Multi-module integrated water body monitoring system based on unmanned ship

Abstract

Based on an unmanned ship multi-module integrated water body monitoring system, unmanned real-time monitoring and water quality sample collection are realized according to a planning path of a monitoring area. According to the technical scheme, the system comprises a background data processing and control module, a basic platform unmanned ship body, an unmanned ship automatic cruise control module, a water quality monitoring probe module, an image monitoring module, a water quality monitoring data processing part, a water quality sampling part and a wireless communication module, the water quality monitoring probe module comprises a water quality physical and chemical index monitoring probe and an algae chlorophyll monitoring probe, the image monitoring module comprises a camera electric lifting rod and a camera, and the water quality sampling part comprises a sampling port electric lifting rod, a sampling hose peristaltic sampling pump and a water sample bottle-dividing storage device. The system has the beneficial effects that real-time water quality monitoring and multi-point water quality sample collection are realized in an unmanned ship cruising manner based on a planned path of a monitoring area. The system has the advantages of multiple monitoring points, wide range, accurate data, no monitoring dead angle, low monitoring cost and the like.

Description

Technical Field

[0001] The present invention belongs to water quality monitoring in the field of environmental protection technology, and in particular to a multi-module integrated water body monitoring system based on an unmanned ship. Background Art

[0002] In the field of environmental protection, water quality monitoring is extremely important, especially for natural lakes, scenic spots or drinking water source reservoirs. In order to prevent urban sewage and industrial sewage from entering and causing water pollution, real-time water quality monitoring in the field of environmental protection has become an important technical means. However, in the prior art, water quality monitoring in the field of environmental protection is achieved by manual on-site operation, and a large amount of monitoring data needs to be collected by manual water sampling. This results in limitations on the monitoring area, monitoring frequency, monitoring efficiency and labor intensity during monitoring. Summary of the invention

[0003] With the development of communication technology, monitoring methods, and unmanned driving technology, the monitoring methods that could only be used by manual monitoring and manual sampling in the past will be realized based on unmanned ships. A multi-module integrated water body monitoring system based on unmanned ships will be established to achieve low-cost planning paths according to the monitoring area, and to achieve real-time video monitoring, physical and chemical indicator monitoring, and multi-point water quality sample collection by unmanned ship patrol.

[0004] The technical solution adopted by the present invention to achieve the purpose of the invention is: based on an unmanned ship multi-module integrated water body monitoring system, the monitoring system includes: a background data processing and control module, a basic platform unmanned ship hull, an unmanned ship automatic cruise control module, a water quality monitoring probe module, an image monitoring module, a water quality monitoring data processing part, a water quality sampling part and a wireless communication module.

[0005] The unmanned boat automatic cruise control module, water quality monitoring probe module, image monitoring module, water quality monitoring data processing part, water quality sampling part and wireless communication module are respectively arranged on the unmanned boat body of the basic platform.

[0006] The background data processing and control module forms a wireless digital transmission communication connection with the wireless communication module on the unmanned hull of the basic platform, and the wireless communication module forms a wireless digital transmission communication and control connection with the image monitoring module, the water quality monitoring data processing part, the unmanned ship automatic cruise control module and the water quality sampling part respectively.

[0007] The water quality monitoring probe module includes: a water quality physical indicator monitoring probe, a water quality chemical indicator monitoring probe, an algae chlorophyll monitoring probe, a monitoring probe installation platform and a probe platform electric lifting rod. The water quality physical indicator monitoring probe, the water quality chemical indicator monitoring probe and the algae chlorophyll monitoring probe are respectively installed on the monitoring probe installation platform, the monitoring probe installation platform is installed on the lifting end of the probe platform electric lifting rod, the probe platform electric lifting rod is fixed to the bottom of the unmanned hull of the basic platform, and the probe platform electric lifting rod is controlled and connected with the background data processing and control module.

[0008] The water quality physical index monitoring probe, water quality chemical index monitoring probe and algae chlorophyll monitoring probe are respectively connected to the detector in the water quality monitoring data processing part, and the detector is connected to the background data processing and control module to form a communication connection.

