CN113777255A - Water ecology monitoring device and monitoring method - Google Patents
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 105
- 238000012806 monitoring device Methods 0.000 title claims abstract description 59
- 238000012544 monitoring process Methods 0.000 title claims abstract description 34
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- 230000003068 static effect Effects 0.000 claims description 8
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Abstract
The invention discloses a water ecology monitoring device and a monitoring method, wherein the water ecology monitoring device comprises an upper shell and a lower shell which are detachably connected, wherein a control module, a power module, a communication module, a positioning module and a storage module which are connected with the control module are arranged in the upper shell or the lower shell; the communication module is used for the wireless communication connection between the monitoring device and the background monitoring terminal; an air bag is arranged outside the upper shell, an inflation and deflation device is arranged inside the upper shell, and the inflation and deflation device is communicated with an air inlet and an air outlet of the air bag; the side wall of the lower shell is provided with a driving device; the side wall of the lower shell is provided with an inwards concave detection cavity which is communicated with the outside, and the side wall of the detection cavity is provided with a detection device for detecting the water quality; a water depth measuring device is arranged at the bottom of the lower shell; the air charging and discharging device, the driving device, the detection device and the water depth measuring device are respectively connected with the control module.
Description
Technical Field
The invention belongs to the technical field of water quality detection, and particularly relates to a water ecology monitoring device and a water ecology monitoring method.
Background
Along with the development of economy, the country pays more and more attention to the protection of the environment, especially the protection of water and soil resources, the protection of the environment becomes a basic requirement of the economic development, in order to supervise and control the water pollution, regular water quality detection is a necessary means for measuring the types, concentrations and change trends of pollutants in water, and whether the water is polluted or not is judged according to the detection result. To illustrate the water quality, certain parameters of the water, such as the concentration of minerals, dissolved minerals or chemicals, dissolved gases, dissolved organics, suspended matter and bottom sediment, are measured at specified times, locations or specific time intervals.
Sewage, which generally refers to effluent water from life and production, is contaminated to some extent, and mainly comprises domestic sewage, industrial wastewater and initial rainwater, and main pollutants of sewage comprise pathogen pollutants, oxygen-consuming pollutants, plant nutrients, toxic pollutants and the like. With the development of society, cities are developing towards industrialization in order to improve economic income, but with the improvement of life quality of people, the environment is damaged, and a plurality of rivers and lakes are polluted.
Along with the problem of river and lake sewage, normal urban domestic water is greatly influenced, so that the treatment of the river and lake sewage is difficult to be delayed, and the monitoring of the river and lake sewage in real time in the sewage treatment process is important, but the conventional monitoring device is inconvenient to carry and troublesome to use, and the convenience of sewage monitoring is greatly influenced.
Chinese patent publication No. CN112684132A discloses an ecological river sewage monitoring device and a monitoring method thereof, relating to the technical field of sewage monitoring and solving the problems that the existing monitoring device is inconvenient to carry and troublesome to use and greatly affects the convenience of sewage monitoring. The water outlet device comprises two mutually spliced shells, wherein a groove and a water inlet through groove are formed in each shell, a plurality of water outlet holes higher than the water surface are formed in the bottom of each groove, and an electromagnetic valve for controlling the opening and closing of each water outlet hole is arranged at each water outlet hole; the shell is provided with a water inlet module for leading water below the shell into the groove from the water inlet through groove, one of the two shells is provided with a pH value detector, and the other shell is provided with a water quality detector for respectively detecting the water quality in the groove; the splicing parts of the two shells are connected through an elastic belt; and a circle of floating ring is arranged on the periphery of the shell. The shell of the monitoring device can be rapidly disassembled when not in use by splicing the two half shells, so that the portability of the monitoring device is enhanced.
Although the monitoring devices of this patent can improve the portability, it is still inconvenient to use, need move the water quality that monitors different positions in aqueous through the artifical pulling monitoring devices of haulage rope, and can't monitor the water quality of the different degree of depth in same position, and monitoring data is not comprehensive.
