Water area environment real-time monitoring, treatment and maintenance ship based on Internet of Things

Abstract

The invention discloses a water area environment real-time monitoring, governance and maintenance ship based on the Internet of Things, and relates to a water environment maintenance ship, the maintenance ship takes a small waterplane double-body structure as a ship body, a hybrid energy supply mode of combining a lithium battery and a super capacitor is adopted, and green, efficient and energy-saving power propulsion is achieved. Intelligent sensing devices such as a TDS water quality detection module, a DS18B20 temperature sensor, a DHT11 temperature and humidity sensor, an HC-SR04 + ultrasonic ranging module and an ESP32-CAM camera module are arranged on the ship, water area environment data can be accurately obtained in real time, and comprehensive sensing of the water quality condition, floating garbage and the like is achieved. An efficient and intelligent solution is provided for the fields of urban water area treatment, environmental protection operation, water patrol and the like, remarkable environmental protection benefits and economic benefits are achieved, and the market prospect is wide.

Description

Technical Field

[0001] The present invention relates to a water environment maintenance ship, and particularly to a real-time monitoring and governance maintenance ship for water environment based on the Internet of Things. Background Art

[0002] With the acceleration of urbanization and industrialization processes, water environment problems have become increasingly prominent. Traditional water environment maintenance means have problems such as low efficiency, high cost, and difficulty in obtaining data.

[0003] For example, manual garbage collection has a high labor intensity, high risk coefficient, and it is difficult to detect and handle water pollution problems in a timely manner. Therefore, there is a need for a water environment maintenance solution that can achieve automation, intelligence, and electrification to improve maintenance efficiency, reduce labor costs, and achieve real-time monitoring and precise governance of the water environment. Summary of the Invention

[0004] The purpose of the present invention is to provide a real-time monitoring and governance maintenance ship for water environment based on the Internet of Things. The maintenance ship integrates sensors, intelligent control systems, and communication technologies to achieve real-time monitoring of the water environment, automatic garbage cleaning, and remote monitoring and management, improving the efficiency and intelligence level of water environment maintenance.

[0005] The purpose of the present invention is achieved through the following technical solutions: A real-time monitoring and governance maintenance ship for water environment based on the Internet of Things, the maintenance ship includes an unmanned ship body, which is a waterline surface catamaran structure; the hybrid power supply device includes a lithium battery and a super capacitor, and the lithium battery and the super capacitor are connected; the intelligent sensing device includes sensors, and the sensors are selected from one or more of a TDS water quality detection module, a DS18B20 temperature sensor, a DHT11 temperature and humidity sensor, an HC-SR04+ ultrasonic ranging module, and an ESP32-CAM camera module to obtain water environment data in real time; the autonomous navigation and path planning device includes a GPS+Beidou dual-mode positioning module and a microcontroller, and the microcontroller is built-in with a Dijkstra greedy algorithm to autonomously plan and execute a moving path according to preset goals and environmental information; the remote communication and control device includes an ESP8266 WiFi module and a communication system based on the MQTT protocol to achieve real-time data transmission and interaction between the unmanned ship and the background server and the mobile terminal; the intelligent control platform includes a WeChat mini-program end and a PC end, and remotely monitors the operation status of the unmanned ship, obtains environmental data, and sends control instructions through the platform.

[0006] For the real-time monitoring and governance maintenance ship for water environment based on the Internet of Things, the hybrid power supply device further includes a wireless charging control board, and the wireless charging control board is connected to the lithium battery and the super capacitor for realizing wireless transmission and replenishment of electric energy.

[0007] The described real-time monitoring, governance, and maintenance ship for water environment based on the Internet of Things. The intelligent sensing device further includes an RS2205 brushless motor, which is used to drive the twin-hull pneumatic device to achieve efficient navigation and stable operation of the unmanned ship.

[0008] The described real-time monitoring, governance, and maintenance ship for water environment based on the Internet of Things. The Dijkstra greedy algorithm in the autonomous navigation and path planning device is implemented through the following steps: construct a two-dimensional array adjacency matrix to store the graph and initialize the graph; select the starting point for calculating the shortest path; construct a one-dimensional array dis[n], where n is the number of vertices, and dis is used to record the shortest path distance; initialize dis, and its value is the direct distance from each point in the graph to the starting point; each time find the minimum value in the dis array, and this value is the shortest path distance from the starting point to this point; after adding a new determined point, update the dis array to see if the remaining points can reach the starting point through this determined point and the distance is shorter; repeat the above steps until the shortest paths of all points are found.

