Two-degree-of-freedom remote sensing water quality monitoring device

Abstract

A two-degree-of-freedom remote sensing water quality monitoring device comprises a water environment monitoring system, the water environment monitoring system comprises a supporting structure, a power module, an information acquisition module and a remote management module, the information acquisition module is arranged on the supporting structure through a swing assembly, and the swing assembly is used for adjusting a target working area of the information acquisition module; the rotating mechanism is connected with the remote management module and comprises a first rotating mechanism and a second rotating mechanism; the first rotating mechanism comprises a first driving device and a clamping mechanism, the first driving device drives the clamping mechanism to rotate, and the clamping mechanism drives the imaging equipment to rotate and swing through a clamping piece; the second rotating mechanism comprises a second driving device, a winding assembly, an auxiliary winding assembly and a rotating rope winding roller, and the second driving device drives the rotating rope winding roller to rotate; and the rotary rope winding roller rotates to loosen the winding assembly and assist the winding assembly in tensioning, or the winding assembly is tensioned and assist the winding assembly in loosening.

Description

Technical Field

[0001] The invention belongs to the technical field of water environment monitoring, and in particular relates to a dual-degree-of-freedom remote sensing water quality monitoring device. Background Art

[0002] The shore-based water environment monitoring system uses shore-based probes and multi-spectral cameras to obtain multi-band remote sensing reflectivity of water bodies and use the optimal remote sensing inversion algorithm for water quality parameters to achieve rapid and accurate remote sensing monitoring of various water quality parameters of rivers and lakes, including total nitrogen, total phosphorus, chemical oxygen demand, dissolved organic matter, turbidity, etc. The existing shore-based multi-spectral water quality monitoring technology has some technical defects when observing water bodies. How to reduce the impact of water surface glare and mirror reflection on imaging quality is difficult to achieve the expected monitoring goals and requirements. There are large data deviations, large errors caused by mirror reflection interfering with monitoring data, and low imaging quality.

[0003] Publication (announcement) No. CN117470589A discloses a water quality monitoring sampling device and system for a small reservoir, comprising a fixed pile upright fixed at a designated sampling position in the reservoir, and a water quality collection module and a sludge collection module installed on the fixed pile; the top of the fixed pile is higher than the maximum water level of the reservoir; a longitudinal moving device is provided on the fixed pile for driving the water quality collection module to move up and down along the fixed pile with a single degree of freedom; the maximum rising height of the water quality collection module is greater than the maximum water level of the reservoir; after the water quality collection module moves to the designated sampling height under the driving action of the longitudinal moving device, it collects water samples at the sampling point, and then moves to above the water surface under the driving action of the moving device; the sludge collection module is fixedly installed at the bottom of the fixed pile, and the sludge collection module regularly transports the collected sludge to the top of the fixed pile through the sludge conveying unit.

[0004] In general, the above-mentioned existing technologies have the following defects: they cannot meet the dynamic adjustment requirements and cannot ensure that the equipment meets the dynamic adjustment monitoring requirements, and they are in urgent need of improvement. Summary of the invention

[0005] In view of this, facing the shortcomings of the existing technology, the purpose of this application is to provide a dual-degree-of-freedom remote sensing water quality monitoring device to achieve dynamic adjustment of the monitoring area, and adjust the target working area through two rotational degrees of freedom to meet monitoring needs.

[0006] To achieve the above-mentioned purpose and other related purposes, the present application provides a dual-degree-of-freedom remote sensing water quality monitoring device, including a water environment monitoring system, the water environment monitoring system including a support structure, a power module, an information acquisition module and a remote management module, the information acquisition module is arranged on the support structure through a swing component, the swing component is used to adjust the target working area of ​​the information acquisition module, the swing component includes at least two rotating mechanisms, the rotating mechanism is used to swing the information acquisition module, so that the information acquisition module has at least two rotational degrees of freedom;

[0007] The rotating mechanism is connected to the remote management module, and the rotating mechanism includes a first rotating mechanism and a second rotating mechanism;

[0008] The first rotating mechanism includes a first driving device and a clamping mechanism, the first driving device drives the clamping mechanism to rotate, and the clamping mechanism drives the imaging device to rotate and swing through the clamping member;

[0009] The second rotating mechanism includes a second driving device, a winding assembly, an auxiliary winding assembly, and a rotating rope winding roller. The second driving device drives the rotating rope winding roller to rotate. The winding assembly and the auxiliary winding assembly are wound on the rotating rope winding roller, and anti-slip grooves are arranged between the winding assembly, the auxiliary winding assembly and the rotating rope winding roller. The rotating rope winding roller rotates unidirectionally in one direction to relax the winding assembly and tighten the auxiliary winding assembly, and the rotating rope winding roller rotates unidirectionally in the other direction to tighten the winding assembly and relax the auxiliary winding assembly.

