A safety monitoring system and method for the drainage water area of a chemical plant

Abstract

The present invention provides a safety monitoring system and method for the drainage water area of a chemical plant. The monitoring system includes an unmanned aerial vehicle (UAV), an intelligent boat, and a work vehicle equipped with a dispatching control platform. The work vehicle is wirelessly communicatively connected to the UAV and the intelligent boat respectively through a wireless communication module. The dispatching control platform controls the UAV to collect video information of the drainage water area of the chemical plant, calculates the navigation path of the intelligent boat according to the video information, and controls the intelligent boat to navigate to the drainage water area of the chemical plant for water quality monitoring. This monitoring system can flexibly select the monitoring water area, so as to quickly and accurately detect the impact of the chemical plant's drainage on the surrounding water environment.

Description

Technical Field

[0001] The invention belongs to the technical field of water quality monitoring, and in particular relates to a system and method for safety monitoring of drainage waters of a chemical plant. Background Art

[0002] With the rapid development of the national economy, environmental protection has become increasingly important. The drainage of the chemical industry may have an impact on the surrounding waters. How to comprehensively and efficiently monitor water quality and prevent water pollution accidents has become a major issue facing the sustainable development of the social economy.

[0003] The existing water quality monitoring method is to set up detection sensors and corresponding ground data collection stations at monitoring points in relevant waters. The ground data collection stations will wirelessly transmit the collected water quality information to a remote monitoring center. Due to the large area of ​​the water area, multiple ground data collection stations are usually set up. Once the corresponding detection sensors are set up, they cannot be easily moved, resulting in an increase in monitoring costs. At the same time, once the water quality monitoring system is deployed, the corresponding monitoring area is also fixed, making it difficult for monitoring personnel to obtain water quality information in other areas, resulting in incomplete water quality data. Summary of the invention

[0004] In view of the defects of the prior art, the present invention provides a chemical plant drainage water safety monitoring system and method, which utilizes a drone combined with an intelligent boat to achieve comprehensive monitoring of the monitored waters.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A chemical plant drainage water area safety monitoring system includes a drone, an intelligent boat, and a work vehicle equipped with a dispatching control platform, wherein the work vehicle is wirelessly connected to the drone and the intelligent boat through a wireless communication module;

[0007] The drone comprises a first microprocessor, a camera, a data storage device, a GPS positioning module, a wireless communication module, and a buoy delivery module; the first microprocessor is respectively connected to the camera, the GPS positioning module, the data storage device, the wireless communication module, and the buoy delivery module, and a buoy is placed on the buoy delivery module;

[0008] The intelligent boat comprises a second microprocessor, a data storage device, a GPS positioning module, a wireless communication module, a wind speed and direction detection module, a water flow and water quality detection module and a rudder adjustment device; the wind speed and direction detection module is arranged on the mast, the water flow and water quality detection module is arranged on the lower part of the ship, and the rudder adjustment device is arranged on the rudder chassis of the intelligent boat; the second microprocessor is respectively connected to the data storage device, the GPS positioning module, the wireless communication module, the wind speed and direction detection module, the water flow and water quality detection module and the rudder adjustment device;

[0009] The scheduling control platform includes a third microprocessor, a human-computer interaction module, an identity reader, a path planning module, a wireless communication module, and a GIS module; the third microprocessor is respectively connected to the human-computer interaction module, the identity reader, the path planning module, the wireless communication module, and the GIS module;

[0010] The scheduling control platform acquires the video information of the chemical plant drainage water area collected by the drone, calculates the navigation path of the intelligent boat according to the video information, and controls the intelligent boat to sail to the chemical plant drainage water area for water quality monitoring.

