CN108770079A - A kind of water environment monitoring system based on underwater robot - Google Patents
A kind of water environment monitoring system based on underwater robot Download PDFInfo
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- CN108770079A CN108770079A CN201810551107.3A CN201810551107A CN108770079A CN 108770079 A CN108770079 A CN 108770079A CN 201810551107 A CN201810551107 A CN 201810551107A CN 108770079 A CN108770079 A CN 108770079A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W84/00—Network topologies
- H04W84/18—Self-organising networks, e.g. ad-hoc networks or sensor networks
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
- H04L41/0654—Management of faults, events, alarms or notifications using network fault recovery
- H04L41/0659—Management of faults, events, alarms or notifications using network fault recovery by isolating or reconfiguring faulty entities
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Abstract
The present invention provides a kind of, and the water environment based on underwater robot monitors system, which includes sensor monitoring module, data analysis module, communication module, boat-carrying monitoring center and power module；Sensor monitoring module acquires the data for the parameters for influencing water environment based on wireless sensor network；Data analysis module is connected with sensor monitoring module, it is handled for the missing data in the data to collecting, and then data assess water environment situation according to treated, and assessment result is transferred to by boat-carrying monitoring center by communication module, boat-carrying monitoring center is for storing the data received and issuing various control signals to data analysis module, to change the active state of underwater robot, power module is used to ensure the stable power-supplying of whole system.
Description
Technical field
The present invention relates to water environment monitoring technology fields, and in particular to a kind of water environment prison based on underwater robot
Examining system.
Background technology
Water area water-quality monitoring for finding water pollution and timely handle and protect suffering from important meaning early
Justice.Existing water environment monitoring mode mainly have live artificial sample, special monitoring ship or buoy in-situ monitoring mode, these
Mode there is consume a large amount of labours, monitoring efficiency is low and of high cost the shortcomings of, therefore, exploitation one kind can be effective in real time
The system for carrying out water area water-quality environmental monitoring has important researching value for environmental protection and large-scale water quality monitoring.
Invention content
In view of the above-mentioned problems, the present invention provides a kind of water environment monitoring system based on underwater robot.
The purpose of the present invention is realized using following technical scheme：
A kind of water environment monitoring system based on underwater robot is provided, which includes sensor monitoring module, number
According to analysis module, communication module, boat-carrying monitoring center and power module；Sensor monitoring module is acquired based on wireless sensor network
Influence the data of the parameters of water environment；Data analysis module is connected with sensor monitoring module, for collecting
Data in missing data handled, and then data assess water environment situation according to treated, and pass through
Assessment result is transferred to boat-carrying monitoring center by communication module, and boat-carrying monitoring center is for storing the data received and to data
Analysis module issues various control signals, and to change the active state of underwater robot, power module is entirely for ensureing
The stable power-supplying of system.
Preferably, it is provided with serial communication chip in the communication module, connects the data analysis module, and pass through
Water-proof cable connects boat-carrying monitoring center.
Preferably, the sensor monitoring module includes base station and multiple sensor nodes for gathered data, wherein base
Station is mainly used for the data of collecting sensor node transmission, and by the data transmission of collection to data analysis module.
Preferably, a sensor is arranged in each sensor node, and the type of sensor includes monitoring water quality pH-value
Sensor, the sensor for monitoring salinity, the sensor for monitoring water temperature, monitors chlorophyll concentration at the sensor for monitoring dissolved oxygen
Sensor.
Beneficial effects of the present invention are：It is simple in structure, flexibly and easily, pass through the mutual cooperation between each module, Neng Goushi
Now to effective monitoring of water area water-quality environment, and monitoring result is transferred to boat-carrying monitoring center, ensure that and find waters in time
Water pollution is to advanced processing.
Description of the drawings
Using attached drawing, the invention will be further described, but the embodiment in attached drawing does not constitute any limit to the present invention
System, for those of ordinary skill in the art, without creative efforts, can also obtain according to the following drawings
Other attached drawings.