[0010] A technical solution provided by this application also has the following technical features:

[0011] Preferably, in one embodiment of the present application, a control element is fixedly arranged at one end of the clamping mechanism, the other end of the clamping mechanism is connected to the universal rotating rod of the clamping piece, and a magnetic ring is sleeved near the clamping piece; when the control element attracts the magnetic ring, the magnetic ring presses the clamping mechanism so that the clamping mechanism locks the universal rotating rod of the clamping piece; when the control element has no attraction to the magnetic ring, the universal rotating rod is in a free state.

[0012] Preferably, in one embodiment of the present application, the clamping member and the imaging device are hinged, or the clamping mechanism and the clamping member are hinged; in the initial position, the hinge axis is parallel to the axis of the rotating rope winding roller.

[0013] Preferably, in one embodiment of the present application, the clamping mechanism is arranged on the supporting structure, one end of the clamping mechanism extends out of the top of the supporting structure, a universal rotating rod is arranged inside the clamping mechanism, a clamping member is arranged at the top of the universal rotating rod, and the clamping member is connected to the bottom end of the imaging device.

[0014] Preferably, in an embodiment of the present application, a fixing component is fixedly installed at the bottom end of the imaging device, a sleeve is slidably installed on the fixing component, and the reeling assembly and the auxiliary reeling assembly are connected to the fixing component via the sleeve.

[0015] Preferably, in an embodiment of the present application, at least two elastic plates are provided at the top of the clamping mechanism, and the two elastic plates are used to clamp the position-limiting universal rotating rod.

[0016] Preferably, in an embodiment of the present application, a magnetic ring is slidably mounted on the outer wall of the elastic plate, and the sliding of the magnetic ring is controlled by a control element, and the control element is controlled by a remote management module.

[0017] Preferably, in one embodiment of the present application, a limiting component is provided on the magnetic ring, and a position limiting structure is provided on the elastic plate for limiting the limiting component.

[0018] Preferably, in an embodiment of the present application, the two rotational degrees of freedom include a rotational degree of freedom in a vertical plane and a rotational degree of freedom in a horizontal plane.

[0019] Preferably, in one embodiment of the present application, the power module includes a solar panel and a battery; the solar panel is used to receive light and perform photoelectric conversion, and finally the power is stored through the battery to power the water environment monitoring system.

[0020] Preferably, in one embodiment of the present application, the water environment monitoring system is equipped with a wind direction sensor for feedback of wind direction and wind speed.

[0021] Preferably, in one embodiment of the present application, the information acquisition module includes an imaging device and a laser probe; the imaging device is used to monitor the water environment including water quality and aquatic plants during the day, and the laser probe is used to monitor aquatic plants at night; the two imaging devices are arranged in an inclined manner to realize inclined observation of the water surface of the intersection section of the river across administrative regions, obtain the multi-band remote sensing reflectivity of the water body, and further use the optimal remote sensing inversion algorithm of the water quality parameters to realize rapid and accurate remote sensing monitoring of various water quality parameters of rivers and lakes. The multispectral remote sensing monitoring method can obtain various water quality parameters of the surface layer of water bodies in a large area in real time at low cost. The imaging device is arranged on the bridgehead on the shore, on a high pole, and on a high wall, tilted to the intersection section of the river across administrative regions, to form a shore-based multispectral remote sensing monitoring system;

[0022] By deploying imaging equipment in an inclined manner, it can be aimed at the water surface at a certain angle to achieve large-area water quality parameter monitoring. The images obtained by the inclination cannot obtain the real water area. The water quality images obtained by the inclination are spatially calibrated by using image fusion, orthorectification, 3D reconstruction and other technologies to obtain the real plane area.

[0023] The flow state of the river is obtained based on the deployed information acquisition module, and the computer vision algorithm is used to perform feature detection and feature matching on the video image, so as to quickly obtain the surface flow velocity of the water body, and finally realize the assessment of the impact range of pollutants through the upstream and downstream relationship. According to the relevant national standards, the critical value of water quality anomaly is delineated, and an early warning notification is automatically sent when the critical value is exceeded. Based on the image flow measurement technology, the area, drift direction and speed of the abnormal water mass are automatically calculated, and further analysis is performed on whether the abnormal water quality water mass in the cross-administrative region section flows from area A into area B, or from area B into area A. For the confluence of Y-shaped tributaries and estuaries where multiple tributaries converge, the specific source of the pollutants in the river can be determined.

