Water quality monitoring method based on modular ecological overwater operation platform

Abstract

The invention discloses a water quality monitoring method based on a modular ecological overwater operation platform, a main body comprises a lower shell, an upper shell and a watertight compartment, a controller and a basic sensor are installed in the watertight compartment, the lower shell and the upper shell are connected through bolts, and the lower shell and the upper shell are connected through bolts. A watertight compartment mounting position capable of storing a watertight compartment is arranged between the lower shell and the upper shell, and a connector mounting groove is formed in the top of the upper shell. According to the water quality monitoring method based on the modular ecological water operation platform, water quality monitoring is achieved based on the modular platform, open source hardware and a standardized interface are adopted, the equipment cost and the technical threshold are reduced, and other monitoring modules can be expanded according to requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water quality monitoring, in particular to a water quality monitoring method based on a modular ecological water operation platform. BACKGROUND

[0002] With the acceleration of urbanization, the ecological management demand of small and medium-sized water areas (such as landscape lakes, community ponds, and village-level river channels) is increasingly urgent. Traditional water quality monitoring and ecological restoration technology faces some difficulties, such as the deployment and maintenance of ecological floating beds requiring a large amount of human resources. At the same time, ecological floating beds and water quality detection have certain relevance, but they usually need to be operated separately, which increases the technical complexity. The most similar existing implementation scheme of the device includes various commercial underwater robots, which are usually composed of a power device, a body, a control module, and a functional module;

[0003] The existing commercial underwater robot expansion module requires a special interface and customized firmware, which increases the cost by more than 40%. It cannot quickly adapt to ecological management modules such as floating windows, and the internal structure is usually customized by the manufacturer and closed source, making it difficult to apply it to the field of water quality detection and ecological management. Therefore, the present application proposes a modular, self-modifiable, and customizable comprehensive scheme for water quality detection and ecological management. By using open source components and 3D printing technology, the purpose of realizing a highly customizable water operation device scheme is achieved. SUMMARY

[0004] To achieve the above purpose, the present application realizes the following technical scheme:

[0005] A modular ecological water operation platform, which is composed of a main body and replaceable functional modules;

[0006] The main body includes a lower shell, an upper shell, and a watertight cabin. The controller and the basic sensor are installed inside the watertight cabin. The lower shell and the upper shell are connected by bolts. The bolts at this position are M10 type. A watertight cabin installation position for storing the watertight cabin is provided between the lower shell and the upper shell. A connector installation slot is formed at the top of the upper shell. The connector installation slot is in communication with the watertight cabin installation position. A power cabin slot is formed at the four corners of the combined lower shell and upper shell. A connecting piece is installed in the power cabin slot. The power cabin slot is detachably connected to an underwater propeller through the connecting piece installed therein. A connecting line hole is formed in the inner wall of the power cabin slot. The underwater propeller is connected to the watertight cabin through the connecting line hole.

[0007] After the water tightness test, the M10 bolt can withstand 0.5 MPa water pressure.

[0008] The lower shell and the upper shell are combined to form a whole end opening a sensor mounting groove, and the whole surface is provided with a sensor mounting hole for mounting the sensor;

[0009] The connector is detachably mounted in the groove of the connector mounting groove, and the main body is connected with the replaceable functional module through the connector, and the inside of the connector is provided with a line channel for connecting the line.

[0010] Preferably, the replaceable functional module is a floating window module, which is used to carry aquatic plants and cooperate with water quality monitoring data to implement ecological restoration, and the floating window module comprises a grid frame and a frame body mounted at the bottom of the grid frame, and floating buoys are fixedly installed on both sides of the frame body.

[0011] A steel sheet is fixedly installed at the center of the frame body at the bottom of the grid frame, an electromagnet is absorbably installed at the bottom of the steel sheet, and the bottom of the electromagnet is detachably installed on the top of the connector.

[0012] Preferably, the replaceable functional module is a water sampling module, which comprises a sampling bottle and a line outlet mounted at the bottom of the sampling bottle, a water inlet pipe is fixedly installed at the top of the sampling bottle, and an electromagnetic valve is fixedly installed at the middle position of the water inlet pipe, which is used to control the water flowing into the sampling bottle through the water inlet pipe.

[0013] The line outlet is detachably connected with the connector.

