Point source water pollution monitoring method and device based on five-base collaborative integration

Abstract

The invention provides a point source water pollution monitoring method and device based on five-base cooperative integration, and belongs to the field of water quality monitoring. The method comprises the following steps: determining a first area based on a monitoring result of a space-based satellite system; monitoring the first area based on an air-based remote sensing system to obtain first water quality data of the first area; in response to the first water quality data meeting a first condition, controlling the ground monitoring system to perform water quality monitoring on the first area according to a first standard to obtain a plurality of second water quality data; determining a target area based on the plurality of second water quality data; in response to the target area meeting a second condition, controlling the mobile monitoring vehicle system to monitor the target area; in response to the target area meeting a third condition, controlling the aviation unmanned aerial vehicle monitoring system to monitor the target area; wherein the first area is an area in a space-based satellite system monitoring area, and the target area is an area in the first area. The accuracy and reliability of point source water pollution monitoring can be improved.

Description

Technical Field

[0001] The present disclosure belongs to the field of water quality monitoring, and more specifically, to a method and device for monitoring point source water pollution based on five-base coordinated integration. Background Art

[0002] With the acceleration of industrialization and population growth, water pollution is becoming increasingly serious, especially point source water pollution, which poses a major threat to the ecological environment and human health. The hazards of point source water pollution are multifaceted and will affect human health, industrial and agricultural production, and the ecological environment. Traditional water quality monitoring methods often rely on a single monitoring method with limited monitoring range, low accuracy, and slow response speed.

[0003] Therefore, an accurate and reliable method for monitoring point source water pollution is urgently needed. Summary of the invention

[0004] The purpose of the present invention is to provide a point source water pollution monitoring method and device based on five-base coordinated integration to improve the accuracy and reliability of point source water pollution monitoring.

[0005] In a first aspect of the embodiments of the present disclosure, a method for monitoring point source water pollution based on five-base coordinated integration is provided, comprising: Determining a first area based on monitoring results of a space-based satellite system; Monitoring the first area based on an air-based remote sensing system to obtain first water quality data of the first area; In response to the first water quality data satisfying the first condition, controlling the ground monitoring system to perform water quality monitoring on the first area according to the first standard to obtain a plurality of second water quality data; determining a target area based on a plurality of second water quality data; In response to the target area satisfying the second condition, controlling the mobile monitoring vehicle system to monitor the target area; In response to the target area satisfying a third condition, controlling the aerial drone monitoring system to monitor the target area; The first area is an area within the space-based satellite system monitoring area, and the target area is an area within the first area.

[0006] A second aspect of the disclosed embodiment provides a point source water pollution monitoring device based on five-base coordinated integration, including: A space-based monitoring module, configured to determine a first area based on monitoring results of a space-based satellite system; An air-based monitoring module, used to monitor the first area based on an air-based remote sensing system to obtain first water quality data of the first area; A ground monitoring module, configured to control a ground monitoring system to perform water quality monitoring on a first area according to a first standard in response to the first water quality data satisfying a first condition, so as to obtain a plurality of second water quality data; A region screening module, used for determining a target region based on a plurality of second water quality data; A monitoring vehicle monitoring module, for controlling the mobile monitoring vehicle system to monitor the target area in response to the target area satisfying the second condition; The drone monitoring module is used to control the aviation drone monitoring system to monitor the target area in response to the target area satisfying the third condition; wherein the first area is an area within the space-based satellite system monitoring area, and the target area is an area within the first area.

[0007] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of the above-mentioned point source water pollution monitoring method based on the coordinated integration of the five bases are implemented.

[0008] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the steps of the above-mentioned point source water pollution monitoring method based on the coordinated integration of the five bases are implemented.

[0009] The beneficial effects of the point source water pollution monitoring method and device based on the five-base coordinated integration provided by the embodiments of the present disclosure are: The present disclosure can quickly identify areas (first areas) where water quality problems may exist through large-scale, high-efficiency monitoring by space-based satellite systems, thereby achieving early warning of water quality problems. Air-based remote sensing systems provide more detailed estimates of water quality parameters; ground-based monitoring systems provide accurate and detailed water quality data. The present disclosure can further narrow the scope of problem areas and determine specific target areas through detailed monitoring by ground-based monitoring systems, thereby achieving precise positioning of water quality problems. Multi-level monitoring methods help improve the accuracy and reliability of water quality monitoring. The present disclosure can flexibly adjust monitoring resources and means according to actual conditions through the collaborative work of different systems, thereby avoiding waste of resources and repeated investment, and improving the accuracy and reliability of point source water pollution monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 A schematic diagram of a process for monitoring point source water pollution based on five-base coordinated integration provided in one embodiment of the present disclosure; Figure 2 A structural block diagram of a point source water pollution monitoring device based on five-base coordinated integration provided in one embodiment of the present disclosure; Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0012] In the following description, specific details such as specific system structures and technologies are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present disclosure. However, it should be clear to those skilled in the art that the present disclosure may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present disclosure with unnecessary details.

