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

Abstract

The present disclosure provides a method and device for monitoring point source water pollution based on five-base coordinated integration, belonging to the field of water quality monitoring. The method includes: determining a first area based on the 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 monitor the water quality of the first area according to a first standard to obtain multiple second water quality data; determining a target area based on the multiple second water quality data; in response to the target area satisfying a second condition, controlling a mobile monitoring vehicle system to monitor the target area; in response to the target area satisfying a third condition, controlling an 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. The present disclosure can improve the accuracy and reliability of point source water pollution monitoring.

Description

Technical Field

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

[0002] With the acceleration of industrialization and population growth, water pollution is becoming increasingly serious. Point-source water pollution, in particular, poses a significant threat to the ecological environment and human health. Point-source water pollution poses multiple risks, impacting human health, industrial and agricultural production, and the ecological environment. Traditional water quality monitoring methods often rely on a single monitoring method, resulting in limited coverage, low accuracy, and slow response times.

[0003] Therefore, there is an urgent need for an accurate and reliable method for monitoring point source water pollution. Summary of the Invention

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

[0005] A first aspect of the embodiments of the present disclosure provides a method for monitoring point source water pollution based on the coordinated integration of five bases, including:

[0006] determining a first area based on monitoring results of a space-based satellite system;

[0007] Monitoring the first area based on an airborne remote sensing system to obtain first water quality data of the first area;

[0008] In response to the first water quality data satisfying the first condition, controlling the ground monitoring system to monitor the water quality of the first area according to the first standard to obtain a plurality of second water quality data;

[0009] determining a target area based on a plurality of second water quality data;

[0010] In response to the target area satisfying the second condition, controlling the mobile monitoring vehicle system to monitor the target area;

[0011] In response to the target area satisfying a third condition, controlling the aerial drone monitoring system to monitor the target area;

[0012] The first area is an area within the monitoring area of the space-based satellite system, and the target area is an area within the first area.

[0013] A second aspect of the embodiments of the present disclosure provides a point source water pollution monitoring device based on five-base coordinated integration, comprising:

[0014] A space-based monitoring module, configured to determine a first area based on monitoring results of a space-based satellite system;

[0015] An air-based monitoring module, configured to monitor the first area based on an air-based remote sensing system to obtain first water quality data of the first area;

[0016] 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, and obtain a plurality of second water quality data;

[0017] an area screening module, configured to determine a target area based on a plurality of second water quality data;

[0018] 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 the second condition;

[0019] The drone monitoring module is used to control the aviation drone monitoring system to monitor the target area in response to the target area meeting 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.

[0020] 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.

[0021] 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.

[0022] 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:

[0023] Through large-scale, high-efficiency monitoring by a space-based satellite system, the present disclosure can quickly identify areas (first areas) where water quality problems may exist, thus achieving early warning of water quality issues. Airborne remote sensing systems provide more detailed estimates of water quality parameters; ground-based monitoring systems provide accurate and detailed water quality data. Through detailed monitoring by a ground-based monitoring system, the present disclosure can further narrow the scope of problem areas, identify specific target areas, and achieve precise positioning of water quality issues. Multi-level monitoring methods help improve the accuracy and reliability of water quality monitoring. Through the collaborative work of different systems, the present disclosure can flexibly adjust monitoring resources and methods according to actual conditions, avoiding waste of resources and duplication of investment, and improving the accuracy and reliability of point source water pollution monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0025] Figure 1 A flow chart of a method for monitoring point source water pollution based on five-base coordinated integration according to an embodiment of the present disclosure;

[0026] 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;

[0027] Figure 3 A schematic block diagram of an electronic device provided in one embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present disclosure. However, it will be apparent 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 obscuring the description of the present disclosure with unnecessary detail.

[0029] First, some terms involved in the embodiments of the present disclosure are explained.