[0009] The image monitoring module comprises: a camera electric lifting rod and a camera, wherein the camera is fixed on the upper part of the unmanned hull of the basic platform via the camera electric lifting rod, and the camera electric lifting rod is controlled and connected with the background data processing and control module.

[0010] The water quality sampling part comprises: an electric lifting rod at a sampling port, a sampling hose, a peristaltic sampling pump and a water sample bottle storage device.

[0011] The water inlet of the sampling hose is arranged at one end of the sampling port electric lifting rod, the water outlet of the peristaltic sampling pump is connected with the water inlet of the water sample bottle holding device, the sampling port electric lifting rod is fixed at the bottom of the unmanned hull of the basic platform, and the sampling port electric lifting rod forms a control connection with the background data processing and control module.

[0012] The beneficial effects of the present invention are: based on the planned path of the monitoring area, the unmanned boat cruises to achieve real-time video monitoring, physical and chemical index monitoring, and multi-point water quality sample collection. It has the advantages of many monitoring points, wide coverage, accurate data, no monitoring blind spots, and low monitoring costs.

[0013] The present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Attached Figure 1 Schematic diagram of the structure of the present invention.

[0015] Attached Figure 2 For attachment Figure 1 AA section structural schematic diagram of Example 1.

[0016] Attached Figure 3 For attachment Figure 1 AA section structural schematic diagram of Example 2.

[0017] Attached Figure 4It is a schematic diagram of the water sample bottle storage device of the present invention.

[0018] Attached Figure 5 For attachment Figure 4 Schematic diagram of the BB cross-section structure.

[0019] Attached Figure 6 For attachment Figure 5 Schematic diagram of the CC cross-section structure.

[0020] Attached Figure 7 It is a flow chart of the present invention.

[0021] In the attached drawings, 1. detector, 1-1. water quality physical index monitoring probe, 1-2. water quality chemical index monitoring probe, 1-3. algae chlorophyll monitoring probe, 1-4. monitoring probe installation platform, 1-5. probe platform electric lifting rod, 2. basic platform unmanned hull, 3-1. camera electric lifting rod, 3-2. camera, 4-1. sampling port electric lifting rod, 4-2. sampling hose, 4-3. peristaltic sampling pump, 5. water sample bottle storage device, 4-21. water inlet, 4-31. water outlet, 5-21. water sample filling hole, 5-1. external bracket, 5-2. upper cover, 5-3. water sample bottle turntable, 5-31. turntable through hole, 5-4. turntable motor, 5-5. water sample bottle revolution plate, 5-51. revolution plate through hole, 5-6. revolution plate motor, 6. water sample bottle, 7. barcode scanner, 8. water depth detector. DETAILED DESCRIPTION

[0022] A multi-module integrated water body monitoring system based on an unmanned ship, the monitoring system comprises: a background data processing and control module, a basic platform unmanned ship body, an unmanned ship automatic cruise control module, a water quality monitoring probe module, an image monitoring module, a water quality monitoring data processing part, a water quality sampling part and a wireless communication module.

[0023] The unmanned boat automatic cruise control module, water quality monitoring probe module, image monitoring module, water quality monitoring data processing part, water quality sampling part and wireless communication module are respectively arranged on the unmanned boat body of the basic platform.

[0024] The path planned by the background data processing and control module of the unmanned boat is controlled by the unmanned boat automatic cruise control module. The cruising mode and image monitoring module realize real-time video monitoring, the water quality monitoring probe module and detector realize physical and chemical index monitoring, and the water quality sampling part realizes multi-point and layered water quality sample collection.

[0025] The background data processing and control module forms a wireless digital transmission communication connection with the wireless communication module on the unmanned hull of the basic platform, and the wireless communication module forms a wireless digital transmission communication and control connection with the image monitoring module, the water quality monitoring data processing part, the unmanned ship automatic cruise control module and the water quality sampling part respectively.

[0026] The background data processing and control module obtains in real time the image information collected by the image monitoring module, the water quality monitoring information obtained by the water quality monitoring data processing part, and the water sample quantity information collected by the water quality sampling part.