[0013] First, some terms involved in the embodiments of the present disclosure are explained.

[0014] Space-based satellite systems refer to satellites deployed in Earth orbit for observing the Earth's surface. These satellites are equipped with various sensors, such as optical cameras, infrared detectors, radars, etc. They are able to obtain data over a wide range of spatial scales, covering a wide area, and can conduct macroscopic monitoring of water bodies around the world or in a specific area. Working principle: Space-based satellite systems can receive electromagnetic radiation reflected or emitted from water bodies on the Earth's surface, such as visible light, infrared rays, etc., through sensors on satellites, and then convert these signals into digital data and transmit them back to ground receiving stations. For example, optical satellites can obtain information such as the color and reflectivity of water bodies, which is related to the material composition of the water body (such as algae, silt, pollutants, etc.).

[0015] Air-based remote sensing system refers to a system that uses aircraft such as airplanes and airships as platforms and carries remote sensing equipment to detect ground targets. Its observation range is between that of space-based satellite systems and ground-based observation systems, and it has high spatial resolution and flexible maneuverability. Working principle: Remote sensing instruments (such as imaging spectrometers, lidar, etc.) installed on aircraft emit electromagnetic radiation to ground water bodies and receive signals reflected or scattered back by the water bodies. After these signals are processed, various characteristic information of the water body can be obtained. For example, an imaging spectrometer can obtain detailed reflectance spectra of water bodies in multiple spectral bands. By analyzing these spectra, various material components in the water body can be identified, such as different types of algae, dissolved organic matter, etc.

[0016] The aerial drone monitoring system refers to a system that uses unmanned aerial vehicles as a platform and carries various monitoring equipment, such as water quality sensors and cameras, to monitor water bodies. Drones are small in size, highly flexible, and easy to operate. Working principle: The drone flies along a predetermined route, and the sensors it carries can obtain relevant data about the water body in real time or at regular intervals. For example, the water quality sensors carried can directly measure parameters such as dissolved oxygen, pH value, and conductivity in the water body; the cameras can capture the surface conditions of the water body, such as color, floating objects, etc. These data can be transmitted back to the ground control station through wireless communication technology for real-time analysis.

[0017] The mobile monitoring vehicle system refers to a system that installs water quality monitoring equipment on a vehicle and can travel on land roads to conduct on-site monitoring of water bodies along the way. It combines the accuracy of laboratory monitoring equipment with the mobility of on-site monitoring. Working principle: The mobile monitoring vehicle is equipped with a series of water quality analysis instruments, such as chemical analyzers, biological monitors, etc. When the monitoring vehicle arrives at the monitoring point, water samples are collected through the sampling device, and then the samples are sent to the instruments in the vehicle for analysis to obtain water quality parameter data. For example, indicators such as heavy metal content, chemical oxygen demand, and biochemical oxygen demand in water can be measured.

[0018] The ground observation system refers to a system that sets up fixed observation stations around or inside the water body and uses various monitoring equipment to conduct long-term, fixed-point monitoring of the water body. The ground observation station can be a man-made observation station or an automatic monitoring device directly installed in the water. Working principle: The monitoring equipment at the ground observation station can include water quality sensors, hydrological instruments, etc. For example, water quality sensors can measure parameters such as temperature, dissolved oxygen, pH, etc. of the water body in real time, and transmit the data to the data center via wired or wireless communication. Hydrological instruments can measure hydrological parameters such as water level and water flow rate.

[0019] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, specific embodiments will be described below in conjunction with the accompanying drawings.

[0020] Please refer to Figure 1 , Figure 1 A flow chart of a method for monitoring point source water pollution based on five-base coordinated integration provided in one embodiment of the present disclosure, the method comprising: S101: Determine a first area based on monitoring results of a space-based satellite system.

[0021] In one embodiment of the present disclosure, determining the first area based on the monitoring result of the space-based satellite system includes: Monitor multiple areas based on the space-based satellite system and obtain monitoring results for multiple areas; In response to the first feature appearing in the monitoring result, a region where the first feature appears is determined as the first region.

[0022] In this embodiment, the space-based satellite system can obtain large-area images of the earth's surface, including water areas. Different water compositions and pollution conditions will present different spectral characteristics on satellite images. For example, clean water has a low reflectivity in the visible light band, while eutrophic water containing a large amount of algae will have a higher reflectivity in the green light band. By analyzing these spectral characteristics, it is possible to preliminarily determine the water area that may have water quality problems as the first area. Alternatively, for water bodies containing pollutants such as oil and suspended matter, their reflectivity in the infrared band will also change.

