WO2023130527A1 - 悬浮式自平衡自巡航水质在线监测装置、监测与评估方法 - Google Patents

悬浮式自平衡自巡航水质在线监测装置、监测与评估方法 Download PDF

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Publication number
WO2023130527A1
WO2023130527A1 PCT/CN2022/075857 CN2022075857W WO2023130527A1 WO 2023130527 A1 WO2023130527 A1 WO 2023130527A1 CN 2022075857 W CN2022075857 W CN 2022075857W WO 2023130527 A1 WO2023130527 A1 WO 2023130527A1
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WO
WIPO (PCT)
Prior art keywords
water
suspension
water quality
self
cruising
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PCT/CN2022/075857
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English (en)
French (fr)
Inventor
蒋跃
唐游
李红
华琳
刘佳玲
Original Assignee
江苏大学
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Application filed by 江苏大学 filed Critical 江苏大学
Priority to GB2210429.3A priority Critical patent/GB2616486A/en
Publication of WO2023130527A1 publication Critical patent/WO2023130527A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • G01N33/1813—Specific cations in water, e.g. heavy metals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/18—Water
    • G01N33/1806—Biological oxygen demand [BOD] or chemical oxygen demand [COD]

Definitions

  • the invention belongs to the technical field of environmental water quality monitoring, and in particular relates to a suspended self-balancing water area self-cruising water quality online monitoring device and a monitoring and evaluation method.
  • the suspended water quality monitoring device adopts the water quality monitor fixedly installed in the buoy main compartment as the core, and combines the power supply and data transmission equipment to form a fixed-point monitoring system; the existing water quality automatic online monitoring device and method are often applicable For fixed-point monitoring, for areas that require multi-point monitoring, multiple fixed monitoring devices are used for point monitoring, and water quality assessment is performed with the detection data of separate points; There are the following defects: (1) The water body in the water area has a certain degree of fluidity, which makes the fixed point monitoring and evaluation effect unsatisfactory.
  • the existing suspension and/or self-cruising unmanned water quality monitoring devices lack water attitude control and position control structure, it is difficult to accurately locate, self-cruise and position stability, and the monitoring results will cause certain errors due to disturbance of the water surface; (4) It is difficult for monitoring communication to visually reflect the results of water quality monitoring and assessment in water areas, and to warn of excessive water quality, which affects the rapid expression of water quality assessment, early warning monitoring and management efficiency. Therefore, it is necessary to design corresponding technical solutions to solve the existing technical problems.
  • the present invention aims to solve one of the above-mentioned technical problems at least to a certain extent.
  • the present invention proposes a suspended self-balancing self-cruising water quality online monitoring device and a monitoring and evaluation method.
  • a suspended self-balancing self-cruising water quality on-line monitoring device comprising a main body of a suspension cabin, a communication and control system, and a suspension platform located inside the main body of the suspension cabin that can adjust the self-balancing attitude.
  • Each suspension foot is used to drive the main body of the suspension cabin for self-balancing attitude adjustment, cruise or fixed-point suspension.
  • the suspension platform is equipped with a water sample detection device.
  • the communication and control system is used to receive satellite signals and plan W-shaped Sampling points on the water cruising path and W-shaped water cruising path, control the operation of the suspension feet, control the attitude adjustment of the suspended platform, control the water sample detection device to detect the water quality outside the main body of the suspension cabin online along the sampling point, and based on the online detection of the water sample detection device Results Assess the water quality of the watershed and output monitoring and evaluation results.
  • the main body of the suspension cabin includes a suspension bilge whose center of buoyancy can be changed and located at the bottom of the suspended platform, and a cover connected to the suspended platform and located outside the suspended platform,
  • the housing can display corresponding visual warning signals according to the monitoring and evaluation results of the control system.
  • the communication and control system includes an external controller, and the external controller includes a GPS module, a communication module and an external core controller that coordinates the operation of the external controller.
  • the GPS module is used to feed back position information through the communication module and satellite communication
  • the outer core controller is integrated with a W-shaped water area cruising path automatic planning algorithm, and the W-shaped water area cruising path automatic planning algorithm is calculated according to the position information of the GPS module Optimize the W-shaped waters cruising path and the sampling point of the water sample detection device, and optimize the W-shaped waters cruising path as the shortest path under the condition that the sampling point represents the overall condition of the waters;
  • the external controller includes a first gyroscope and a first drive module, the first gyroscope is used to analyze the attitude of the main body of the suspension cabin, the first drive module is used to drive the attitude adjustment and operation of the suspension feet, the external The core controller is used to control the operation of the first drive module according to the results of the W-shaped water area cruise path automatic planning algorithm and/or the attitude feedback of the first gyroscope;
  • the suspension foot includes a suspension leg and an ellipsoidal suspension body, one end of the suspension leg is connected with the main body of the suspension cabin, and the other end of the suspension leg is connected with the ellipsoidal suspension body, the suspension leg includes at least one joint, and the joint is provided with
  • the first driving mechanism connected with the first driving module, the first driving mechanism is used to drive the relative movement of the joint, the second driving mechanism between the ellipsoid suspension and the suspension legs, the second driving mechanism and the first
  • the drive module is connected and used to drive the ellipsoid suspension to rotate relative to the suspension legs.
  • the above-mentioned suspended self-balancing self-cruising water quality online monitoring device preferably, the suspended platform can rotate relative to the main body of the suspension cabin, and a balancing device for driving the suspended platform to self-balance is provided on the suspended platform.
  • the communication and control system Including an internal controller, the internal controller includes a second gyroscope, a second drive module and an internal core controller that adjusts the operation of the internal controller, the second gyroscope is used to analyze the attitude of the suspended platform, and the first The second driving module is used to drive the balance device and the water sample detection device to operate.
  • the inner core controller is used to control the drive of the second drive module to the balance device according to the attitude feedback of the second gyroscope.
  • the inner core controller is integrated with the water quality of the water area.
  • An assessment model the water quality assessment model is used to assess the water quality of the water according to the online detection results of the water sample detection device and generate monitoring and assessment results;
  • the suspended loading platform can be rotatably connected to the main body of the suspension cabin through a spherical hinge connecting rod.
  • One end of the load-bearing rod is connected to the top of the main body of the suspension cabin, and the other end of the load-bearing rod is connected to the spherical hinge spherical shell.
  • One end is connected to the spherical hinge sphere, and the other end of the balance state connecting rod is connected to the suspended platform or the internal controller.
  • the balance device includes two balance motors arranged on the suspended platform opposite to each other. The motors of the balanced motors The shaft is connected with a balance flywheel;
  • the main body of the suspension cabin includes a fluorescent outer cover, and the internal controller is provided with an LED warning light strip that outputs a corresponding light source according to the monitoring and evaluation results of the communication and control system.
  • the fluorescent outer cover is used to emit light under the excitation of the LED warning light strip.
  • the internal controller communicates with the IoT device and outputs monitoring and evaluation results.
  • the water sample detection device includes a water inlet pipeline, a detection chamber, a water quality sensor array, a water level sensor group and a water outlet pipeline
  • the water inlet pipeline is connected to the main body of the suspension cabin
  • the outside communicates with the detection chamber
  • the detection chamber is used to store the filtered water samples input by the water inlet pipeline
  • the water quality sensor array is used to detect and transmit the online detection results of the water samples in the detection chamber including at least one type and at least one parameter
  • the water level sensor group is used to feed back the water sample water level in the detection chamber to the communication and control system
  • the water outlet pipeline is connected with the outside of the suspension cabin and the detection chamber
  • the communication and control system is used to control the water inlet pipeline
  • the water opening and closing and the water outlet opening and closing of the water outlet pipeline control the operation of the water quality sensor array.
  • the main body of the suspension cabin is provided with a power system
  • the power system includes a solar panel located on the main body of the suspension cabin
  • the communication and control system is used to control
  • the power supply system supplies power to the communication and control system, the suspension feet and the water sample detection device.
  • a water quality online monitoring method based on any one of the above-mentioned suspended self-balancing self-cruising water quality online monitoring devices, the method includes:
  • the communication and control system receives satellite signals and obtains satellite terrain data of water areas;
  • S2 Calculate the longest diameter of the water terrain according to the satellite terrain data, and set the two ends of the longest diameter as the initial landing point and the final landing point;
  • S3 Select a number of landing points on both sides of the longest diameter, and start from the initial landing point, and carry out sequential numbering of each landing point on both sides to the final landing point, so that the connection of adjacent numbered landing points constitutes an integer W type graphics;
  • the characteristic area threshold is the upper limit of the area that characterizes the characteristics of the water area, and optimize the position and number of the landing points according to the area within the line connecting three adjacent landing points less than or equal to the characteristic area threshold, and generate W-shaped water cruising path planned according to water terrain;
  • S6 The communication and control system controls the main body of the suspension cabin to cruise along the sampling point;
  • S7 Control the fixed-point suspension of the main body of the suspension cabin at each sampling point, and adjust the self-balancing attitude of the main body of the suspension cabin and the suspension platform;
  • S8 Controlling the water sample detection device to online detect the water quality outside the main body of the suspension chamber, and the online monitoring results of the water quality of the generated and output water area.
  • the steps S1-S6 are based on the W-shaped waters cruising route automatic planning algorithm, and in step S4, the W-shaped waters cruising route automatic planning algorithm is used for each adjacent three landing points.
  • a water quality online assessment method based on the above water quality online monitoring method, the assessment method includes:
  • S9 The communication and control system sets water quality assessment standards and assessment factors
  • S12 Generate and output the water quality assessment result of the water area according to the comparison result between the norm of the vector and the water quality assessment standard.
  • step S10 the detection data of the water sample detection device at i sampling points is counted as an m-dimensional vector X i , and the matrix M is constructed with k-dimensional X i to calculate the vector X o , X
  • 2 ⁇ , and the water quality assessment result of the water area is generated by comparing ⁇ with the water quality assessment standard.
  • Suspended self-balancing self-cruising water quality online monitoring device has the function of automatic planning of W-shaped waters cruising path, self-cruising of the main body of the suspension cabin, fixed-point suspension, self-balancing function, self-balancing function of the suspended platform, online water quality detection function, and water quality monitoring
  • evaluation function, communication function, visual warning function of the main body of the suspension cabin and solar power supply function it solves the problem of continuous optimal monitoring of the water area, the error problem caused by the disturbance of the water surface on the monitoring and evaluation results, and the early warning monitoring of the monitoring and evaluation results.