Disclosure of Invention
The invention aims to provide a water ecology monitoring device and a water ecology monitoring method aiming at the problems in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that:
a water ecology monitoring device comprises an upper shell and a lower shell which are detachably connected, wherein a control module, a power module, a communication module, a positioning module and a storage module which are connected with the control module are arranged in the upper shell or the lower shell; the communication module is used for the wireless communication connection between the monitoring device and the background monitoring terminal; an air bag is arranged outside the upper shell, an inflation and deflation device is arranged inside the upper shell, and the inflation and deflation device is communicated with an air inlet and an air outlet of the air bag; the side wall of the lower shell is provided with a driving device; the side wall of the lower shell is provided with an inwards concave detection cavity which is communicated with the outside, and the side wall of the detection cavity is provided with a detection device for detecting the water quality; a water depth measuring device is arranged at the bottom of the lower shell; the air charging and discharging device, the driving device, the detection device and the water depth measuring device are respectively connected with the control module.
Specifically, the inflation and deflation device comprises a high-pressure gas storage tank and a low-pressure gas storage tank, an outlet of the high-pressure gas storage tank is communicated with a gas inlet of the airbag, an inlet of the low-pressure gas storage tank is communicated with a gas outlet of the airbag, an inlet of the high-pressure gas storage tank is communicated with an outlet of the low-pressure gas storage tank through a communicating pipe, and a vacuum pump is arranged in the middle section of the communicating pipe; the outlet of the high-pressure gas storage tank is provided with a first electromagnetic valve, the inlet of the low-pressure gas storage tank is provided with a second electromagnetic valve, the inlet of the high-pressure gas storage tank is provided with a third electromagnetic valve, and the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the vacuum pumping pump are respectively connected with the control module. The high-pressure gas storage tank is used for pressurizing the gas bag, so that the volume of the gas bag is increased, the buoyancy is increased, and the monitoring device floats upwards in water; the low-pressure gas storage tank is used for decompressing the gas bag, so that the volume of the gas bag is reduced, the buoyancy is reduced, and the monitoring device sinks in water.
Specifically, two driving devices are arranged and are respectively arranged on two opposite side wall surfaces of the lower shell; the driving device comprises a driving motor and a propeller; the propeller is arranged on an output shaft of the driving motor and is positioned outside the lower shell; the driving motor is connected with the control module and is positioned in the lower shell. The forward, backward, acceleration and deceleration of the monitoring device are realized by controlling the two driving motors to rotate forwards and backwards at the same speed, and the left and right rotations of the monitoring device are realized by controlling the two driving motors to rotate at different speeds.
Specifically, the detection device comprises a turbidity sensor, a pH value sensor and a conductivity sensor which are respectively used for detecting the turbidity, the pH value and the conductivity of the water body, so that the quality of the water body can be evaluated conveniently.
Specifically, bathymetric survey device includes first sonar probe, the detection end of first sonar probe is vertical downwards, first sonar probe is used for detecting the depth of water data of the current position of casing.
Preferably, a plurality of second sonar probes are uniformly arranged on the side wall of the lower shell along the circumferential direction, and the detection ends of the second sonar probes face outwards horizontally; the second sonar probe is used for detecting obstacles around the shell, so that obstacle avoidance data are provided for the movement of the monitoring device in water.
Specifically, the upper shell and the lower shell are of hemispherical structures, and the upper shell and the lower shell are hermetically connected through flange pieces, so that the upper shell and the lower shell are convenient to disassemble and maintain; the shell is of a spherical structure, so that the appearance is more attractive, and the floating is more stable.
Specifically, the bottom of the lower shell is provided with a balancing weight, so that the monitoring device is prevented from tipping in water, and the stability of the device is improved.
Corresponding to the monitoring device, the invention also provides a water ecology monitoring method, which comprises the following steps:
s1, collecting boundary position information of a water area to be monitored;
s2, constructing a static map of the water area to be monitored according to the boundary position information;
s3, placing the monitoring device into a water area to be monitored, and controlling the inflation and deflation device to inflate the air bag through the control module so that the monitoring device floats on the water surface;
s4, selecting a target position on the static map and setting the water level depth of a monitoring point, and the control module carries out path planning according to the current position information and the target position information of the monitoring device;
s5, driving the monitoring device to move to the target position by the driving device according to the path planning result;
s6, controlling the air bag to deflate through the inflation and deflation device according to the set water level depth, so that the monitoring device sinks to the set water level depth;
and S7, detecting the water sample quality of the current position through the detection device, storing the detection result and the current position information in the storage module and transmitting the detection result and the current position information back to the background monitoring terminal.
