Online real-time water area water quality monitoring and sampling device and method

Abstract

The invention relates to the technical field of water area environment monitoring, and designs an online real-time water area water quality monitoring sampling device and method, the device comprises a control module, a sampling module and a water quality monitoring module, water area water quality data is collected through a PH sensor, a TDS sensor and a turbidity sensor, the sensors periodically send the collected data to a single-chip microcomputer, and the single-chip microcomputer is connected with the control module. The single-chip microcomputer uploads data to a PC terminal through a wireless network, the PC terminal compares monitored data with a standard range, and when the water quality is poor, the water pump is wirelessly controlled to collect a water sample and take the water sample back to a laboratory for further analysis. According to the invention, data transmission is carried out through the WiFi transmission module, so that the control range of the unmanned ship is effectively improved; a water sample is collected remotely, so that the difficulty and danger coefficient of manual sampling are reduced; a fixed-point cruise system is constructed by combining two control units, namely a single-chip microcomputer and a Raspberry Pi, so that water areas with poor water quality can be automatically sampled.

Description

Technical Field

[0001] The present invention relates to the technical field of water environment monitoring, and in particular, to an on-line real-time water quality monitoring and sampling device and method for water areas. Background Art

[0002] The research, monitoring and management of marine and aquatic ecosystems generally require surface water samples to measure biogeochemical and optical parameters. The water environment monitoring of marine and aquatic ecosystems refers to the regular monitoring of water quality, water volume and aquatic organisms in waters such as oceans, lakes and rivers to understand their health status, pollution degree and the stability of the ecosystem. The purpose of monitoring is to formulate scientific and reasonable water ecological protection and management strategies, prevent and control water pollution, and maintain the sustainable development of the water ecological environment. With the rapid development of industry and urbanization, waters have been increasingly polluted, such as wastewater discharge, industrial and agricultural pollution, etc., resulting in the deterioration of the water environment, the decline of water quality, and the destruction of the aquatic ecosystem. Secondly, natural disasters (such as floods, droughts, tsunamis, etc.) and climate change (such as global warming) not only intensify the tension of water resources, but also have a serious impact on the aquatic ecosystem, such as the reduction of aquatic populations and the breakage of the ecological chain. In recent years, the improvement of environmental protection awareness by the government, enterprises and the public, as well as the introduction and implementation of relevant policies and regulations, have promoted the development of water environment monitoring. At the same time, the social responsibility for water ecological environment protection from all sectors has been continuously strengthened. However, the existing water monitoring systems have the following problems:

[0003] (1) The remote control range of existing unmanned boats is limited, resulting in a limited monitoring range of unmanned boats.

[0004] (2) The control system of existing unmanned boats is single, relying only on the remote control. When monitoring polluted waters for a long time, it leads to a high labor cost;

[0005] (3) The existing water quality monitoring system cannot record the water quality conditions of each point on the path in real time, resulting in difficulty in making accurate evaluations and decisions on waters.

[0006] (4) The water sample collection function of existing unmanned boats is imperfect. Summary of the Invention

[0007] In order to solve the above problems existing in the existing water environment monitoring system, the present invention provides an on-line real-time water quality monitoring and sampling device and method for water areas.

[0008] The technical solution adopted by the present invention to achieve the above object is as follows: An on-line real-time water quality monitoring and sampling device and method, characterized in that: magnetic blocks A1 and A2 are installed on the control module (1), and (2) is installed inside the cabin of the unmanned boat. An inertial measurement module, a remote control module, a motor control module, and a data processing and transmission module are provided inside the control module (1). The inertial measurement module consists of a GPS sensor (3) and an MPU6050 sensor (4), the remote control module is a remote control receiver (5), the motor control module consists of an electronic speed controller left (6) and an electronic speed controller right (7), and the data processing and transmission module consists of a single-chip microcomputer A (8) and a Raspberry Pi 4B (9). The GPS sensor (3), MPU6050 sensor (4), remote control receiver (5), electronic speed controller left (6), electronic speed controller right (7), single-chip microcomputer A (8), Raspberry Pi 4B (9), and battery A (10) are integrally installed on the printed circuit board A (11); magnetic blocks B1 and B2 are installed on the sampling module (12), and (13) is installed outside the cabin of the unmanned boat. A wireless control module and a water sampling module are provided inside the sampling module (12). The wireless control module is a single-chip microcomputer B (14) and a wireless communication module (15), and the sampling module is a relay (16) and a water pump (17). The single-chip microcomputer B (14), wireless communication module (15), relay (16), water pump (17), and battery (18) are integrally installed on the printed circuit board B (19); magnetic blocks C1 and C2 are installed on the water quality monitoring module (20), and (21) is installed inside the cabin of the unmanned boat. A water quality parameter detection module and a wireless transmission module are provided inside the water quality monitoring module (20). The water quality detection module is a PH sensor (22), a TDS sensor (23), and a turbidity sensor (24). The wireless transmission and control module is a wireless communication module C (25) and a single-chip microcomputer C (26). The PH sensor (22), TDS sensor (23), turbidity sensor (24), wireless communication module C (25), single-chip microcomputer C (26), and battery C (27) are installed on the printed circuit board C (28);

