Intelligent underwater robot water quality monitoring system suitable for complex drainage basin

Abstract

The invention relates to the field of water quality monitoring, in particular to an intelligent underwater robot water quality monitoring system suitable for a complex watershed, which comprises a sensing and positioning module, a navigation and obstacle avoidance module, a water quality monitoring module, a transmission state information and monitoring data and a central control module. Various water quality monitoring sensors such as a pH sensor, a dissolved oxygen sensor and a heavy metal ion sensor are arranged, advanced navigation and obstacle avoidance technologies such as sonar navigation and visual identification obstacle avoidance are utilized, the robot can autonomously plan paths in a complex underwater environment and reach a specified monitoring point position, the robot collects water samples in real time and analyzes water quality parameters, and the water quality monitoring precision is improved. Data are transmitted to a shore base station through a wireless communication module, and meanwhile, the shore base station can remotely control the robot to move according to the real-time condition of a drainage basin, and a monitoring strategy is adjusted.

Description

Technical Field

[0001] This invention relates to the field of water quality monitoring, specifically to an intelligent underwater robot water quality monitoring system suitable for complex watersheds. Background Technology

[0002] In complex watersheds, such as areas with many bends, shallows, undercurrents, and complex underwater topography, traditional water quality monitoring methods are difficult to fully cover and accurately monitor. Manual sampling is dangerous and inefficient, and fixed monitoring equipment cannot flexibly adapt to changes in complex underwater environments. Therefore, there is an urgent need for an intelligent underwater robot monitoring system that can autonomously adapt to complex underwater environments and conduct comprehensive and dynamic water quality monitoring. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent underwater robot water quality monitoring system suitable for complex watersheds, effectively solving the problem of water quality monitoring in complex watersheds, improving monitoring coverage and data accuracy; realizing dynamic and continuous monitoring of watershed water quality, providing strong data support for the governance of water environment in complex watersheds, and solving the problems mentioned in the background art.

[0004] To achieve the above objectives, an intelligent underwater robot water quality monitoring system suitable for complex watersheds includes: The perception and positioning module acquires underwater perception data and generates high-precision underwater topographic maps in real time through multibeam sonar and vision cameras arranged on the front and sides. It integrates inertial measurement unit, Doppler log, Doppler current meter, depth sensor and compass to continuously estimate the robot's position, attitude and velocity with high precision, and locate the robot's real-time underwater position. The navigation and obstacle avoidance module generates a globally optimal or suboptimal reference path based on the sequence of monitoring points to be reached and the existing underwater environment information. It processes sonar and visual perception data in real time, generates safe and executable local motion commands, avoids static and dynamic obstacles, and hovers at the mission target location. The water quality monitoring module determines whether the robot has reached the monitoring point based on the positioning results. It dynamically monitors and completes real-time data collection through water quality sensor probes or specific pollutant sensors mounted on the underwater robot body, and then transmits or stores the data and feeds it back to the central control module. The communication management module establishes an underwater acoustic communication link between the underwater robot and the shore base station to transmit status information and monitoring data. The central control module coordinates all sub-modules, is responsible for top-level decision-making and task flow control, ensures the timing and reliability of critical control tasks, integrates data from multiple water quality sensors, performs spatiotemporal registration and correlation analysis, and may combine environmental data for interpretation or correction to extract more comprehensive water quality status information.

[0005] Preferably, the perception and positioning module further includes identifying and classifying obstacles such as reefs, shipwrecks, and pipelines, dynamically adjusting the visual weights between the multibeam sonar and the visual camera based on light transmittance, and the visual camera is also equipped with a light source.

[0006] Preferably, the sensing and positioning module further includes undercurrent vector field modeling to analyze and record the direction and speed of water flow in real time.

[0007] Preferably, the navigation and obstacle avoidance module further includes an end-to-end or hybrid method based on deep learning, which integrates the speed and heading commands generated by the planning module with the data of water flow direction and speed recorded by the perception and positioning module, and decomposes them into specific thrust commands for each thruster.