[0024] Preferably, in one embodiment of the present application, the remote management module includes a single-chip microcomputer, a network communication module and a video processing module; the video processing module is used to compress, encode and transmit the video stream of the camera so that the control device can receive and display the video in real time; the network communication module is used to transmit the video and control instructions of the imaging device to the single-chip microcomputer, and the single-chip microcomputer is used to receive and process instructions from the cloud and drive the imaging device to perform corresponding adjustment actions.

[0025] Preferably, in one embodiment of the present application, the reeling assembly and the auxiliary reeling assembly are soft ropes or metal ropes.

[0026] Preferably, in an embodiment of the present application, the first driving device and the second driving device are motors.

[0027] The beneficial effects of this application are:

[0028] 1. The present application uses a control element to attract the magnetic ring and lock the universal rotating rod. At this time, the first driving device is started to drive the clamping mechanism to rotate, so as to realize the left and right swing of the imaging device. The control element releases the attraction of the magnetic ring, and the second driving device is controlled to rotate to drive the rotating rope roller to rotate. The winding assembly is wound to drive the imaging device to swing downward. The auxiliary winding assembly is controlled to wind up, so that the imaging device can be controlled to swing upward, thereby further improving the effect of water body monitoring.

[0029] 2. The present application provides a dual-degree-of-freedom remote sensing water quality monitoring device, which improves the accuracy and reliability of monitoring data through a dual-degree-of-freedom rotation mechanism, reduces the influence of water surface glare and mirror reflection, improves imaging quality, and thus improves the accuracy of water quality monitoring data;

[0030] The dual-degree-of-freedom remote sensing water quality monitoring device can dynamically adjust the monitoring angle according to environmental changes (such as wind direction and water surface direction), so that high-quality remote sensing reflectivity data can be obtained under different conditions;

[0031] Receive and process cloud commands in real time through the remote management module, quickly respond and adjust the monitoring angle, and improve monitoring efficiency;

[0032] The shore-based multispectral remote sensing monitoring method can reduce monitoring costs compared to the traditional ship sampling method;

[0033] Expand monitoring range: Through the dual-degree-of-freedom adjustment of the information acquisition module, a wider monitoring area can be covered. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A three-dimensional remote sensing water quality monitoring device with two degrees of freedom according to the present invention Figure 1 ;

[0035] Figure 2 A three-dimensional remote sensing water quality monitoring device with two degrees of freedom according to the present invention Figure 2 ;

[0036] Figure 3 A three-dimensional remote sensing water quality monitoring device with two degrees of freedom according to the present invention Figure 3 ;

[0037] Figure 4 for Figure 3 A partial enlarged view of

[0038] Figure 5 It is a structural schematic diagram of a magnetic ring of a dual-degree-of-freedom remote sensing water quality monitoring device of the present invention;

[0039] In the figure:

[0040] 1. Support structure

[0041] 2. Imaging equipment

[0042] 3. Control elements

[0043] 4. Clamping mechanism

[0044] 5. Fixing parts

[0045] 6. Rewinding components

[0046] 7. Clamping parts

[0047] 8. Universal rotating rod

[0048] 9. Magnetic ring

[0049] 10. Position Restriction Structure

[0050] 11. Restricted Components

[0051] 13. Auxiliary reeling components

[0052] 14. Rotating rope winding roller

[0053] 15. First drive device

[0054] 16. Second driving device. DETAILED DESCRIPTION

[0055] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings. These implementation methods are only used to illustrate the present application, and are not intended to limit the present invention.

[0056] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0057] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0058] Furthermore, in the description of the present invention, unless otherwise specified, “plurality” means two or more.

[0059] like Figure 1-5 A dual-degree-of-freedom remote sensing water quality monitoring device includes a water environment monitoring system, the water environment monitoring system includes a support structure 1, a power module, an information acquisition module and a remote management module, the information acquisition module is arranged on the support structure 1 through a swing component, the swing component is used to adjust the target working area of ​​the information acquisition module, the swing component includes at least two rotating mechanisms, the rotating mechanism is used to swing the information acquisition module, so that the information acquisition module has at least two rotational degrees of freedom;

[0060] The rotating mechanism is connected to the remote management module, and the rotating mechanism includes a first rotating mechanism and a second rotating mechanism;

[0061] The first rotating mechanism includes a first driving device 15 and a clamping mechanism 4. The first driving device 15 drives the clamping mechanism 4 to rotate, and the clamping mechanism 4 drives the imaging device 2 to rotate and swing through the clamping member 7.