[0009] S1. Install the control module (1), the sampling module (12), and the water quality monitoring module (20) on the unmanned boat respectively;

[0010] S2. Initialize the system module, and communicate and match each sensor with the single-chip microcomputer respectively;

[0011] S3. The system collects water quality condition data of the water area through the PH sensor (22), the TDS sensor (23), and the turbidity sensor (24), and sends the collected data to the single-chip microcomputer C (26);

[0012] S4. The single-chip microcomputer (26) uploads the data to the PC side through the wireless network;

[0013] S5. Observe data on the PC side. When it is found that the water quality status data of the water area is abnormal, send an instruction to the wireless communication module (15), which is transmitted to the single-chip microcomputer B (14) to control the relay (16) to turn on the water pump (17) for sampling.

[0014] S6. For the water area with problems, use the remote control to control the unmanned boat in the recording path mode. The control module (1) records the path, and subsequently, the control module (1) can control the unmanned boat to automatically go to this water area to collect water samples.

[0015] The control module obtains the data required by the Madguick gradient descent attitude solution algorithm through the inertial measurement module, runs the attitude algorithm using the Raspberry Pi, and transmits various data back to the PC side.

[0016] The system realizes two operation modes of the unmanned boat through the remote control receiver: First, the manual remote control mode. The control remote control sends a signal. After the receiving and transmitting device of the remote control, the signal is transmitted to the single-chip microcomputer, and the single-chip microcomputer sends the signal to the electronic speed controller, and the electronic speed controller controls the brushless motor to realize the movement of the unmanned boat; Second, the autonomous cruise mode. In the manual remote control mode, the navigation path is automatically recorded. After completing an operation, the recorded route can be selected to realize autonomous cruise.

[0017] The pH, turbidity, and TDS values of the water quality are displayed on the screen in real time. When the set limit value is exceeded, an alarm will be issued. The three buttons respectively adjust the data upper limits of the PH parameter monitoring module, the turbidity parameter monitoring module, and the TDS parameter monitoring module; The wireless communication module C (25) integrates an antenna inside.

[0018] For all systems of the water quality monitoring of the unmanned boat described above, all data are transmitted to the PC side through WiFi.

[0019] The online real-time water quality monitoring and sampling device and method of the present invention have the following advantages compared with the prior art:

[0020] 1. Through the WiFi transmission module, high-speed data transmission can be provided. Compared with Bluetooth transmission, its transmission speed is faster, the signal coverage range is wider, and device connection is more convenient. Generally, the Wifi connection is more stable and not easily interfered, while the Bluetooth signal may be interfered by other wireless signals. Secondly, data transmission can be encrypted to ensure the data security of users. The access to the network can be controlled by setting passwords and network names.

[0021] 2. The advanced Madgwick gradient descent attitude solution algorithm is adopted, which significantly reduces the number of data iterations of the lower computer compared with the previous Kalman filtering method, improving the operation efficiency and the flexibility of the unmanned boat.

[0022] 3. The sampling module of this device enables precise and real-time collection of problematic water samples and brings them back to land, providing great convenience for further research. At the same time, it also ensures the safety of sampling personnel in traditional sampling and reduces the risk of sampling activities in high-risk areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the system of an online real-time water quality monitoring and sampling device of the present invention.

[0024] Figure 2 It is a structural diagram of the control module of the present invention.

[0025] Figure 3 It is a structural diagram of the sampling module of the present invention.

