[0128]

[0129] Where W 16 Indicates the hexadecimal form of the communication information including delay detection; len[] indicates the number of data bits X in the binary number in brackets. 16 Indicates the hexadecimal form of communication information without delay detection; Y 16 Indicates the hexadecimal form of the delay detection instruction; << indicates a left shift symbol; ()2 indicates converting the value in the brackets into a binary number;

[0130] Step A2: Using formula (2), according to the time when the communication information containing the delay detection is sent, the time when the return instruction about the communication information containing the delay detection is received, the data length of the communication information containing the delay detection, the data length of the return instruction of the communication information containing the delay detection, and the transmission speed of the communication link, the delay time of the current target robot for data analysis and processing is obtained.

[0131]

[0132] Where T represents the delay time of the current target robot for data analysis and processing; t e represents the time (in seconds) when the target robot receives the return instruction of the communication information containing the delayed detection; t0 represents the time (in seconds) when the communication information containing the delayed detection is sent to the target robot; F2(W 16 ) indicates that the target robot has received the information about W 16 Binary form of the information return instruction; v bit / s Indicates the transmission speed of the communication link, in bit / s;

[0133] Step A3: Use formula (3) to generate the control instruction of the delay indicator light of the control center according to the delay time of the current target robot for data analysis and processing

[0134]

[0135] Wherein E represents the control instruction generated for the delay indicator light of the control center; T min Indicates the shortest delay duration of the target robot for data analysis and processing within a theoretical range; Indicates rounding up;

[0136] The control instructions of the delay indicator light of the control center generate a PWM wave for controlling the control pin of the delay indicator light (the 1s in the instructions are all pin high levels, and the 0s are all pin low levels to form a PWM wave), thereby further reminding the control personnel to make corresponding adjustments according to the current delay level.

[0137] The working principle and beneficial effects of the above technical solution are:

[0138] In the present technical solution, the formula (1) of step A1 is used to add an information delay detection instruction to the communication information to obtain the communication information containing delay detection, and then the information is integrated to facilitate the detection of information delay in conjunction with the remaining communication information, thereby improving the efficiency of the system; then, the formula (2) of step A2 is used to obtain the delay duration of the current target robot for data analysis and processing according to the time when the communication information containing delay detection is sent, the time when the return instruction regarding the communication information containing delay detection is received, the data length of the communication information containing delay detection, the data length of the return instruction of the communication information containing delay detection, and the transmission speed of the communication link, thereby knowing the delay of the target robot for analyzing and processing data, which is beneficial to the subsequent adjustment of the staff; finally, the formula (3) of step A3 is used to generate the control instruction of the delay indicator light of the control center according to the delay duration of the current target robot for data analysis and processing, and the staff of the control center can know the current delay degree of real-time communication and control of the target machine according to the speed of the delay indicator light on and off, thereby further reminding the control staff to make corresponding adjustments according to the current delay degree.

[0139] Embodiment 2

[0140] like Figure 4-8, this embodiment provides an underwater robot, which is the underwater robot mentioned in the above embodiment. The underwater robot includes a shell 1, and the shell 1 includes a cylindrical main body 1b and an end cover 1a. One end of the main body 1b is blocked and the other end is open. The end cover 1a is detachably arranged at one end of the opening of the main body 1b to selectively open or block the opening. The position where the end cover 1a is located is the front end of the underwater robot. Specifically, a plurality of connecting holes 1a2 are provided on the end cover 1a, and the connection between the end cover 1a and the main body 1b can be achieved through the plurality of connecting holes 1a2. In addition, a circle of annular grooves 1a1 are provided on the side of the end cover 1 facing the main body 1b, and a sealing ring is provided in the annular groove 1a1 to play a sealing role.

[0141] An underwater camera installation port 6 is provided at the front end of the end cover 1a, and the underwater camera installation port 6 is used to install an underwater camera, and the underwater camera is the image detector in Example 1. A switch installation port 4 for installing a main power switch is provided at the top of the end cover 1a, and a sensor installation port 7 for installing a sensor is provided at the bottom of the end cover 1a. The sensor installation port 7 can be one or more, depending on the number and model of sensors.