[0023] In this embodiment, determining the first area based on the monitoring result of the space-based satellite system further includes: In response to the water body reflectivity being higher than a first reflection threshold, a region where the water body reflectivity is higher than the first reflection threshold is determined as a first region; wherein the first reflection threshold is preset.

[0024] In this embodiment, the space-based satellite system can monitor multiple areas, all of which are water areas that require water quality monitoring. The first feature can be that the water reflectivity of one or some of the multiple areas is greater than or equal to a preset first reflection threshold.

[0025] The first area refers to an area where abnormal monitoring results are found during water quality monitoring by the space-based satellite system. For example, in the monitoring results of the space-based satellite system, if the reflectivity of water bodies in a certain area is higher than a preset first reflection threshold, then the area is determined as the first area.

[0026] S102: Monitor the first area based on the air-based remote sensing system to obtain first water quality data of the first area.

[0027] In this embodiment, the air-based remote sensing system can monitor the water quality of the first area. For example, it can estimate the concentration of chlorophyll-a in the water by monitoring the reflectance spectral characteristics of the water body. The abnormal increase in the concentration of chlorophyll-a suggests that eutrophication of the water body may occur. In addition, the air-based remote sensing system can also monitor the turbidity of the water body. The turbidity of the water body is related to the content of suspended particles in the water. High turbidity means the presence of silt, algae or other pollutants, which can indirectly reflect the degree of pollution of the water body. For the complexity of the types of pollutants, the air-based remote sensing system can identify different types of pollutants that may exist through different spectral band combinations. For example, some organic pollutants and heavy metals will form special spectral characteristics on the surface of the water body. By analyzing these characteristics, it can be preliminarily determined whether there are multiple potential pollutants in the water body.

[0028] The difference between the air-based remote sensing system and the space-based satellite system in data monitoring is that the space-based satellite system recognizes the collected images and determines the water quality information based on the reflectivity or other characteristics, while the air-based remote sensing system recognizes the collected images and can estimate the concentration of chlorophyll-a in the water body, the turbidity of the water body and other information based on the reflectivity.

[0029] The first water quality data may include: chlorophyll-a concentration, water turbidity, water quality deterioration rate, etc.

[0030] S103: In response to the first water quality data satisfying the first condition, controlling the ground monitoring system to perform water quality monitoring on the first area according to the first standard to obtain a plurality of second water quality data.

[0031] In this embodiment, the first water quality data may include: chlorophyll-a concentration, turbidity of water body, water quality deterioration trend, etc.

[0032] In this embodiment, in response to the first water quality data satisfying the first condition, the method may include: In response to the concentration of chlorophyll-a being greater than or equal to a first chlorophyll threshold; In response to the turbidity of the body of water being greater than or equal to a first turbidity threshold; In response to the water quality deterioration trend being greater than or equal to a first deterioration threshold.

[0033] The ground monitoring system can conduct more detailed water quality monitoring of the first area. The first standard may be different, and the corresponding first standard can be determined according to the first area, that is, the first standards corresponding to different areas are different. For example, if the first area is an ecologically sensitive area or a drinking water source area, the corresponding first standard is more stringent than the first standard of an ordinary river.

[0034] The second water quality data may include: total nitrogen, total phosphorus, chemical oxygen demand and biochemical oxygen demand data of the first area. The ground monitoring system may monitor the water quality information of the monitoring area through pre-set monitoring stations or monitoring equipment.

[0035] There are multiple second water quality data, and the division is based on monitoring sites or monitoring equipment. For example, a monitoring site can monitor the water quality data of an area 500 meters around it. The water quality information of a circular area with the monitoring site as the center and a radius of 500 meters is one second water quality data; another monitoring device can monitor the water quality data of a hundred meters around it. The water quality information of a circular area with the monitoring device as the center and a radius of one hundred meters is one second water quality data. Since there are multiple monitoring sites and multiple monitoring equipment in the ground monitoring system, multiple second water quality data are obtained.

[0036] S104: Determine a target area based on a plurality of second water quality data.

[0037] In this embodiment, the plurality of second water quality data are water quality data obtained by monitoring the first area by the ground monitoring system, and the areas corresponding to all the second water quality data constitute the first area, or include the first area.

[0038] The target area is the area within the first area. Since the division of areas by the space-based satellite system and the air-based remote sensing system is not precise, the first area provided is a relatively broad area. The ground monitoring system can monitor the water quality in the first area and determine a precise target area for subsequent processing and information collection.

