A water quality monitoring method based on a modular ecological water operation platform

Abstract

This invention discloses a water quality monitoring method based on a modular ecological aquatic operation platform. The main body includes a lower outer shell, an upper outer shell, and a watertight chamber. A controller and basic sensors are installed inside the watertight chamber. The lower and upper outer shells are connected by bolts, and a watertight chamber mounting position is provided between them for storing the watertight chamber. A connector mounting slot is provided on the top of the upper outer shell. This invention relates to the field of water quality monitoring technology. This water quality monitoring method based on a modular ecological aquatic operation platform achieves water quality monitoring through a modular platform, employing open-source hardware and standardized interfaces, reducing equipment costs and technical barriers, and allowing for the expansion of other monitoring modules as needed.

Description

Technical Field

[0001] This invention relates to the field of water quality monitoring technology, specifically a water quality monitoring method based on a modular ecological water operation platform. Background Technology

[0002] With the acceleration of urbanization, the demand for ecological restoration of small and medium-sized water bodies (such as landscape lakes, community ponds, and village waterways) is becoming increasingly urgent. Traditional water quality monitoring and ecological restoration technologies face some challenges, such as the need for substantial human resources for the deployment and maintenance of ecological floating beds. Furthermore, while there is a correlation between ecological floating beds and water quality testing needs, the two usually require separate operations, increasing technical complexity. The closest existing solutions to this device include various commercial underwater robots, typically composed of a power unit, body, control module, and functional modules.

[0003] Existing commercial underwater robot expansion modules require dedicated interfaces and customized firmware, increasing costs by over 40%. They also cannot be quickly adapted to ecological governance modules such as floating windows, and their internal structures are often custom-designed and closed-source by manufacturers, making them difficult to apply in water quality testing and ecological governance. Therefore, this invention proposes a modular, self-modifying and customizable integrated solution for water quality testing and ecological governance. By using open-source components and 3D printing technology, it achieves a highly customizable underwater operation device solution. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] A modular ecological waterborne operation platform, consisting of a main body and replaceable functional modules;

[0006] The main body includes a lower outer shell, an upper outer shell, and a watertight compartment. A controller and basic sensors are installed inside the watertight compartment. The lower and upper outer shells are connected by bolts, specifically M10 bolts. A watertight compartment mounting position is provided between the lower and upper outer shells to house the watertight compartment. A connector mounting slot is provided on the top of the upper outer shell, communicating with the watertight compartment mounting position. Power compartment slots are formed at the four corners of the lower and upper outer shells, each containing a connector. An underwater thruster is detachably connected to the power compartment slot via these connectors. A connection cable hole is provided on the inner wall of the power compartment slot, through which the underwater thruster connects to the watertight compartment.

[0007] After a watertightness test, the M10 bolt can withstand a water pressure of 0.5 MPa;

[0008] The lower housing and the upper housing are combined to form an integral whole, and a sensor mounting groove is provided at the end of the integral whole. Sensor mounting holes for sensor installation are also provided on the integral surface.

[0009] The connector mounting slot is detachably installed with a connector. The main body is connected to a replaceable functional module through the connector. The connector has a wiring channel inside for wiring connection.

[0010] Preferably, the replaceable functional module is a floating window module, which is used to support aquatic plants and implement ecological restoration in conjunction with water quality monitoring data. The floating window module includes a grid frame and a frame installed at the bottom of the grid frame, with floats fixedly installed on both sides of the frame.

[0011] A steel plate is fixedly installed at the center of the bottom frame of the grid frame. An electromagnet is attached to the bottom of the steel plate. 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 includes a sampling bottle and a line outlet installed at the bottom of the sampling bottle. A water inlet pipe is fixedly installed on the top of the sampling bottle, and a solenoid valve is fixedly installed in the middle of the water inlet pipe. The solenoid valve is used to control the water to flow into the sampling bottle through the water inlet pipe.

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

[0014] Preferably, the controller specifically includes a Raspberry Pi 4B, a Pixhawk, and an Arduino Mega, wherein 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.

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

[0016] Step A1: Platform initialization and parameter configuration;

[0017] 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;

[0018] 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;

[0019] The ardusub firmware loaded by Pixhawk follows 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 using QGroundControl software. The path includes all preset sampling points.

[0022] After receiving the path instructions, the Raspberry Pi 4B sends the navigation instructions to the Pixhawk via GPIO communication;

[0023] Pixhawk controls the brushless motor to operate according to the 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.

[0024] Step A3: In-situ water quality monitoring and sampling assessment;

[0025] After the platform reaches the sampling point, it uses Pixhawk for positioning. The Arduino Mega polls the turbidity sensor and conductivity sensor via 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 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.

[0026] Step A4: Automatic water sample collection;

[0027] 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.

[0028] After the preset collection time is reached, the Raspberry Pi 4B sends a shutdown signal to complete the water sample collection.

[0029] The Raspberry Pi 4B records sampling point information, stores it, and synchronously uploads it to a remote terminal.

[0030] 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.

[0031] This invention provides a water quality monitoring method based on a modular ecological waterborne operation platform. It has the following beneficial effects:

[0032] (I) The water quality monitoring method based on the modular ecological water operation platform realizes water quality monitoring through the modular platform, adopts open source hardware and standardized interface, reduces equipment cost and technical threshold, and can be expanded with other monitoring modules as needed.