[0011] Further, there are multiple intelligent boats. The scheduling control platform starts the intelligent tracking mode and selects one of the intelligent boats as the leading boat. At this time, the other intelligent boats act as following boats and communicate wirelessly with the leading boat through the wireless communication module;

[0012] The second microprocessor of the following boat obtains the real-time position and heading information of the following boat through the rudder adjusting device and the GPS positioning module, and obtains the real-time position and heading information of the leading boat through the wireless communication module; the second microprocessor of the following boat obtains the navigation speed of the following boat by differentiating the real-time position of the following boat; and a fixed coordinate system XOY is established to describe the position and direction of the following boat, and a following coordinate system xoy is established to describe the speed of the unmanned boat;

[0013] Calculate the longitudinal deviation Δx, lateral deviation Δy, heading deviation Δψ, and speed deviation Δυ of the following boat relative to the leading boat in the following coordinate system xoy according to the navigation speed of the following boat, and convert the longitudinal deviation Δx and lateral deviation Δy of the following boat relative to the leading boat to the fixed coordinate system XOY. Then, set the expected values of the longitudinal deviation Δx and lateral deviation Δy of the following boat relative to the leading boat, that is, the longitudinal deviation of the formation formation relative value is ρ0, the lateral deviation is ρ1, and the headings are kept consistent. Calculate the thrust required for the current following boat through the longitudinal deviation Δx of the following boat relative to the leading boat, the expected value of the longitudinal deviation Δx, and the speed deviation Δυ by the incremental PID control method. Calculate the turning moment required for the following boat through the lateral deviation Δy of the following boat relative to the leading boat, the expected value of the lateral deviation Δy, and the heading deviation Δψ by the incremental PID control method; then control the rudder adjusting device through the thrust and turning moment.

[0014] A method for safety monitoring of the chemical plant drainage water area, using the above-mentioned safety monitoring system for the chemical plant drainage water area, includes:

[0015] 1) The identity reader is used to read the ID card information of the operator and display the information of the corresponding person;

[0016] 2) The third microprocessor determines whether the operator has the operation authority according to the information of the corresponding person. If the authority is met, the human-computer interaction module is unlocked; otherwise, the human-computer interaction module is locked.

[0017] 3) After the authority is met, the operator inputs a retrieval instruction through the human-computer interaction module. The third microprocessor controls the GIS module to retrieve the geographical information of the chemical plant's drainage area and display it on the human-computer interaction module.

[0018] 4) The operator determines the chemical plant's drainage area and inputs a drone control instruction. The third microprocessor transmits the drone control instruction to the first microprocessor through the wireless communication module. The first microprocessor controls the drone to fly above the chemical plant's drainage area according to the drone control instruction.

[0019] 5) The camera of the drone acquires the video information of the chemical plant's drainage area and transmits it back to the human-computer interaction module of the dispatching control platform through the wireless communication module. The operator inputs a release instruction. The first microprocessor receives the release instruction and controls the buoy release module to release the buoy.

[0020] 6) The camera acquires the video information of the buoy. The first microcontroller performs automatic calibration according to the video information of the buoy. The first microprocessor controls the GPS module to acquire the position information of the buoy and transmit it back to the third microprocessor.

[0021] 7) The GPS module of the intelligent boat acquires the position information of the boat. The wind speed and direction detection module acquires the wind speed and direction information of the lake surface. The water flow and water quality detection module acquires the water flow information at the current position of the intelligent boat. The second microprocessor transmits the position information, wind speed and direction information, and water flow information of the boat to the third microprocessor through the wireless module.

[0022] 8) The third microprocessor controls the path planning module to calculate the navigation trajectory of the intelligent boat to the buoy according to the position information of the buoy, the position of the boat, the wind speed and direction information, and the water flow information, and displays the navigation trajectory on the human-computer interaction module.

[0023] 9) The operator inputs an intelligent boat control instruction according to the navigation trajectory. The third microprocessor transmits the intelligent boat control instruction to the second microprocessor through the wireless communication module. The second microprocessor controls the rudder adjusting device to make the intelligent boat sail along the navigation trajectory to the buoy according to the intelligent boat control instruction.

[0024] 10) The camera of the drone continuously acquires the video information of the chemical plant's drainage area. When the intelligent boat enters the monitoring area where the buoy is located, the operator inputs a stop and collection instruction. The second microprocessor controls the rudder adjusting device to stop the boat and controls the water flow and water quality detection module to perform water quality detection.

[0025] 11) The water quality detection module of the water flow collects the water quality information of the area to be monitored and uploads it to the human-computer interaction module through the wireless communication module;

[0026] 12) The operator repeats steps 4)-11) to perform the water quality detection of the drainage waters of the next chemical plant.