[0062] The second rotating mechanism comprises a second driving device 16, a reeling assembly 6, an auxiliary reeling assembly 13, and a rotating rope winding roller 14. The second driving device 16 drives the rotating rope winding roller 14 to rotate. The reeling assembly 6 and the auxiliary reeling assembly 13 are wound around the rotating rope winding roller 14, and anti-skid grooves are arranged between the reeling assembly 6, the auxiliary reeling assembly 13, and the rotating rope winding roller 14. The rotating rope winding roller 14 rotates unidirectionally in one direction to relax the reeling assembly 6 and tighten the auxiliary reeling assembly 13. The rotating rope winding roller 14 rotates unidirectionally in the other direction to tighten the reeling assembly 6 and relax the auxiliary reeling assembly 13.

[0063] This application adopts a dual-degree-of-freedom rotating multispectral camera to solve this problem. According to the dual-degree-of-freedom rotating system proposed in this application, by rotating the platform:

[0064] (1) Information acquisition module, such as the camera of imaging device 2, can automatically adjust the camera's optimal observation angle according to latitude and longitude and time to minimize mirror reflection; actual tests show that the data deviation of the system in different time periods can be controlled within 3%-5%, reducing the water quality parameter inversion error to 5%, effectively improving the accuracy of the data;

[0065] (2) The camera of the imaging device 2 can dynamically follow environmental changes, such as wind direction and water surface direction, to ensure that high-quality remote sensing reflectivity data can be obtained under different conditions;

[0066] This application provides a technical path to solve the problems of mirror reflection and glare influence on water bodies by adopting a dual-degree-of-freedom rotation solution, which not only improves the accuracy and reliability of water quality monitoring data, but also expands the scope of application of the equipment, so that the shore-based water environment monitoring system can more effectively adapt to the changing environmental conditions in the field; it has obvious technical progress and practical value in terms of the real-time and accuracy of data acquisition, and provides a new solution for the field of water quality monitoring, which has broad application prospects in shore-based water environment monitoring systems.

[0067] When this application is implemented, the implementation points are as follows:

[0068] The present application can obtain multi-parameter surface data of water quality parameters for the entire cross-section of the river. By constructing multispectral image fusion, orthorectification and three-dimensional reconstruction technology, the area measurement is made more accurate. Combined with the image recognition algorithm, it can intelligently identify abnormal water masses, measure the area and drift direction of water masses, and judge the direction of the source of water pollution. It can track and monitor long-term series data, evaluate the pollution situation of different water inflow directions in the river, and effectively improve the water body monitoring effect.

[0069] Specifically, in one embodiment of the present application, a control element 3 is fixedly arranged at one end of the clamping mechanism 4, and the other end of the clamping mechanism 4 is connected to a universal rotating rod 8 of the clamping member 7, and a magnetic ring 9 is sleeved near the clamping member 7; when the control element 3 attracts the magnetic ring 9, the magnetic ring 9 presses the clamping mechanism 4 so that the clamping mechanism 4 locks the universal rotating rod 8 of the clamping member 7; when the control element 3 has no attraction to the magnetic ring 9, the universal rotating rod 8 is in a free state.

[0070] Specifically, in one embodiment of the present application, the clamping member 7 and the imaging device 2 are hinged, or the clamping mechanism 4 and the clamping member 7 are hinged; in the initial position, the hinge axis is parallel to the axis of the rotating rope winding roller 14.

[0071] Specifically, in one embodiment of the present application, the clamping mechanism 4 is arranged on the supporting structure 1, one end of the clamping mechanism 4 extends out of the top of the supporting structure 1, a universal rotating rod 8 is arranged inside the clamping mechanism 4, a clamping member 7 is arranged at the top of the universal rotating rod 8, and the clamping member 7 is connected to the bottom end of the imaging device 2.

[0072] Specifically, in one embodiment of the present application, a fixing component 5 is fixedly installed at the bottom end of the imaging device 2, a sleeve is slidably installed on the fixing component 5, and the reeling assembly 6 and the auxiliary reeling assembly 13 are connected to the fixing component 5 via the sleeve.

[0073] Specifically, in one embodiment of the present application, Figure 5 As shown, at least two elastic plates are provided at the top of the clamping mechanism 4, and the two elastic plates are used to clamp the position-limiting universal rotating rod 8;

[0074] A ball groove is provided inside the elastic plate for the universal rotating rod 8 to rotate, and the radius of the top opening of the elastic plate is smaller than the radius of the universal rotating rod 8;

[0075] The elastic plate at the top of the clamping mechanism 4 is arranged in a ring shape, and the universal rotating rod 8 is rotatably installed between the elastic plates. One end of the universal rotating rod 8 is immersed between the elastic plates. The diameter of the opening above the elastic plate is smaller than the diameter of the universal rotating rod 8. The position of the universal rotating rod 8 can be limited. When the universal rotating rod 8 is located between the elastic plates, the elastic plates are in an expanded state.