[0026] Figure 4 It is a structural diagram of the water quality monitoring module of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] An online real-time water quality monitoring and sampling device of the present invention, as Figure 1As shown in the figure, it includes a control module 1, a water quality monitoring module 20, and a water sampling module 12. In the control module 1, the inertial measurement module consists of a GPS sensor 3 and an MPU6050 sensor 4. The GPS sensor 3 and the MPU6050 sensor 4 wirelessly transmit data to the data processing and transmission module for calculation to ensure the correct running attitude of the unmanned boat. The data processing and transmission module is composed of a single-chip microcomputer A 8 and a Raspberry Pi 4B 9. The power supply module is a battery A10, and the lithium battery A10 is wired to a printed circuit board A11. The GPS sensor 3, the MPU6050 sensor 4, the remote control receiver 5, the electronic speed controller 6, the electronic speed controller 7, the single-chip microcomputer 8, the Raspberry Pi 4B 9, and the battery A10 are integrally installed on the printed circuit board A 11. The single-chip microcomputer A 8 and the Raspberry Pi 4B 9 are electrically connected to the PC. The control module is responsible for implementing two operating modes when the unmanned boat monitors the water area environment: (1) Manual remote control mode, that is, turn the CH5 switch to gear 0 to make the boat in the manual operation mode, control the remote control to send a signal, where CH3 controls the power of the boat and CH4 controls the direction of the boat. Turn the CH7 switch to one of any two gears to lock the motor and prevent the motor from suddenly rotating and hurting people. After passing through the remote control receiver, the signal is transmitted to the single-chip microcomputer, and the single-chip microcomputer sends the signal to the electronic speed controller, and the electronic speed controller controls the brushless motor to realize the movement of the unmanned boat; (2) Autonomous cruise mode, that is, in the manual remote control mode, turn the CH7 switch to one of any two gears, and then turn the CH5 switch to gear 2. At this time, the boat is in the GPS navigation point recording mode and will automatically record the navigation path. After completing one operation, switch the CH5 switch to gear 2 to select the recorded route to realize autonomous cruise. The inertial measurement module is responsible for obtaining the data required by the Madguick gradient descent attitude solution algorithm and wirelessly transmitting the data to the data processing and transmission module. The data processing and transmission module is responsible for processing the received valid data, simply sorting the received data and storing the sorted data, and transmitting the data to the PC side through wireless transmission. The data processing and transmission module consists of a GPIO sub-module and an I2C protocol. The GPIO consists of pins, registers, logic circuits, etc.; the pins can realize data transmission with the inertial measurement module through the I2C protocol. By calling functions, simple logical operations can be performed on the data, and operations such as comparing the size of the data can be carried out. After sorting the data, the result is stored in the register through wireless transmission and transmitted to the PC side through wireless transmission. The power supply module is the battery A10, which is responsible for powering the entire system.

[0028] The water quality monitoring module 20 is responsible for online real-time monitoring of three parameters, namely PH, turbidity, and TDS, of the water area environment, uploading the data to the PC side, adjusting the upper limits of the data of the PH parameter monitoring module, turbidity parameter monitoring module, and TDS parameter monitoring module respectively through three buttons, and sending an alarm when the parameter exceeds the upper limit. The PH parameter monitoring module is the PH sensor 22, which is responsible for monitoring the PH parameter of the water area. The TDS parameter monitoring module is the TDS sensor 23, which is responsible for monitoring the TDS parameter of the water area. The turbidity parameter monitoring module is the turbidity sensor 24, which is responsible for monitoring the turbidity parameter of the water area. The wireless communication module is the ESP8266WIFI module C25, which integrates an antenna inside and is responsible for transmitting the PH, turbidity, and TDS data collected by the sensors online and in real-time to the PC side for the processing and operation of the sampling module. The wireless transmission module operates in the 2.4Ghz frequency band, and the protocol used is the 802.11 standard. Part of 802.11 uses the 2.4GHz ISM frequency band, and the supported speed is up to 54Mbps. It is created by connecting to the installed access point through the Internet, and the transmission distance is 3000 feet; it is wirelessly connected to the wireless transmission module through the WiFi connection function of the PC side. In the area covered by the network, the wireless transmission module transmits the data to the PC side in real-time through wireless connection.

[0029] The sampling module 12 is responsible for reading the data information on the PC side. When any one of the PH, turbidity, and TDS parameters exceeds the upper limit, it immediately pumps and samples the problematic water sample. The wireless control module is the wireless transmission module C25 and the single-chip microcomputer 26, which are responsible for reading and analyzing the data information on the PC side. When the water sample is okay, no measures are taken. When any parameter of PH, turbidity, and TDS has a problem, that is, exceeds the upper limit, it immediately controls the relay 16, that is, manipulates the water sampling module. The water sampling module is the relay 16 connected to the water pump, which is responsible for receiving the command from the PC side and collecting the problematic water sample. When the PC side detects that the water sample has a problem and needs to be pumped and collected, it sends a signal to control the relay 16, and controls the water pump switch through the relay 16 to achieve the purpose of pumping water.

[0030] As Figure 2 As shown, all devices in the control module are installed on the printed circuit board A11. Its inertial measurement module consists of a GPS sensor 3 and an MPU6050 sensor 4. The model of the GPS sensor 3 is ublox M8N; the remote control module is the remote control receiver 5, and the model of the remote control receiver 5 is the Mike MC6 remote control; the data processing and transmission module consists of a single-chip microcomputer A8 and a Raspberry Pi 4B 9. The model of the single-chip microcomputer A8 is STM32F103ZET6.

[0031] As Figure 3As shown, all devices in the sampling module are installed on the printed circuit board B18, and its wireless control module is the single-chip microcomputer B14 and the ESP8266 WIFI module 15. The model of the single-chip microcomputer A14 is STM32F103C8T6.