[0039] In this embodiment, determining the target area based on a plurality of second water quality data includes: In response to the total nitrogen in the water body being greater than or equal to a first total nitrogen threshold, determining an area where the total nitrogen in the water body is greater than or equal to the first total nitrogen threshold as a target area; In response to the total phosphorus in the water body being greater than or equal to a first total phosphorus threshold, determining an area where the total phosphorus in the water body is greater than or equal to the first total phosphorus threshold as a target area; In response to the chemical oxygen demand of the water body being greater than or equal to a first chemical oxygen demand threshold, determining an area where the chemical oxygen demand of the water body is greater than or equal to the first chemical oxygen demand threshold as a target area; In response to the biochemical oxygen demand of the water body being greater than or equal to the first biochemical oxygen demand threshold, determining an area where the biochemical oxygen demand of the water body is greater than or equal to the first biochemical oxygen demand threshold as a target area; Among them, the first total nitrogen threshold, the first total phosphorus threshold, the first chemical oxygen demand threshold and the first biochemical oxygen demand threshold are set manually, and the first total nitrogen threshold, the first total phosphorus threshold, the first chemical oxygen demand threshold and the first biochemical oxygen demand threshold corresponding to different regions may be different.

[0040] S105: In response to the target area satisfying the second condition, controlling the mobile monitoring vehicle system to monitor the target area.

[0041] In this embodiment, the target area is an area in the first area, which is an area determined by the ground monitoring system to be further monitored. The second condition can be an area that the mobile monitoring vehicle system can reach, such as the target area is adjacent to a road or located in a flat area, or the water area of ​​the target area is within the range that the mobile monitoring vehicle system can effectively monitor.

[0042] S106: In response to the target area satisfying the third condition, controlling the aerial drone monitoring system to monitor the target area; wherein the first area is an area within the space-based satellite system monitoring area, and the target area is an area within the first area.

[0043] In this embodiment, the third condition may be a place that the mobile monitoring vehicle system cannot reach but the aerial drone can reach, for example, the target area is in a mountainous area, a swamp, etc., which is difficult for the mobile monitoring vehicle system to reach or takes a long time to reach. The third condition may also be that the water area of ​​the target area is larger than the area that the mobile monitoring vehicle system can monitor.

[0044] Aerial drone systems can quickly reach target areas based on their flexibility and can monitor water quality in target areas based on the various sensors they carry.

[0045] From the above, it can be concluded that the present disclosure can quickly identify areas (first areas) where water quality problems may exist through large-scale and high-efficiency monitoring of space-based satellite systems, thereby achieving early warning of water quality problems. Air-based remote sensing systems provide more detailed estimates of water quality parameters; ground monitoring systems provide accurate and detailed water quality data. The present disclosure can further narrow the scope of the problem area and determine the specific target area through detailed monitoring by the ground monitoring system, thereby achieving precise positioning of water quality problems. Multi-level monitoring methods help to improve the accuracy and reliability of water quality monitoring. The present disclosure can flexibly adjust monitoring resources and means according to actual conditions through the collaborative work of different systems, avoiding waste of resources and repeated investment, and improving the accuracy and reliability of point source water pollution monitoring.

[0046] In one embodiment of the present disclosure, satisfying the first condition includes: The first water quality data exceeds the first water quality threshold and / or the deterioration rate of the first water quality data exceeds the first deterioration threshold; The first area is monitored based on the air-based remote sensing system to obtain first water quality data of the first area, including: A monitoring mode of the airborne remote sensing system is determined based on the first area.

[0047] In this embodiment, the first water quality data is obtained by monitoring the air-based remote sensing system, and the first water quality data may include: chlorophyll-a concentration, turbidity of the water body, and water quality change rate. Accordingly, the first water quality threshold may include: a first chlorophyll threshold and a first turbidity threshold, and the deterioration rate of the first water quality data may be obtained by continuous air-based remote sensing system monitoring. Accordingly, the first deterioration threshold may include: a first chlorophyll deterioration threshold and a first turbidity deterioration threshold. It should be noted that the deterioration of chlorophyll includes an increase or decrease in the concentration of chlorophyll, and the deterioration of turbidity includes an increase in turbidity, but does not include a decrease in turbidity.

[0048] For example, the first deterioration threshold is 15% / day. The airborne remote sensing system conducts continuous water quality monitoring on the first area. The monitoring shows that the concentration of chlorophyll-a in the first area increases by 18% within one day. That is, the water quality deterioration rate in the first area is greater than the first deterioration threshold. Then the first area meets the first condition.

[0049] The monitoring modes of the airborne remote sensing system corresponding to different regions are different. Taking into account the different characteristics and importance of different regions, the monitoring modes of the airborne remote sensing system for different regions can be different. The differences in monitoring modes can be reflected in monitoring accuracy and monitoring frequency.

[0050] For example, area A is an ecological protection area, and area B is a small wild water area. For area A, the monitoring frequency of the air-based remote sensing system can be 20 days / time, and the monitoring accuracy of chlorophyll-a can reach 1-2μg / L. For area B, the monitoring frequency of the air-based remote sensing system can be 40 days / time, and the monitoring accuracy of chlorophyll-a can reach 5-6μg / L.