Fig. 1 is the structural schematic block diagram of the water environment monitoring system of an illustrative embodiment of the invention；
Fig. 2 is the structural schematic block diagram of the data analysis module of an illustrative embodiment of the invention；
Fig. 3 is the structural schematic block diagram of the data analysis module of another exemplary embodiment of the invention.
Reference numeral：
Sensor monitoring module 1, data analysis module 2, communication module 3, boat-carrying monitoring center 4, power module 5, control are single
Member 10, missing data processing unit 20, analysis assessment unit 30, sensor node monitoring unit 40, node exception feedback unit
50。
Specific implementation mode
The invention will be further described with the following Examples.
Referring to Fig. 1, an embodiment of the present invention provides a kind of, and the water environment based on underwater robot monitors system, the system
Including sensor monitoring module 1, data analysis module 2, communication module 3, boat-carrying monitoring center 4 and power module 5；Sensor monitoring mould
Block 1 acquires the data for the parameters for influencing water environment based on wireless sensor network；Data analysis module 2 and sensor monitoring
Module 1 is connected, and is handled for the missing data in the data to collecting, and then according to treated data to water
Domain ambient conditions is assessed, and assessment result is transferred to boat-carrying monitoring center 4, boat-carrying monitoring center 4 by communication module 3
For storing the data received and issuing various control signals to data analysis module 2, to change the work of underwater robot
Dynamic state, power module 5 are used to ensure the stable power-supplying of whole system.
In a kind of mode in the cards, it is provided with serial communication chip in the communication module 3, connects the number
Boat-carrying monitoring center 4 is connected according to analysis module 2, and by water-proof cable.
In a kind of mode in the cards, the sensor monitoring module 1 includes base station and multiple for gathered data
Sensor node, wherein base station are mainly used for the data of collecting sensor node transmission, and by the data transmission of collection to data
Analysis module.Wherein, a sensor is arranged in each sensor node, and the type of sensor includes monitoring the biography of water quality pH-value
Sensor, the sensor for monitoring dissolved oxygen, the sensor for monitoring salinity, the sensor for monitoring water temperature, the biography for monitoring chlorophyll concentration
Sensor.
In a kind of mode in the cards, as shown in Fig. 2, the data analysis module 2 includes control unit 10, missing
Data processing unit 20 and analysis assessment unit 30；Described control unit 10 is various for being issued according to boat-carrying monitoring center 4
Control instruction controls the active state of underwater robot；The missing data processing unit 20 to data for carrying out missing inspection
It surveys, and the missing data detected is handled；The analysis assessment unit 30 is for according to treated, data to carry out water
The assessment of domain environment.
The water environment monitoring system structure based on underwater robot of the above embodiment of the present invention setting is simple, flexibly side
Just, by the mutual cooperation between each module, effective monitoring to water area water-quality environment can be realized, and monitoring result is transmitted
To boat-carrying monitoring center 4, it ensure that and find water area water-quality pollution to advanced processing in time.
In a kind of mode in the cards, missing data processing unit 20 acquires sensor node according to sampling instant
Data carry out missing detection successively, if detecting, sensor node does not have data in t-th of sampling instant, marks the t
The shortage of data of a sampling instant.
Sensor node is likely that there are a large amount of missing values in actual monitoring in the data acquisition system of acquisition, if not right
Missing values are handled, or are directly deleted containing the data sequence in missing, can all influence the reliability of data processing with
Precision.
In one embodiment, missing data processing unit 20 handles the missing data detected, specifically includes：
(1) number that the data that each sensor node perceives in T time section lack is counted；
(2) data that sensor node i is perceived in t moment are set to lack, t ∈ T, obtains and is located at sensor node i
Communication range in, the other sensors node that does not lack of data of t moment perception, to build sensor node i's
Discrete data node set Si, utilize SiThe single order Voronoi diagram for building sensor node i, to obtain sensor node i's
Multiple nature neighbor node j, j=1 ..., n；
(3) the length L on the side in the single order Voronoi diagram of sensor node i corresponding to nature neighbor node j is calculatedj(i)
And sensor node i to the distance d of nature neighbor node jij, j=1 ..., n calculate estimated value x according to the following formulai
(t) ', for fill sensor node i in the shortage of data position of t moment：
In formula, MjThe number lacked for the natural neighbor node j data perceived in T time section；Lh(i) it is to pass
Corresponding to the length on the side of nature neighbor node h, d in the single order Voronoi diagram of sensor node iihFor sensor node i to nature
The distance of neighbor node h, MhFor the number that the nature neighbor node h data perceived in T time section lack, xj
(t) data perceived in t moment for the nature neighbor node j, n are the natural neighbor node number of sensor node i.