  • the monitoring method based on the suspended self-balancing self-cruising water quality online monitoring device automatically plans the W-shaped waters sampling cruising path, so that the optimized W-shaped waters cruising path is the shortest and best path under the condition that the sampling point fully represents the overall condition of the waters , Continuous mobile monitoring in different waters is limited and easy to measure, which solves the problem of optimizing continuous mobile monitoring in different waters.
  • the technical solution of the present invention uses the water surface suspension type self-balancing self-cruising water quality online monitoring device, monitoring method and evaluation method to automatically plan paths and sampling points, accurately position self-cruising monitoring, and the monitoring process is stable in position and self-balancing. Intruded by water surface fluctuations, it is beneficial to improve the accuracy of monitoring and evaluation, greatly reduce the cost of water monitoring and evaluation, and is suitable for water quality monitoring and evaluation in different water areas, especially flowing and requiring continuous monitoring.
  • FIG. 1 is a schematic diagram of the overall structure of Embodiment 1 of the present invention.
  • Fig. 2 is a front view of Embodiment 1 of the present invention.
  • Fig. 3 is a top view of Embodiment 1 of the present invention.
  • FIG. 4 is a schematic diagram of the structure of the suspension foot in Embodiment 1 of the present invention.
  • Fig. 5 is a cross-sectional structure diagram of the spherical hinge connecting rod according to Embodiment 1 of the present invention.
  • Fig. 6 is a three-dimensional structure diagram of the spherical hinge connecting rod according to Embodiment 1 of the present invention.
  • Fig. 7 is a straight top view of Embodiment 1 of the present invention.
  • Fig. 8 is a top view of turning in Embodiment 1 of the present invention.
  • Fig. 9 is a structural diagram of an external controller according to Embodiment 1 of the present invention.
  • Fig. 10 is a structural diagram of the internal controller of Embodiment 1 of the present invention.
  • FIG. 11 is a schematic diagram of the automatic planning algorithm flow and planning process of the W-shaped water area cruising route according to Embodiment 2 of the present invention.
  • Fig. 12 is a flow chart of the water quality assessment model of the water area in Embodiment 3 of the present invention.
  • first and second are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as “first” and “second” may explicitly or implicitly include one or more of these features.
  • “plurality” means two or more, unless otherwise specifically defined.
  • FIG. 1-3 shows a preferred embodiment of the suspended self-balancing self-cruising water quality online monitoring device.
  • the device includes a suspension cabin main body 1, a communication and control system, and is located inside the suspension cabin main body 1, which can adjust the self-balancing attitude.
  • the floating platform 2 is equipped with a plurality of suspension feet 4 outside the main body 1 of the suspension cabin.
  • Water sample detection device, the communication and control system is used to receive satellite signals and plan the W-shaped waters cruising path and sampling points on the W-shaped waters cruising path according to the waters topography, control the operation of the suspension feet 4, and control the attitude adjustment of the suspension carrying platform 2 1.
  • Control the water sample detection device to detect the external water quality of the main body 1 of the suspension chamber online along the sampling point, evaluate the water quality of the water area according to the online detection result of the water sample detection device, and output the monitoring and evaluation results.
  • the suspension cabin main body 1 includes a suspension bottom tank 11 whose center of buoyancy can be changed and is located at the bottom of the suspension loading platform 2, and is connected to the suspension bottom cabin 11 and is located on the suspension loading platform. 2.
  • An outer housing that can display corresponding visual warning signals depending on the monitoring and evaluation results of the control system.
  • the suspended bottom tank 11 has a hollow structure and is provided with flowing ballast sand inside, through which the suspended bottom tank 11 changes with the suspension tank main body 1, and the buoyancy center can be changed, so as to realize the self-balancing of the suspended main body Posture adjustment, improve stability.
  • the suspension cabin main body 1 adopts a spherical segment-shaped suspension bottom tank 11 for increasing the buoyancy of the suspension cabin main body 1 .
  • the outer cover is connected to the top of the suspension tank 11 .
  • the communication and control system includes an external controller 31, and the external controller 31 includes a GPS module, a communication module and a coordination external controller.
  • the outer core controller operated by the controller 31, the GPS module is used to feed back position information through the communication module and satellite communication, the outer core controller is integrated with an automatic planning algorithm for the W-shaped waters cruising path, and the W-shaped waters cruising path
  • the automatic planning algorithm calculates and optimizes the W-shaped waters cruising path and the sampling point of the water sample detection device based on the position information of the GPS module, and optimizes the W-shaped waters cruising path as the shortest path under the condition that the sampling point represents the overall condition of the waters.
  • the communication module adopts an intelligent gateway, and the suspension cabin main body 1 is equipped with a communication antenna 33, and the intelligent gateway transmits and receives communication signals through the communication antenna 33, and communicates with the satellite, so that the GPS module communicates with the satellite to feed back the GPS The location information of the satellite signal.
  • the external controller 31 includes a first gyroscope and a first drive module
  • the first gyroscope is used to analyze the attitude of the main body 1 of the suspension cabin
  • the first drive module is used to drive the attitude adjustment of the suspension feet 4 and operation
  • the outer core controller is used to control the operation of the first driving module according to the result of the W-shaped water area cruising path automatic planning algorithm and/or the attitude feedback of the first gyroscope.
  • the external controller 31 is located at the center of the upper surface of the suspension tank 11 to facilitate a stable center of buoyancy.
  • the suspension foot 4 includes a suspension leg 41 and an ellipsoid suspension, one end of the suspension leg 41 is connected to the main body 1 of the suspension cabin, and the other end of the suspension leg is connected to the ellipsoid suspension,
  • the suspension leg 41 includes at least one joint, and the joint is provided with a first drive mechanism connected to the first drive module, and the first drive mechanism is used to drive the relative movement of the joint, and the ellipsoidal suspension body and the suspension leg 41 between the second drive mechanism, the second drive mechanism is connected with the first drive module and is used to drive the ellipsoid suspension relative to the suspension leg 41 to rotate.
  • suspension feet 4 there are four suspension feet 4 and they are distributed on the front, rear and both sides of the main body 1 of the suspension cabin; the four suspension feet 4 are respectively suspension feet 4A, suspension The feet 4B, the suspension feet 4C and the suspension feet 4D are evenly distributed in four directions outside the main body 1 of the suspension cabin and are 90° to each other.
  • the suspension leg 41 includes a connecting rod 413 connected to an adjacent joint
  • the joint includes a movable bracket 401 and a movable shaft 402
  • the movable bracket 401 is connected to the main body of the suspension cabin 1 or two adjacent connecting rods 413 or The second driving mechanism is connected
  • the connecting rod 413 is rotationally connected with the movable bracket 401 through the movable shaft 402 .
  • the connecting rod 413 adopts a hollow plastic structure, which is used for the electrical connection wiring between the first drive mechanism and the second drive mechanism and the first drive module, and plays a role of fixing and anti-corrosion.
  • the connecting rod 413 and the movable shaft 402 synchronous rotation.
  • the first drive mechanism adopts a first transmission motor 403 installed on the movable bracket 401 and electrically connected to the first drive module, and the movable shaft 402 and the motor shaft of the first transmission motor 403 are provided with engaging The transmission gear 404; the motor shaft of the first transmission motor 403 drives the adjacent movable shaft 402 and the connecting rod 413 under the transmission of the meshing transmission gear 404, and rotates on the movable support 401 around the axis of the movable shaft 402, through the first transmission
  • the forward or reverse rotation of the motor 403 realizes the relative movement of the joints.
  • the joints include two joints, the first joint 411 and the second joint 412, the first transmission motor 403 of the first joint 411 is arranged on or below the movable shaft 402, and the movable support of the first joint 411 401 is connected with the main body 1 of the suspension cabin, the first transmission motor 403 of the second joint 412 is set at the left or right position of the movable shaft 402, and the movable bracket 401 of the second joint 412 is connected with the second driving mechanism, so that the connecting rod 413 Both ends can rotate 180° in a plane perpendicular to the movable shaft 402 around the axis of the movable shaft 402 of the two first joints 411 or the second joint 412, so as to realize the angle between the suspension leg 41 and the main body of the suspension cabin 1 and the ellipsoid suspension. adjust.
  • a sealing sheet 405 is provided between the motor body and the motor shaft of the first transmission motor 403, and the sealing sheet 405 is used to seal and prevent water from entering the motor body from affecting the operation.
  • the first driving module is used to control the opening and closing of the first transmission motor 403 .
  • the second driving mechanism adopts the second transmission motor 406 installed on the movable bracket 401 and electrically connected with the first driving module, the motor shaft of the second transmission motor 406 is connected to the ellipsoid suspension through the threaded rod 43 It is detachably connected, and the motor shaft of the second transmission motor 406 drives the ellipsoid suspension to rotate 360° on the horizontal plane.
  • the first driving module is used to control the opening and closing and the rotation speed of the second transmission motor 406 .
  • the ellipsoidal suspended body adopts ellipsoidal suspension wood 42 to ensure suspension and driving.
  • the surface of the ellipsoidal suspension is provided with mesh threads, and the contact area between the ellipsoidal suspension and the water surface is increased through the mesh threads.
  • the above-mentioned suspended self-balancing self-cruising water quality online monitoring device preferably, the suspended platform 2 can rotate relative to the main body of the suspension cabin 1, and the suspended platform 2 is provided with a motor for driving the suspended platform 2
  • the communication and control system includes an internal controller 32, and the internal controller 32 includes a second gyroscope, a second drive module and an internal core controller that adjusts the operation of the internal controller 32.
  • the two gyroscopes are used to analyze the attitude of the suspended platform 2, the second drive module is used to drive the balance device and the water sample detection device to operate, and the inner core controller is used to control the second drive according to the attitude feedback of the second gyroscope
  • the module drives the balance device, and the core controller is integrated with a water quality assessment model, which is used to assess the water quality and generate monitoring and assessment results based on the online detection results of the water sample detection device.
  • the suspended loading platform 2 adopts a disc structure.
  • the suspended loading platform 2 is hoisted in the main body 1 of the suspension cabin rotatably relative to the main body 1 of the suspension cabin through a spherical hinge connecting rod 5 .
  • the spherical hinge connecting rod 5 includes a load-bearing rod 51, a spherical hinge spherical shell 52, a spherical hinge sphere 53 and a mounting platform connecting rod 54, one end of the load-bearing rod 51 is connected to the top of the main body 1 of the suspension cabin, and the other end of the load-bearing rod 51 is One end is connected with the spherical hinge spherical housing 52, the spherical hinge spherical body 53 is arranged inside the spherical hinge spherical housing 52 and rotates with the spherical hinge spherical housing 52, and one end of the mounting platform connecting rod 54 is connected with the spherical hinge spherical body 53 for loading The other end of the platform connecting rod 54 is connected with the suspension carrying platform 2 or the internal controller 32 .