[0030] Space-based satellite systems refer to satellites deployed in Earth orbit for observing the Earth's surface. These satellites are equipped with a variety of sensors, such as optical cameras, infrared detectors, and radars. They are able to acquire data over a wide range of spatial scales, covering a wide area, and can conduct macroscopic monitoring of water bodies globally or in specific regions. Working Principle: Space-based satellite systems can receive electromagnetic radiation, such as visible light and infrared rays, reflected or emitted from water bodies on the Earth's surface through sensors on the satellites. These signals are then converted into digital data and transmitted 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, sediment, pollutants, etc.).

[0031] Airborne remote sensing systems use aircraft such as airplanes and airships as platforms, equipped with remote sensing equipment, to detect ground targets. Their observation range lies between that of space-based satellite systems and ground-based observation systems, offering high spatial resolution and flexible maneuverability. Operating principle: Remote sensing instruments (such as imaging spectrometers and lidar) mounted on aircraft transmit electromagnetic radiation toward surface water and receive signals reflected or scattered back from the water. These signals are processed to reveal various characteristics of the water. For example, imaging spectrometers can obtain detailed reflectance spectra of water across multiple spectral bands. By analyzing these spectra, various components of the water, such as different types of algae and dissolved organic matter, can be identified.

[0032] An aerial drone monitoring system uses unmanned aerial vehicles (UAVs) as platforms, equipped with various monitoring equipment, such as water quality sensors and cameras, to monitor water bodies. UAVs are characterized by their small size, high flexibility, and ease of operation. How it works: UAVs fly along a predetermined route, and their onboard sensors acquire relevant water data in real time or at scheduled intervals. For example, water quality sensors can directly measure parameters such as dissolved oxygen, pH, and conductivity; cameras can capture surface conditions, such as color and floating debris. This data is transmitted back to a ground control station via wireless communication technology for real-time analysis.

[0033] A mobile monitoring vehicle system involves installing water quality monitoring equipment on a vehicle, allowing it to travel on land and conduct on-site monitoring of water bodies along its route. It combines the accuracy of laboratory monitoring equipment with the mobility of on-site monitoring. How it works: The mobile monitoring vehicle is equipped with a series of water quality analysis instruments, such as chemical analyzers and biological monitors. When the vehicle arrives at the monitoring point, it collects water samples using a sampling device. The samples are then fed into the vehicle's instruments for analysis and data on water quality parameters. For example, it can measure indicators such as heavy metal content, chemical oxygen demand, and biochemical oxygen demand in the water.

[0034] A ground-based observation system uses various monitoring devices to conduct long-term, fixed-point monitoring of water bodies using fixed observation stations located around or within them. Ground-based observation stations can be man-made or automated monitoring devices installed directly in the water. Operating Principle: Monitoring equipment at ground-based observation stations can include water quality sensors and hydrological instruments. For example, water quality sensors can measure water parameters such as temperature, dissolved oxygen, and pH in real time, transmitting this data to a data center via wired or wireless communication. Hydrological instruments can measure hydrological parameters such as water level and flow rate.

[0035] In order to make the purpose, technical solutions and advantages of the present disclosure more clear, specific embodiments will be described below with reference to the accompanying drawings.

[0036] 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:

[0037] S101: Determine a first area based on monitoring results of a space-based satellite system.

[0038] In one embodiment of the present disclosure, determining the first area based on monitoring results of a space-based satellite system includes:

[0039] Monitor multiple areas based on a space-based satellite system and obtain monitoring results for multiple areas;

[0040] In response to the first feature appearing in the monitoring result, a region where the first feature appears is determined as a first region.

[0041] In this embodiment, the space-based satellite system can acquire images of large areas of the Earth's surface, including water bodies. Different water compositions and pollution conditions will present different spectral characteristics in satellite images. For example, clean water has a low reflectivity in the visible light band, while eutrophic water containing large amounts of algae will have a higher reflectivity in the green light band. By analyzing these spectral characteristics, water areas that may have water quality problems can be preliminarily identified as the first area. Alternatively, for water bodies containing pollutants such as oil and suspended solids, their reflectivity in the infrared band will also change.

[0042] In this embodiment, determining the first area based on the monitoring results of the space-based satellite system further includes:

[0043] 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.