[0008] Preferably, the water quality monitoring module further includes a pollution diffusion prediction algorithm and an intelligent sampling strategy. The pollution diffusion prediction algorithm is based on a fluid dynamics model to extrapolate the pollution trajectory and triggers high-frequency sampling when an anomaly is detected.

[0009] Preferably, the communication management module further includes a surface repeater. The robot sends data to the surface repeater via underwater acoustic communication, and the surface repeater communicates with the shore station wirelessly.

[0010] Preferably, the central control module includes an undercurrent gliding mode and a remote control mode. In the undercurrent gliding mode, when a current in the same direction is detected, some thrusters are turned off to move using the undercurrent. In the remote control mode, remote control commands and mission update commands from the shore-based control console are received and parsed, and then sent to the navigation and obstacle avoidance modules.

[0011] Preferably, the central control module further includes an energy management module, which includes a high-energy-density battery pack and monitors the battery voltage, current, temperature, remaining capacity, and other statuses.

[0012] Preferably, an auxiliary module is provided, comprising an illumination unit and a robotic arm. The illumination unit is a high-brightness, low-power LED light that provides illumination for the visual camera in dim environments. The robotic arm is used to collect specific samples, operate underwater instruments, or clean sensors.

[0013] Compared with existing technologies, the advantages of this invention are: it provides an underwater robot water quality monitoring system with high mobility and adaptability, equipped with a variety of water quality monitoring sensors, such as pH sensors, dissolved oxygen sensors, and heavy metal ion sensors. Utilizing advanced navigation and obstacle avoidance technologies, such as sonar navigation and visual recognition obstacle avoidance, the robot can autonomously plan its path in complex underwater environments and reach designated monitoring points. The robot collects water samples in real time and analyzes water quality parameters, transmitting the data to a shore-based base station via a wireless communication module. Simultaneously, the shore-based base station can remotely control the robot's actions and adjust monitoring strategies based on real-time watershed conditions. Attached Figure Description

[0014] Figure 1 This is a schematic diagram illustrating the workflow of the intelligent underwater robot water quality monitoring system applicable to complex watersheds according to the present invention. Detailed Implementation

[0015] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0016] Please see Figure 1 The figure shows a preferred embodiment of the present invention, an intelligent underwater robot water quality monitoring system suitable for complex watersheds, including a perception and positioning module. It acquires underwater perception data and generates high-precision underwater topographic maps in real time through multibeam sonar and vision cameras arranged on the front and sides. It integrates an inertial measurement unit, a Doppler log, a Doppler current meter, a depth sensor, and a compass to continuously estimate the robot's position, attitude, and velocity with high precision, and locate the robot's real-time underwater position. The navigation and obstacle avoidance module generates a globally optimal or suboptimal reference path based on the sequence of monitoring points to be reached and the existing underwater environment information. It processes sonar and visual perception data in real time, generates safe and executable local motion commands, avoids static and dynamic obstacles, and hovers at the mission target location. The water quality monitoring module determines whether the robot has reached the monitoring point based on the positioning results. It dynamically monitors and completes real-time data collection through water quality sensor probes or specific pollutant sensors mounted on the underwater robot body, and then transmits or stores the data and feeds it back to the central control module. The communication management module establishes an underwater acoustic communication link between the underwater robot and the shore base station to transmit status information and monitoring data. The central control module coordinates all sub-modules, is responsible for top-level decision-making and task flow control, ensures the timing and reliability of critical control tasks, integrates data from multiple water quality sensors, performs spatiotemporal registration and correlation analysis, and may combine environmental data for interpretation or correction to extract more comprehensive water quality status information.

[0017] The perception and positioning module also includes the ability to identify and classify obstacles such as reefs, shipwrecks and pipelines, and to dynamically adjust the visual weights between the multibeam sonar and the visual camera based on the light transmittance. The visual camera is also equipped with a light source.

[0018] Specifically, the sensing and positioning module also includes dark current vector field modeling, which analyzes and records the direction and speed of water flow in real time.

[0019] It is understood that the navigation and obstacle avoidance module also includes an end-to-end or hybrid method based on deep learning, which integrates the speed and heading commands generated by the planning module with the data of water flow direction and speed recorded by the perception and positioning module, and decomposes them into specific thrust commands for each thruster.