Compared with the prior art, the invention has the beneficial effects that: (1) the monitoring device can automatically monitor the water quality of different target water areas, does not need to move the monitoring device manually, reduces the labor intensity of monitoring personnel, and improves the monitoring efficiency; (2) the monitoring device provided by the invention adjusts the volume of the air bag through the inflation and deflation device, so that the buoyancy is changed, the device floats and sinks in water, the quality of water bodies at different depths can be monitored according to requirements, and the comprehensiveness and accuracy of water body monitoring are improved.
Drawings
FIG. 1 is a schematic view showing a water ecology monitoring apparatus according to embodiment 1 of the present invention;
FIG. 2 is a schematic block diagram of a functional module connection structure of a water ecology monitoring apparatus according to embodiment 1 of the present invention;
FIG. 3 is a schematic flow chart of a method for monitoring water ecology according to embodiment 2 of the present invention;
FIG. 4 is a schematic view of a static map of a lake water area according to embodiment 2 of the present invention;
in the figure: 1. an upper housing; 2. a lower housing; 3. an air bag; 4. a cavity; 5. a high pressure gas storage tank; 6. a low pressure gas storage tank; 7. a communicating pipe; 8. a vacuum pump is pumped; 9. a first solenoid valve; 10. a second solenoid valve; 11. a third electromagnetic valve; 12. a drive motor; 13. a propeller; 14. a turbidity sensor; 15. a pH value sensor; 16. a conductivity sensor; 17. a first sonar probe; 18. a second sonar probe; 19. a flange member; 20. and a balancing weight.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1 and 2, the embodiment provides a water ecology monitoring device, which includes an upper casing 1 and a lower casing 2 that are detachably connected, wherein a control module, a power module, a communication module, a positioning module and a storage module that are connected with the control module are arranged in the upper casing 1 or the lower casing 2; the communication module is used for the wireless communication connection between the monitoring device and the background monitoring terminal; an air bag 3 is arranged outside the upper shell 1, an air charging and discharging device is arranged inside the upper shell 1, and the air charging and discharging device is communicated with an air inlet and an air outlet of the air bag 3; the side wall of the lower shell 2 is provided with a driving device; the side wall of the lower shell 2 is provided with an inwards concave detection cavity 4, the detection cavity 4 is communicated with the outside, and the side wall of the detection cavity 4 is provided with a detection device for detecting the quality of the water body; a water depth measuring device is arranged at the bottom of the lower shell 2; the air charging and discharging device, the driving device, the detection device and the water depth measuring device are respectively connected with the control module.
In this embodiment, the control module is implemented by a single chip microcomputer; the communication module adopts an RS485 communication module, so that the transmission distance is long and the stability is strong; the positioning module adopts a GPS positioning module or a Beidou positioning module.
Specifically, the inflation and deflation device comprises a high-pressure gas storage tank 5 and a low-pressure gas storage tank 6, wherein an outlet of the high-pressure gas storage tank 5 is communicated with a gas inlet of the airbag 3, an inlet of the low-pressure gas storage tank 6 is communicated with a gas outlet of the airbag 3, an inlet of the high-pressure gas storage tank 5 is communicated with an outlet of the low-pressure gas storage tank 6 through a communicating pipe 7, and a vacuum pumping pump 8 is arranged at the middle section of the communicating pipe 7; the outlet of the high-pressure gas storage tank 5 is provided with a first electromagnetic valve 9, the inlet of the low-pressure gas storage tank 6 is provided with a second electromagnetic valve 10, the inlet of the high-pressure gas storage tank 5 is provided with a third electromagnetic valve 11, and the first electromagnetic valve 9, the second electromagnetic valve 10, the third electromagnetic valve 11 and the vacuum pumping pump 8 are respectively connected with the control module. The high-pressure gas storage tank 5 is used for pressurizing the gas bag 3, so that the volume of the gas bag 3 is increased, the buoyancy is increased, and the monitoring device floats upwards in water; the low-pressure air storage tank 6 is used for decompressing the air bag 3, so that the volume of the air bag 3 is reduced, the buoyancy is reduced, and the monitoring device sinks in water.