[0051] It can be concluded from the above that the present disclosure not only considers whether the water quality data exceeds the first water quality threshold, but also considers whether the deterioration rate of the water quality data exceeds the first deterioration threshold, making water quality monitoring more flexible and comprehensive, and being able to capture the dynamic process of water quality changes, and timely warn of potential water quality problems. According to the different characteristics and importance of the first area, the monitoring mode (including monitoring accuracy and monitoring frequency) of the air-based remote sensing system can be adjusted accordingly, which not only improves the monitoring efficiency, but also ensures the reasonable allocation of monitoring resources. Through the monitoring of the air-based remote sensing system, the present disclosure can timely detect abnormal changes in water quality data and improve the accuracy and reliability of point source water pollution monitoring.

[0052] In one embodiment of the present disclosure, satisfying the second condition includes: the second water quality data of the target area exceeds the second water quality threshold and / or the target area is an area that can be reached by the mobile monitoring vehicle system; Control the mobile monitoring vehicle system to monitor the target area, including: The monitoring mode of the mobile monitoring vehicle system is determined based on the target area.

[0053] In this embodiment, the second water quality data may include: total nitrogen, total phosphorus, chemical oxygen demand and biochemical oxygen demand data of the first area. Correspondingly, the second water quality threshold may include: a first total nitrogen threshold, a first total phosphorus threshold, a first chemical oxygen demand threshold and a first biochemical oxygen demand threshold. The area that the mobile monitoring vehicle system can reach refers to the area that the mobile monitoring vehicle system can reach and complete effective water quality monitoring.

[0054] The monitoring modes of the mobile monitoring vehicle system corresponding to different areas may be different, and the difference between the different monitoring modes of the mobile monitoring vehicle system may be reflected in the difference in monitoring accuracy and monitoring type. Considering that the characteristics, importance, and self-purification capabilities of different areas are different, the corresponding second water quality thresholds may also be different.

[0055] For example, area C is located in the plains, with a width of 1,000 meters, and is a national ecological protection area; area D is located in the plains, with a width of 1,000 meters, and is an ordinary river; area E is located in the mountains, with a width of 3,000 meters, and the mobile monitoring vehicle system can effectively monitor the water quality information within 600 meters on both sides.

[0056] For area C, in addition to basic indicators such as total nitrogen, total phosphorus, chemical oxygen demand and biochemical oxygen demand, the heavy metal content in the water, such as mercury, cadmium, lead, chromium, etc., will also be monitored. This is because aquatic organisms in the ecological protection area are very sensitive to heavy metal pollution, and even trace amounts of heavy metals may cause harm to rare species. For area D, only basic data such as total nitrogen, total phosphorus, chemical oxygen demand and biochemical oxygen demand may be monitored.

[0057] Taking total nitrogen as an example, the first total nitrogen threshold corresponding to area C can be 0.5 mg / L, and the first total nitrogen threshold corresponding to area D can be 1.3 mg / L. Since area E is located in a mountainous area with a fast water flow and better self-purification ability, the total nitrogen threshold corresponding to area E can be 1.0 mg / L.

[0058] Since both area C and area D are located in the plain and their width is smaller than the range that the mobile monitoring vehicle system can effectively monitor, the mobile monitoring vehicle system can effectively monitor area C and area D. However, since area E is located in the mountainous area and its width is larger than the range that the mobile monitoring vehicle system can effectively monitor, area C and area D can be monitored by the mobile monitoring vehicle system.

[0059] From the above, it can be concluded that the present disclosure not only considers whether the water quality data exceeds the second water quality threshold, but also considers the accessibility of the target area (i.e., whether it is an area that the mobile monitoring vehicle system can reach), making water quality monitoring more flexible and targeted, and being able to select the most appropriate monitoring method according to actual conditions. The present disclosure adjusts the monitoring mode of the mobile monitoring vehicle system accordingly according to factors such as the characteristics, importance, and self-purification capacity of different areas, thereby improving monitoring efficiency, ensuring the rational allocation of monitoring resources, and improving the accuracy and reliability of point source water pollution monitoring.

[0060] In one embodiment of the present disclosure, satisfying the third condition includes: the area of ​​the target region is greater than the first area threshold and / or the target region is an area that cannot be reached by the mobile monitoring vehicle system; Control the aerial drone monitoring system to monitor the target area, including: Determine the monitoring pattern of aerial drone systems based on target areas.

[0061] In this embodiment, satisfying the third condition further includes: an emergency occurs in the target area; Emergencies include: sudden large-scale oil pollution and sudden large amounts of pollutants.

[0062] Whether an emergency occurs in the target area can be determined based on the ground monitoring system. The ground monitoring system can not only monitor water quality, but also monitor and respond to some emergencies in real time.