[0076] Specifically, in one embodiment of the present application, a magnetic ring 9 is slidably mounted on the outer wall of the elastic plate, and the sliding of the magnetic ring 9 is controlled by a control element 3, and the control element 3 is controlled by a remote management module;

[0077] The control element 3 of the present application has a locking and releasing time of less than 0.5 seconds through the magnetic ring 9, and the rotation control accuracy of the imaging device 2 reaches ±0.5°. In the case of large-scale monitoring, small angle precision adjustment can be achieved, and full-range target selection monitoring can be achieved, which improves imaging stability and ensures data consistency, integrity, and comprehensive coverage;

[0078] The magnetic ring 9 can be attracted by the control element 3. When the control element 3 attracts the magnetic ring 9, the magnetic ring 9 can slide downward on the outer wall of the elastic plate, and drive the elastic plate to lock the universal rotating rod 8. At this time, the imaging device 2 cannot rotate inside the elastic plate under the action of the universal rotating rod 8. At this time, the imaging device 2 can only swing left and right under the action of the first driving device 15.

[0079] On the contrary, the control element 3 releases the attraction of the magnetic ring 9, and the universal rotating rod 8 will not be locked. The imaging device 2 can also complete the up and down swing under the rotation of the rotating rope roller 14 through the cooperation of the winding assembly 6 and the auxiliary winding assembly 13.

[0080] Specifically, in one embodiment of the present application, a limiting component 11 is provided on the magnetic ring 9, and a position limiting structure 10 is provided on the elastic plate for limiting the limiting component 11; the outer wall of the elastic plate is provided with a position limiting structure 10, and the inner wall of the magnetic ring 9 is fixedly installed with the limiting component 11, and one end of the limiting component 11 extends to the interior of the position limiting structure 10. The setting of the position limiting structure 10 and the limiting component 11 can limit the sliding of the magnetic ring 9.

[0081] Specifically, in one embodiment of the present application, the two rotational degrees of freedom include the rotational degree of freedom of the vertical plane and the rotational degree of freedom of the horizontal plane; the power module includes a solar panel and a battery; the information acquisition module includes an imaging device 2 and a laser probe; the remote management module includes a single chip microcomputer, a network communication module and a video processing module;

[0082] The single chip microcomputer receives and processes the instructions from the cloud, controls the first driving device 15 to rotate, and controls the clamping mechanism 4 to rotate, so as to realize the swing of the imaging device 2. By controlling the rotation direction of the first driving device 15, the swing direction of the imaging device 2 can be realized;

[0083] When the universal rotating rod 8 rotates inside the clamping mechanism 4, the imaging device 2 can be driven to swing at the same time through the setting of the clamping member 7. At this time, it is only necessary to control the longitudinal movement of the imaging device 2.

[0084] When the reel assembly 6 is pulled to be tensioned, the imaging device 2 can be swung toward the position of the reel assembly 6;

[0085] When the auxiliary winding assembly 13 is pulled to be tensioned, the imaging device 2 can swing toward the direction in which the auxiliary winding assembly 13 moves;

[0086] When the rotating rope winding roller 14 rotates, only one of the pull ropes can be wound up, and the other pull rope will be unwound. By controlling the rotating rope winding roller 14 to rotate the reeling assembly 6 to reel on the rotating rope winding roller 14, the auxiliary reeling assembly 13 will be unwound, and the reeling reeling assembly 6 will be continuously shortened, which has the effect of pulling the imaging device 2, so that the lens of the imaging device 2 swings downward, and vice versa, the lens of the imaging device 2 swings upward;

[0087] The microcontroller receives and processes instructions from the cloud to control the rotation of the second drive device 16 and the first drive device 15; the longitudinal swing of the imaging device 2 can be controlled by controlling the rotation direction of the second drive device 16; the left and right swing of the imaging device 2 can be controlled by controlling the rotation of the first drive device 15, and the up and down swing of the imaging device 2 can be controlled by controlling the start of the second drive device 16, which can further improve the effect of detecting water bodies.