  • the loading platform connecting rod 54 can freely rotate around the spherical hinge connecting shell within a space range of -30° to -90° from the horizontal plane.
  • the spherical hinge spherical shell 52 is provided with a notch for limited cooperation with the connecting rod 54 of the loading platform; the connecting rod 54 of the loading platform cooperates with the notch to realize the connection shell around the spherical hinge and the horizontal plane at an angle of -30° to - Free rotation within a 90° spatial range.
  • the balance device includes two balance motors 71 arranged oppositely on the suspended platform 2, the motor shafts of the balance motors 71 are connected with a balance flywheel 72;
  • the vector control makes the balance flywheel 72 adjust the self-balancing attitude of the suspension carrying platform 2 to keep the suspension loading platform 2 bodies in a suspended balance state all the time, and the suspension loading platform 2 does not tilt with the shaking of the outer suspension cabin main body 1.
  • the outer cover of the suspension cabin main body 1 adopts a fluorescent outer cover 12, and the internal controller 32 of the communication and control system is provided with an LED warning light strip 34 that outputs a corresponding light source according to the monitoring and evaluation results of the communication and control system.
  • the fluorescent cover 12 is used to emit a corresponding visible warning fluorescent signal under the excitation of the LED warning light strip 34 .
  • the LED warning light strip 34 includes a light source for exciting the fluorescent cover 12 to display three colors including red, orange and green.
  • the internal controller 32 adopts a columnar structure so as to make the light source of the LED warning light strip 34 uniformly diverge.
  • the water sample detection device includes a water inlet pipeline 601, a detection chamber 602, a water quality sensor array 603, a water level sensor group 604 and a water outlet pipeline 605, the water inlet pipeline 601 communicates with the outside of the suspension cabin main body 1 and the detection chamber 602, the detection chamber 602 is used to store the filtered water samples input by the water inlet pipeline 601, and the water quality sensor array 603 is used for detection and transmission detection
  • the water body sample in the chamber 602 includes online detection results of at least one type and at least one parameter.
  • the water level sensor group 604 is used to feed back the water level of the water body sample in the detection chamber 602 to the communication and control system.
  • the water outlet pipeline 605 and The outside of the suspension cabin communicates with the detection chamber 602 , and the communication and control system is used to control the water inlet opening and closing of the water inlet pipeline 601 and the water outlet opening and closing of the water outlet pipeline 605 , and control the operation of the water quality sensor array 603 .
  • the water inlet pipeline 601 adopts a hose structure, and the hose structure ensures the flexibility of the water inlet.
  • the end of the water inlet pipeline 601 extending to the outside of the suspension bilge 11 is provided with a water inlet bottom valve 606 .
  • There is a hose groove 607 for setting the water inlet pipeline 601 and the suspended platform 2 is provided with a water inlet via hole 608 for setting the water inlet pipeline 601, and the water inlet pipeline 601 is provided with the second driving module.
  • a connected sampling micropump 609, the water outlet of the sampling micropump 609 is connected to the water inlet of the filter 610 through the fine water inlet pipeline 601, and the water outlet of the filter 610 is connected with the detection chamber 602 through the fine water inlet pipeline 601 .
  • the water inlet bottom valve 606 is threadedly connected to the hose groove 607 through the sealing port 614, and a seal is provided inside to prevent water from entering the main body 1 of the suspension cabin and causing damage.
  • the detection chamber 602 and the filter 610 are distributed axially symmetrically with respect to the center line of the suspended platform 2 , so as to realize the self-balancing weight of the built-in suspended platform 2 .
  • the filter element of the filter 610 adopts a shell-ceramic ring structure, through which the impurities including sediment in the sampled water body sample in the water inlet pipeline 601 can be filtered to avoid a large amount of sediment from interfering with the detection or destroying the detection chamber 602, Filters out watery sand and gravel without introducing new components.
  • the water quality sensor array 603 is used to detect and transmit various parameters including but not limited to pH, chemical oxygen demand (COD), conductivity, dissolved oxygen, turbidity and heavy metal content, the selection of the water quality sensor array 603
  • the water quality sensor array 603 includes but not limited to one or more of pH sensors, COD sensors, conductivity sensors, dissolved oxygen sensors, turbidity sensors and heavy metal sensors.
  • the water level sensor group 604 includes an upper water level monitoring sensor 6041 and a lower water level monitoring sensor 6042 installed up and down in the detection chamber 602 respectively, and the upper water level monitoring sensor 6041 and the lower water level monitoring sensor 6042 are used to detect the water level in the detection chamber 602
  • the water level of the water body sample in the interior is transmitted to the interior controller 32.
  • the water outlet pipeline 605 adopts a hose structure, and the hose structure ensures the flexibility of the water outlet.
  • the water outlet pipeline 605 is provided with a water outlet micropump 611 connected to the second drive module.
  • the water outlet via hole 612 of the water outlet pipeline 605 is set, and the end of the water outlet pipeline 605 extends to the outside of the suspension bilge 11, and a sealing ring 613 is arranged between the outlet pipe and the suspension bilge 11 to seal and prevent water from entering the suspension cabin main body 1.
  • the second drive module includes a micropump drive module, a water level monitoring drive module, a balance motor drive module and a water quality sensor drive module
  • the micropump drive module is used for cruising the W-shaped waters path
  • the sampling points calculated by the automatic planning algorithm and the water level information fed back by the upper water level monitoring sensor 6041 and the lower water level monitoring sensor 6042 drive the sampling micropump 609 and the outlet micropump 611 to open and close, so as to realize the sampling and water level of the filtered water samples in the detection chamber 602 control
  • the water level monitoring drive module is used to drive the upper water level monitoring sensor 6041 and the lower water level monitoring sensor 6042 to run
  • the balance motor drive module is used to drive the balance motor 71 to run
  • the water quality sensor drive module is used to drive the water quality sensor array 603 runs.
  • the above-mentioned suspended self-balancing self-cruising water quality online monitoring device preferably, the main body 1 of the suspension cabin is provided with a power system, and the power system includes a solar energy system located on the main body 1 of the suspension cabin.
  • the battery board 8 the communication and control system is used to control the power supply system to supply power for the communication and control system, the suspension feet 4 and the water sample detection device.
  • the solar panel 8 is arranged on the top of the main body of the suspension cabin 1, and the solar panel is used to convert solar energy into electric energy storage and serve as a communication and control system, a suspension foot 4, a balance device, a water sample detection device and an LED.
  • the warning light strip 34 supplies power
  • the external controller 31 includes a first power management module for controlling the power supply system to provide energy for the external controller 31 and the suspension foot 4.
  • the internal controller 32 includes a first power management module for controlling the power supply system for the internal The controller 32, the balance device, the water sample detection device and the second power management module equipped with 34 LED warning lights.
  • the outer core controller is STM32F407ZGT6, and coordinates the work of the first power management module, the GPS module, the communication module, the first gyroscope and the first drive module through the outer core controller.
  • the internal core controller adopts STM32F103RCT6, and coordinates the work of the second power management module, the second gyroscope, and the second driving module through the internal core controller.
  • the internal controller 32 controls the work of the second drive module according to the automatic planning algorithm of the W-shaped waters cruising route of the external controller 31, and the monitoring and evaluation results of the water quality assessment model of the waters pass through the intelligent gateway of the external controller 31
  • the communication antenna 33 communicate with the Internet of things equipment, output the monitoring and evaluation results, so that the internal and external environments of the device are respectively equipped with an internal controller 32 and an external controller 31, and the control is independent of each other.
  • the Internet of Things device includes a PC-side host computer, and the PC-side host computer is used for the remote monitoring system to monitor and manage the monitoring and evaluation results by communicating with the suspended self-balancing self-cruising water quality online monitoring device.
  • the above suspended self-balancing self-cruising water quality online monitoring device has the following functions:
  • 1W-shaped water area cruising path automatic planning function the external controller 31 feeds back the position information of the GPS satellite signal through the GPS module and the satellite communication, obtains the satellite terrain data of the water area where the main body 1 of the suspension cabin is located, and is solved by the W-shaped water area cruising path automatic planning algorithm.
  • Calculate and optimize the W-shaped waters cruising path and the sampling points on the W-shaped waters cruising path are the sampling points of the water sample detection device. Therefore, the optimal cruising path is planned according to the topographical characteristics of the waters, so that the sampling points on the path can fully represent Water quality characteristics in different regions of the water body.
  • the external controller 31 optimizes the sampling points of the W-shaped waters cruising path according to the automatic planning algorithm of the W-shaped waters cruising path, controls the first driving module to drive the second driving mechanism of each suspension foot 4, and uses
  • the ellipsoid suspension rotates relative to the suspension leg 41; when the ellipsoid suspension of the suspension foot 4A, the suspension foot 4B and the suspension foot 4C keep the same direction, and when the ellipsoid suspension of the suspension foot 4D rotates at a speed of ⁇ , the device is pushed forward;
  • the ellipsoid suspension of suspension foot 4B maintains the state of going straight
  • the ellipsoid suspension of suspension foot 4D rotates at a speed of ⁇ 0 to provide forward power
  • the ellipsoid suspension of suspension foot 4A rotates at a speed of ⁇ 1 to provide turning driving force
  • the ellipsoid suspension of the suspension foot 4C rotates at
  • the external controller 31 drives the second drive mechanism of each suspension foot 4 through the first drive module to make the ellipsoidal suspension body Relative to the rotation of the suspension leg 41, when the ellipsoid suspension body of the suspension foot 4A, suspension foot 4B, suspension foot 4C and suspension foot 4D rotates synchronously, the main body of the suspension cabin 1 is suspended at a fixed point at the sampling point.
  • the external controller 31 analyzes and feeds back the attitude of the main body 1 of the suspension cabin through the first gyroscope, and the first drive module drives the relative movement of the joints of the suspension legs 41 through the second drive mechanism, and adjusts the position of the suspension legs 4.
  • the main body of the suspension cabin 1 is supported by the ellipsoid suspension of each suspension foot 4 to realize self-balancing attitude adjustment.
  • the self-balancing function of the suspension platform 2 the suspension platform 2 is suspended and connected in the suspension cabin main body 1 through the spherical hinge connecting rod 5 so that it can rotate relative to the suspension cabin main body 1, and the internal controller 32 is suspended in the air through the analysis and feedback of the second gyroscope.