[0063] The aerial drone monitoring system can quickly monitor a larger area (e.g., an area exceeding the first area threshold). The area that the mobile monitoring vehicle system cannot reach refers to the area that the mobile monitoring vehicle system cannot reach and the area that the mobile monitoring vehicle system cannot effectively monitor.

[0064] For example, the first area threshold is 500 square kilometers, and region F is in a swamp area with an area of ​​800 square kilometers. At this time, since the area of ​​region F is greater than the first area threshold and is in a swamp area, region F is an area that the mobile monitoring vehicle system cannot reach.

[0065] From the above, it can be concluded that the present disclosure can quickly and effectively monitor the water quality of large areas (such as areas exceeding the first area threshold) through the aerial drone monitoring system, which significantly improves the monitoring efficiency and ensures timely acquisition of comprehensive water quality data. In certain special geographical environments, such as complex terrains such as swamps, mountains, and lakes, it may be difficult for the mobile monitoring vehicle system to reach or conduct effective monitoring. At this time, the aerial drone monitoring system can play its unique advantages, overcome geographical barriers, and efficiently monitor areas that the mobile monitoring vehicle system cannot cover. The present disclosure uses the aerial drone monitoring system as a supplement to the ground monitoring system to make up for its shortcomings in monitoring range, achieve optimal allocation of monitoring resources and coordinated operations, and improve the accuracy and reliability of point source water pollution monitoring.

[0066] In one embodiment of the present disclosure, the point source water pollution monitoring method based on the five-base coordinated integration further includes: in response to the target area satisfying the fourth condition, controlling both the mobile monitoring vehicle system and the aerial drone monitoring system to monitor the target area; In response to both the mobile monitoring vehicle system and the aerial drone monitoring system monitoring the target area, the target area is monitored in a cooperative working mode; The cooperative working mode includes: the mobile monitoring vehicle system monitors the reachable area in the target area with a first accuracy, and the aerial drone monitoring system monitors the area in the target area that the mobile monitoring vehicle system cannot reach with a second accuracy.

[0067] In one embodiment of the present disclosure, satisfying the fourth condition includes: The area of ​​the target region is greater than the second face threshold and the target region is an area that can be reached by both the mobile monitoring vehicle system and the aerial drone monitoring system.

[0068] In this embodiment, the second area threshold is greater than the first area threshold. Considering that when the area of ​​the target area is larger than the area that can be effectively monitored by the aerial drone monitoring system, it is impossible to perform rapid and effective monitoring relying solely on the aerial drone monitoring system, when the area of ​​the target area is larger than the second area threshold and both the aerial drone and the mobile monitoring vehicle system can reach it, the aerial drone monitoring system and the mobile monitoring vehicle system monitor the target area simultaneously.

[0069] The cooperative working mode may mean that the mobile monitoring vehicle system monitors the area close to both banks of the target area, i.e., the area that the mobile monitoring vehicle system can effectively monitor, and the aerial drone monitoring system monitors the area (central area) in the target area that the mobile monitoring vehicle system cannot effectively monitor.

[0070] In the cooperative working mode, the mobile monitoring vehicle system can monitor the water quality in more detail. Due to the large area of ​​the target area and considering the endurance and cost issues of aerial drones, the aerial drone monitoring system can perform simple monitoring and sample the monitored water quality, and the mobile monitoring vehicle system will perform more detailed monitoring, that is, the first accuracy is greater than the second accuracy, which can be specifically reflected in the types of water quality monitored. For example, the mobile monitoring vehicle system can monitor the total nitrogen, total phosphorus, chemical oxygen demand, biochemical oxygen demand, mercury content, cadmium content, lead content, etc. of the water quality, and the aerial drone monitoring system can monitor the total nitrogen, total phosphorus, chemical oxygen demand and biochemical oxygen demand of the water quality.

[0071] From the above, it can be concluded that the present disclosure monitors the target area through the coordinated work of the mobile monitoring vehicle system and the aerial drone monitoring system, which can give full play to the advantages of the two monitoring systems and achieve efficient and comprehensive water quality monitoring. Through the cooperative working mode, the present disclosure can divide the monitoring of the target area according to their respective capabilities and characteristics. The mobile monitoring vehicle system performs high-precision monitoring of the areas that can be reached, while the aerial drone monitoring system monitors the areas that the mobile monitoring vehicle system cannot reach, which improves the monitoring efficiency, optimizes the allocation of monitoring resources, avoids waste of resources, and improves the accuracy and reliability of point source water pollution monitoring.

[0072] Corresponding to the point source water pollution monitoring method based on the five-base coordinated integration in the above embodiment, Figure 2 This is a structural block diagram of a point source water pollution monitoring device based on five-base coordinated integration provided by an embodiment of the present disclosure. For ease of explanation, only the parts related to the embodiment of the present disclosure are shown. Figure 2 The point source water pollution monitoring device 20 based on the coordinated integration of five bases includes: a space-based monitoring module 21, an air-based monitoring module 22, a ground monitoring module 23, a regional screening module 24, a monitoring vehicle monitoring module 25 and a drone monitoring module 26.