[0027] Furthermore, the method further includes intelligent tracking and following control. The intelligent boat has multiple vessels. The scheduling control platform starts the intelligent tracking mode and selects one of the intelligent boats as the leading boat. At this time, the other intelligent boats act as following boats and communicate wirelessly with the leading boat through the wireless communication module;

[0028] The second microprocessor of the following boat obtains the real-time position and heading information of the following boat through the rudder adjusting device and the GPS positioning module, and obtains the real-time position and heading information of the leading boat through the wireless communication module; the second microprocessor of the following boat obtains the navigation speed of the following boat by differentiating the real-time position of the following boat; and a fixed coordinate system XOY is established to describe the position and direction of the following boat, and a following coordinate system xoy is established to describe the speed of the unmanned boat;

[0029] Calculate the longitudinal deviation Δx, lateral deviation Δy, heading deviation Δψ, and speed deviation Δυ of the following boat relative to the leading boat in the following coordinate system xoy according to the navigation speed of the following boat, and convert the longitudinal deviation Δx and lateral deviation Δy of the following boat relative to the leading boat to the fixed coordinate system XOY. Then, set the expected values of the longitudinal deviation Δx and lateral deviation Δy of the following boat relative to the leading boat, that is, the longitudinal deviation of the formation formation relative value is ρ0, the lateral deviation is ρ1, and the headings are kept consistent. Calculate the thrust required by the current following boat through the incremental PID control method based on the longitudinal deviation Δx of the following boat relative to the leading boat, the expected value of the longitudinal deviation Δx, and the speed deviation Δυ. Calculate the turning moment required by the following boat through the incremental PID control method based on the lateral deviation Δy of the following boat relative to the leading boat, the expected value of the lateral deviation Δy, and the heading deviation Δψ; then control the rudder adjusting device through the thrust and turning moment.

[0030] Compared with the prior art, the beneficial effects of the present invention are:

[0031] The present invention collects the real-time video information of the water area through the unmanned aerial vehicle. The operator can flexibly select the monitoring area according to the video information and plan the navigation trajectory of the intelligent boat, which is beneficial to the perfection of water quality data; at the same time, the water quality monitoring device is installed on the freely moving intelligent boat, without multiple fixed-point settings, which simplifies the system structure, reduces the monitoring cost, greatly improves the flexibility and effectiveness of the monitoring, and can also realize the collaborative work of multiple intelligent boats according to the intelligent tracking and following control mode, realizing large-scale water quality detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 It is a structural schematic diagram of a chemical plant drainage water area safety monitoring system provided by the present invention;

[0034] Figure 2 It is a structural block diagram of the UAV provided by the present invention;

[0035] Figure 3 This is a structural block diagram of the intelligent boat provided by the present invention;

[0036] Figure 4 It is a structural block diagram of the dispatching control platform provided by the present invention. DETAILED DESCRIPTION

[0037] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0038] As shown in the figure, as an embodiment of the present invention, a chemical plant drainage water area safety monitoring system includes a drone, an intelligent boat, and a work vehicle equipped with a dispatching control platform, wherein the work vehicle is wirelessly connected to the drone and the intelligent boat respectively through a wireless communication module;

[0039] The drone comprises a first microprocessor, a camera, a data storage device, a GPS positioning module, a wireless communication module, and a buoy delivery module; the first microprocessor is respectively connected to the camera, the GPS positioning module, the data storage device, the wireless communication module, and the buoy delivery module, and a buoy is placed on the buoy delivery module;

[0040] The intelligent boat comprises a second microprocessor, a data storage device, a GPS positioning module, a wireless communication module, a wind speed and direction detection module, a water flow and water quality detection module and a rudder adjustment device; the wind speed and direction detection module is arranged on the mast, the water flow and water quality detection module is arranged on the lower part of the ship, and the rudder adjustment device is arranged on the rudder chassis of the intelligent boat; the second microprocessor is respectively connected to the data storage device, the GPS positioning module, the wireless communication module, the wind speed and direction detection module, the water flow and water quality detection module and the rudder adjustment device;

[0041] The scheduling control platform includes a third microprocessor, a human-computer interaction module, an identity reader, a path planning module, a wireless communication module, and a GIS module; the third microprocessor is respectively connected to the human-computer interaction module, the identity reader, the path planning module, the wireless communication module, and the GIS module;

[0042] The scheduling control platform obtains the video information of the chemical plant's drainage water area collected by the drone, calculates the navigation path of the intelligent boat according to the video information, and controls the intelligent boat to navigate to the chemical plant's drainage water area for water quality monitoring.