[0044] 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 areas in the multiple areas is greater than or equal to a preset first reflection threshold.

[0045] The first area refers to an area where abnormal monitoring results are found during water quality monitoring by a space-based satellite system. For example, if the reflectivity of water in a certain area is higher than a preset first reflectivity threshold in the monitoring results of the space-based satellite system, the area is determined to be the first area.

[0046] S102: Monitor the first area based on the airborne remote sensing system to obtain first water quality data of the first area.

[0047] In this embodiment, the airborne 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 airborne 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 particulate matter in the water. High turbidity means the presence of sediment, algae or other pollutants, which can indirectly reflect the degree of pollution of the water body. In view of the complexity of the types of pollutants, the airborne remote sensing system can identify different types of pollutants that may exist through different spectral band combinations. For example, certain 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.

[0048] The difference between airborne remote sensing systems and space-based satellite systems in data monitoring is that space-based satellite systems identify collected images and judge water quality information based on reflectivity or other characteristics, while airborne remote sensing systems identify 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.

[0049] The first water quality data may include: chlorophyll-a concentration, water turbidity, water quality deterioration rate, etc.

[0050] 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.

[0051] In this embodiment, the first water quality data may include: chlorophyll-a concentration, water turbidity, water quality deterioration trend, etc.

[0052] In this embodiment, in response to the first water quality data satisfying the first condition, the method may include:

[0053] In response to a concentration of chlorophyll-a being greater than or equal to a first chlorophyll threshold;

[0054] In response to the turbidity of the body of water being greater than or equal to a first turbidity threshold;

[0055] In response to the water quality deterioration trend being greater than or equal to a first deterioration threshold.

[0056] The ground monitoring system can conduct more detailed water quality monitoring of the first area. The first standard can 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.

[0057] 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.

[0058] There are multiple second water quality data, and their 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 100 meters is one second water quality data. Since there are multiple monitoring sites and multiple monitoring equipment in the ground monitoring system, there are multiple second water quality data obtained.

[0059] S104: Determine a target area based on the plurality of second water quality data.

[0060] 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.

[0061] 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 of the first area and determine a precise target area for subsequent processing and information collection.

[0062] In this embodiment, determining the target area based on a plurality of second water quality data includes:

[0063] In response to the total nitrogen in the water being greater than or equal to a first total nitrogen threshold, determining an area where the total nitrogen in the water is greater than or equal to the first total nitrogen threshold as a target area;

[0064] 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;

[0065] 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;

[0066] In response to the biochemical oxygen demand of the water body being greater than or equal to a 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;

[0067] 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 manually set, 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.

[0068] S105: In response to the target area meeting the second condition, controlling the mobile monitoring vehicle system to monitor the target area.

[0069] In this embodiment, the target area is an area within the first area, which is determined by the ground monitoring system to require further monitoring. The second condition can be an area accessible to the mobile monitoring vehicle system, for example, 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.

[0070] S106: In response to the target area meeting 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.

[0071] In this embodiment, the third condition can be a location that is inaccessible to the mobile monitoring vehicle system but accessible to aerial drones. For example, the target area is located in a mountainous area or swamp, which is difficult for the mobile monitoring vehicle system to reach or takes a long time to reach. The third condition can also be that the water area of the target area is larger than the area that the mobile monitoring vehicle system can monitor.

[0072] Aerial drone systems can quickly reach target areas based on their flexibility and can monitor the water quality of target areas based on the various sensors they carry.

[0073] 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, high-efficiency monitoring by space-based satellite systems, thereby achieving early warning of water quality problems. Airborne remote sensing systems provide more detailed estimates of water quality parameters; ground-based monitoring systems provide accurate and detailed water quality data. Through detailed monitoring by ground-based monitoring systems, the present disclosure can further narrow the scope of problem areas, identify specific target areas, and achieve precise positioning of water quality problems. Multi-level monitoring methods help improve the accuracy and reliability of water quality monitoring. Through the collaborative work of different systems, the present disclosure can flexibly adjust monitoring resources and methods according to actual conditions, avoiding waste of resources and duplication of investment, and improving the accuracy and reliability of point source water pollution monitoring.