Voronoi diagram is one of the extremely important research contents in computational geometry field, and Voronoi diagram is according to institute
The neighbouring attribute of the spatial object of concern is by the region division where them at many subregions.Per sub-regionsIndicate be
In given discrete data point set p, relatively other discrete data points, distanceThe collection that closer all spatial points are constituted
It closes.Division methods of the present embodiment based on Voronoi diagram obtain the natural neighbor node of sensor node, and by sensor node
Missing values regard the corresponding coefficient result of data of its natural neighbor node as.It is obtained by natural neighbor node, this
Embodiment can obtain the neighbour of the real meaning of sensor node.The present embodiment is innovatively set and sensor node
The calculation formula of the corresponding estimated value of missing values, the calculation formula not only allow for sensor node and its natural neighbor node it
Between distance factor, it is also contemplated that the frequency of missing data occurs in special time period for natural neighbor node so that estimated value
Calculating it is more accurate objective, meet reality.
In the mode of alternatively possible realization, as shown in figure 3, data analysis module 2 further includes and missing data processing
The sensor node monitoring unit 40 that unit 20 connects, the sensor node monitoring unit 40 are used for periodically to each sensor section
Point carries out abnormality detection, and the sensor node for being detected as abnormal is marked；
Sensor node monitoring unit 40 carries out abnormality detection sensor node, specifically includes：
(1) number that the data that each sensor node perceives within the previous setting period lack is counted, if sensing
The number Φ that the data that device node i perceives within the previous setting period lackiMore than the frequency threshold value Φ of setting, then will
Sensor node i is labeled as suspect sensor node；
(2) each neighbor node of suspect sensor node alpha and its shortage of data record of next-hop relay node are obtained,
The neighbor node of middle suspect sensor node alpha is the other sensors node in suspect sensor node alpha communication range, can
The next-hop relay node for doubting sensor node α is the next-hop sensor section for the data for assisting forwarding suspect sensor node a
Point；
(3) if the shortage of data record of suspect sensor node alpha meets following exceptional condition, judge the suspect sensor
Node alpha is abnormality sensor node：
In formula, ΦαIndicate time that the data that suspect sensor node alpha perceives within the previous setting period lack
Number, ηαFor within the previous setting period, suspect sensor node alpha number identical with its neighbor node deletion condition,
There are more than one neighbor nodes while shortage of data occurs for the identical expression suspect sensor node alpha of the deletion condition
Also shortage of data occurs；Φα+1It is perceived within the previous setting period for the next-hop relay node of suspect sensor node alpha
The number that data lack, p are the fractional threshold of setting；f(Φα+1- Φ) it is the comparison function set, work as Φα+1-Φ>0
When, f (Φα+1- Φ)=1；Work as Φα+1When-Φ≤0, f (Φα+1- Φ)=0, γ0For the impact factor of setting, γ0Value model
It encloses for 70.1,0.2].
If a sensor node, in gathered data, only the data of itself acquisition have a multinomial missing, and its neighbour
The data that node is acquired in synchronization do not have missing, and the next-hop relay node for forwarding the sensor node data
When fault-free, according to the space-time relationship between sensor node, then it can reason out the sensor node and be likely to occur event
Barrier.Accordingly, the present embodiment innovatively sets the mechanism carried out abnormality detection to sensor node, which utilizes sensor
The shortage of data situation of node investigates the fault state of sensor node, wherein set specific for judging sensor section
The whether abnormal condition of point.By the condition, can abnormal determination conveniently and efficiently be carried out to sensor node, and with certain
Precision.