[0142] Light source mounting holes 3 are provided on both sides of the end cover 1a in the left and right directions for mounting lighting sources.

[0143] A connecting structure 2 for installing a propeller is provided on the main body 1b, and the connecting structure includes a first propeller connecting head 2a and a second propeller connecting head 2b arranged on the left and right sides of the main body 1b. The first propeller connecting head 2a is used to connect a first propeller, and the first propeller is used to push the outer shell 1 in the front and rear directions. The second propeller connecting head 2b is used to connect a second propeller, and the second propulsion gas is used to push the outer shell 1 in the up and down directions.

[0144] The main body 1b is provided with a plurality of longitudinal ribs 1b1 extending along the axial direction thereof, transverse ribs 1b2 extending transversely, and a tail rib 1b3 provided at the end of the main body 1b, and the strength of the housing 1 can be enhanced by the ribs.

[0145] A slide groove 8a extending along the axial direction is respectively provided on the left and right side walls of the main body 1b, and a mounting plate 8b is provided in the slide groove 8a. The mounting plate 8b can slide back and forth along the slide groove 8a. In normal use, the mounting plate 8b is fixed relative to the slide groove 8a by screws or the like to prevent the mounting plate 8b from sliding by itself. When it is necessary to disassemble or install, the mounting plate 8b can be pulled out by simply pulling the mounting plate 8b. A processor, a battery, etc. can be provided on the mounting plate 8b. The underwater camera and the sensor are electrically connected to the processor, and the battery is electrically connected to the processor. The battery is provided in the battery compartment 8c.

[0146] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. An underwater robot control system for water quality detection, characterized in that: include: Identification module: identifies the underwater robot in the control area, determines the target robot, and establishes a communication link with the target robot; Positioning module: determine the water quality detection points in the control area and obtain the position parameters of the target detection points; Control module: transmitting the position parameter generation signal instruction to the target robot, and controlling the target robot to go to the target monitoring point; Detection module: the target robot detects the water source of the target monitoring point, obtains water quality detection data, and analyzes the water quality detection data to determine the law of water quality changes; Integrated module: receiving the water quality change law, generating a fitting result and making a judgment, and transmitting the generated judgment result to the control terminal; The identification module comprises: Sensing unit: used to obtain the position of the underwater robot in the control area and generate positioning; Identification unit: used to identify the identification number of the underwater robot and retrieve the corresponding information of the control center; Retrieval unit: used to record the underwater robots that have been successfully retrieved and determine the target robot; Communication unit: establishes a communication link between the target robot and the control center through a preset communication device to track the location point information in real time; The preset communication device also includes: when the control center communicates with the target machine in real time, an information delay detection instruction is added to the communication information, the purpose of which is to analyze the delay degree of the target robot in data analysis and processing during the current communication, and generate a control instruction for the delay indicator light in the control center according to the delay degree of the target robot in data analysis and processing. Then, the personnel of the control center can know the delay degree of the current real-time communication and control of the target machine according to the speed of the delay indicator light on and off, thereby further reminding the control personnel to make corresponding adjustments according to the current delay degree. The specific steps include: Step A1: Use formula (1) to add information delay detection instructions to the communication information to obtain communication information containing delay detection Where W 16 Indicates the hexadecimal form of the communication information including delay detection; len[] indicates the number of data bits X in the binary number in brackets. 16 Indicates the hexadecimal form of communication information without delay detection; Y 16 Indicates the hexadecimal form of the delay detection instruction; << indicates a left shift symbol; ()2 indicates converting the value in the brackets into a binary number; Step A2: Using formula (2), according to the time when the communication information containing the delay detection is sent, the time when the return instruction about the communication information containing the delay detection is received, the data length of the communication information containing the delay detection, the data length of the return instruction of the communication information containing the delay detection, and the transmission speed of the communication link, the delay time of the current target robot for data analysis and processing is obtained. Where T represents the delay time of the current target robot for data analysis and processing; t e represents the time when the target robot receives the return instruction of the communication information containing the delayed detection, in seconds; t0 represents the time when the communication information containing the delayed detection is sent to the target robot, in seconds; F2(W 16 ) indicates that the target robot has received the information about W 16 Binary form of the information return instruction; v bit / s Indicates the transmission speed of the communication link, in bit / s; Step A3: Use formula (3) to generate the control instruction of the delay indicator light of the control center according to the delay time of the current target robot for data analysis and processing Wherein E represents the control instruction generated for the delay indicator light of the control center; T min Indicates the shortest delay time for the target robot to analyze and process data within a theoretical range; [] indicates rounding up; The control instructions of the delay indicator light of the control center generate a PWM wave for controlling the control pin of the delay indicator light. The 1 in the control instructions are all pin high levels, and the 0 in the control instructions are all pin low levels to form a PWM wave, thereby further reminding the control personnel to make corresponding adjustments according to the current delay level.