[0074] In one embodiment of the present disclosure, satisfying the first condition includes:

[0075] 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;

[0076] The first area is monitored based on the airborne remote sensing system to obtain first water quality data of the first area, including:

[0077] A monitoring mode of the airborne remote sensing system is determined based on the first area.

[0078] In this embodiment, the first water quality data is obtained through monitoring by an airborne remote sensing system. The first water quality data may include: chlorophyll-a concentration, water turbidity, and the rate of water quality change. Accordingly, the first water quality threshold may include: a first chlorophyll threshold and a first turbidity threshold. The rate of deterioration of the first water quality data may be obtained through continuous airborne remote sensing monitoring. Accordingly, the first deterioration threshold may include: a first chlorophyll deterioration threshold and a first turbidity deterioration threshold. It should be noted that chlorophyll deterioration includes an increase or decrease in chlorophyll concentration, and turbidity deterioration includes an increase in turbidity, but not a decrease in turbidity.

[0079] 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.

[0080] The monitoring modes of airborne remote sensing systems corresponding to different regions are different. Taking into account the different characteristics and importance of different regions, the monitoring modes of airborne remote sensing systems for different regions can be different. The differences in monitoring modes can be reflected in monitoring accuracy and monitoring frequency.

[0081] 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 airborne 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 airborne remote sensing system can be 40 days / time, and the monitoring accuracy of chlorophyll-a can reach 5-6μg / L.

[0082] From the above, it can be concluded that the present disclosure not only considers whether the water quality data exceeds the first water quality threshold, but also considers whether the rate of deterioration of the water quality data exceeds the first deterioration threshold. This makes water quality monitoring more flexible and comprehensive, capable of capturing the dynamic process of water quality changes and providing timely warnings of potential water quality issues. The present disclosure adjusts the monitoring mode (including monitoring accuracy and monitoring frequency) of the airborne remote sensing system based on the different characteristics and importance of the first area, which not only improves monitoring efficiency but also ensures the rational allocation of monitoring resources. Through monitoring by the airborne remote sensing system, the present disclosure can promptly detect abnormal changes in water quality data, improving the accuracy and reliability of point source water pollution monitoring.

[0083] In one embodiment of the present disclosure, satisfying the second condition includes: second water quality data of the target area exceeds a second water quality threshold and / or the target area is an area that can be reached by the mobile monitoring vehicle system;

[0084] Control the mobile monitoring vehicle system to monitor the target area, including:

[0085] The monitoring mode of the mobile monitoring vehicle system is determined based on the target area.

[0086] In this embodiment, the second water quality data may include data such as total nitrogen, total phosphorus, chemical oxygen demand, and biochemical oxygen demand for the first area. Accordingly, the second water quality thresholds may include thresholds such as 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 accessible by the mobile monitoring vehicle system refers to an area where the mobile monitoring vehicle system can reach and perform effective water quality monitoring.

[0087] The monitoring modes of the mobile monitoring vehicle systems corresponding to different areas can vary. These modes can differ in monitoring accuracy and monitoring type. Given the varying characteristics, importance, and self-purification capabilities of different areas, the corresponding second water quality thresholds can also vary.

[0088] For example, area C is located in the plains, with a width of 1,000 meters, and is a national ecological protection zone; 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. The mobile monitoring vehicle system can effectively monitor water quality information within 600 meters on both sides of the river.

[0089] For Area C, in addition to basic indicators like total nitrogen, total phosphorus, chemical oxygen demand, and biochemical oxygen demand, water monitoring will also focus on heavy metal levels such as mercury, cadmium, lead, and chromium. This is because aquatic organisms within the protected area are highly sensitive to heavy metal pollution, and even trace amounts of heavy metals can harm rare species. Area D, on the other hand, may only monitor basic data such as total nitrogen, total phosphorus, chemical oxygen demand, and biochemical oxygen demand.