  • the attitude of the carrying platform 2, the balance motor drive module of the second drive module controls the vector of the balancing motor 71 of the balancing device, and uses the balance flywheel 72 to realize the self-balancing attitude adjustment of the suspended carrying platform 2, so that the internal and external environments of the device are relatively separated, and the suspended carrying platform 2 It does not float with the floating of the outer suspension cabin main body 1.
  • the internal controller 32 makes the upper water level monitoring sensor 6041 and the lower water level monitoring sensor 6042 of the water level sensor group 604 feed back the water level of the detection chamber 602 respectively through the water level monitoring driving module of the second driving module.
  • the internal controller 32 controls the water outlet micropump 611 of the water outlet pipeline 605 to be turned on through the micropump driving module of the second driving module, and the water body sample in the detection chamber 602 is pumped out from the water outlet pipeline 605.
  • the internal controller 32 controls the water outlet micropump 611 of the water outlet pipeline 605 to be closed through the micropump driving module of the second driving module, and is opened and closed by the sampling micropump 609 and the water outlet micropump 611 Coordinate the amount of water samples taken each time in the detection chamber 602 to ensure reliable detection by the water quality sensor array 603;
  • the internal controller 32 drives the water quality sensor array 603 through the water quality sensor driving module of the second driving module, including but not limited to pH sensor, COD sensor, conductivity sensor, dissolved oxygen sensor, turbidity sensor and heavy metal sensor, can standardize detection and
  • the water samples in the transmission detection chamber 602 include online detection results of at least one type and at least one parameter, so as to realize online detection of water quality at each sampling point.
  • the inner core controller of the internal controller 32 evaluates the water quality of the water area through the water area water quality evaluation model based on the online detection results of the water sample detection device and generates monitoring and evaluation results.
  • the external controller 31 communicates with the satellite through the GPS module in order to plan the W-shaped waters cruising path and the sampling points on the W-shaped waters cruising path according to the shape of the waters, and control the operation of the suspension feet 4 to drive the main body of the suspension cabin 1 to cruise or fixed-point suspension
  • the monitoring and evaluation results of the water quality assessment model in the water area communicate with the Internet of Things devices including the PC-side host computer through the intelligent gateway of the external controller 31 and the communication antenna 33, so as to remotely monitor and manage the monitoring and evaluation results of the water area.
  • the internal controller 32 controls the LED warning light strip 34 to output corresponding light sources according to the monitoring and evaluation results of the water quality assessment model in the water area, so that the fluorescent outer cover 12 emits a corresponding light source under the excitation of the LED warning light strip 34.
  • the fluorescent outer cover 12 emits a corresponding light source under the excitation of the LED warning light strip 34.
  • red, orange and green visual warning fluorescent signals to realize the visual warning of the main body 1 of the suspension cabin.
  • 10Solar power supply function when the power supply system including the solar panel 8 supplies power, the external controller 31 controls the external controller 31 and the power distribution of the suspension feet 4 through the first power management module, and the internal controller 32 controls the power supply through the second power management module
  • the system distributes energy for the internal controller 32, the balance device, the water sample detection device and the LED warning light strip 34, and utilizes solar clean energy for the suspended self-balancing self-cruising water quality online monitoring device to save energy and reduce emissions.
  • a preferred implementation of the online water quality monitoring method is based on the suspended self-balancing self-cruising water quality online monitoring device described in Example 1, the method comprising:
  • the communication and control system receives satellite signals and obtains satellite terrain data of water areas;
  • S2 Calculate the longest diameter of the water terrain according to the satellite terrain data, and set the two ends of the longest diameter as the initial landing point and the final landing point;
  • S3 Select a number of landing points on both sides of the longest diameter, and start from the initial landing point, and carry out sequential numbering of each landing point on both sides to the final landing point, so that the connection of adjacent numbered landing points constitutes an integer W type graphics;
  • the characteristic area threshold is the upper limit of the area that characterizes the characteristics of the water area, and optimize the position and number of the landing points according to the area within the line connecting three adjacent landing points less than or equal to the characteristic area threshold, and generate W-shaped water cruising path planned according to water terrain;
  • S6 The communication and control system controls the main body 1 of the suspension cabin to cruise along the sampling point;
  • S7 Control the fixed-point suspension of the main body 1 of the suspension cabin at each sampling point, and adjust the self-balancing attitude of the main body 1 of the suspension cabin and the suspension platform 2;
  • S8 Controlling the water sample detection device to online detect the external water quality of the main body 1 of the suspension chamber, and the online monitoring results of the water quality of the generated and output water area.
  • the steps S1-S6 are based on the W-shaped water area cruising route automatic planning algorithm of the external controller 31, and the W-shaped water area cruising route automatic planning algorithm is shown in FIG. 11 .
  • the W-shaped water area cruising route automatic planning algorithm is used to make every 5 adjacent landing points form a W-shaped figure, the number of the initial landing point is 1, the number of the final landing point is 4n+1, and n is ⁇ Integer of 1.
  • the W-shaped water area cruising route automatic planning algorithm is used to number the triangle area in the line of each adjacent three landing points, so that the triangle area is S j , and j is an integer from 1 to 4n-1 , n is an integer ⁇ 1, so that S j is counted as S 1 , S 2 ... S 4n-1 .
  • the W-type water area cruising route automatic planning algorithm is used to calculate the characteristic area threshold based on the satellite terrain data
  • the S water area in the formula is the total area of the entire water area of the satellite topographic data in step S1
  • h m is the deepest water depth of the water area of the satellite topographic data in step S1
  • h l is the deepest water area of the satellite topographic data in step S1
  • the water depth in shallow places; the significance of the calculation formula is: 3S waters limit the sampling characteristics of waters, H is the characteristic factor calculated according to the fault characteristics of the waters section, 4n-1 is the total number of triangle areas, and the calculation of the area of a single triangle waters is three times the total area of waters
  • the threshold value of the area feature area is averaged, and H is used to correct the influence of the water area on the detection results due to the different water depth divisions, so
  • the W-shaped water area cruising route automatic planning algorithm is used to sequentially calculate and judge whether S j is less than or equal to the characteristic area threshold M according to the number of the triangle area.
  • S j ⁇ M continue to perform sequential calculation.
  • the W-shaped water area cruising route automatic planning algorithm is used to calculate the characteristic area threshold based on the satellite terrain data and the sampling points in the step S5 can be based on the People's Republic of China Industrial Water Quality Sampling Technical Regulations [SL187-96].
  • the W-shaped waters cruising route automatic planning algorithm is used to select all landing points and midpoints between landing points with adjacent numbers on the W-shaped waters cruising route as sampling points, and the path planning ends.
  • the online monitoring results in step S8 are stored in the core controller.
  • a preferred implementation of the online water quality assessment method based on the water quality online monitoring method described in Example 2, the assessment method includes:
  • S9 The communication and control system sets water quality assessment standards and assessment factors
  • S12 Generate and output the water quality assessment result of the water area according to the comparison result between the norm of the vector and the water quality assessment standard.
  • the steps S9-S12 are based on the water quality assessment model of the internal controller 32, and the process flow of the water quality assessment model is shown in FIG. 12 .
  • the water quality assessment standard of the water quality assessment model in the step S9 can be based on the surface water environmental quality standard GB 3838-2002.
  • the water quality assessment standard of the water quality assessment model in the step S9 can be based on the farmland water quality irrigation standard GB 5084-2021.
  • the water quality assessment standard of the water quality assessment model in the water area is judged to be excellent in the range of 0 to 2000.072, judged to be lightly polluted in the range of 2000.072 to 40000.01, and judged to be severely polluted in the range of greater than or equal to 40000.01 .
  • the detection data parameter types of the water sample detection device are counted as y types in m, m is an integer ⁇ 1, and the water sample detection device is used to sample
  • X i is a vector of m dimensions
  • the matrix M including the detection data of each sampling point is constructed, and the matrix M is A matrix of m*k dimensions.
  • the 2 norm of X o is taken:
  • the fluorescent cover 12 is shown in green; it means that the water quality can be discharged if the water quality meets the standard.
  • ⁇ is in the range of 2000.072-40000.01 using the water quality assessment model in the water area
  • the water quality is slightly polluted, and the fluorescent cover 12 is shown in orange; it means that the water quality index is about to reach the dischargeable standard.
  • the water quality is severely polluted, and the fluorescent cover 12 is shown in red, indicating that the water quality exceeds the standard.
  • the evaluation result of the water quality of the water area is output through the communication of the Internet of Things device.
  • the suspended self-balancing self-cruising water quality online monitoring device solves the problem of continuous optimal monitoring of water areas, the error problem caused by water surface disturbance to the monitoring and evaluation results, and the early warning and monitoring problems of monitoring and evaluation results:
  • the W-shaped waters cruising path automatic planning algorithm can automatically plan and optimize the W-shaped waters cruising path according to the water terrain and select sampling points on the W-shaped waters cruising path.
  • Suspension feet 4 drive the main body of the suspension cabin 1 for cruising or fixed-point suspension for optimal sampling to achieve precise positioning, self-cruising and stable detection positions, so as to realize continuous monitoring of water areas;
  • the second feature of the device is that in the case of water surface fluctuations, the device at the designated sampling point is kept suspended at a fixed point, the buoyancy center of each suspension cabin main body 1 is variable, and the suspension feet 4 are used to drive the suspension cabin main body 1 to quickly adjust the self-balancing attitude. Keep the sampling position relatively constant, and the internal suspended platform 2 can be quickly self-balanced and adjusted to maintain a constant level by rotating relative to the main body of the suspension cabin 1 and cooperating with the balance device, ensuring reliable detection of the water sample detection device, and realizing attitude adjustment and position stability on the water Control and avoid water surface disturbance from affecting monitoring and evaluation results;
  • the third feature of the device is that when the water quality assessment model generates and outputs the monitoring and assessment results, the main body of the suspension cabin 1 can give visual warnings according to the water quality conditions of the waters.
  • the visual warnings can include but are not limited to three warning fluorescent signals in different states issued by the outer cover. , respectively indicate that the water quality exceeds the standard, the water quality index is about to reach the dischargeable standard, and can be discharged. Visually reflect the water quality monitoring and evaluation results of the water area, warn the water quality exceeding the standard, and quickly send warning information to the outside world, which is conducive to improving the efficiency of early warning monitoring and management;
  • the fourth feature of the device is that it is equipped with an intelligent gateway and a communication antenna 33 of a communication and control system, which can realize communication between satellites and Internet of Things devices including a PC-side host computer, obtain location information and transmit data in real time, so as to realize sampling cruise planning, Monitoring and assessment results for self-cruising and levitating, remote monitoring and management of water areas.