Further, data analysis module 2 further includes the node exception feedback unit 50 being connect with base station, and node is extremely anti-
Feedback unit 50 is determined for generating abnormality sensor node listing, and according to the judgement result that sensor node monitoring unit 40 exports
Phase update abnormal sensor node list, and newer abnormality sensor node listing is fed back into base station.
In one embodiment, base station is according to newer abnormality sensor node listing, to the abnormality sensor in list
Node carries out fault detect, and when abnormality sensor node meets following fault condition, base station is by the sensor node from wireless
It is rejected in sensor network：
Or
In formula, WiIndicate up to the present abnormality sensor node l is detected as exception by sensor node monitoring unit 40
Number, WTFor the frequency of abnormity threshold value of setting, ElFor the current remaining of abnormality sensor node l, EminFor the biography of setting
Sensor node maintains the minimum energy value needed for data acquisition, El0For the primary power of abnormality sensor node l, tlIndicate current
Moment, t0For wireless sensor network initialization time.
The present embodiment sets fault condition, is repeatedly determined as that exception or dump energy are unsatisfactory for tieing up for filtering out
The sensor node of the energy requirement of data acquisition is held, method is simple and convenient.The present embodiment is by the sensor of the failure filtered out
Node is rejected from wireless sensor network, can avoid the data influence that the sensor node of failure acquires to system in data
Precision in terms of acquisition, and wireless sensor network is made to have certain robustness.
Through the above description of the embodiments, those skilled in the art can be understood that it should be appreciated that can
To realize the embodiments described herein with hardware, software, firmware, middleware, code or its any appropriate combination.For hardware
It realizes, each module can be realized in one or more the following units：Application-specific integrated circuit, digital signal processor, number letter
Number processing equipment, field programmable gate array, processor, controller, microcontroller, microprocessor, is set programmable logic device
Count other electronic units or combinations thereof for realizing functions described herein.For software implementations, the part of embodiment or complete
Portion's flow can instruct relevant hardware to complete by computer program.When realization, above procedure can be stored in meter
It instructs in calculation machine readable medium or as the one or more on computer-readable medium or code is transmitted.It is computer-readable
Medium includes computer storage media and communication media, and wherein communication media includes convenient for being passed from a place to another place
Send any medium of computer program.Storage medium can be any usable medium that computer can access.It is computer-readable
Medium can include but is not limited to RAM, ROM, EPROM, CD-ROM or other optical disc storages, magnetic disk storage medium or other magnetic
Storage device or it can be used in carrying or store the desired program code with instruction or data structure form and can be by
Any other medium of computer access.
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than the present invention is protected
The limitation of range is protected, although being explained in detail to the present invention with reference to preferred embodiment, those skilled in the art answer
Work as understanding, technical scheme of the present invention can be modified or replaced equivalently, without departing from the reality of technical solution of the present invention
Matter and range.
Claims (6)
1. a kind of water environment based on underwater robot monitors system, characterized in that including sensor monitoring module, data analysis
Module, communication module, boat-carrying monitoring center and power module；Sensor monitoring module, which is based on wireless sensor network acquisition, influences water
The data of the parameters of domain environment；Data analysis module is connected with sensor monitoring module, for the data to collecting
In missing data handled, and then data assess water environment situation according to treated, and pass through and communicate mould
Assessment result is transferred to boat-carrying monitoring center by block, and boat-carrying monitoring center is for storing the data received and to data analysis mould
Block issues various control signals, and to change the active state of underwater robot, power module is for ensureing the steady of whole system
Fixed power supply.
2. a kind of water environment based on underwater robot according to claim 1 monitors system, characterized in that described logical
It is provided with serial communication chip in letter module, connects the data analysis module, and boat-carrying monitoring is connected by water-proof cable
Center.
3. a kind of water environment based on underwater robot according to claim 1 monitors system, characterized in that the biography
It includes base station and multiple sensor nodes for gathered data to feel monitoring modular, and wherein base station is mainly used for collecting sensor section
The data that point is sent, and by the data transmission of collection to data analysis module.