[0073] Wherein, the space-based monitoring module 21 is used to determine the first area based on the monitoring result of the space-based satellite system; An air-based monitoring module 22, configured to monitor the first area based on an air-based remote sensing system to obtain first water quality data of the first area; A ground monitoring module 23, configured to control a ground monitoring system to perform water quality monitoring on a first area according to a first standard in response to the first water quality data satisfying a first condition, so as to obtain a plurality of second water quality data; An area screening module 24, for determining a target area based on a plurality of second water quality data; The monitoring vehicle monitoring module 25 is used to control the mobile monitoring vehicle system to monitor the target area in response to the target area satisfying the second condition; The drone monitoring module 26 is used to control the aviation drone monitoring system to monitor the target area in response to the target area satisfying the third condition; wherein the first area is an area within the space-based satellite system monitoring area, and the target area is an area within the first area.

[0074] In one embodiment of the present disclosure, satisfying the first condition includes: The first water quality data exceeds the first water quality threshold and / or the deterioration rate of the first water quality data exceeds the first deterioration threshold; The ground monitoring module 23 is specifically configured to determine a monitoring mode of the airborne remote sensing system based on the first area.

[0075] In one embodiment of the present disclosure, satisfying the second condition includes: the second water quality data of the target area exceeds the second water quality threshold and / or the target area is an area that can be reached by the mobile monitoring vehicle system; The monitoring vehicle monitoring module 25 is specifically used to determine the monitoring mode of the mobile monitoring vehicle system based on the target area.

[0076] In one embodiment of the present disclosure, satisfying the third condition includes: the area of ​​the target region is greater than the first area threshold and / or the target region is an area that cannot be reached by the mobile monitoring vehicle system; The drone monitoring module 26 is specifically used to determine the monitoring mode of the aviation drone system based on the target area.

[0077] In one embodiment of the present disclosure, the space-based monitoring module 21 is specifically used to monitor multiple areas based on a space-based satellite system to obtain monitoring results of the multiple areas; In response to the first feature appearing in the monitoring result, a region where the first feature appears is determined as the first region.

[0078] In one embodiment of the present disclosure, the point source water pollution monitoring device 20 based on the five-base coordinated integration further includes: a cooperative working module; A cooperative working module, configured to control both the mobile monitoring vehicle system and the aerial drone monitoring system to monitor the target area in response to the target area satisfying the fourth condition; In response to both the mobile monitoring vehicle system and the aerial drone monitoring system monitoring the target area, the target area is monitored in a cooperative working mode; The cooperative working mode includes: the mobile monitoring vehicle system monitors the reachable area in the target area with a first accuracy, and the aerial drone monitoring system monitors the area in the target area that the mobile monitoring vehicle system cannot reach with a second accuracy.

[0079] In one embodiment of the present disclosure, satisfying the fourth condition includes: The area of ​​the target region is greater than the second face threshold and the target region is an area that can be reached by both the mobile monitoring vehicle system and the aerial drone monitoring system.

[0080] See also Figure 3 , Figure 3 A schematic block diagram of an electronic device provided by an embodiment of the present disclosure. Figure 3 The electronic device 300 in the embodiment shown may include: one or more processors 301, one or more input devices 302, one or more output devices 303 and one or more memories 304. The processors 301, input devices 302, output devices 303 and memories 304 communicate with each other via a communication bus 305. The memory 304 is used to store computer programs, which include program instructions. The processor 301 is used to execute the program instructions stored in the memory 304. The processor 301 is configured to call the program instructions to execute the functions of each module / unit in the above-mentioned device embodiments, such as Figure 2 The functions of modules 21 to 26 are shown.

[0081] It should be understood that in the embodiment of the present disclosure, the processor 301 may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0082] The input device 302 may include a touch panel, a fingerprint collection sensor (for collecting the user's fingerprint information and fingerprint direction information), a microphone, etc., and the output device 303 may include a display (LCD, etc.), a speaker, etc.

[0083] The memory 304 may include a read-only memory and a random access memory, and provide instructions and data to the processor 301. A portion of the memory 304 may also include a non-volatile random access memory. For example, the memory 304 may also store information about the device type.

[0084] In a specific implementation, the processor 301, input device 302, and output device 303 described in the embodiments of the present disclosure can execute the implementation methods described in the first and second embodiments of the point source water pollution monitoring method based on five-base coordinated integration provided in the embodiments of the present disclosure, and can also execute the implementation methods of the electronic device described in the embodiments of the present disclosure, which will not be repeated here.