[0088] Specifically, in one embodiment of the present application, in the existing shore-based water environment monitoring system, obtaining a multi-band remote sensing reflectance image of a water body through a multispectral camera is a key step, which is crucial for the remote sensing inversion of water quality parameters; however, the existing technology has not fully solved the problems of water body mirror reflection and glare; water body mirror reflection is a common problem in remote sensing monitoring, which will cause the quality of remote sensing imaging to significantly decrease, thereby affecting the accuracy of the data; the existing technology often lacks effective technical measures to dynamically adjust the equipment to cope with the ever-changing field environment, such as wind direction, water surface fluctuations, etc.; this makes the obtained data susceptible to interference from various environmental factors, reducing the reliability of the monitoring results; since traditional equipment cannot be dynamically adjusted with environmental changes, the monitoring data is usually affected by wind direction, water surface fluctuations and sun angles, all of which will significantly increase the mirror reflection phenomenon; from the actual monitoring data, the measurement data obtained by traditional equipment at different time periods at the same location has large errors; for example, if monitoring is performed in the morning, noon and afternoon of a day, the data deviation can reach 10%-20%;

[0089] The multispectral camera is installed on a fixed bracket, and its imaging quality is easily affected by the mirror reflection of the water surface. For example, when sunlight shines on the water surface at a certain angle, it will produce strong reflection, resulting in excessive glare in the image received by the camera, thereby reducing the signal-to-noise ratio of the image. Traditional equipment is fixed at a certain angle and cannot avoid the glare phenomenon, which will lead to poor imaging quality and low accuracy of inverted water quality parameters. Studies have shown that under strong glare conditions, the imaging quality of hyperspectral cameras decreases by 25%-30%, which directly affects the accuracy of inverted water quality parameters and increases errors.

[0090] Specifically, glare can cause the following data quality issues: (1) The brightness in the image is too high, exceeding the dynamic range of the camera, resulting in the loss of some details. (2) The reflected light masks the actual water body reflection signal, making it difficult for the remote sensing inversion algorithm of water quality parameters to accurately extract the water body reflectance. Under glare conditions, the inversion error of water quality parameters may increase by more than 10%. (3) Existing shore-based multispectral water quality monitoring equipment has poor applicability in field environments. For example, although hyperspectral cameras can provide higher spectral resolution, due to their high price and limited monitoring area, the same set of equipment is difficult to adapt to changes in wind direction and water surface direction when switching between different monitoring points;

[0091] This application aims at the glare problem in the dual-degree-of-freedom remote sensing water quality monitoring device, the mirror reflection phenomenon on the water surface, and the multispectral camera is easily affected by the glare on the water surface during the imaging process. The glare phenomenon will seriously interfere with the normal imaging of the camera, resulting in a decrease in imaging quality, thereby affecting the accuracy and reliability of water quality monitoring data;

[0092] The dual-degree-of-freedom rotation mechanism of the present application automatically adjusts the observation angle, reducing the data error caused by mirror reflection by 25%-30% and improving the imaging quality by 20%-30%;

[0093] In the face of extreme weather, the hyperspectral camera installed on the bracket will be affected by the light on the water surface and wind and waves during imaging, affecting the imaging effect and water quality reflection; at the same time, considering that the hyperspectral camera is expensive and the monitoring area is limited, the same set of equipment may be used for different monitoring points for a large area of ​​water. Therefore, how to dynamically avoid the influence of glare and wind and waves, this application quickly receives cloud commands through the remote management module, so that the system stability reaches 99%, and the mean time between failures (MTBF) is increased by 20%. In particular, it is achieved that continuous monitoring can be maintained for more than 48 hours in extreme weather;

[0094] The remote management module of the present application includes a single-chip microcomputer, the command response time is less than 5 seconds, the adjustment time is less than 10 seconds, the monitoring efficiency is improved by 30%, and the problem of missed monitoring and incomplete monitoring data caused by discontinuous monitoring is avoided;

[0095] The shore-based water environment monitoring system can also observe the state of the river surface and determine the source of pollutants. The existing equipment is fixed to a monitoring area, and the field environment is changeable, such as wind direction, water surface direction, etc., which has a great impact on the monitoring results. How to dynamically follow the environmental changes so that the equipment can meet the monitoring needs? This application provides a complete solution and realizes dynamic monitoring with dynamic and dual-degree-of-freedom rotation. Compared with traditional monitoring, under the same amount of data requirements, the monitoring cost of this application is reduced by 30%-50%;

[0096] The dual-degree-of-freedom rotation mechanism of the present application increases the monitoring angle, expands the monitoring range by more than 50%, covers an area of ​​1,000 square meters, and increases the monitoring coverage rate to 85%;

[0097] In general: the invention aims to solve the shortcomings of the existing water environment monitoring technology in dynamically adjusting the monitoring area, and provide a dual-degree-of-freedom remote sensing water quality monitoring device to achieve dynamic adjustment of the monitoring area to meet the monitoring needs under different environmental conditions; specifically, the device adjusts the target working area of ​​the information acquisition module through two rotational degrees of freedom - the rotational degree of freedom of the vertical plane and the rotational degree of freedom of the horizontal plane - to achieve rapid and accurate remote sensing monitoring of the water environment; in addition, the device also includes a support structure, a power supply module, an information acquisition module and a remote management module, and the universal rotating rod is locked by the control element to attract the magnetic ring, the driving device is started to drive the clamping mechanism to rotate, and the remote management module receives and processes instructions from the cloud to achieve precise control of the imaging device to improve the effect of water body monitoring;