[0009] The described real-time monitoring, governance, and maintenance ship for water environment based on the Internet of Things. The ESP8266 WiFi module in the remote communication and control device is set to STA mode, cooperate with the router to access the network, and transmit data or commands to the server through the MQTT protocol.

[0010] The described real-time monitoring, governance, and maintenance ship for water environment based on the Internet of Things. The intelligent control platform further includes an automatic detection algorithm, which is used for the unmanned ship to autonomously evaluate the endurance ability, automatically plan the optimal path to return to the mother port when the power is insufficient, and use the wireless charging facility to achieve power recharge.

[0011] The advantages and effects of the present invention are: 1. The hull of the maintenance ship of the present invention adopts a small waterplane twin-hull structure, which has good stability and wave resistance and can adapt to complex water environments. The power system adopts a hybrid power supply method combining lithium batteries and supercapacitors to achieve green, efficient, and energy-saving power propulsion, overcomes the problems of large noise and heavy pollution of traditional fuel engines, and significantly improves the endurance ability and environmental adaptability of the unmanned ship.

[0012] 2. The maintenance ship of the present invention is equipped with a variety of intelligent sensing devices, including a TDS water quality detection module, a DS18B20 temperature sensor, a DHT11 temperature and humidity sensor, an HC-SR04+ ultrasonic ranging module, and an ESP32-CAM camera module, etc. It can obtain water area environment data in real time and accurately, realize a comprehensive perception of water quality conditions, floating garbage, etc., and provide a scientific basis for water area governance decision-making. The autonomous navigation and path planning device combines a GPS+Beidou dual-mode positioning module and a microcontroller. The microcontroller is built-in with the Dijkstra greedy algorithm, which can autonomously plan and execute a moving path according to preset goals and environmental information, enabling the unmanned ship to automatically avoid obstacles and accurately execute water area cruising, monitoring, and cleaning tasks, greatly reducing manual intervention.

[0013] 3. The remote communication and control device of the present invention adopts an ESP8266 WiFi module and a communication system based on the MQTT protocol to realize real-time data transmission and interaction between the unmanned ship, the background server, and the mobile terminal. Users can remotely monitor the operation status of the unmanned ship, obtain environmental data, and send control instructions through the intelligent control platform on the WeChat applet or PC side, truly realizing the remote monitoring and control functions without time and space limitations. In addition, the maintenance ship is also equipped with an automatic garbage cleaning device, which can realize the automatic identification and cleaning of floating garbage on the water surface according to preset programs and real-time monitoring data, further improving the maintenance efficiency and reducing the labor cost. Description of the Drawings

[0014] Figure 1 It is a physical diagram of the small boat of the water environment maintenance ship based on the Internet of Things of the present invention; Figure 2 It is a module diagram of wireless charging and supercapacitor bank; Figure 3 It is a remote communication and control architecture diagram; Figure 4 It is a diagram of sensor monitoring water quality data transmission; Figure 5 It is an autonomous navigation and path planning diagram; Figure 6 It is a mobile terminal video monitoring diagram. Detailed Embodiments

[0015] The following describes the detailed embodiments of the present invention in conjunction with the drawings, so as to facilitate those skilled in the art of the present technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the detailed embodiments. For those of ordinary skill in the art of the present technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are within the scope of protection.

[0016] Figure 1This is a physical diagram of the small boat of the water environment maintenance ship based on the Internet of Things in the present invention, which intuitively shows the overall appearance and structural design of the unmanned boat, including the hull shape of the small waterplane area twin hull structure, various sensors, actuators, and communication devices installed on the hull, etc., reflecting the integration and compactness of the unmanned boat in actual production.

[0017] Figure 2 It is a diagram of the wireless charging and super capacitor bank module, which details the connection method and circuit design between the wireless charging control board and the super capacitor, shows how to charge the super capacitor through the wireless charging facility, and the circuit architecture of the collaborative work between the super capacitor and the lithium battery, highlighting the key technical details of the hybrid power supply system.