[0027] The water quality monitoring probe module includes: a water quality physical indicator monitoring probe 1-1, a water quality chemical indicator monitoring probe 1-2, an algae chlorophyll monitoring probe 1-3, a monitoring probe installation platform 1-4 and a probe platform electric lifting rod 1-5. The water quality physical indicator monitoring probe 1-1, the water quality chemical indicator monitoring probe 1-2 and the algae chlorophyll monitoring probe 1-3 are respectively installed on the monitoring probe installation platform 1-4, the monitoring probe installation platform 1-4 is installed on the lifting end of the probe platform electric lifting rod 1-5, the probe platform electric lifting rod 1-5 is fixed to the bottom of the unmanned hull 2 ​​of the basic platform, and the probe platform electric lifting rod 1-5 is controlled and connected with the background data processing and control module.

[0028] After the unmanned boat automatically cruises to the designed monitoring point along the path planned by the background data processing and control module, the electric lifting rods 1-5 of the probe platform and the background data processing and control module drive the water quality monitoring probe module to monitor different water layers (different depths).

[0029] The water quality physical index monitoring probe 1-1, the water quality chemical index monitoring probe 1-2 and the algae chlorophyll monitoring probe 1-3 are respectively connected to the detector 1 in the water quality monitoring data processing part, and the detector 1 is communicated with the background data processing and control module to realize the timely transmission of the monitoring data of the detector 1 to the background data processing and control module.

[0030] The image monitoring module includes: a camera electric lifting rod 3-1 and a camera 3-2. The camera 3-2 is fixed to the upper part of the unmanned hull 2 ​​of the basic platform via the camera electric lifting rod 3-1. The camera electric lifting rod 3-1 is connected to the background data processing and control module.

[0031] Under the control of the camera electric lifting rod 3-1 and the background data processing and control module, the different monitoring postures of the camera 3-2 are changed, and the collected image information is sent back to the background data processing and control module for processing.

[0032] The water quality sampling part comprises: a sampling port electric lifting rod 4-1, a sampling hose 4-2, a peristaltic sampling pump 4-3 and a water sample bottle storage device 5.

[0033] The water inlet 4-21 of the sampling hose 4-2 is arranged at one end of the sampling port electric lifting rod 4-1, the water outlet 4-31 of the peristaltic sampling pump 4-3 is connected to the water sample filling hole 5-21 of the water sample bottle holding device 5, the sampling port electric lifting rod 4-1 is fixed to the bottom of the unmanned hull 2 ​​of the basic platform, and the sampling port electric lifting rod 4-1 forms a control connection with the background data processing and control module.

[0034] The background data processing and control module controls the design of the sampling location, the different depths of the electric lifting rod 4-1 at the sampling port, the sampling start of the peristaltic sampling pump 4-3, and the water sample bottle storage device 5 to store the water samples in sequence.

[0035] In the embodiment of the present invention, in the image monitoring module, two sets of the camera electric lifting rod 3-1 and the camera 3-2 are provided, which are respectively provided on the upper part and the bottom part of the unmanned hull 2 ​​of the basic platform.

[0036] In the embodiment of the present invention, in order to ensure that the camera 3-2 at the bottom of the base platform unmanned hull 2 ​​is not scratched and damaged by aquatic plants, the automatic obstacle avoidance system of the base platform unmanned hull 2 ​​and the protective structure of the camera 3-2 can be set on the hull.

[0037] In the embodiment of the present invention, the water sample bottle storage device 5 includes: an outer bracket 5-1, an upper cover plate 5-2, a water sample bottle rotating disk 5-3, a rotating disk motor 5-4, a water sample bottle rotating disk 5-5, a rotating disk motor 5-6 and a water sample bottle 6.

[0038] The water sample bottles 6 are fixedly arranged in a group on the circumference of the water sample bottle rotating disk 5-3, and the water sample bottle rotating disk 5-3 is fixedly arranged in a group on the circumference of the water sample bottle rotating disk 5-5; The water sample bottle self-turning disk 5-3 is rotationally connected with the water sample bottle revolving disk 5-5, the housing of the self-turning disk motor 5-4 is fixed on the water sample bottle self-turning disk 5-3, and the rotating shaft of the self-turning disk motor 5-4 is fixed on the water sample bottle revolving disk 5-5, forming a rotation structure in which the self-turning disk motor 5-4 drives the water sample bottle self-turning disk 5-3 on the water sample bottle revolving disk 5-5; The water sample bottle rotary disk 5-5 is rotatably connected to the outer bracket 5-1, the rotary disk motor 5-6 housing is fixed on the outer bracket 5-1, and the rotary disk motor 5-6 shaft is fixed on the water sample bottle rotary disk 5-5, forming a rotary disk motor 5-6 driving the water sample bottle rotary disk 5-5 on the outer bracket 5-1. The upper cover plate 5-2 is detachably fixedly connected to the outer bracket 5-1. A water sample filling hole 5-21 is provided on the upper cover plate 5-2. The water sample filling hole 5-21 corresponds to the bottle mouth of the water sample bottle 6 on the water sample bottle turntable 5-3.