4. a kind of water environment based on underwater robot according to claim 3 monitors system, characterized in that Mei Gechuan
A sensor is arranged in sensor node, and the type of sensor includes the sensor for monitoring water quality pH-value, monitors the biography of dissolved oxygen
Sensor, the sensor for monitoring salinity, the sensor for monitoring water temperature, the sensor for monitoring chlorophyll concentration.
5. monitoring system, feature according to a kind of water environment based on underwater robot of claim 1-4 any one of them
It is that the data analysis module includes control unit, missing data processing unit and analysis assessment unit；Described control unit is used
The active state of underwater robot is controlled in the various control instructions issued according to boat-carrying monitoring center；The missing data processing
Unit is handled the missing data detected for carrying out missing detection to data；The analysis assessment unit is used for
The assessment of water environment is carried out according to treated data.
6. a kind of water environment based on underwater robot according to claim 5 monitors system, characterized in that missing number
The missing data detected is handled according to processing unit, is specifically included：
(1) number that the data that each sensor node perceives in T time section lack is counted；
(2) data that sensor node i is perceived in t moment are set to lack, t ∈ T, is obtained positioned at the logical of sensor node i
The other sensors node that in letter range, t moment perception data do not lack, to build the discrete of sensor node i
Back end set Si, utilize SiThe single order Voronoi diagram for building sensor node i, to obtain the multiple of sensor node i
Natural neighbor node j, j=1 ..., n；
(3) the length L on the side in the single order Voronoi diagram of sensor node i corresponding to nature neighbor node j is calculatedj(i) and
Distance ds of the sensor node i to nature neighbor node jij, j=1 ..., n calculate estimated value x according to the following formulai(t) ', with
For fill sensor node i in the shortage of data position of t moment：
In formula, MjThe number lacked for the natural neighbor node j data perceived in T time section；Lh(i) it is sensor
Corresponding to the length on the side of nature neighbor node h, d in the single order Voronoi diagram of node iihFor sensor node i to nature neighbours
The distance of node h, MhFor the number that the nature neighbor node h data perceived in T time section lack, xj(t) it is
The data that the nature neighbor node j is perceived in t moment, n are the natural neighbor node number of sensor node i.
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| CN113255593A (en) * | 2021-06-25 | 2021-08-13 | 北京市水利自动化研究所 | Sensor information anomaly detection method facing space-time analysis model |
| CN113325843A (en) * | 2021-05-21 | 2021-08-31 | 杭州电子科技大学 | Pollution detection method based on multi-agent coverage |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109490498A (en) * | 2018-11-08 | 2019-03-19 | 广州源贸易有限公司 | For the ambient intelligence real-time monitoring system of marine pollution |
| CN111353386A (en) * | 2020-02-04 | 2020-06-30 | 重庆特斯联智慧科技股份有限公司 | Fire-fighting risk intelligent evaluation method and system based on deep learning |
| CN111353386B (en) * | 2020-02-04 | 2023-01-17 | 重庆特斯联智慧科技股份有限公司 | Fire-fighting risk intelligent assessment method and system based on deep learning |
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| CN113325843B (en) * | 2021-05-21 | 2022-03-18 | 杭州电子科技大学 | Pollution detection method based on multi-agent coverage |
| CN113255593A (en) * | 2021-06-25 | 2021-08-13 | 北京市水利自动化研究所 | Sensor information anomaly detection method facing space-time analysis model |
| CN113255593B (en) * | 2021-06-25 | 2021-09-24 | 北京市水利自动化研究所 | Sensor information anomaly detection method facing space-time analysis model |
| CN113944892A (en) * | 2021-11-09 | 2022-01-18 | 北京江河惠远科技有限公司 | Automatic monitoring method and device for critical state of riverbed area muddy water for long oil transportation pipeline |
| CN113944892B (en) * | 2021-11-09 | 2024-04-30 | 北京江河惠远科技有限公司 | Automatic monitoring method and device for mud-water critical state of riverbed area for long oil pipeline |
| CN114664071A (en) * | 2022-03-18 | 2022-06-24 | 青岛理工大学 | Underwater vehicle remote control system and method based on magnetic sensor |
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