2. The underwater robot control system for water quality detection according to claim 1, characterized in that: The preset communication device includes: a mechanical wave communication subunit, a sonar subunit and an infrared subunit; wherein, Mechanical wave communication subunit: used to generate mechanical waves for long-distance communication; Sonar subunit: used to generate high-frequency ultrasonic waves for medium-range communications; Infrared subunit: used to generate infrared signals for short-range communication.

3. The underwater robot control system for water quality detection according to claim 1, characterized in that: The positioning module comprises: Determination unit: used to divide the control area and determine the water quality detection points based on the pre-acquired three-dimensional model of the control area and the water flow parameter information of the inlet and outlet; Positioning unit: used to connect the control center and the water quality detection point, and determine the relative position of the control center and the water quality detection point; Parameter unit: used to generate position parameters representing the relative position with the control center as the origin.

4. The underwater robot control system for water quality detection according to claim 1, characterized in that: The control module comprises: Instruction unit: used for outputting the position parameter as a signal instruction based on a preset laser radar, and transmitting the signal instruction to the target robot; Receiving unit: used for the target robot to receive the signal instruction and the position point information at the preset RTK base station; Control unit: used to control the target robot to move to the target position for monitoring at a preset moving speed based on the signal instruction and the position point information.

5. The underwater robot control system for water quality detection according to claim 1, characterized in that: The control module comprises: Detection unit: used to detect the water source of the target monitoring point using a preset water quality detector to obtain water quality detection data; wherein, The water quality detector at least includes an image detector, a water temperature detector, a pH value detector, a turbidity detector and a total dissolved solid value detector; The water quality detection data at least includes garbage data, temperature data, pH value data, turbidity value data and total dissolved solid value data; Verification unit: used to review the water quality monitoring data and eliminate errors; Analysis unit: performs quantitative analysis on the water quality monitoring data and preset historical data to determine the water quality change pattern of the target detection point.

6. The underwater robot control system for water quality detection according to claim 5, characterized in that: The detection unit comprises: An image detector subunit: used for contacting a water source at the target detection point and acquiring garbage data of the water source; A water temperature detector subunit: used for contacting the water source of the target detection point and obtaining temperature data of the water source; pH value detector subunit: used for contacting the water source of the target detection point and obtaining pH value data of the water source; Turbidity detector subunit: used for irradiating the water source of the target detection point, generating scattered light, and obtaining turbidity value data of the scattered light; Total dissolved solids value detector subunit: used to contact the water source of the target detection point to obtain total dissolved solids value data.

7. The underwater robot control system for water quality detection according to claim 1, characterized in that: The integrated module comprises: Fitting unit: used for interpolating and fitting the acquired water quality variation law to generate a fitting result; The judging unit is used to analyze and judge the fitting result to determine the judging result; wherein, The judgment results include normal results and abnormal results; Early warning unit: used to generate an abnormal signal for the abnormal result, transmit it to the control terminal, and call the corresponding plan.

8. An underwater robot, an underwater robot control system for water quality detection according to any one of claims 1 to 7, comprising an outer shell, the outer shell comprising a cylindrical main body and an end cover, one end of the main body is sealed, and the other end is open, the end cover is detachably arranged at one end of the opening of the main body to selectively open or seal the opening, a plurality of connecting holes are arranged on the end cover, a circle of annular groove is arranged on the side of the end cover facing the main body, and a sealing ring is arranged in the annular groove.

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