[0039] When in use, the turntable motor 5-6 rotates, and the water sample bottle on the turntable 5-5 that needs to be filled with water samples is rotated to the filling position. The bottle mouth of the water sample bottle 6 on the turntable 5-3 corresponds to the water sample filling hole 5-21. As the turntable motor 5-4 drives the water sample bottle turntable 5-3 to rotate step by step, the bottle mouths of a group of water sample bottles 6 on the turntable 5-3 correspond to the water sample filling holes 5-21 in sequence, receiving and storing different water samples collected at different locations and water depths by the peristaltic sampling pump 4-3.

[0040] When the water sample bottle 6 of the rotating disk 5-3 has finished storing the water sample, the rotating disk motor 5-6 rotates to rotate another water sample bottle from the rotating disk 5-3 to the filling position, and the above-mentioned action is continued until all the water sample bottles 6 of the rotating disk 5-3 have finished storing the water sample.

[0041] The upper cover plate 5 - 2 shields the water sample bottle 6 on the rotating disk 5 - 3 to prevent the water sample in the water sample bottle 6 from overflowing.

[0042] In the embodiment of the present invention, a scanner 7 is provided at the bottom of the outer bracket 5-1 in the water sample bottle storage device 5 corresponding to the water sample filling hole 5-21 on the upper cover plate 5-2, and the scanning port of the scanner 7 corresponds to the bottom identification code of the water sample bottle 6 through the public turntable through hole 5-51 on the water sample bottle public turntable 5-5 and the self-rotating disk through hole 5-31 on the water sample bottle self-rotating disk 5-3. The scanner 7 scans the bottom identification code of the water sample bottle 6 at the filling station to complete the marking of the water sample, the sampling point and the sampling layer.

[0043] In the embodiment of the present invention, a water depth detector 8 is provided at the bottom of the base platform unmanned hull 2. According to the actual water depth, the background data processing and control module controls the telescopic length of the probe platform electric lifting rod 1-5, the sampling port electric lifting rod 4-1 and the camera electric lifting rod 3-1.

Claims

1. Based on the multi-module integrated water monitoring system of unmanned boat, the monitoring system includes: Background data processing and control module, basic platform unmanned hull, unmanned ship automatic cruise control module, water quality monitoring probe module, image monitoring module, water quality monitoring data processing part, water quality sampling part and wireless communication module, characterized by: The unmanned boat automatic cruise control module, water quality monitoring probe module, image monitoring module, water quality monitoring data processing part, water quality sampling part and wireless communication module are respectively arranged on the unmanned boat body of the basic platform: The background data processing and control module forms a wireless digital transmission communication connection with the wireless communication module on the unmanned boat body of the basic platform, and the wireless communication module forms a wireless digital transmission communication and control connection with the image monitoring module, the water quality monitoring data processing part, the unmanned boat automatic cruise control module and the water quality sampling part respectively; The water quality monitoring probe module comprises: a water quality physical indicator monitoring probe (1-1), a water quality chemical indicator monitoring probe (1-2), an algae chlorophyll monitoring probe (1-3), a monitoring probe installation platform (1-4) and a probe platform electric lifting rod (1-5); the water quality physical indicator monitoring probe (1-1), the water quality chemical indicator monitoring probe (1-2) and the algae chlorophyll monitoring probe (1-3) are respectively installed on the monitoring probe installation platform (1-4); the monitoring probe installation platform (1-4) is installed on the lifting end of the probe platform electric lifting rod (1-5); the probe platform electric lifting rod (1-5) is fixed to the bottom of the base platform unmanned hull (2); and the probe platform electric lifting rod (1-5) is connected to the background data processing and control module to form a control connection; The water quality physical index monitoring probe (1-1), the water quality chemical index monitoring probe (1-2) and the algae chlorophyll monitoring probe (1-3) are respectively connected to the detector (1) in the water quality monitoring data processing part, and the detector (1) is connected to the background data processing and control module to form a communication connection; The image monitoring module comprises: a camera electric lifting rod (3-1) and a camera (3-2), wherein the camera (3-2) is fixed to the upper part of the unmanned hull (2) of the base platform via the camera electric lifting rod (3-1), and the camera electric lifting rod (3-1) is connected to the background data processing and control module to form a control connection; The water sampling portion comprises: a sampling port electric lifting rod (4-1), a sampling hose (4-2), a peristaltic sampling pump (4-3) and a water sample bottle storage device (5); The water inlet (4-21) of the sampling hose (4-2) is arranged at one end of the sampling port electric lifting rod (4-1), the water outlet (4-31) of the peristaltic sampling pump (4-3) is connected to the water sample filling hole (5-21) of the water sample bottle holding device (5), the sampling port electric lifting rod (4-1) is fixed to the bottom of the unmanned hull (2) of the basic platform, and the sampling port electric lifting rod (4-1) is connected to the background data processing and control module.