[0014] Preferably, the controller specifically comprises Raspberry Pi 4B, Pixhawk and Arduino Mega, the Raspberry Pi 4B is connected with the Arduino Mega through GPIO, and the Raspberry Pi 4B is connected with the Pixhawk through a USB interface.

[0015] A water quality monitoring method based on a modular ecological water operation platform, comprising the following steps:

[0016] Step A1, platform initialization and parameter configuration;

[0017] Assemble the modular platform: fix the water sampling module on the standardized interface on the upper part of the platform main body by bolts, and connect the electromagnetic valve control line of the water sampling module to the control port of the Raspberry Pi 4B through a waterproof electrical connector;

[0018] Software initialization: install BlueOS system in the Raspberry Pi 4B, load arduSub firmware in the Pixhawk, and start QGroundControl software in the remote control terminal;

[0019] The arduSub firmware loaded in the Pixhawk complies with the Apache-2.0 open source license agreement.

[0020] Step A2, path planning and autonomous navigation;

[0021] The remote terminal generates a navigation path covering the target monitoring area through the QGroundControl software, and the path contains all the preset sampling points;

[0022] After the Raspberry Pi 4B receives the path instructions, the navigation instructions are sent to the Pixhawk through GPIO communication;

[0023] The Pixhawk controls the brushless motor to operate according to the path instructions, drives the platform to navigate to the first sampling point, and generates a three-dimensional terrain map according to the depth sensor data during navigation, and identifies the obstacle coordinates through the camera image, and dynamically corrects the navigation path;

[0024] Step A3, in-situ water quality monitoring and sampling judgment;

[0025] After the platform reaches the sampling point, the water quality data is collected through the Pixhawk positioning, the ArduinoMega polling the turbidity sensor and the conductivity sensor through the I2C bus, the turbidity sensor and the conductivity sensor have a preset I2C address, and finally the data is transmitted to the Raspberry Pi 4B. The Raspberry Pi 4B analyzes the collected data, and if the data reaches the preset threshold, it is determined that water samples need to be collected, and step A4 is performed; if it does not meet the standard, the real-time data is recorded, and the platform is navigated to the next sampling point to repeat step A3;

[0026] Step A4, automatic water sampling;

[0027] The Raspberry Pi 4B sends a PWM control signal to the electromagnetic valve of the water sampling module, and the electromagnetic valve is energized to open, realizing sampling;

[0028] After reaching the preset collection time, the Raspberry Pi 4B sends a closing signal, and the water sampling is completed;

[0029] The Raspberry Pi 4B records the sampling point information and stores it in the remote terminal and synchronously uploads it to the remote terminal;

[0030] Step A5, the platform navigates to the remaining sampling points according to the preset path, completes the whole area monitoring, and after the monitoring is completed, the platform autonomously returns to the starting point, and the Raspberry Pi 4B integrates the in-situ data, sampling point coordinates and timestamp to generate a PDF format report, which is uploaded to the cloud server through the 4G module.

[0031] The application provides a water quality monitoring method based on a modular ecological water operation platform. The application has the following beneficial effects:

[0032] (I) The water quality monitoring method based on the modular ecological water operation platform realizes water quality monitoring based on the modular platform, adopts open source hardware and standardized interfaces, reduces equipment cost and technical threshold, and can expand other monitoring modules according to requirements.

[0033] (II) The water quality monitoring method based on the modular ecological water operation platform combines in-situ water quality data acquisition and water sample collection, and is completed through the same platform, so as to ensure the space-time accurate association of data and water samples, and solve the problem that the traditional method is out of touch with sampling.

[0034] (III) The water quality monitoring method based on the modular ecological water operation platform does not need manual intervention in the whole process, realizes the full-process automation from path planning, navigation, monitoring to sampling, and a single platform can complete the daily monitoring task of small and medium-sized waters, and improves the efficiency.