  • the monitoring method based on the suspended self-balancing self-cruising water quality online monitoring device solves the problem of continuous mobile monitoring in different waters through the automatic planning of the W-shaped water sampling cruise path: according to the satellite terrain data of the waters, according to the location of each adjacent three landing points The area within the line is less than or equal to the threshold of the characteristic area to optimize the location and number of landing points, so that the optimized W-shaped waters cruising path is the shortest and best path under the condition that the sampling points fully represent the overall condition of the waters, so that the continuous mobile monitoring of different waters is limited and easy to measure.
  • the monitoring is completed automatically, which improves the monitoring accuracy of water quality to a certain extent, which greatly reduces the cost of water area monitoring.
  • the evaluation method based on the monitoring method solves the one-sided problem of water body evaluation: According to the multi-parameter online monitoring results and evaluation factors of all sampling points in the water area, the comprehensive evaluation vector data of the water area is fitted, and the comparison result of the vector and the water quality evaluation standard is generated And output the water quality assessment results of the water area, and conduct a comprehensive assessment and analysis of the overall situation of the water area, so that the assessment of the water body is automatically completed and more comprehensive and accurate.
  • the technical solution of the present invention uses the water surface suspension type self-balancing self-cruising water quality online monitoring device, monitoring method and evaluation method to automatically plan paths and sampling points, accurately position self-cruising monitoring, and the monitoring process is stable in position and self-balancing. Intruded by water surface fluctuations, it is beneficial to improve the accuracy of monitoring and evaluation, greatly reduce the cost of water monitoring and evaluation, and is suitable for water quality monitoring and evaluation in different water areas, especially flowing and requiring continuous monitoring.

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Abstract

一种悬浮式自平衡水域自巡航水质在线监测装置、监测与评估方法，装置包括悬浮舱主体（1）、通信与控制***、可以自平衡姿态调节的悬空搭载台（2），悬浮舱主体（1）外部设有用于驱动悬浮舱主体（1）自平衡姿态调节、巡航或定点悬浮的悬浮脚（4），通信与控制***用于根据水域地形规划W型水域巡航路径和采样点、控制水样检测装置沿采样点在线检测水质、依据线检测结果评估水域水质并输出，装置、基于装置的监测方法、基于监测方法的评估方法，自动规划路径和采样点、精准定位自巡航监测，且监测过程位置稳定、自平衡不受水面波动的侵扰，提高了监测和评估精度、极大降低水域监测和评估成本、适用于特别是流动及需要连续监测的不同水域水质监测和评估。

Description

悬浮式自平衡自巡航水质在线监测装置、监测与评估方法 技术领域
本发明属于环境水质监测技术领域，尤其涉及一种悬浮式自平衡水域自巡航水质在线监测装置、监测与评估方法。
背景技术
随着对水环境质量的要求越来越高，科学的监测管理河流流域水环境、评估和保护水生态***十分必要。现有技术中包括悬浮式的水质监测装置采用在浮标主体仓内固定设置的水质监测仪为核心，结合电源和数据传输设备组成定点投放的监测***；现有水质自动化在线监测装置和方法往往适用于固定点监测，对于需要多点监测的区域采用设置多个固定监测装置点监测的方式进行监测，以分离点检测数据进行水质评估；现有技术中的水上自巡航无人装置采用两侧固定式叶轮动力组件、无人机组件等推进主体；存在以下缺陷：(1)水域水体具备一定的流动性，这使得固定点监测和评估效果不甚理想，单点检测对于水体评估具有片面性，而多点监测不但测耗费成本高且监测数据相对独立，分离点检测数据易造成评估误差，对于需要多点连续监测的水域，难以准确评估和反应水域水质的整体综合情况；(2)无法依据水域地形规划最佳采样点、采样数量，影响水域水体情况的充分表征、监测和评估方法的适用性；(3)大多水域的水面并非长期处于静止状态，对于水体的实时在线分析往往需要保持水面的相对平稳，现有悬浮式和/或自巡航无人水质监测装置缺乏水上姿态控制和位置控制结构，难以精准定位、自巡航及位置稳定，监测结果会因水面的扰动造成一定误差；(4)监测通信难以可视化反应水域水质监测和评估结果、警示超标水质，影响水质评估的快速表达、预警监控和管理效率。为此，需要设计相应的技术方案解决存在的技术问题。
发明内容
本发明旨在至少在一定程度上解决上述技术问题之一。
为此，本发明提出了一种悬浮式自平衡自巡航水质在线监测装置、监测与评估方法。
本发明的技术方案是：
一种悬浮式自平衡自巡航水质在线监测装置，包括悬浮舱主体、通信与控制***、位于悬浮舱主体内部可以自平衡姿态调节的悬空搭载台，所述悬浮舱主体外部设有若干悬浮脚，各悬浮脚用于驱动悬浮舱主体自平衡姿态调节、巡航或定点悬浮，所述悬空搭载台上设有水 样检测装置，所述通信与控制***用于接收卫星信号并根据水域地形规划W型水域巡航路径和W型水域巡航路径上的采样点、控制悬浮脚运行、控制悬空搭载台姿态调节、控制水样检测装置沿采样点在线检测悬浮舱主体外部水质、依据水样检测装置的在线检测结果评估水域水质并输出监测和评估结果。
上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述悬浮舱主体包括浮心可以变化且位于悬空搭载台底部的悬浮底舱、与悬浮底舱相连且位于悬空搭载台外部的外罩，所述外罩可以依据控制***的监测和评估结果显示对应可视警示信号。
上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述通信与控制***包括外控制器，所述外控制器包括GPS模块、通信模块和协调外控制器运行的外核心控制器，所述GPS模块用于通过通信模块与卫星通信反馈位置信息，所述外核心控制器集成有W型水域巡航路径自动规划算法，所述W型水域巡航路径自动规划算法依据GPS模块的位置信息解算优化W型水域巡航路径和水样检测装置的采样点、优化W型水域巡航路径为采样点表征水域整体状况条件下的最短路径；
所述外控制器包括第一陀螺仪和第一驱动模块，所述第一陀螺仪用于对悬浮舱主体姿态解析，所述第一驱动模块用于驱动悬浮脚姿态调节和运行，所述外核心控制器用于依据W型水域巡航路径自动规划算法的结果和/或第一陀螺仪的姿态反馈控制第一驱动模块运行；
所述悬浮脚包括悬浮腿和椭球形悬浮体，所述悬浮腿一端与悬浮舱主体相连，悬浮腿另一端与椭球形悬浮体相连，所述悬浮腿包括至少一个关节，所述关节上设有与第一驱动模块相连的第一驱动机构，所述第一驱动机构用于驱动关节相对运动，所述椭球形悬浮体与悬浮腿之间第二驱动机构，所述第二驱动机构与第一驱动模块相连且用于驱动椭球形悬浮体相对悬浮腿转动。
上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述悬空搭载台可以相对悬浮舱主体转动，悬空搭载台上设有用于驱动悬空搭载台自平衡的平衡装置，所述通信与控制***包括内控制器，所述内控制器包括第二陀螺仪、第二驱动模块和调内控制器运行的内核心控制器，所述第二陀螺仪用于对悬空搭载台姿态解析，所述第二驱动模块用于驱动平衡装置和水样检测装置运行，所述内核心控制器用于依据第二陀螺仪的姿态反馈控制第二驱动模块对平衡装置的驱动、内核心控制器上集成有水域水质评估模型，所述水域水质评估模型用于依据水样检测装置的在线检测结果评估水域水质并生成监测和评估结果；