[0098] This technical solution provides a dual-degree-of-freedom remote sensing water quality monitoring device, the main components of which include:

[0099] Support structure: used to fix and support the entire monitoring device;

[0100] Power module: includes solar panels and batteries to provide energy for the device;

[0101] Information collection module: including imaging equipment and laser probes, used to collect water quality data;

[0102] Remote management module: including single chip microcomputer, network communication module and video processing module, used to receive processing instructions and control equipment operation;

[0103] Swing assembly: includes at least two rotating mechanisms to realize the dual-degree-of-freedom rotation of the information acquisition module, including rotation in the vertical plane and the horizontal plane;

[0104] Function and purpose of each component, i.e. technical role:

[0105] Double-degree-of-freedom rotation mechanism: realize dynamic adjustment of monitoring angle;

[0106] Magnetic ring and control element: to lock and release the universal rotating rod;

[0107] Driving device: comprising a first driving device and a second driving device, used for driving the clamping mechanism and the rotating rope winding roller;

[0108] Winding assembly and auxiliary winding assembly: used to realize the up and down swing of the imaging device;

[0109] Fixed component: used to fix the bottom end of the imaging device;

[0110] This technical solution provides a dual-degree-of-freedom remote sensing water quality monitoring device, which is used to solve the following technical problems and achieve its technical functions, including the following points:

[0111] The observation angle is automatically adjusted through the dual-degree-of-freedom rotation mechanism to reduce the impact of water surface glare and mirror reflection on imaging quality, thereby improving the accuracy and reliability of monitoring data;

[0112] The remote management module receives and processes cloud commands in real time, quickly adjusting the monitoring angle; achieving stable monitoring of the device in a changing environment, enhancing environmental adaptability, resisting wind and waves, and reducing the impact of glare;

[0113] Through the single chip microcomputer to quickly process remote commands, the driving device quickly adjusts the position of the imaging device, improves the response speed and efficiency of the monitoring device, improves the monitoring efficiency, improves the monitoring range, expands the coverage of the monitoring equipment, and increases the effective target range;

[0114] Adopting shore-based multispectral remote sensing monitoring methods to reduce labor and vessel sampling costs and lower the cost of water quality monitoring;

[0115] Increase the monitoring angle and range through the dual-degree-of-freedom rotation mechanism, expand the monitoring range of the monitoring device, and expand the monitoring range by flexibly adjusting the rotating monitoring device window;

[0116] The power module uses solar panels and batteries to ensure stable power supply for the monitoring device in the field environment and long-term stable operation of the device without external power supply.

[0117] Through high-quality remote sensing reflectivity data, the inversion algorithm is optimized, the accuracy of the water quality parameter inversion algorithm is improved, and combined with the improvement of the monitoring scope of this application, the monitoring data is fully developed and utilized under the complete and comprehensive coverage of the monitoring data to obtain accurate monitoring results;

[0118] The universal rotating rod can be precisely locked and released through the magnetic ring and control element, so as to achieve precise control of the imaging device and improve the stability and control accuracy of the imaging device.

[0119] Optimize the design of power modules, improve the photoelectric conversion efficiency of solar panels, improve the energy self-sufficiency of monitoring devices, reduce dependence on external power supplies, enable independent energy supply, and avoid loss of connection or loss of equipment due to network disconnection;

[0120] Specifically:

[0121] Data deviation rate: Through the dual-degree-of-freedom rotation system, the data deviation in different time periods can be controlled at 3%-5%; after applying this application, it is reduced from the traditional 10%-20% to 3%-5%;

[0122] Specular reflection reduction rate: By adjusting the observation angle, the specular reflection is reduced to the greatest extent; after applying this application, the data error caused by specular reflection is reduced by 25%-30%;

[0123] Flare impact reduction rate: By automatically adjusting the camera's optimal observation angle, the impact of flare on image quality is reduced; after applying this application, the image quality under flare conditions is improved by 20%-30%;

[0124] Monitoring angle adjustment time: the time from receiving cloud instructions to completing monitoring angle adjustment; the adjustment time is less than 10 seconds;

[0125] Monitoring range expansion: The monitoring range is increased by more than 50% through dual-degree-of-freedom rotation.