[0085] In another embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by the processor, all or part of the processes in the above-mentioned embodiment method are implemented, and the computer program can also be completed by instructing the relevant hardware through the computer program. The computer program can be stored in a computer-readable storage medium, and when the computer program is executed by the processor, the steps of each of the above-mentioned method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0086] The computer-readable storage medium may be an internal storage unit of the electronic device of any of the aforementioned embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the electronic device and an external storage device. The computer-readable storage medium is used to store computer programs and other programs and data required by the electronic device. The computer-readable storage medium may also be used to temporarily store data that has been output or is to be output.

[0087] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this disclosure.

[0088] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the electronic devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0089] In the several embodiments provided in the present application, it should be understood that the disclosed electronic devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces or units, or it can be an electrical, mechanical or other form of connection.

[0090] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of the present disclosure.

[0091] In addition, each functional unit in each embodiment of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0092] The above are only specific embodiments of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present disclosure, and these modifications or replacements should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A point source water pollution monitoring method based on five-base coordinated integration, characterized in that: include: Determining a first area based on monitoring results of a space-based satellite system; Monitoring the first area based on an air-based remote sensing system to obtain first water quality data of the first area; In response to the first water quality data satisfying a first condition, controlling a ground monitoring system to perform water quality monitoring on the first area according to a first standard to obtain a plurality of second water quality data; determining a target area based on the plurality of second water quality data; In response to the target area satisfying a second condition, controlling the mobile monitoring vehicle system to monitor the target area; In response to the target area satisfying a third condition, controlling the aerial drone monitoring system to monitor the target area; The first area is an area monitored by the space-based satellite system, and the target area is an area within the first area.

2. The point source water pollution monitoring method based on five-base coordinated integration as claimed in claim 1 is characterized in that: The first condition is met, including: The first water quality data exceeds a first water quality threshold and / or the deterioration rate of the first water quality data exceeds a first deterioration threshold; The monitoring of the first area by the air-based remote sensing system to obtain first water quality data of the first area includes: A monitoring mode of the airborne remote sensing system is determined based on the first area.

3. The point source water pollution monitoring method based on five-base coordinated integration as claimed in claim 1 is characterized in that: The second condition being met includes: the second water quality data of the target area exceeds the second water quality threshold and / or the target area is an area that the mobile monitoring vehicle system can reach; The controlling the mobile monitoring vehicle system to monitor the target area includes: A monitoring mode of the mobile monitoring vehicle system is determined based on the target area.

4. The point source water pollution monitoring method based on five-base coordinated integration as claimed in claim 1 is characterized in that: The third condition being satisfied includes: the area of ​​the target area is greater than the first area threshold and / or the target area is an area that the mobile monitoring vehicle system cannot reach; The controlling the aerial drone monitoring system to monitor the target area includes: A monitoring mode of the aerial drone system is determined based on a target area.

5. The point source water pollution monitoring method based on five-base coordinated integration as claimed in claim 1 is characterized in that: The determining of the first area based on the monitoring result of the space-based satellite system includes: Monitoring multiple areas based on the space-based satellite system to obtain monitoring results for the multiple areas; In response to a first feature appearing in the monitoring result, a region where the first feature appears is determined as the first region.

6. The point source water pollution monitoring method based on five-base coordinated integration as claimed in claim 1 is characterized in that: Also includes: In response to the target area satisfying a fourth condition, controlling both the mobile monitoring vehicle system and the aerial drone monitoring system to monitor the target area; In response to both the mobile monitoring vehicle system and the aerial drone monitoring system monitoring the target area, monitoring the target area in a cooperative working mode; The cooperative working mode includes: the mobile monitoring vehicle system monitors the reachable area in the target area with a first accuracy, and the aerial drone monitoring system monitors the area in the target area that the mobile monitoring vehicle system cannot reach with a second accuracy.

7. The point source water pollution monitoring method based on five-base coordinated integration as claimed in claim 6 is characterized in that: The fourth condition is met, including: The area of ​​the target region is greater than the second surface threshold and the target region is an area that can be reached by both the mobile monitoring vehicle system and the aerial drone monitoring system.

8. A point source water pollution monitoring device based on five-base coordinated integration, characterized in that: include: A space-based monitoring module, configured to determine a first area based on monitoring results of a space-based satellite system; An air-based monitoring module, used to monitor the first area based on an air-based remote sensing system to obtain first water quality data of the first area; a ground monitoring module, configured to control a ground monitoring system to perform water quality monitoring on the first area according to a first standard in response to the first water quality data satisfying a first condition, so as to obtain a plurality of second water quality data; A region screening module, used for determining a target region based on the plurality of second water quality data; A monitoring vehicle monitoring module, configured to control the mobile monitoring vehicle system to monitor the target area in response to the target area satisfying a second condition; The drone monitoring module is used to control the aviation drone monitoring system to monitor the target area in response to the target area satisfying the third condition; wherein the first area is the area within the space-based satellite system monitoring area, and the target area is the area within the first area.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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