[0032] As Figure 4 shown, all devices in the water quality detection module are installed on the printed circuit board 28, and the wireless transmission and control module is composed of the wireless communication module C 25 and the single-chip microcomputer C 26. The model of the single-chip microcomputer C 26 is STM32F103C8T6.

[0033] The present invention is described through embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. In addition, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the protection scope of the present invention.

Claims

1. An online real-time water quality monitoring and sampling device and method, characterized in that: The magnetic attraction blocks A1 and A2 are installed on the control module (1). The control module (1) is installed inside the cabin of the unmanned boat. Inside the control module (1), there are an inertial measurement module, a remote control module, a motor control module, and a data processing and transmission module. The inertial measurement module consists of a GPS sensor (3) and an MPU6050 sensor (4). The remote control module is a remote control receiver (5). The motor control module consists of an electronic speed controller left (6) and an electronic speed controller right (7). The data processing and transmission module consists of a single-chip microcomputer A (8) and a Raspberry Pi 4B (9). The GPS sensor (3), MPU6050 sensor (4), remote control receiver (5), electronic speed controller left (6), electronic speed controller right (7), single-chip microcomputer A (8), Raspberry Pi 4B (9), and battery A (10) are integrally installed on a printed circuit board A (11). The single-chip microcomputer A (8) and the Raspberry Pi 4B (9) are electrically connected to a PC. The magnetic attraction blocks B1 and B2 are installed on the sampling module (12). The sampling module (12) is installed outside the cabin of the unmanned boat. Inside the sampling module (12), there are a wireless control module and a water sampling module. The wireless control module is a single-chip microcomputer B (14) and a wireless communication module (15). The sampling module is a relay (16) and a water pump (17). The single-chip microcomputer B (14), wireless communication module (15), relay (16), water pump (17), and battery (18) are integrally installed on a printed circuit board B (19). The magnetic attraction blocks C1 and C2 are installed on the water quality monitoring module (20). The water quality monitoring module (20) is installed inside the cabin of the unmanned boat. Inside the water quality monitoring module (20), there are a water quality parameter detection module and a wireless transmission module. The water quality detection module is a pH sensor (22), a TDS sensor (23), and a turbidity sensor (24). The wireless transmission and control module is a wireless communication module C (25) and a single-chip microcomputer C (26). The pH sensor (22), TDS sensor (23), turbidity sensor (24), wireless communication module C (25), single-chip microcomputer C (26), and battery C (27) are installed on a printed circuit board C (28). S1. Install the control module (1), the sampling module (12), and the water quality monitoring module (20) on the unmanned boat respectively. S2. Initialize the system module and communicate and match each sensor with the single-chip microcomputer respectively. S3. The system collects water quality condition data of the water area through the pH sensor (22), the TDS sensor (23), and the turbidity sensor (24), and sends the collected data to the single-chip microcomputer C (26). S4. The single-chip microcomputer (26) uploads the data to the PC side through the wireless network. S5. Observe the data on the PC side. When it is found that the water quality condition data of the water area is abnormal, send an instruction to the wireless communication module (15), and transmit it to the single-chip microcomputer B (14) to control the relay (16) to turn on the water pump (17) for sampling. S6. For the water area with problems, use the remote control to control the unmanned boat in the recording path mode. The control module (1) records the path, and subsequently, the control module (1) can control the unmanned boat to automatically go to this water area to collect water samples.

2. The on-line real-time water quality monitoring and sampling device and method according to claim 1, characterized in that: The described control module obtains the data required for the Madguick gradient descent attitude solution algorithm through the inertial measurement module, runs the attitude algorithm using the Raspberry Pi, and transmits various data back to the PC.

3. An on-line real-time water quality monitoring and sampling device and method according to claim 1, characterized in that: The system realizes two operating modes of the unmanned boat through the remote control receiver: First, the manual remote control mode. Control the remote control to send a signal, which is transmitted to the single-chip microcomputer through the receiving and transmitting device of the remote control. The single-chip microcomputer sends the signal to the electronic speed controller, and the electronic speed controller controls the brushless motor to realize the movement of the unmanned boat; Second, the autonomous cruise mode. In the manual remote control mode, the navigation path is automatically recorded. After a mission is completed, the recorded route can be selected to achieve autonomous cruise.

4. An on-line real-time water quality monitoring and sampling device and method according to claim 1, characterized in that: The PH, turbidity, and TDS values of the water quality are displayed on the screen in real time. When the set threshold is exceeded, an alarm will be issued; the three buttons respectively adjust the upper data limits of the PH parameter monitoring module, the turbidity parameter monitoring module, and the TDS parameter monitoring module; the wireless communication module C(25) integrates an antenna inside.

5. The on-line real-time water quality monitoring and sampling device and method according to claim 1, characterized in that: All data is transmitted to the PC through WiFi.

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