[0043] Further, there are multiple intelligent boats. The scheduling control platform starts the intelligent tracking mode and selects one of the intelligent boats as the leading boat. At this time, the other intelligent boats act as following boats and communicate wirelessly with the leading boat through the wireless communication module;

[0044] The second microprocessor of the following boat obtains the real-time position and heading information of the following boat through the rudder adjusting device and the GPS positioning module, and obtains the real-time position and heading information of the leading boat through the wireless communication module; the second microprocessor of the following boat obtains the navigation speed of the following boat by differentiating the real-time position of the following boat; and a fixed coordinate system XOY is established to describe the position and direction of the following boat, and a following coordinate system xoy is established to describe the speed of the unmanned boat;

[0045] Calculate the longitudinal deviation Δx, lateral deviation Δy, heading deviation Δψ, and speed deviation Δυ of the following boat relative to the leading boat in the following coordinate system xoy according to the navigation speed of the following boat, and convert the longitudinal deviation Δx and lateral deviation Δy of the following boat relative to the leading boat to the fixed coordinate system XOY. Then, set the expected values of the longitudinal deviation Δx and lateral deviation Δy of the following boat relative to the leading boat, that is, the longitudinal deviation of the formation formation relative value is ρ0, the lateral deviation is ρ1, and the headings are kept consistent. Calculate the thrust required by the current following boat through the incremental PID control method based on the longitudinal deviation Δx of the following boat relative to the leading boat, the expected value of the longitudinal deviation Δx, and the speed deviation Δυ. Calculate the turning moment required by the following boat through the incremental PID control method based on the lateral deviation Δy of the following boat relative to the leading boat, the expected value of the lateral deviation Δy, and the heading deviation Δψ; then control the rudder adjusting device through the thrust and turning moment.

[0046] As another embodiment of the present invention, a method for safety monitoring of the drainage water area of a chemical plant uses the above-mentioned safety monitoring system for the drainage water area of a chemical plant, including:

[0047] 1) The identity reader is used to read the ID card information of the operator and display the information of the corresponding person;

[0048] 2) The third microprocessor determines whether the operator has the operation authority according to the corresponding personnel information, and unlocks the human-computer interaction module if the operator meets the authority, otherwise, locks the human-computer interaction module;

[0049] 3) After meeting the authority requirements, the operator inputs the retrieval instruction through the human-computer interaction module, and the third microprocessor controls the GIS module to retrieve the geographical information of the drainage water area of ​​the chemical plant and displays it in the human-computer interaction module;

[0050] 4) The operator determines the drainage water area of ​​the chemical plant and inputs the UAV control command, and the third microprocessor transmits the UAV control command to the first microprocessor through the wireless communication module, and the first microprocessor controls the UAV to fly above the drainage water area of ​​the chemical plant according to the UAV control command;

[0051] 5) The camera of the drone acquires video information of the drainage water area of ​​the chemical plant and transmits it back to the human-computer interaction module of the dispatching control platform through the wireless communication module; the operator inputs a delivery instruction, and the first microprocessor receives the delivery instruction and controls the buoy delivery module to deliver the buoy;

[0052] 6) The camera acquires video information of the buoy, the first microcontroller performs automatic calibration according to the video information of the buoy, and the first microprocessor controls the GPS module to acquire the position information of the buoy and transmits it back to the third microprocessor;

[0053] 7) The GPS module of the smart boat obtains the location information of the boat, the wind speed and direction detection module obtains the wind speed and direction information of the lake, and the water flow and water quality detection module obtains the water flow information of the current location of the smart boat; the second microprocessor transmits the location information, wind speed and direction information and water flow information of the boat to the third microprocessor through the wireless module;

[0054] 8) The third microprocessor controls the path planning module to calculate the navigation track of the smart boat to the buoy according to the location information of the buoy, the location of the boat, the wind speed and direction information, and the water flow information, and displays the navigation track on the human-computer interaction module;

[0055] 9) The operator inputs the intelligent boat control instruction according to the navigation track, and the third microprocessor transmits the intelligent boat control instruction to the second microprocessor through the wireless communication module, and the second microprocessor controls the rudder adjustment device according to the intelligent boat control instruction to make the intelligent boat sail along the navigation track to the buoy;