[0035] (IV) The water quality monitoring method based on the modular ecological water operation platform relies on modular design, if it is necessary to enhance the monitoring capability, the functional modules can be replaced, without the need to reconstruct the whole platform, and the monitoring requirements of different waters can be met. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 It is a structure schematic view of a water operation platform main body of the present application;

[0037] Figure 2 It is a structure schematic view of a water operation platform main body of the present application;

[0038] Figure 3 It is a structure schematic view of a lower shell structure of the water operation platform main body of the present application;

[0039] Figure 4 It is a structure schematic view of a watertight cabin and an underwater propeller of the present application;

[0040] Figure 5 It is a structure schematic view of a water operation platform main body and a floating window module of the present application;

[0041] Figure 6 It is a structure assembly schematic view of a water operation platform main body and a floating window module of the present application;

[0042] Figure 7 It is a structure schematic view of a floating window module of the present application;

[0043] Figure 8 It is a structure schematic view of a water operation platform main body and a water sampling module of the present application;

[0044] Figure 9 It is a structure schematic view of a water sampling module of the present application;

[0045] Figure 10The application provides a water quality monitoring method based on a modular ecological water operation platform.

[0046] In the figure: 1, main body; 101, lower shell; 102, upper shell; 103, bolt; 104, underwater propeller; 105, connector mounting groove; 106, watertight cabin; 107, watertight cabin mounting position; 108, connecting piece; 109, sensor mounting hole; 110, sensor mounting groove; 2, water sampling module; 21, electromagnetic valve; 22, water inlet pipeline; 23, line outlet; 24, sampling bottle; 3, floating window module; 31, buoy; 32, steel sheet; 33, grid frame; 34, electromagnet; 4, connector; 41, line channel. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the application.

[0048] Embodiment one, please refer to Figures 1-4 The application provides a technical solution:

[0049] A modular ecological water operation platform based on a modular ecological water operation platform is composed of a main body 1 and replaceable functional modules;

[0050] The main body 1 comprises a lower shell 101, an upper shell 102 and a watertight cabin 106, the watertight cabin 106 is internally provided with a controller and a basic sensor, the lower shell 101 and the upper shell 102 are connected through bolts 103, the bolts 103 at the position are specifically M10 type, and the lower shell 101 and the upper shell 102 are provided with a watertight cabin mounting position 107 for storing the watertight cabin 106, the upper shell 102 is provided with a connector mounting groove 105 at the top, the connector mounting groove 105 is in communication with the watertight cabin mounting position 107, the lower shell 101 and the upper shell 102 are combined to form a power cabin groove at four corners, the power cabin groove is internally provided with a connecting piece 108, the power cabin groove is detachably connected with an underwater propeller 104 through the connecting piece 108 mounted thereon, and the inner wall of the power cabin groove is provided with a connecting line hole, and the underwater propeller 104 is connected with the watertight cabin 106 through the connecting line hole;

[0051] The lower shell 101 and the upper shell 102 are combined to form a sensor mounting groove 110 at the end, and the surface of the formed whole is provided with a sensor mounting hole 109 for sensor mounting;

[0052] The connector 4 is detachably mounted in the connector mounting groove 105, the main body 1 is connected with the replaceable functional module through the connector 4, and a circuit passage 41 for connecting a circuit is arranged in the connector 4;

[0053] The controller specifically comprises a Raspberry Pi 4B, a Pixhawk and an Arduino Mega, the Raspberry Pi 4B is connected with the Arduino Mega through a GPIO, and the Raspberry Pi 4B is connected with the Pixhawk through a USB interface.

[0054] Embodiment two, based on the basis of embodiment one, please refer to Figures 5-7 The application provides a technical scheme:

[0055] The replaceable functional module is specifically a floating window module 3, the floating window module 3 is used for carrying aquatic plants and implementing ecological restoration in cooperation with water quality monitoring data, the floating window module 3 comprises a grid frame 33 and a frame body mounted at the bottom of the grid frame 33, and floating buoys 31 are fixedly installed at the two sides of the frame body.

[0056] When it is monitored that ammonia nitrogen exceeds the standard, the platform sails to a pollution area to release the floating window module 3, and the aquatic plants carried by the grid frame 33 implement purification.

[0057] A steel sheet 32 is fixedly installed at the center of the frame body at the bottom of the grid frame 33, an electromagnet 34 is absorbably installed at the bottom of the steel sheet 32, the electromagnet 34 is detachably installed at the top of the connector 4, and an epoxy resin sealing layer is coated on the surface of the electromagnet 34, and the waterproof grade is IP68.