[0018] Figure 3 It is a diagram of the remote communication and control architecture, which clearly depicts the communication system framework built based on the ESP8266 WiFi module and the MQTT protocol, covering the whole process of data acquisition, transmission at the unmanned boat end, data processing, storage at the server end, and remote monitoring and instruction issuing at the user end, reflecting the application of the Internet of Things technology in the remote management of the unmanned boat.

[0019] Figure 4 It is a diagram of the sensor monitoring water quality data transmission, which specifically shows the layout positions of various sensors such as the TDS water quality detection module, DS18B20 temperature sensor, DHT11 temperature and humidity sensor, etc. on the unmanned boat, and the process of how they transmit the monitored water quality and environmental data to the background server and the user end through the main control chip, emphasizing the implementation method of intelligent perception and data transmission.

[0020] Figure 5 It is a diagram of autonomous navigation and path planning, which intuitively presents the whole process of realizing autonomous navigation by using the Dijkstra greedy algorithm combined with the GPS+Beidou dual-mode positioning module, including from the initialization parameter setting, target point input, to path planning and obstacle avoidance according to the real-time position and environmental information, until the automatic adjustment and optimization of the task path, showing the logical architecture and decision-making process of the intelligent navigation system.

[0021] Figure 6 It is a diagram of mobile video monitoring, which shows the interface design and operation method for users to view the water area images and videos captured by the camera module of the unmanned boat in real time through the mobile phone application, reflecting the user interactivity and practicality of the remote monitoring function.

[0022] In this embodiment, the IoT-based water environment maintenance ship takes the STM32F103 series microcontroller as the core and is equipped with a TDS water quality detection module, a DS18B20 temperature sensor, a DHT11 temperature and humidity sensor, an HC-SR04 + ultrasonic ranging module, and an ESP32-CAM camera module to achieve a comprehensive perception of the water area environment. Through the GPS + Beidou dual-mode positioning module and the Dijkstra algorithm, the unmanned ship can autonomously plan paths and avoid obstacles within the set area. The ESP8266 WiFi module combines with the MQTT protocol to build a stable communication link, enabling users to remotely monitor and manage the unmanned ship through the WeChat mini-program or PC terminal. The garbage cleaning device automatically collects surface garbage according to the preset program, improving the maintenance efficiency.

[0023] In another embodiment, the hybrid power supply system of the unmanned ship adopts an optimized combination of lithium batteries and supercapacitors to further improve the endurance and charging efficiency. The intelligent sensing device adds more types of sensors, such as water pollution sensors, to achieve more comprehensive environmental monitoring. The autonomous navigation algorithm is dynamically adjusted in combination with real-time environmental data to improve the flexibility and accuracy of path planning. The remote communication system adds data encryption and compression functions to ensure the security and efficiency of data transmission. The intelligent control platform adds data analysis and report generation functions to provide support for environmental governance decision-making.

[0024] In this embodiment, the unmanned ship performs tasks in a complex water area environment, such as conducting water quality monitoring and garbage cleaning in a severely polluted river. Through each sensor, data is obtained in real time. The microcontroller dynamically adjusts the navigation path and cleaning strategy according to the preset rules and real-time analysis results. For example, when abnormal water quality is detected in a certain area, the unmanned ship will automatically go to that area for detailed monitoring and sample collection; when a large area of garbage is found floating, the garbage cleaning device will increase its working intensity to improve the cleaning efficiency. At the same time, users can view the working status of the unmanned ship and environmental data in real time through the remote platform and adjust the task parameters in a timely manner to ensure the treatment effect.

[0025] In practical applications, the startup process of the maintenance ship is as follows: First, place the unmanned ship in the water area to be operated, connect the control device, turn on the power, and start the control system. Set the task parameters through the intelligent control platform, such as the monitoring area, navigation route, working mode, etc. During the task execution, users can view the status of the unmanned ship and environmental data in real time through the web or mobile terminal and send control commands as needed.