所述悬空搭载台通过球状铰链连接杆可以相对悬浮舱主体转动地吊连在悬浮舱主体内，所述球状铰链连接杆包括承重杆、球状铰链球壳、球状铰链球体和搭载台连接杆，所述承重杆一端与悬浮舱主体顶部相连，承重杆另一端与球状铰链球壳相连，所述球状铰链球体设置 于球状铰链球壳内部且与球状铰链球壳内部转动配合，所述平衡态连接杆一端与球状铰链球体连接、平衡态连接杆另一端与悬空搭载台或内控制器连接，所述平衡装置包括设置在对向设置在悬空搭载台上的两个平衡电机，所述平衡电机的电机轴连接有平衡飞轮；
所述悬浮舱主体包括荧光外罩，所述内控制器上设有依据通信与控制***的监测和评估结果输出对应光源的LED警示灯带，所述荧光外罩用于在LED警示灯带激发下发出对应可视警示荧光信号，所述内控制器与物联网设备通信、输出监测和评估结果。
上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述水样检测装置包括进水管路、检测室、水质传感器阵列、水位传感器组和出水管路，所述进水管路与悬浮舱主体外部和检测室连通，所述检测室用于存储进水管路输入的过滤水体样本，所述水质传感器阵列用于检测和传输检测室内的水体样本包括至少一类、至少一种参数的在线检测结果，所述水位传感器组用于向通信与控制***反馈检测室内的水体样本水位，所述出水管路与悬浮舱体外部和检测室连通，所述通信与控制***用于控制进水管路的进水启闭和出水管路的出水启闭、控制水质传感器阵列运行。
上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述悬浮舱主体上设有电源***，所述电源***包括位于悬浮舱主体上的太阳能电池板，所述通信与控制***用于控制电源***为通信与控制***、悬浮脚和水样检测装置供电。
一种水质在线监测方法，基于上述任意一项所述悬浮式自平衡自巡航水质在线监测装置，其方法包括：
S1：通信与控制***接收卫星信号、获取水域卫星地形数据；
S2：根据卫星地形数据计算出水域地形的最长直径，最长直径两端设为起始着岸点和终着岸点；
S3：在最长直径两侧选取若干个着岸点并从起始着岸点开始、对各着岸点进行两侧交替的顺序编号至终着岸点，使相邻编号的着岸点连线构成整数个W型图形；
S4：依据卫星地形数据计算特征区域阈，所述特征区域阈为表征水域特性的面积上限，依据每相邻三个着岸点的连线内面积小于等于特征区域阈值优化着岸点位置和数目，生成根据水域地形规划的W型水域巡航路径；
S5：在W型水域巡航路径上选取采样点；
S6：通信与控制***控制悬浮舱主体沿采样点巡航；
S7：在各采样点控制悬浮舱主体定点悬浮，悬浮舱主体与悬空搭载台自平衡姿态调节；
S8：控制水样检测装置在线检测悬浮舱主体外部水质、生成和输出水域水质的在线监测结果。
上述水质在线监测方法，优选地，所述步骤S1-S6基于W型水域巡航路径自动规划算法，步骤S4中以W型水域巡航路径自动规划算法对每相邻三个着岸点的连线内三角形面积编号顺序，使三角形面积为S j，j为1到4n-1的整数，n为≥1的整数，特征区域阈M的计算公式为M＝3S 水域/H*(4n-1)，H＝h m/h l，公式中S 水域为步骤S1中卫星地形数据的整个水域总面积，h m为步骤S1中卫星地形数据的水域最深处的水深，h l为步骤S1中卫星地形数据的水域最浅处的水深；以所有S j≤M优化着岸点位置和数目，生成根据水域地形规划的W型水域巡航路径。
一种水质在线评估方法，基于上述水质在线监测方法，评估方法包括：
S9：通信与控制***设定水质评估标准和评估因子；
S10：依据监测方法的在线监测结果构造包括各采样点检测数据的矩阵；
S11：依据矩阵与评估因子计算向量；
S12：依据向量的范数与水质评估标准的比对结果生成和输出水域水质评估结果。
上述水质在线评估方法，优选地，所述步骤S9-S12基于水域水质评估模型，步骤S9中水域水质评估模型的评估因子N的计算公式为N＝e*(1/k)，式中e为单位向量，k为步骤S10中矩阵向量维数，步骤S10以水样检测装置在i个采样点的检测数据计为m维向量X i，以k维X i构造矩阵M计算向量X o，X o的计算公式为X o＝M*N，步骤S12范数计算公式为||X o|| 2＝λ，以λ与水质评估标准比较生成水域水质评估结果。
与现有技术相比，本发明的有益效果是：
(1)悬浮式自平衡自巡航水质在线监测装置具有W型水域巡航路径自动规划功能、悬浮舱主体自巡航、定点悬浮、自平衡功能、悬空搭载台自平衡功能、水质在线检测功能、水质监测与评估功能、通信功能、悬浮舱主体可视示警功能和太阳能供电功能，解决了水域连续优化监测问题、水面扰动对监测和评估结果造成的误差问题、监测和评估结果的预警监控问题。
(2)基于悬浮式自平衡自巡航水质在线监测装置的监测方法通过W型水域采样巡航路径自动规划，使优化W型水域巡航路径为在采样点充分表征水域整体状况条件下的最短最佳路径、不同水域连续移动监测有限易测，解决了不同水域优化连续移动监测问题。
(3)基于监测方法的评估方法，根据水域所有采样点在线监测结果与评估因子拟合出水域的综合评估向量数据对水域整体情况进行综合评估分析，解决了对于水体评估的片面性问题。
综上，本发明的技术方案通过水面悬浮式自平衡自巡航水域水质在线监测装置、监测方法和评估方法，自动规划路径和采样点、精准定位自巡航监测，且监测过程位置稳定、自平 衡不受水面波动的侵扰，有利于提高监测和评估精度、极大降低水域监测和评估成本、适用于特别是流动及需要连续监测的不同水域水质监测和评估。
附图说明
图1为本发明实施例1的整体结构示意图。
图2为本发明实施例1的主视图。
图3为本发明实施例1的俯视图。
图4为本发明实施例1的悬浮脚结构示意图。
图5为本发明实施例1的球状铰链连接杆剖视结构图。
图6为本发明实施例1的球状铰链连接杆立体结构图。
图7为本发明实施例1的直行俯视状态图。
图8为本发明实施例1的转弯俯视状态图。
图9为本发明实施例1的外控制器结构图。
图10为本发明实施例1的内控制器结构图。
图11为本发明实施例2的W型水域巡航路径自动规划算法流程及规划过程示意图。
图12为本发明实施例3的水域水质评估模型流程图。
图中标记：悬浮舱主体1、悬浮底舱11、荧光外罩12；悬空搭载台2、外控制器31、内控制器32，通信天线33、LED警示灯带34；悬浮脚4、悬浮腿41、第一关节411、第二关节412、连接杆413、活动支架401、活动轴402、第一传动电机403、传动齿轮404、密封片405、第二传动电机406、椭球形悬浮木42、螺纹杆43；球状铰链连接杆5、承重杆51、球状铰链球壳52、球状铰链球体53、搭载台连接杆54；进水管路601、检测室602、水质传感器阵列603、水位传感器组604和出水管路605，进水底阀606、软管槽607、进水过孔608、取样微泵609、过滤器610、上水位监测传感器6041和下水位监测传感器6042、出水微泵611、出水过孔612、密封圈613、密封口614；平衡电机71、平衡飞轮72；太阳能电池板8。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“轴向”、“径向”、“竖直”、“水平”、“内”、“外”等指示的方位或位置关系为 基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
实施例1：
图1-3所示为所述悬浮式自平衡自巡航水质在线监测装置的一种较佳实施方式，装置包括悬浮舱主体1、通信与控制***、位于悬浮舱主体1内部可以自平衡姿态调节的悬空搭载台2，所述悬浮舱主体1外部设有若干悬浮脚4，各悬浮脚4用于驱动悬浮舱主体1自平衡姿态调节、巡航或定点悬浮，所述悬空搭载台2上设有水样检测装置，所述通信与控制***用于接收卫星信号并根据水域地形规划W型水域巡航路径和W型水域巡航路径上的采样点、控制悬浮脚4运行、控制悬空搭载台2姿态调节、控制水样检测装置沿采样点在线检测悬浮舱主体1外部水质、依据水样检测装置的在线检测结果评估水域水质并输出监测和评估结果。
上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述悬浮舱主体1包括浮心可以变化且位于悬空搭载台2底部的悬浮底舱11、与悬浮底舱11相连且位于悬空搭载台2外部的外罩，所述外罩可以依据控制***的监测和评估结果显示对应可视警示信号。
优选地，所述悬浮底舱11呈中空结构且内部设有流动压载沙，通过流动压载沙使悬浮底舱11随悬浮舱主体1变化、浮心可以变化，以便实现悬浮主体的自平衡姿态调节、提高稳定性。
优选地，所述悬浮舱主体1采用球缺形悬浮底舱11，用于增大悬浮舱主体1浮力。
优选地，所述外罩连接于悬浮底舱11顶部。
如图1、9所示，上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述通信与控制***包括外控制器31，所述外控制器31包括GPS模块、通信模块和协调外控制器31运行的外核心控制器，所述GPS模块用于通过通信模块与卫星通信反馈位置信息，所述外核心控制器集成有W型水域巡航路径自动规划算法，所述W型水域巡航路径自动规划算法依据GPS模块的位置信息解算优化W型水域巡航路径和水样检测装置的采样点、优化W型水域巡航 路径为采样点表征水域整体状况条件下的最短路径。
优选地，所述通信模块采用智能网关，所述悬浮舱主体1上搭载有通信天线33，智能网关通过通信天线33收发通信信号、与卫星实现通信，使GPS模块通过通信模块与卫星通信反馈GPS卫星信号的位置信息。
优选地，所述外控制器31包括第一陀螺仪和第一驱动模块，所述第一陀螺仪用于对悬浮舱主体1姿态解析，所述第一驱动模块用于驱动悬浮脚4姿态调节和运行，所述外核心控制器用于依据W型水域巡航路径自动规划算法的结果和/或第一陀螺仪的姿态反馈控制第一驱动模块运行。
优选地，所述外控制器31位于悬浮底舱11上表面正中心，便于浮心平稳。
如图1-4所示，优选地，所述悬浮脚4包括悬浮腿41和椭球形悬浮体，所述悬浮腿41一端与悬浮舱主体1相连，悬浮腿另一端与椭球形悬浮体相连，所述悬浮腿41包括至少一个关节，所述关节上设有与第一驱动模块相连的第一驱动机构，所述第一驱动机构用于驱动关节相对运动，所述椭球形悬浮体与悬浮腿41之间第二驱动机构，所述第二驱动机构与第一驱动模块相连且用于驱动椭球形悬浮体相对悬浮腿41转动。