2. The multi-module integrated water monitoring system based on an unmanned ship according to claim 1 is characterized in that: In the image monitoring module, two sets of the camera electric lifting rod (3-1) and the camera (3-2) are provided, respectively arranged on the upper part and the bottom part of the base platform unmanned hull (2).

3. The multi-module integrated water monitoring system based on an unmanned ship according to claim 1 is characterized in that: The water sample bottle storage device (5) comprises: an outer support (5-1), an upper cover plate (5-2), a water sample bottle rotating disk (5-3), a rotating disk motor (5-4), a water sample bottle rotating disk (5-5), a rotating disk motor (5-6) and a water sample bottle (6); The water sample bottles (6) are fixedly arranged in a group on the circumference of the water sample bottle rotating disk (5-3), and the water sample bottle rotating disk (5-3) is fixedly arranged in a group on the circumference of the water sample bottle rotating disk (5-5); The water sample bottle self-turning disk (5-3) is rotatably connected to the water sample bottle revolution disk (5-5); the housing of the self-turning disk motor (5-4) is fixed on the water sample bottle self-turning disk (5-3); the rotating shaft of the self-turning disk motor (5-4) is fixed on the water sample bottle revolution disk (5-5), forming a rotation structure in which the self-turning disk motor (5-4) drives the water sample bottle self-turning disk (5-3) to rotate on the water sample bottle revolution disk (5-5); The water sample bottle rotary disk (5-5) is rotatably connected to the outer bracket (5-1); the housing of the rotary disk motor (5-6) is fixed on the outer bracket (5-1); the rotary disk motor (5-6) shaft is fixed on the water sample bottle rotary disk (5-5), forming a rotation structure in which the rotary disk motor (5-6) drives the water sample bottle rotary disk (5-5) to rotate on the outer bracket (5-1); The upper cover plate (5-2) and the outer bracket (5-1) are detachably fixedly connected, and a water sample filling hole (5-21) is provided on the upper cover plate (5-2), and the water sample filling hole (5-21) corresponds to the bottle mouth of the water sample bottle (6) on the water sample bottle turntable (5-3).

4. The multi-module integrated water monitoring system based on an unmanned ship according to claim 1 is characterized in that: A barcode scanner (7) is provided at a position corresponding to the water sample filling hole (5-21) on the upper cover plate (5-2) and the bottom of the outer bracket (5-1) in the water sample bottle storage device (5). The scanning port of the barcode scanner (7) corresponds to the identification code on the bottom of the water sample bottle (6) through the turntable through hole (5-51) on the water sample bottle turntable (5-5) and the turntable through hole (5-31) on the turntable (5-3) of the water sample bottle.

5. The multi-module integrated water monitoring system based on unmanned boat according to claim 1 is characterized in that: A water depth detector (8) is provided at the bottom of the base platform unmanned hull (2).

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