[0058] Embodiment three, based on the basis of embodiment one, please refer to Figures 8-9 The application provides a technical scheme:

[0059] The replaceable functional module is specifically a water sampling module 2, the water sampling module 2 comprises a sampling bottle 24 and a circuit outlet 23 mounted at the bottom of the sampling bottle 24, a water inlet pipe 22 is fixedly installed at the top of the sampling bottle 24, and an electromagnetic valve 21 is fixedly installed at the middle position of the water inlet pipe 22, the electromagnetic valve is used for controlling water to flow into the sampling bottle 24 through the water inlet pipe 22.

[0060] The circuit outlet 23 is detachably connected with the connector 4.

[0061] Embodiment three, based on the basis of embodiment one, two and three, please refer to Figure 10 The application provides a technical scheme:

[0062] A water quality monitoring method based on a modular ecological water operation platform comprises the following steps:

[0063] Step A1: Platform initialization and parameter configuration;

[0064] Assemble the modular platform: The water sampling module is fixed to the standardized interface on the upper part of the platform body with bolts, and its solenoid valve control circuit is connected to the control port of Raspberry Pi 4B via a waterproof electrical connector;

[0065] Software initialization: Install the BlueOS system on the Raspberry Pi 4B, load the ardusub firmware on the Pixhawk, and start the QGroundControl software on the remote control terminal;

[0066] Step A2: Path planning and autonomous navigation;

[0067] The remote terminal generates a navigation path covering the target monitoring area using QGroundControl software. The path includes all preset sampling points.

[0068] After receiving the path instructions, the Raspberry Pi 4B sends the navigation instructions to the Pixhawk via GPIO communication;

[0069] Pixhawk controls the brushless motor to operate according to path instructions, driving the platform to the first sampling point. During the journey, Pixhawk generates a 3D terrain map based on depth sensor data and identifies obstacle coordinates through camera images, dynamically correcting the navigation path.

[0070] Step A3: In-situ water quality monitoring and sampling assessment;

[0071] After the platform reaches the sampling point, it uses Pixhawk for positioning. The Arduino Mega polls the turbidity sensor (address 0x48) and conductivity sensor (address 0x49) via the I2C bus to collect water quality data. Finally, the data is transmitted to the Raspberry Pi 4B. The Raspberry Pi 4B analyzes the collected data. If the data reaches a preset threshold, it determines that a water sample needs to be collected and executes step A4. If the threshold is not met, the real-time data is recorded, and the platform sails to the next sampling point and repeats step A3.

[0072] Step A4: Automatic water sample collection;

[0073] The Raspberry Pi 4B sends a PWM control signal to the solenoid valve of the water sampling module, which then powers on and opens the solenoid valve to perform sampling.

[0074] After the preset collection time is reached, the Raspberry Pi 4B sends a shutdown signal to complete the water sample collection.

[0075] The Raspberry Pi 4B records sampling point information, stores it, and synchronously uploads it to a remote terminal.

[0076] Step A5: The platform navigates to the remaining sampling points along the preset path to complete the full-area monitoring. After the monitoring is completed, the platform autonomously returns to the starting point. The Raspberry Pi 4B integrates the in-situ data, sampling point coordinates, and timestamps to generate a PDF report, which is then uploaded to the cloud server via the 4G module.

[0077] Experimental data: According to the test, the module replacement operation takes ≤5 minutes and the connector (4) has a lifespan of >500 times.

[0078] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0079] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A modular ecological waterborne operation platform, characterized in that: It consists of a main body (1) and replaceable functional modules; The main body (1) includes a lower outer shell (101), an upper outer shell (102), and a watertight chamber (106). The watertight chamber (106) houses a controller and basic sensors. The lower outer shell (101) and the upper outer shell (102) are connected by bolts (103), and a watertight chamber mounting position (107) for storing the watertight chamber (106) is provided between the lower outer shell (101) and the upper outer shell (102). A connector mounting slot (105) is provided on the top of the upper outer shell (102). The mounting slot (105) is connected to the watertight compartment mounting position (107). The lower outer shell (101) and the upper outer shell (102) are combined to form a whole. The four corners are provided with a power compartment slot. A connector (108) is installed in the power compartment slot. The underwater thruster (104) is detachably connected to the power compartment slot through the connector (108). A connecting wire hole is provided on the inner wall of the power compartment slot. The underwater thruster (104) is connected to the watertight compartment (106) through the connecting wire hole. The lower outer shell (101) and the upper outer shell (102) are combined to form an integral part, and a sensor mounting groove (110) is provided at the end of the integral part, and a sensor mounting hole (109) for sensor mounting is provided on the integral surface. The connector mounting slot (105) has a connector (4) that can be detachably installed inside. The main body (1) is connected to the replaceable functional module through the connector (4). The connector (4) has a line channel (41) for line connection inside.