如图1-4、7-8所示，优选地，所述悬浮脚4有四个且分布于悬浮舱主体1的正面、后面和两侧；四个悬浮脚4分别为悬浮脚4A、悬浮脚4B、悬浮脚4C和悬浮脚4D，均匀分布在悬浮舱主体1外部的4个方位且彼此间呈90°。
优选地，所述悬浮腿41包括与相邻关节相连的连接杆413，所述关节包括活动支架401和活动轴402，所述活动支架401与悬浮舱主体1或两个相邻连接杆413或第二驱动机构相连，所述连接杆413通过活动轴402与活动支架401转动连接。
优选地，所述连接杆413采用中空塑料结构、用于第一驱动机构和第二驱动机构与第一驱动模块的电连接走线、起到固定和防腐蚀作用，连接杆413与活动轴402同步转动。
优选地，所述第一驱动机构采用安装在活动支架401上且与第一驱动模块电连接的第一传动电机403，所述活动轴402和第一传动电机403的电机轴上均设有啮合的传动齿轮404；通过第一传动电机403的电机轴在啮合传动齿轮404的传动下带动相邻活动轴402和连接杆413、绕活动轴402的轴线在活动支架401上旋转，通过第一传动电机403的正向或反向转动实现关节相对运动。
优选地，所述关节包括第一关节411和第二关节412这两个关节，所述第一关节411的第一传动电机403设置在活动轴402上或下方位，第一关节411的活动支架401与悬浮舱主体1相连，所述第二关节412的第一传动电机403设置在活动轴402左或右方位，第二关节412的活动支架401与第二驱动机构相连，使连接杆413两端绕两个第一关节411或第二关 节412的活动轴402轴线、均可以在与活动轴402垂直的平面内180°旋转，实现悬浮腿41与悬浮舱主体1、椭球形悬浮体的角度调节。
优选地，所述第一传动电机403的电机主体与电机轴之间设有密封片405，通过密封片405密封防水防止电机主体进水影响运行。
优选地，所述第一驱动模块用于控制第一传动电机403的启闭。
优选地，所述第二驱动机构采用安装在活动支架401上且与第一驱动模块电连接的第二传动电机406，所述第二传动电机406的电机轴通过螺纹杆43与椭球形悬浮体可拆卸相连，通过第二传动电机406的电机轴带动椭球形悬浮体在水平面360°旋转。
优选地，所述第一驱动模块用于控制第二传动电机406的启闭和转速。
优选地，所述椭球形悬浮体采用椭球形悬浮木42，保证悬浮和驱动作用。
优选地，所述椭球形悬浮体表面设有网状螺纹，通过网状螺纹增大椭球形悬浮体与水面的接触面积。
如图1、10所示，上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述悬空搭载台2可以相对悬浮舱主体1转动，悬空搭载台2上设有用于驱动悬空搭载台2自平衡的平衡装置，所述通信与控制***包括内控制器32，所述内控制器32包括第二陀螺仪、第二驱动模块和调内控制器32运行的内核心控制器，所述第二陀螺仪用于对悬空搭载台2姿态解析，所述第二驱动模块用于驱动平衡装置和水样检测装置运行，所述内核心控制器用于依据第二陀螺仪的姿态反馈控制第二驱动模块对平衡装置的驱动、内核心控制器上集成有水域水质评估模型，所述水域水质评估模型用于依据水样检测装置的在线检测结果评估水域水质并生成监测和评估结果。
优选地，所述悬空搭载台2采用圆盘式结构。
如图1、5、6所示，优选地，所述悬空搭载台2通过球状铰链连接杆5可以相对悬浮舱主体1转动地吊连在悬浮舱主体1内。
优选地，所述球状铰链连接杆5包括承重杆51、球状铰链球壳52、球状铰链球体53和搭载台连接杆54，所述承重杆51一端与悬浮舱主体1顶部相连，承重杆51另一端与球状铰链球壳52相连，所述球状铰链球体53设置于球状铰链球壳52内部且与球状铰链球壳52内部转动配合，所述搭载台连接杆54一端与球状铰链球体53连接、搭载台连接杆54另一端与悬空搭载台2或内控制器32连接。
优选地，所述搭载台连接杆54可以在与水平面呈-30°～-90°的空间范围内绕球状铰链连接壳自由转动。
优选地，所述球状铰链球壳52上设有与搭载台连接杆54限位配合的凹口；搭载台连接 杆54通过与凹口配合实现绕球状铰链连接壳与水平面呈-30°～-90°的空间范围内自由转动。
优选地，所述平衡装置包括设置在对向设置在悬空搭载台2上的两个平衡电机71，所述平衡电机71的电机轴连接有平衡飞轮72；通过第二驱动模块对平衡电机71的矢量控制，使平衡飞轮72对悬空搭载台2自平衡姿态调节，保持悬空搭载台2台体始终处于悬空平衡状态，悬空搭载台2不随外悬浮舱主体1晃动而倾斜。
优选地，所述悬浮舱主体1的外罩采用荧光外罩12，所述通信与控制***的内控制器32上设有依据通信与控制***的监测和评估结果输出对应光源的LED警示灯带34，所述荧光外罩12用于在LED警示灯带34激发下发出对应可视警示荧光信号。
优选地，所述LED警示灯带34包括用于激发荧光外罩12显示包括红色、橙色和绿色这三色的光源。
优选地，所述内控制器32采用柱状结构，以便使LED警示灯带34光源均匀发散。
如图1所示，上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述水样检测装置包括进水管路601、检测室602、水质传感器阵列603、水位传感器组604和出水管路605，所述进水管路601与悬浮舱主体1外部和检测室602连通，所述检测室602用于存储进水管路601输入的过滤水体样本，所述水质传感器阵列603用于检测和传输检测室602内的水体样本包括至少一类、至少一种参数的在线检测结果，所述水位传感器组604用于向通信与控制***反馈检测室602内的水体样本水位，所述出水管路605与悬浮舱体外部和检测室602连通，所述通信与控制***用于控制进水管路601的进水启闭和出水管路605的出水启闭、控制水质传感器阵列603运行。
优选地，所述进水管路601采用软管结构，软管结构保证进水柔性，进水管路601延伸至悬浮底舱11外部的端部设有进水底阀606，所述悬浮底舱11上贯通有用于设置进水管路601的软管槽607，所述悬空搭载台2上设有用于设置进水管路601的进水过孔608，所述进水管路601上设有与第二驱动模块相连的取样微泵609，所述取样微泵609的出水口通过细进水管路601连接有过滤器610的入水口，所述过滤器610的出水口通过细进水管路601与检测室602连接。
优选地，所述进水底阀606通过密封口614与软管槽607螺纹连接、内设密封防止水进入悬浮舱主体1内部造成损坏。
优选地，所述检测室602和过滤器610以悬空搭载台2中心线呈轴对称分布，实现内置悬空搭载台2的自配重。
优选地，所述过滤器610的滤芯采用贝壳-陶瓷环结构，通过滤芯可以对进水管路601中取样水体样本中包括泥沙的杂质进行过滤，避免大量泥沙干扰检测或破坏检测室602、滤除 水样沙石同时不引入新成分。
优选地，所述水质传感器阵列603用于检测和传输包括但不限于酸碱度pH、化学需氧量COD、电导率、溶解氧、浊度和重金属含量中的多种参数，水质传感器阵列603的选型依据需求配置，水质传感器阵列603包括但不限于pH传感器、COD传感器、电导率传感器、溶解氧传感器、浊度传感器和重金属传感器的一种或多种。
优选地，所述水位传感器组604包括分别上下安装在检测室602内的上水位监测传感器6041和下水位监测传感器6042，所述上水位监测传感器6041和下水位监测传感器6042用于检测检测室602内的水体样本的水位并传输至内控制器32。
优选地，所述出水管路605采用软管结构，软管结构保证出水柔性，出水管路605上设有与第二驱动模块相连的出水微泵611，所述悬空搭载台2上设有用于设置出水管路605的出水过孔612，出水管路605端部延伸至悬浮底舱11外部，出水管与悬浮底舱11之间设有密封圈613、密封防止水进入悬浮舱主体1内部。
如图10所示，优选地，所述第二驱动模块包括微泵驱动模块、水位监测驱动模块、平衡电机驱动模块和水质传感器驱动模块，所述微泵驱动模块用于在W型水域巡航路径自动规划算法解算的采样点、依据上水位监测传感器6041和下水位监测传感器6042反馈的水位信息驱动取样微泵609和出水微泵611启闭，实现检测室602内过滤水体样本的取样和水位控制，所述水位监测驱动模块用于驱动上水位监测传感器6041和下水位监测传感器6042运行，所述平衡电机驱动模块用于驱动平衡电机71运行，所述水质传感器驱动模块用于驱动水质传感器阵列603运行。
如图1、9、10所示，上述悬浮式自平衡自巡航水质在线监测装置，优选地，所述悬浮舱主体1上设有电源***，所述电源***包括位于悬浮舱主体1上的太阳能电池板8，所述通信与控制***用于控制电源***为通信与控制***、悬浮脚4和水样检测装置供电。
优选地，所述太阳能电池板8设置于悬浮舱主体1顶部，太杨能电池板用于将太阳能转化为电能储蓄并为通信与控制***、悬浮脚4、平衡装置、水样检测装置和LED警示灯带34供电，所述外控制器31包括用于控制电源***为外控制器31、悬浮脚4配能的第一电源管理模块，所述内控制器32包括用于控制电源***为内控制器32、平衡装置、水样检测装置和LED警示灯带34配能的第二电源管理模块。
优选地，所述外核心控制器选用STM32F407ZGT6，通过外核心控制器协调第一电源管理模块、GPS模块、通信模块、第一陀螺仪和第一驱动模块的工作。
优选地，所述内核心控制器采用STM32F103RCT6，通过内核心控制器协调第二电源管理模块、第二陀螺仪、第二驱动模块的工作。
优选地，所述内控制器32依据外控制器31的W型水域巡航路径自动规划算法控制第二驱动模块的工作，所述水域水质评估模型的监测和评估结果通过外控制器31的智能网关和通信天线33、与物联网设备通信、输出监测和评估结果，使装置内外部环境分别设置内控制器32和外控制器31，彼此间控制相互独立。
优选地，物联网设备包括PC端上位机，所述PC端上位机的用于远端监测***通过与悬浮式自平衡自巡航水质在线监测装置通信、监控和管理监测和评估结果。
上述悬浮式自平衡自巡航水质在线监测装置具有以下功能：
①W型水域巡航路径自动规划功能：外控制器31通过GPS模块与卫星通信反馈GPS卫星信号的位置信息、获取悬浮舱主体1所处水域的卫星地形数据，由W型水域巡航路径自动规划算法解算优化W型水域巡航路径和W型水域巡航路径上的采样点、即为水样检测装置的采样点，因此根据水域的地形特征规划最佳巡航路径，使该路径上的采样点能充分表征水域不同区域的水质特性。