[0090] 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 faster water flow and better self-purification ability, the total nitrogen threshold corresponding to area E can be 1.0 mg / L.

[0091] Since areas C and D are both located in plains 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 areas C and D. However, since area E is located in a mountainous area and its width is larger than the range that the mobile monitoring vehicle system can effectively monitor, areas C and D can be monitored by the mobile monitoring vehicle system.

[0092] As can be seen from the above, the present disclosure considers both whether water quality data exceeds the second water quality threshold and the accessibility of the target area (i.e., whether it is within the reach of the mobile monitoring vehicle system), making water quality monitoring more flexible and targeted, and enabling the selection of the most appropriate monitoring method based on actual conditions. By adjusting the monitoring mode of the mobile monitoring vehicle system based on factors such as the characteristics, importance, and self-purification capacity of different areas, the present disclosure improves monitoring efficiency, ensures the rational allocation of monitoring resources, and enhances the accuracy and reliability of point source water pollution monitoring.

[0093] 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;

[0094] Control the UAV monitoring system to monitor the target area, including:

[0095] Determine the monitoring mode of aerial drone systems based on target areas.

[0096] In this embodiment, the third condition is satisfied, further comprising: an emergency occurs in the target area;

[0097] Emergencies include: sudden large-scale oil pollution and sudden large amounts of pollutants.

[0098] 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.

[0099] The aerial drone monitoring system can quickly monitor a larger area (e.g., an area exceeding a first area threshold). The area that the mobile monitoring vehicle system cannot reach refers to an area that the mobile monitoring vehicle system cannot reach and an area that the mobile monitoring vehicle system cannot effectively monitor.

[0100] 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.

[0101] 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, significantly improving the monitoring efficiency and ensuring 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 mobile monitoring vehicle systems 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 cannot be covered by the mobile monitoring vehicle system. 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.

[0102] 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 meeting the fourth condition, controlling both the mobile monitoring vehicle system and the aerial drone monitoring system to monitor the target area;

[0103] 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;

[0104] 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.

[0105] In one embodiment of the present disclosure, satisfying the fourth condition includes:

[0106] 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.

[0107] 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, so 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.

[0108] The cooperative working mode may mean that the mobile monitoring vehicle system monitors the areas close to the two banks of the target area, that is, the areas that the mobile monitoring vehicle system can effectively monitor, and the aerial drone monitoring system monitors the areas (central areas) in the target area that the mobile monitoring vehicle system cannot effectively monitor.

[0109] 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 the aerial drone, 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.

[0110] From the above, it can be concluded that the present disclosure monitors the target area through the collaborative 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 work of monitoring the target area by the mobile monitoring vehicle system and the aerial drone monitoring system 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 cannot be reached by the mobile monitoring vehicle system, thereby improving monitoring efficiency, optimizing the allocation of monitoring resources, avoiding waste of resources, and improving the accuracy and reliability of point source water pollution monitoring.

[0111] 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.

[0112] The space-based monitoring module 21 is configured to determine the first area based on monitoring results of the space-based satellite system;

[0113] 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;

[0114] a ground monitoring module 23 for 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 in response to the first water quality data satisfying the first condition;

[0115] an area screening module 24, configured to determine a target area based on a plurality of second water quality data;

[0116] The monitoring vehicle monitoring module 25 is configured to control the mobile monitoring vehicle system to monitor the target area in response to the target area satisfying the second condition;

[0117] 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 meeting 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.

[0118] In one embodiment of the present disclosure, satisfying the first condition includes:

[0119] 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;

[0120] The ground monitoring module 23 is specifically configured to determine a monitoring mode of the airborne remote sensing system based on the first area.

[0121] In one embodiment of the present disclosure, satisfying the second condition includes: second water quality data of the target area exceeds a second water quality threshold and / or the target area is an area that can be reached by the mobile monitoring vehicle system;

[0122] The monitoring vehicle monitoring module 25 is specifically configured to determine a monitoring mode of the mobile monitoring vehicle system based on a target area.