2. The modular ecological waterborne operation platform according to claim 1, characterized in that: The replaceable functional module is specifically a floating window module (3). The floating window module (3) is used to carry aquatic plants and implement ecological restoration in conjunction with water quality monitoring data. The floating window module (3) includes a grid frame (33) and a frame installed at the bottom of the grid frame (33). Floating cylinders (31) are fixedly installed on both sides of the frame. A steel plate (32) is fixedly installed at the center of the bottom frame of the grid frame (33). An electromagnet (34) is attached to the bottom of the steel plate (32). The bottom of the electromagnet (34) is detachably installed on the top of the connector (4).

3. The modular ecological waterborne operation platform according to claim 1, characterized in that: The replaceable functional module is specifically a water sampling module (2). The water sampling module (2) includes a sampling bottle (24) and a line outlet (23) installed at the bottom of the sampling bottle (24). A water inlet pipe (22) is fixedly installed on the top of the sampling bottle (24). A solenoid valve (21) is fixedly installed in the middle of the water inlet pipe (22). The solenoid valve is used to control the water to flow into the sampling bottle (24) through the water inlet pipe (22). The line outlet (23) is detachably connected to the connector (4).

4. The modular ecological waterborne operation platform according to claim 1, characterized in that: The controller specifically includes a Raspberry Pi 4B, a Pixhawk, and an Arduino Mega. The Raspberry Pi 4B is connected to the Arduino Mega via GPIO, and the Raspberry Pi 4B is connected to the Pixhawk via a USB interface.

5. A water quality monitoring method based on a modular ecological water operation platform, characterized in that: Includes the following steps: Step A1: Platform initialization and parameter configuration; Assemble the modular platform: The water sampling module is fixed to the standardized interface on the upper part of the platform body with bolts, and its solenoid valve control circuit is connected to the control port of Raspberry Pi 4B via a waterproof electrical connector; Software initialization: Install the BlueOS system on the Raspberry Pi 4B, load the ardusub firmware on the Pixhawk, and start the QGroundControl software on the remote control terminal; Step A2: Path planning and autonomous navigation; The remote terminal generates a navigation path covering the target monitoring area using QGroundControl software. The path includes all preset sampling points. After receiving the path instructions, the Raspberry Pi 4B sends the navigation instructions to the Pixhawk via GPIO communication; Pixhawk controls the brushless motor to operate according to path instructions, driving the platform to the first sampling point. During the journey, Pixhawk generates a 3D terrain map based on depth sensor data and identifies obstacle coordinates through camera images, dynamically correcting the navigation path. Step A3: In-situ water quality monitoring and sampling assessment; After the platform reaches the sampling point, it is located by Pixhawk. The Arduino Mega polls the turbidity sensor and conductivity sensor through the I2C bus to collect water quality data. The turbidity sensor and conductivity sensor have preset I2C addresses. Finally, the data is transmitted to the Raspberry Pi 4B. The Raspberry Pi 4B analyzes the collected data. If the data reaches the preset threshold, it determines that water samples need to be collected and executes step A4. If the target is not met, record the real-time data and sail to the next sampling point to repeat step A3; Step A4: Automatic water sample collection; The Raspberry Pi 4B sends a PWM control signal to the solenoid valve of the water sampling module, which then powers on and opens the solenoid valve to perform sampling. After the preset collection time is reached, the Raspberry Pi 4B sends a shutdown signal to complete the water sample collection. The Raspberry Pi 4B records sampling point information, stores it, and synchronously uploads it to a remote terminal. Step A5: The platform navigates to the remaining sampling points along the preset path to complete the full-area monitoring. After the monitoring is completed, the platform autonomously returns to the starting point. The Raspberry Pi 4B integrates the in-situ data, sampling point coordinates, and timestamps to generate a PDF report, which is then uploaded to the cloud server via the 4G module.

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