[0020] In this embodiment, the water quality monitoring module further includes a pollution diffusion prediction algorithm and an intelligent sampling strategy. The pollution diffusion prediction algorithm performs pollution trajectory deduction based on a fluid dynamics model and triggers high-frequency sampling when an anomaly is detected.

[0021] In another embodiment, the communication management module further includes a surface repeater, through which the robot sends data to the surface repeater via underwater acoustic communication, and the surface repeater communicates with the shore station wirelessly.

[0022] In addition, the central control module includes an undercurrent gliding mode and a remote control mode. In the undercurrent gliding mode, when a current in the same direction is detected, some thrusters are turned off to move using the undercurrent. In the remote control mode, remote control commands and mission update commands from the shore-based control console are received and parsed, and then sent to the navigation and obstacle avoidance modules.

[0023] It should be noted that the central control module also includes an energy management module, which includes a high-energy-density battery pack and monitors the battery voltage, current, temperature, remaining capacity, and other statuses.

[0024] The intelligent underwater robot water quality monitoring system also includes an auxiliary module, which includes a lighting unit and a robotic arm. The lighting unit is a high-brightness, low-power LED light that provides illumination for the visual camera in dim environments. The robotic arm is used to collect specific samples, operate underwater instruments, or clean sensors.

[0025] The intelligent underwater robot water quality monitoring system for complex watersheds provided by this invention also includes an intelligent underwater robot, which is composed of a robot body, a propulsion and maneuvering unit, a perception and navigation unit, a water quality monitoring unit, a communication unit, an energy unit, and a computing and processing unit.

[0026] The robot's main body features a streamlined design, protecting core electronic equipment and sensors from water pressure and corrosion. It is constructed from titanium alloy, aerospace aluminum, carbon fiber composite materials, or high-strength engineering plastics, providing sufficient structural strength and impact resistance.

[0027] The propulsion and maneuvering unit includes at least four vector thrusters, each with precisely controllable rotation speed and direction, enabling multi-degree-of-freedom movements such as forward, backward, upward, downward, lateral, turning, and hovering, adapting to complex terrain.

[0028] The sensing and navigation unit includes a multibeam sonar, a Doppler log, a Doppler current meter, a depth sensor, an inertial measurement unit, and an optical camera with a light source. It is used to detect terrain and obstacles ahead at long distances and to accurately measure diving depth, water flow direction, and speed of movement relative to the seabed.

[0029] The water quality monitoring unit includes multi-parameter water quality sensor probes and specific pollutant sensors. The multi-parameter water quality sensor probes include pH sensors, dissolved oxygen sensors, conductivity sensors, turbidity sensors, redox potential sensors, chlorophyll / blue-green algae fluorescence sensors, and dissolved organic matter fluorescence sensors. The specific pollutant sensors include heavy metal ion sensors, nitrate / nitrite sensors, ammonia nitrogen sensors, and oil in water sensors.

[0030] The communication unit includes an underwater acoustic modem and a surface repeater. The underwater acoustic modem establishes an underwater acoustic communication link between the underwater robot and the surface buoy or shore base station to transmit status information and monitoring data. When bandwidth is limited, the data needs to be compressed. The surface repeater communicates with the shore station via 4G, 5G, and satellite communication to expand the communication range and bandwidth. The buoy also needs GPS.

[0031] The energy unit, including high-energy-density battery packs, powers all electronic devices and propulsion systems. It requires high energy density, long cycle life, and safety and reliability, and its capacity determines the range.

[0032] The computing and processing unit includes a high-performance industrial-grade motherboard and a large-capacity solid-state drive. The high-performance industrial-grade motherboard defines the robot's behavioral logic and state transition conditions in different task stages such as startup, diving, navigation, positioning and hovering, sampling, data processing and transmission, surfacing, and recovery. The large-capacity solid-state drive is used for local storage of raw sensor data, task logs, etc.

[0033] The above description, in conjunction with specific embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several simple deductions or substitutions can be made without departing from the concept of the present invention, and all such deductions or substitutions should be considered to fall within the scope of protection defined by the claims submitted herein.