[0123] 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;

[0124] The UAV monitoring module 26 is specifically configured to determine a monitoring mode of the aerial UAV system based on a target area.

[0125] In one embodiment of the present disclosure, the space-based monitoring module 21 is specifically configured to monitor multiple areas based on a space-based satellite system and obtain monitoring results for the multiple areas;

[0126] In response to the first feature appearing in the monitoring result, a region where the first feature appears is determined as a first region.

[0127] 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;

[0128] 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 a fourth condition;

[0129] 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;

[0130] 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.

[0131] In one embodiment of the present disclosure, satisfying the fourth condition includes:

[0132] 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.

[0133] See also Figure 3 , Figure 3 This is 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 the modules / units in the above-mentioned device embodiments, such as Figure 2 The functions of modules 21 to 26 are shown.

[0134] It should be understood that in the embodiments of the present disclosure, the processor 301 may be a central processing unit (CPU), or may 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 any conventional processor, etc.

[0135] The input device 302 may include a touchpad, a fingerprint collection sensor (for collecting user fingerprint information and fingerprint direction information), a microphone, etc. The output device 303 may include a display (LCD, etc.), a speaker, etc.

[0136] The memory 304 may include a read-only memory and a random access memory, and provides 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.

[0137] 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 by 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.

[0138] In another embodiment of the present disclosure, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program. The computer program includes program instructions. When the program instructions are executed by a processor, all or part of the process of the method in the above embodiment is implemented. The computer program can also be used to instruct related hardware to complete the process. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of each of the above method embodiments are implemented. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium.

[0139] The computer-readable storage medium can be an internal storage unit of the electronic device in any of the aforementioned embodiments, such as a hard disk or memory of the electronic device. The computer-readable storage medium can also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc. Furthermore, the computer-readable storage medium can 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 can also be used to temporarily store data that has been output or is about to be output.

[0140] Those skilled 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 above description has generally described the composition and steps of each example according to function. 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.

[0141] Those skilled in the art will 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.

[0142] In the several embodiments provided in this 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 merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, 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 can be an electrical, mechanical or other form of connection.

[0143] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the objectives of the embodiments of the present disclosure.

[0144] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0145] The above are only specific embodiments of the present disclosure, but the scope of protection of the present disclosure is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or replacements within the technical scope disclosed in this disclosure, and such modifications or replacements should be included in the scope of protection of the present disclosure. Therefore, the scope of protection of the present disclosure should be based on the scope of protection 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 airborne remote sensing system to obtain first water quality data of the first area; The monitoring of the first area based on the air-based remote sensing system to obtain first water quality data of the first area includes: determining a monitoring mode of the air-based remote sensing system based on the first area; In response to the first water quality data satisfying a first condition, controlling a ground monitoring system to monitor the water quality of the first area according to a first standard to obtain a plurality of second water quality data; The first condition is satisfied, 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; 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; the satisfying the second condition includes: the second water quality data of the target area exceeds a 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: determining a monitoring mode of the mobile monitoring vehicle system based on 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 satisfying the third condition including: the area of the target area is greater than a first area threshold and / or the target area is an area that the mobile monitoring vehicle system cannot reach; The controlling of the aerial drone monitoring system to monitor the target area includes: determining a monitoring mode of the aerial drone monitoring system based on a target area; The first area is an area within the monitoring area of 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 the five-base coordinated integration according to 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.

3. The point source water pollution monitoring method based on five-base coordinated integration according to 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.

4. The point source water pollution monitoring method based on five-base coordinated integration as claimed in claim 3 is characterized in that: The fourth condition is satisfied, 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.

5. A point source water pollution monitoring device based on five-base coordinated integration, used to implement the point source water pollution monitoring method according to any one of claims 1 to 4, 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, 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, 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, to obtain a plurality of second water quality data; an area screening module, configured to determine a target area 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 monitoring area of the space-based satellite system, and the target area is the area within the first area.

6. 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 4 are implemented.

7. 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 4 are implemented.

Images