[0056] 10) The camera of the drone acquires video information of the drainage waters of the chemical plant in real time. When the smart boat enters the monitored area where the buoy is located, the operator inputs a stop-and-collect command, and the second microprocessor controls the rudder adjustment device to stop the boat and controls the water flow and water quality detection module to perform water quality detection;

[0057] 11) The water quality detection module for the water flow collects the water quality information of the area to be monitored and uploads it to the human-computer interaction module through the wireless communication module;

[0058] 12) The operator repeats steps 4)-11) to conduct the water quality detection of the drainage water area of the next chemical plant.

[0059] The above shows and describes the basic principle, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. What is described in the above embodiments and the specification is only the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection required by the present invention is defined by the appended claims and their equivalents.

Claims

1. A safety monitoring method for the drainage water area of a chemical plant, characterized in that, The method is based on a safety monitoring system for the drainage water area of a chemical plant. The system includes a drone, an intelligent boat, and a work vehicle equipped with a loading and scheduling control platform. The work vehicle is wirelessly communicatively connected to the drone and the intelligent boat respectively through a wireless communication module. The method includes: Step 1: Use the identity reader of the loading and scheduling control platform to read the operator's ID card information and display the corresponding person's information. Step 2: The third microprocessor of the loading and scheduling control platform determines whether the operator has the operation authority according to the corresponding person's information. If the authority is met, the human-computer interaction module of the loading and scheduling control platform is unlocked; otherwise, the human-computer interaction module is locked. Step 3: After the authority is met, the operator inputs a retrieval instruction through the human-computer interaction module. The third microprocessor controls the GIS module of the loading and scheduling control platform to retrieve the geographical information of the chemical plant's drainage water area and display it on the human-computer interaction module. Step 4: The operator determines the chemical plant's drainage water area and inputs a drone control instruction. The third microprocessor transmits the drone control instruction to the first microprocessor of the drone through the wireless communication module of the loading and scheduling control platform. The first microprocessor controls the drone to fly above the chemical plant's drainage water area according to the drone control instruction. Step 5: The camera of the drone obtains the video information of the chemical plant's drainage water area and transmits it back to the human-computer interaction module of the scheduling control platform through the wireless communication module of the drone. The operator inputs a release instruction. The first microprocessor receives the release instruction and controls the buoy release module of the drone to release a buoy. Step 6: The camera obtains the video information of the buoy. The first microcontroller automatically calibrates according to the video information of the buoy. The first microprocessor controls the GPS module of the drone to obtain the position information of the buoy and transmit it back to the third microprocessor. Step 7: The GPS module of the intelligent boat obtains the position information of the boat. The wind speed and direction detection module of the intelligent boat obtains the wind speed and direction information of the lake surface. The water flow and water quality detection module of the intelligent boat obtains the water flow information at the current position of the intelligent boat. The second microprocessor of the intelligent boat transmits the position information, wind speed and direction information, and water flow information of the boat to the third microprocessor through the wireless module. Step 8: The third microprocessor controls the path planning module of the loading and scheduling control platform to calculate the navigation trajectory of the intelligent boat to the buoy according to the position information of the buoy, the position of the boat, the wind speed and direction information, and the water flow information, and displays the navigation trajectory on the human-computer interaction module. Step 9: The operator inputs an intelligent boat control instruction according to the navigation trajectory. The third microprocessor transmits the intelligent boat control instruction to the second microprocessor through the wireless communication module. The second microprocessor controls the rudder adjusting device according to the intelligent boat control instruction to make the intelligent boat sail along the navigation trajectory to the buoy. Step 10: The camera of the drone continuously obtains video information of the drainage area of the chemical plant. When the intelligent boat enters the area to be monitored where the buoy is located, the operator inputs a stop-and-collect command, and the second microprocessor controls the rudder adjustment device of the intelligent boat to stop and controls the water quality detection module to conduct water quality detection. Step 11: The water quality detection module collects water quality information of the area to be monitored and uploads it to the human-computer interaction module through the wireless communication module. Step 12: The operator repeats Steps 4-11 to conduct water quality detection at the drainage area of the next chemical plant.

Images