Claims

1. An intelligent underwater robot water quality monitoring system suitable for complex watersheds, characterized in that, include: The perception and positioning module acquires underwater perception data and generates high-precision underwater topographic maps in real time through multibeam sonar and vision cameras arranged on the front and sides. It integrates inertial measurement unit, Doppler log, Doppler current meter, depth sensor and compass to continuously estimate the robot's position, attitude and velocity with high precision, and locate the robot's real-time underwater position. The navigation and obstacle avoidance module generates a globally optimal or suboptimal reference path based on the sequence of monitoring points to be reached and the existing underwater environment information. It processes sonar and visual perception data in real time, generates safe and executable local motion commands, avoids static and dynamic obstacles, and hovers at the mission target location. The water quality monitoring module determines whether the robot has reached the monitoring point based on the positioning results. It dynamically monitors and completes real-time data collection through water quality sensor probes or specific pollutant sensors mounted on the underwater robot body, and then transmits or stores the data and feeds it back to the central control module. The communication management module establishes an underwater acoustic communication link between the underwater robot and the shore base station to transmit status information and monitoring data. The central control module coordinates all sub-modules, is responsible for top-level decision-making and task flow control, ensures the timing and reliability of critical control tasks, integrates data from multiple water quality sensors, performs spatiotemporal registration and correlation analysis, and may combine environmental data for interpretation or correction to extract more comprehensive water quality status information.

2. The intelligent underwater robot water quality monitoring system suitable for complex watersheds according to claim 1, characterized in that: The perception and positioning module also includes the ability to identify and classify obstacles such as reefs, shipwrecks and pipelines, and to dynamically adjust the visual weights between the multibeam sonar and the visual camera based on the light transmittance. The visual camera is also equipped with a light source.

3. The intelligent underwater robot water quality monitoring system suitable for complex watersheds according to claim 1, characterized in that: The sensing and positioning module also includes dark current vector field modeling, which analyzes and records the direction and speed of water flow in real time.

4. The intelligent underwater robot water quality monitoring system suitable for complex watersheds according to claim 3, characterized in that: The navigation and obstacle avoidance module also includes an end-to-end or hybrid method based on deep learning, which integrates the speed and heading commands generated by the planning module with the data on water flow direction and speed recorded by the perception and positioning module, and decomposes them into specific thrust commands for each thruster.

5. The intelligent underwater robot water quality monitoring system suitable for complex watersheds according to claim 1, characterized in that: The water quality monitoring module also includes a pollution diffusion prediction algorithm and an intelligent sampling strategy. The pollution diffusion prediction algorithm is based on a fluid dynamics model to extrapolate the pollution trajectory and triggers high-frequency sampling when an anomaly is detected.

6. The intelligent underwater robot water quality monitoring system suitable for complex watersheds according to claim 1, characterized in that: The communication management module also includes a surface repeater. The robot sends data to the surface repeater via underwater acoustic communication, and the surface repeater communicates with the shore station wirelessly.

7. The intelligent underwater robot water quality monitoring system suitable for complex watersheds according to claim 1, characterized in that: The central control module includes an undercurrent gliding mode and a remote control mode. In the undercurrent gliding mode, when a current in the same direction is detected, some thrusters are turned off to move using the undercurrent. In the remote control mode, remote control commands and mission update commands from the shore-based control console are received and parsed, and then sent to the navigation and obstacle avoidance modules.

8. The intelligent underwater robot water quality monitoring system for complex watersheds according to claim 7, characterized in that: The central control module also includes an energy management module, which includes a high-energy-density battery pack and monitors the battery voltage, current, temperature, remaining capacity, and other statuses.

9. The intelligent underwater robot water quality monitoring system suitable for complex watersheds according to claim 1, characterized in that: It also includes an auxiliary module, which includes an illumination unit and a robotic arm. The illumination unit is a high-brightness, low-power LED light that provides illumination for the visual camera in dim environments. The robotic arm is used to collect specific samples, operate underwater instruments, or clean sensors.

Images