[0033] (II) The water quality monitoring method based on the modular ecological water operation platform combines in-situ water quality data collection with water sample collection and completes the process on the same platform, ensuring accurate spatiotemporal correlation between data and water samples, and solving the problem of disconnect between monitoring and sampling in traditional methods.

[0034] (III) The water quality monitoring method based on the modular ecological water operation platform requires no human intervention throughout the entire process, realizing full automation from path planning, navigation, monitoring to sampling. A single platform can complete the daily monitoring tasks of small and medium-sized water areas, improving 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 reconstructing the entire platform, thus adapting to the monitoring needs of different water areas. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the main structure of the waterborne operation platform of the present invention;

[0037] Figure 2 This is a detailed structural diagram of the main body of the waterborne operation platform of the present invention;

[0038] Figure 3 This is a schematic diagram of the lower outer shell structure of the main body of the waterborne operation platform of the present invention;

[0039] Figure 4 This is a schematic diagram of the structure of the watertight compartment and underwater thruster of the present invention;

[0040] Figure 5 This is a structural schematic diagram of the main body of the waterborne operation platform and the floating window module of the present invention;

[0041] Figure 6 This is a schematic diagram of the structural assembly of the main body of the waterborne operation platform and the floating window module of the present invention;

[0042] Figure 7 This is a schematic diagram of the floating window module of the present invention;

[0043] Figure 8 This is a schematic diagram of the structure of the main body of the water operation platform and the water sampling module of the present invention;

[0044] Figure 9 This is a schematic diagram of the water sampling module of the present invention;

[0045] Figure 10This is a schematic diagram of the water quality monitoring method based on a modular ecological water operation platform according to the present invention.

[0046] In the diagram: 1. Main body; 101. Lower outer shell; 102. Upper outer shell; 103. Bolt; 104. Underwater thruster; 105. Connector mounting slot; 106. Watertight compartment; 107. Watertight compartment mounting position; 108. Connector; 109. Sensor mounting hole; 110. Sensor mounting slot; 2. Water sampling module; 21. Solenoid valve; 22. Water inlet pipe; 23. Line outlet; 24. Sampling bottle; 3. Floating window module; 31. Float; 32. Steel sheet; 33. Grid frame; 34. Electromagnet; 4. Connector; 41. Line channel. Detailed Implementation

[0047] 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.

[0048] Example 1, please refer to Figure 1-4 The present invention provides a technical solution:

[0049] A modular ecological waterborne operation platform, consisting of a main body 1 and replaceable functional modules;

[0050] The main body 1 includes a lower outer shell 101, an upper outer shell 102, and a watertight chamber 106. A controller and basic sensors are installed inside the watertight chamber 106. The lower outer shell 101 and the upper outer shell 102 are connected by bolts 103 (M10 type). 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, communicating with the watertight chamber mounting position 107. Power compartment slots are formed at the four corners of the lower outer shell 101 and the upper outer shell 102. Connectors 108 are installed inside the power compartment slots, and underwater thrusters 104 are detachably connected to the power compartment slots via the connectors 108. A connection hole is provided on the inner wall of the power compartment slots, and the underwater thruster 104 is connected to the watertight chamber 106 via the connection hole.

[0051] The lower outer shell 101 and the upper outer shell 102 are combined to form an integral whole. A sensor mounting groove 110 is provided at the end of the integral whole, and a sensor mounting hole 109 for sensor installation is provided on the integral surface.

[0052] The connector 4 is detachably installed in the slot of the connector mounting groove 105. 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.

[0053] 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.

[0054] Example 2: Based on Example 1, please refer to... Figure 5-7 The present invention provides a technical solution:

[0055] The replaceable functional module is specifically a floating window module 3, which 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.

[0056] When ammonia nitrogen levels exceed the standard, the platform navigates to the polluted area and releases floating window module 3, with aquatic plants carried by the grid frame 33 to carry out purification.

[0057] 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. The surface of the electromagnet 34 is coated with an epoxy resin sealing layer and has a waterproof rating of IP68.

[0058] Example 3: Based on Example 1, please refer to... Figure 8-9 The present invention provides a technical solution:

[0059] 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.

[0060] The line outlet 23 is detachably connected to the connector 4.

[0061] Example 3: Based on Examples 1, 2, and 3, please refer to... Figure 10 The present invention provides a technical solution:

[0062] A water quality monitoring method based on a modular ecological water operation platform includes 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 the 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, eco-friendly, water-based work 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). 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 whole. A sensor mounting groove (110) is provided at the end of the integral whole, and a sensor mounting hole (109) for sensor mounting is provided on the integral surface. The connector mounting slot (105) is detachably installed with a connector (4). The main body (1) is connected to a replaceable functional module through the connector (4). The connector (4) has a line channel (41) for line connection inside. 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).

2. A modular, eco-friendly, water-based work 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).

3. A modular, eco-friendly, water-based work platform according to claim 1, wherein: 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.

4. The water quality monitoring method based on the modular ecological water operation platform according to claim 1, 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. 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 a water sample needs 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.

Images