The working principle of the inflation and deflation device of the embodiment is as follows:
when the airbag 3 needs to be inflated, the control module controls the second electromagnetic valve 10 and the third electromagnetic valve 11 to be closed, the first electromagnetic valve 9 is opened, and because the air pressure in the high-pressure air storage tank 5 is higher than the air pressure in the airbag 3, the air in the high-pressure air storage tank 5 can be filled into the airbag 3 to expand the volume of the airbag 3 until the air pressure in the airbag 3 reaches a preset value (an air pressure sensor is arranged in the airbag 3), and the first electromagnetic valve 9 is closed; when the air bag 3 needs to be deflated, the control module controls the first electromagnetic valve 9 to be closed, the second electromagnetic valve 10, the third electromagnetic valve 11 and the vacuum pumping pump 8 are opened, and because the air pressure in the low-pressure air storage tank 6 is lower than the air pressure in the air bag 3, the air in the air bag 3 can be filled into the low-pressure air storage tank 6 to reduce the volume of the air bag 3 until the air pressure in the air bag 3 reaches a preset value, and the second electromagnetic valve 10, the third electromagnetic valve 11 and the vacuum pumping pump 8 are closed.
Specifically, two driving devices are arranged and respectively mounted on two opposite side wall surfaces of the lower shell 2; the driving device comprises a driving motor 12 and a propeller 13; the propeller 13 is arranged on the output shaft of the driving motor 12 and is positioned outside the lower shell 2; the driving motor 12 is connected with the control module and is located inside the lower housing 2. The forward, backward, acceleration and deceleration of the monitoring device are realized by controlling the two driving motors to rotate forwards and backwards at the same speed, and the left and right rotations of the monitoring device are realized by controlling the two driving motors to rotate at different speeds. When the monitoring device needs to turn left, the rotating speed of the left driving motor is less than that of the right driving motor; similarly, when the monitoring device needs to turn right, the rotating speed of the right side driving motor is less than that of the left side driving motor; the larger the steering angle, the larger the difference in rotational speed.
Specifically, the detection device comprises a turbidity sensor 14, a PH sensor 15 and a conductivity sensor 16, which are respectively used for detecting the turbidity, the PH value and the conductivity of the water body, so as to facilitate the evaluation of the quality of the water body.
Specifically, the water depth measuring device includes a first sonar probe 17, a detection end of the first sonar probe 17 faces downward vertically, and the first sonar probe 17 is used for detecting water depth data of a current position of the casing.
Preferably, the side wall of the lower shell 2 is uniformly provided with 4 second sonar probes 18 along the circumferential direction, and the detection ends of the second sonar probes 18 face outwards horizontally; the second sonar probe 18 is used to detect obstacles around the housing, thereby providing obstacle avoidance data for the movement of the monitoring device in the water.
Specifically, the upper shell 1 and the lower shell 2 are of hemispherical structures, and the upper shell 1 and the lower shell 2 are hermetically connected through a flange piece 19, so that the disassembly and maintenance are convenient; the shell is of a spherical structure, so that the appearance is more attractive, and the floating is more stable.
Specifically, the bottom of the lower shell 2 is provided with a balancing weight 20, so that the monitoring device is prevented from tipping in water, and the stability of the device is improved.
Example 2
As shown in fig. 2, the present embodiment provides a water ecology monitoring method, including the steps of:
s1, collecting position information (longitude and latitude data) of a plurality of target points (as shown in fig. 4, this embodiment collects 15 target points) on a boundary of a lake water area, and combining the plurality of target points in series to form a closed boundary, so as to obtain position information of any point on the boundary;
s2, constructing a static map of the lake water area according to the position information of the boundary, dividing the static map into areas according to actual requirements to obtain seven areas, namely an area A, an area B, an area C, an area D, an area E, an area F and an area G, and acquiring the boundary position information of each area;
s3, placing the monitoring device into a certain area (assumed as area A) of the lake, and controlling the inflation and deflation device to inflate the air bag 3 through the control module so that the monitoring device floats on the water surface;
s4, selecting a certain area (such as an area E) to be monitored on the static map, setting the water level depth (such as 1.5-3 m depth) of a monitoring point, and carrying out path planning by the control module according to the current position information (namely the area A) and the target position information (namely the area E) of the monitoring device;
s5, driving the monitoring device to move to the target position by the driving device according to the path planning result; in the moving process, the positioning module monitors the position information (longitude and latitude data) of the device in real time, and when the monitoring device enters a target position (namely, within the boundary range of the E area), the driving device is controlled to stop working;
s6, controlling the air bag 3 to deflate through the inflation and deflation device according to the set water level depth, so that the monitoring device sinks to the set water level depth; then controlling the air bag 3 to inflate to enable the monitoring device to hover in a set water level depth range;
and S7, detecting the water sample quality of the current position through the detection device, storing the detection result and the current position information in the storage module and transmitting the detection result and the current position information back to the background monitoring terminal.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. A water ecology monitoring device is characterized by comprising an upper shell and a lower shell which are detachably connected, wherein a control module, a power module, a communication module, a positioning module and a storage module which are connected with the control module are arranged in the upper shell or the lower shell; the communication module is used for the wireless communication connection between the monitoring device and the background monitoring terminal; an air bag is arranged outside the upper shell, an inflation and deflation device is arranged inside the upper shell, and the inflation and deflation device is communicated with an air inlet and an air outlet of the air bag; the side wall of the lower shell is provided with a driving device; the side wall of the lower shell is provided with an inwards concave detection cavity which is communicated with the outside, and the side wall of the detection cavity is provided with a detection device for detecting the water quality; a water depth measuring device is arranged at the bottom of the lower shell; the air charging and discharging device, the driving device, the detection device and the water depth measuring device are respectively connected with the control module.