[0026] During the garbage cleaning process, the unmanned boat relies on automated garbage cleaning equipment to automatically identify and clean floating garbage on the water surface according to the preset program and real-time monitoring data. For example, when the ESP32-CAM camera module identifies garbage on the water surface, the garbage cleaning device will be automatically activated to collect the garbage and store it in the garbage container inside the boat.

[0027] In terms of data processing and analysis, after the task is completed, the system automatically processes and analyzes the collected data to generate reports to assist in decision-making. For example, the water quality data obtained by the TDS water quality detection module will be transmitted to the background server for data analysis and trend prediction, providing a scientific basis for water area governance.

[0028] In terms of maintenance and upkeep, regularly check the appearance of the unmanned boat, hardware connections, clean the sensors, ensure that the battery is fully charged, and regularly calibrate the system and update the software of the unmanned boat according to the usage frequency. For example, conduct a comprehensive inspection of the unmanned boat once a month, including checking whether the hull is damaged, whether the sensors are clean, and whether the battery is fully charged, etc., to ensure that the unmanned boat is in good working condition.

Claims

1. An Internet of Things-based real-time monitoring, governance, and maintenance ship for water environments, characterized in that, The maintenance ship includes an unmanned ship body, which is a waterplane catamaran structure; the hybrid energy supply device includes a lithium battery and a super capacitor, and the lithium battery and the super capacitor are connected; the intelligent sensing device includes sensors, and the sensors are selected from one or more of a TDS water quality detection module, a DS18B20 temperature sensor, a DHT11 temperature and humidity sensor, an HC-SR04+ ultrasonic ranging module, and an ESP32-CAM camera module, and the water area environment data is obtained in real time; the autonomous navigation and path planning device includes a GPS+Beidou dual-mode positioning module and a microcontroller, and the microcontroller is built-in with a Dijkstra greedy algorithm, and the moving path is autonomously planned and executed according to the preset target and environmental information; the remote communication and control device includes an ESP8266 WiFi module and a communication system based on the MQTT protocol, and realizes real-time data transmission and interaction between the unmanned ship and the background server and the mobile terminal; the intelligent control platform includes a WeChat mini-program terminal and a PC terminal, and remotely monitors the operation state of the unmanned ship, obtains environmental data, and sends control instructions through the platform.

2. The real-time monitoring, governance and maintenance ship for water area environment based on the Internet of Things according to claim 1, characterized in that, The hybrid energy supply device further includes a wireless charging control board, and the wireless charging control board is connected to the lithium battery and the super capacitor for realizing wireless transmission and replenishment of electric energy.

3. The real-time monitoring, governance and maintenance vessel for water area environment based on the Internet of Things according to claim 1, characterized in that, The intelligent sensing device further includes an RS2205 brushless motor, and the brushless motor is used to drive the catamaran pneumatic device to realize the efficient navigation and stable operation of the unmanned ship.

4. The real-time monitoring, governance and maintenance ship for water area environment based on the Internet of Things according to claim 1, characterized in that The Dijkstra greedy algorithm in the autonomous navigation and path planning device is realized through the following steps: constructing a two-dimensional array adjacency matrix to store the graph and initializing the graph; selecting the starting point for calculating the shortest path; Constructing a one-dimensional array dis[n], where n is the number of vertices, and dis is used to record the shortest path distance; initializing dis, and its value is the direct distance from each point in the graph to the starting point; Each time, find the minimum value in the dis array, and this value is the shortest path distance from the starting point to this point; after adding a new determined point, update the dis array to see whether the remaining points can reach the starting point through this determined point and the distance is shorter; Repeat the above steps until the shortest paths of all points are found.

5. The real-time monitoring, governance and maintenance ship for water area environment based on the Internet of Things according to claim 1, characterized in that, The ESP8266 WiFi module in the remote communication and control device is set to the STA mode, cooperates with the router to access the network, and transmits data or commands to the server through the MQTT protocol.

6. The real-time monitoring, governance and maintenance ship for water area environment based on Internet of Things according to claim 1, characterized in that The intelligent control platform further includes an automatic detection algorithm for the unmanned ship to autonomously evaluate the endurance ability, automatically plan the optimal path to return to the mother port when the power is insufficient, and realize the electric energy recharge by using the wireless charging facility.

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