[0126] Monitoring cost reduction rate: Replacing traditional manual monitoring with automated monitoring reduces labor costs; after applying this application, monitoring costs are reduced by 30%-50%;

[0127] System stability: The stable operation time of the system in the field under changing environment; the system stability reaches 99%, and the mean time between failures (MTBF) is increased by 20%;

[0128] Remote sensing inversion algorithm accuracy: Through high-quality remote sensing reflectivity data, the accuracy of water quality parameter inversion algorithm is improved; after applying this application, the accuracy of the inversion algorithm is improved by 10%-20%;

[0129] Energy self-sufficiency rate: Improve energy self-sufficiency through power modules of solar panels and batteries; energy self-sufficiency rate exceeds 80%;

[0130] Remote management response time: the time from when the remote management module receives a command to when it completes execution; the response time is less than 5 seconds.

[0131] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A dual-degree-of-freedom remote sensing water quality monitoring device, comprising a water environment monitoring system, the water environment monitoring system comprising a support structure (1), a power module, an information acquisition module and a remote management module, characterized in that: The information collection module is arranged on the support structure (1) through a swinging assembly, the swinging assembly is used to adjust the target working area of ​​the information collection module, and the swinging assembly includes at least two rotating mechanisms, the rotating mechanisms are used to swing the information collection module so that the information collection module has at least two rotational degrees of freedom; The rotating mechanism is connected to the remote management module, and the rotating mechanism includes a first rotating mechanism and a second rotating mechanism; The first rotating mechanism comprises a first driving device (15) and a clamping mechanism (4), wherein the first driving device (15) drives the clamping mechanism (4) to rotate, and the clamping mechanism (4) drives the imaging device (2) to rotate and swing through the clamping member (7); The second rotating mechanism comprises a second driving device (16), a reeling assembly (6), an auxiliary reeling assembly (13), and a rotating rope winding roller (14); the second driving device (16) drives the rotating rope winding roller (14) to rotate; the reeling assembly (6) and the auxiliary reeling assembly (13) are wound on the rotating rope winding roller (14); and anti-slip grooves are arranged between the reeling assembly (6), the auxiliary reeling assembly (13) and the rotating rope winding roller (14); the rotating rope winding roller (14) rotates unidirectionally in one direction to relax the reeling assembly (6) and tighten the auxiliary reeling assembly (13); and the rotating rope winding roller (14) rotates unidirectionally in another direction to tighten the reeling assembly (6) and relax the auxiliary reeling assembly (13).

2. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: A control element (3) is fixedly arranged at one end of the clamping mechanism (4), and the other end of the clamping mechanism (4) is connected to a universal rotating rod (8) of the clamping member (7), and a magnetic ring (9) is sleeved near the clamping member (7); when the control element (3) attracts the magnetic ring (9), the magnetic ring (9) presses the clamping mechanism (4) tightly, so that the clamping mechanism (4) locks the universal rotating rod (8) of the clamping member (7); when the control element (3) does not attract the magnetic ring (9), the universal rotating rod (8) is in a free state.

3. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: The clamping member (7) and the imaging device (2) are hinged, or the clamping mechanism (4) and the clamping member (7) are hinged; in the initial position, the hinge axis is parallel to the axis of the rotating rope winding roller (14).

4. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: The clamping mechanism (4) is arranged on the supporting structure (1), one end of the clamping mechanism (4) extends out of the top end of the supporting structure (1), a universal rotating rod (8) is arranged inside the clamping mechanism (4), a clamping member (7) is arranged at the top end of the universal rotating rod (8), and the clamping member (7) is connected to the bottom end of the imaging device (2).

5. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: A fixing component (5) is fixedly mounted on the bottom end of the imaging device (2), a sleeve ring is arranged on the fixing component (5), and the reeling assembly (6) and the auxiliary reeling assembly (13) are connected to the fixing component (5) via the sleeve ring.

6. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: At least two elastic plates are arranged at the top end of the clamping mechanism (4), and the two elastic plates are used to clamp the position-limiting universal rotating rod (8).

7. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: A magnetic ring (9) is slidably mounted on the outer wall of the elastic plate, and the sliding of the magnetic ring (9) is controlled by a control element (3), and the control element (3) is controlled by a remote management module.

8. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: A limiting component (11) is provided on the magnetic ring (9), and a position limiting structure (10) is provided on the elastic plate for limiting the limiting component (11).

9. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: The two rotational degrees of freedom include a rotational degree of freedom in a vertical plane and a rotational degree of freedom in a horizontal plane.

10. A dual-degree-of-freedom remote sensing water quality monitoring device as claimed in claim 1, characterized in that: The power module includes a solar panel and a storage battery; the information collection module includes an imaging device (2) and a laser probe; and the remote management module includes a single chip microcomputer, a network communication module and a video processing module.

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