2. The water ecology monitoring device according to claim 1, wherein the inflation/deflation device comprises a high pressure gas tank and a low pressure gas tank, an outlet of the high pressure gas tank is communicated with an air inlet of the air bag, an inlet of the low pressure gas tank is communicated with an air outlet of the air bag, an inlet of the high pressure gas tank is communicated with an outlet of the low pressure gas tank through a communicating pipe, and a vacuum pump is arranged in the middle section of the communicating pipe; the outlet of the high-pressure gas storage tank is provided with a first electromagnetic valve, the inlet of the low-pressure gas storage tank is provided with a second electromagnetic valve, the inlet of the high-pressure gas storage tank is provided with a third electromagnetic valve, and the first electromagnetic valve, the second electromagnetic valve, the third electromagnetic valve and the vacuum pumping pump are respectively connected with the control module.
3. A water ecology monitoring system according to claim 1, wherein the driving means is provided in two, respectively mounted on opposite side wall surfaces of the lower casing; the driving device comprises a driving motor and a propeller; the propeller is arranged on an output shaft of the driving motor and is positioned outside the lower shell; the driving motor is connected with the control module and is positioned in the lower shell.
4. A water ecology monitoring apparatus according to claim 1, wherein the detecting means includes a turbidity sensor, a PH sensor and a conductivity sensor.
5. An apparatus for monitoring water ecology according to claim 1, wherein the water depth measuring means comprises a first sonar probe with its detecting end facing vertically downwards.
6. A water ecology monitoring device according to claim 1, wherein a plurality of second sonar probes are uniformly provided along a circumferential direction on a side wall of the lower housing, and detection ends of the second sonar probes face horizontally outward.
7. A water ecology monitoring device according to claim 1, wherein the upper and lower housings are of a hemispherical structure, and the upper and lower housings are sealingly connected by a flange member.
8. A water ecology monitoring device according to claim 1, wherein a weight member is provided at a bottom of the lower case.
9. A water ecology monitoring method based on the water ecology monitoring apparatus of any one of claims 1 to 8, comprising the steps of:
s1, collecting boundary position information of a water area to be monitored;
s2, constructing a static map of the water area to be monitored according to the boundary position information;
s3, placing the monitoring device into a water area to be monitored, and controlling the inflation and deflation device to inflate the air bag through the control module so that the monitoring device floats on the water surface;
s4, selecting a target position on the static map and setting the water level depth of a monitoring point, and the control module carries out path planning according to the current position information and the target position information of the monitoring device;
s5, driving the monitoring device to move to the target position by the driving device according to the path planning result;
s6, controlling the air bag to deflate through the inflation and deflation device according to the set water level depth, so that the monitoring device sinks to the set water level depth;
and S7, detecting the water sample quality of the current position through the detection device, storing the detection result and the current position information in the storage module and transmitting the detection result and the current position information back to the background monitoring terminal.
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| CN202110882252.1A CN113777255A (en) | 2021-08-02 | 2021-08-02 | Water ecology monitoring device and monitoring method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113917882A (en) * | 2021-12-14 | 2022-01-11 | 南京扬水源环境科技有限公司 | Automatic transfer system of lake and reservoir treatment robot |
| CN117228455A (en) * | 2023-11-08 | 2023-12-15 | 四川中润智远环境监测有限公司 | River sewage ecological monitoring device and monitoring method thereof |
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| CN117228455B (en) * | 2023-11-08 | 2024-01-30 | 四川中润智远环境监测有限公司 | River sewage ecological monitoring device and monitoring method thereof |
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