②悬浮舱主体1自巡航功能：外控制器31依据W型水域巡航路径自动规划算法的优化W型水域巡航路径的采样点、控制第一驱动模块驱动各悬浮脚4的第二驱动机构、使椭球形悬浮体相对悬浮腿41转动；当悬浮脚4A、悬浮脚4B和悬浮脚4C的椭球形悬浮体保持方向一致，悬浮脚4D的椭球形悬浮体以ω的速度旋转时，推动装置前进；当悬浮脚4B的椭球形悬浮体保持直行装态，悬浮脚4D的椭球形悬浮体以ω 0的速度旋转提供前向动力，悬浮脚4A的椭球形悬浮体以速度ω 1旋转提供转弯驱动力，悬浮脚4C的椭球形悬浮体以速度ω 2旋转提供转弯驱动力，当ω 1<ω 2时装置向左转弯，当ω 1>ω 2时装置向右转弯，实现悬浮舱主体1沿采样点自巡航。
③悬浮舱主体1定点悬浮功能：外控制器31依据W型水域巡航路径自动规划算法和GPS模块反馈位置信息，通过第一驱动模块驱动各悬浮脚4的第二驱动机构、使椭球形悬浮体相对悬浮腿41转动，当悬浮脚4A、悬浮脚4B、悬浮脚4C和悬浮脚4D的椭球形悬浮体同步旋转时，实现悬浮舱主体1在采样点定点悬浮。
④悬浮舱主体1自平衡功能：外控制器31通过第一陀螺仪解析和反馈悬浮舱主体1姿态，第一驱动模块通过第二驱动机构驱动悬浮腿41的关节相对运动、调节悬浮脚4的姿态，使悬浮舱主体1在各悬浮脚4的椭球形悬浮体的支撑下实现自平衡姿态调节。
⑤悬空搭载台2自平衡功能：悬空搭载台2通过球状铰链连接杆5可以相对悬浮舱主体1转动地悬空吊连在悬浮舱主体1内，内控制器32通过第二陀螺仪解析和反馈悬空搭载台2姿态，第二驱动模块的平衡电机驱动模块通过控制平衡装置的平衡电机71矢量、以平衡飞轮72实现悬空搭载台2自平衡姿态调节，使装置内外部环境相对分离，悬空搭载台2不随外悬 浮舱主体1的浮动而浮动。
⑥水质在线检测功能：悬浮舱主体1定点悬浮于W型水域巡航路径的对应采样点，悬浮舱主体1和悬空搭载台2自平衡时，内控制器32通过第二驱动模块的微泵驱动模块控制进水管路601的取样微泵609开启，在管内压差作用下进水底阀606自动打开截止，使悬浮舱主体1外部即悬浮底舱11外侧的水域水样沿进水管路601、在过滤器610过滤下进入检测室602储存；
内控制器32通过第二驱动模块的水位监测驱动模块使水位传感器组604的上水位监测传感器6041和下水位监测传感器6042分别反馈检测室602的水位，当水体样本液面高至上水位监测传感器6041检测位置时，内控制器32通过第二驱动模块的微泵驱动模块控制出水管路605的出水微泵611开启，将检测室602内的水体样本由出水管路605泵出，当水体样本液面低至下水位监测传感器6042检测位置时，内控制器32通过第二驱动模块的微泵驱动模块控制出水管路605的出水微泵611关闭，通过取样微泵609和出水微泵611启闭协调检测室602内每次采取的水样量，保证水质传感器阵列603检测可靠；
内控制器32通过第二驱动模块的水质传感器驱动模块驱动水质传感器阵列603，即包括但不限于pH传感器、COD传感器、电导率传感器、溶解氧传感器、浊度传感器和重金属传感器，可以规范检测和传输检测室602内的水体样本包括至少一类、至少一种参数的在线检测结果，实现各采样点水质在线检测。
⑦水质监测与评估功能：内控制器32的内核心控制器通过水域水质评估模型依据水样检测装置的在线检测结果评估水域水质并生成监测和评估结果。
⑧通信功能：外控制器31通过GPS模块与卫星通信以便实现根据水域形状规划W型水域巡航路径和W型水域巡航路径上的采样点、控制悬浮脚4运行驱动悬浮舱主体1巡航或定点悬浮，水域水质评估模型的监测和评估结果通过外控制器31的智能网关和通信天线33与包括PC端上位机的物联网设备通信，以便远程监控和管理水域的监测和评估结果。
⑨悬浮舱主体1可视示警功能：内控制器32依据水域水质评估模型的监测和评估结果控制LED警示灯带34输出对应光源，使荧光外罩12在LED警示灯带34激发下、发出对应包括但不限于红色、橙色和绿色的可视警示荧光信号，实现悬浮舱主体1可视示警。
⑩太阳能供电功能：包括太阳能电池板8的电源***供电时，外控制器31通过第一电源管理模块控制外控制器31、悬浮脚4配能，内控制器32通过第二电源管理模块控制电源***为内控制器32、平衡装置、水样检测装置和LED警示灯带34配能，利用太阳能清洁能源为悬浮式自平衡自巡航水质在线监测装置节能减排。
实施例2：
所述水质在线监测方法的一种较佳实施方式，基于实施例1所述悬浮式自平衡自巡航水质在线监测装置，其方法包括：
S1：通信与控制***接收卫星信号、获取水域卫星地形数据；
S2：根据卫星地形数据计算出水域地形的最长直径，最长直径两端设为起始着岸点和终着岸点；
S3：在最长直径两侧选取若干个着岸点并从起始着岸点开始、对各着岸点进行两侧交替的顺序编号至终着岸点，使相邻编号的着岸点连线构成整数个W型图形；
S4：依据卫星地形数据计算特征区域阈，所述特征区域阈为表征水域特性的面积上限，依据每相邻三个着岸点的连线内面积小于等于特征区域阈值优化着岸点位置和数目，生成根据水域地形规划的W型水域巡航路径；
S5：在W型水域巡航路径上选取采样点；
S6：通信与控制***控制悬浮舱主体1沿采样点巡航；
S7：在各采样点控制悬浮舱主体1定点悬浮，悬浮舱主体1与悬空搭载台2自平衡姿态调节；
S8：控制水样检测装置在线检测悬浮舱主体1外部水质、生成和输出水域水质的在线监测结果。
优选地，所述步骤S1-S6基于外控制器31的W型水域巡航路径自动规划算法，W型水域巡航路径自动规划算法如图11所示。
优选地，所述步骤S3中以W型水域巡航路径自动规划算法使每5个相邻着岸点构成W型图形，起始岸点编号为1，终着岸点编号为4n+1，n为≥1的整数。
优选地，所述步骤S4中以W型水域巡航路径自动规划算法对每相邻三个着岸点的连线内三角形面积编号顺序，使三角形面积为S j，j为1到4n-1的整数，n为≥1的整数，使S j计为S 1，S 2……S 4n-1。
优选地，所述步骤S4中以W型水域巡航路径自动规划算法依据卫星地形数据计算特征区域阈，特征区域阈M的计算公式为M＝3S 水域/H*(4n-1)，H＝h m/h l，公式中S 水域为步骤S1中卫星地形数据的整个水域总面积，h m为步骤S1中卫星地形数据的水域最深处的水深，h l为步骤S1中卫星地形数据的水域最浅处的水深；计算公式的意义在于：3S 水域限定水域采样特性，H为根据水域剖面断层特征计算的特征因子，4n-1为三角形面积总数，计算单个三角形水域面积对于3倍水域总面积的均分面积特征区域阈值，使用H修正水域由于水域水深分部不一样对检测结果的影响，使特征区域阈为表征水域特性的面积上限。
优选地，所述步骤S4中以W型水域巡航路径自动规划算法依据三角形面积编号顺次计 算判断S j是否小于等于特征区域阈M，当S j≤M继续执行顺次计算，当S j＞M时将n增加1并返回上一步计算判断S j是否小于等于特征区域阈M，直至所有S j≤M得到优化着岸点位置和数目，生成根据水域地形规划的W型水域巡航路径；优化计算的意义在于：通过S j小于等于特征区域阈M，防止算法规划过程中出现某些区域过大而失去表征水域特性的功能。
优选地，所述步骤S4中以W型水域巡航路径自动规划算法依据卫星地形数据计算特征区域阈和步骤S5中的采样点可以依据中华人民共和国行业水质采样技术规程【SL187-96】。
优选地，所述步骤S5中以W型水域巡航路径自动规划算法在W型水域巡航路径上、选取选取所有着岸点和编号相邻的着岸点连线的中点作为采样点，路径规划结束。
优选地，所述步骤S8中在线监测结果存储于内核心控制器中。
实施例3：
所述水质在线评估方法的一种较佳实施方式，基于实施例2所述水质在线监测方法，评估方法包括：
S9：通信与控制***设定水质评估标准和评估因子；
S10：依据监测方法的在线监测结果构造包括各采样点检测数据的矩阵；
S11：依据矩阵与评估因子计算向量；
S12：依据向量的范数与水质评估标准的比对结果生成和输出水域水质评估结果。
优选地，所述步骤S9-S12基于内控制器32的水域水质评估模型，水域水质评估模型流程如图12所示。
优选地，所述步骤S9中水域水质评估模型的水质评估标准可以依据地表水环境质量标准GB 3838-2002。
优选地，所述步骤S9中水域水质评估模型的水质评估标准可以依据农田水质灌溉标准GB 5084—2021。
优选地，所述步骤S9中水域水质评估模型的水质评估标准以在0～2000.072内判断水质为优，以在2000.072～40000.01内判断水质为轻度污染，以大于等于40000.01范围判断水质为重度污染。
优选地，所述步骤S9中水域水质评估模型的评估因子N的计算公式为N＝e*(1/k)，式中e为单位向量，k为步骤S10中矩阵向量维数。
优选地，所述步骤S10中以水域水质评估模型构造矩阵时，以水样检测装置的检测数据参数种类计为m中y种，m为≥1的整数，以水样检测装置在i个采样点的检测数据计为X i，i＝1，2，3，…，k，k为≥1的整数，X i为m维的向量，构造包括各采样点检测数据的矩阵M，矩阵M为m*k维的矩阵。
优选地，所述步骤S11中以水域水质评估模型计算向量X o时，X o的计算公式为X o＝M*N，M为包括各采样点检测数据的矩阵，N为评估因子。
优选地，所述步骤S12中以水域水质评估模型计算向量X o的范数时取X o的2范数：||X o|| 2＝λ，以λ与水质评估标准比较生成水域水质评估结果。
优选地，所述步骤S12中以水域水质评估模型当λ在0～2000.072范围内判断水质为优时，荧光外罩12示为绿色；代表水质达标可以进行排放。
优选地，所述步骤S12中以水域水质评估模型当λ在2000.072～40000.01范围内，水质为轻度污染，荧光外罩12示为橙色；代表水质指标即将达到可排放标准。
优选地，所述步骤S12中以水域水质评估模型当λ大于等于40000.01范围时，水质为重度污染，荧光外罩12示为红色；代表水质超标。
优选地，所述步骤S12中通过物联网设备通信输出水域水质评估结果。
上述悬浮式自平衡自巡航水质在线监测装置、监测与评估方法的有益效果在于：
①悬浮式自平衡自巡航水质在线监测装置解决了水域连续优化监测问题、水面扰动对监测和评估结果造成的误差问题、监测和评估结果的预警监控问题：
该装置的特点之一在于通过通信与控制***与卫星通信、W型水域巡航路径自动规划算法可根据水域地形自动规划优化W型水域巡航路径并在W型水域巡航路径上选取采样点，通过各悬浮脚4驱动悬浮舱主体1进行巡航或定点悬浮进行最佳采样，实现精准定位、自巡航及检测位置稳定，以便实现水域连续监测；
该装置的特点之二在于在水面波动的情况下，使在指定采样点装置保持定点悬浮、通过各悬浮舱主体1浮心可变、以悬浮脚4驱动悬浮舱主体1快速自平衡姿态调节、保持采样位置相对恒定，且内部悬空搭载台2通过相对悬浮舱主体1转动、配合平衡装置可以快速自平衡姿态调节保持水平恒定状态，保证水样检测装置的可靠检测，实现水上姿态调节和位置稳定控制、避免水面扰动影响监测和评估结果；
该装置的特点之三在于水域水质评估模型生成监测和评估结果并输出时，悬浮舱主体1根据水域水质状况可视示警，可视示警可以包括但不限于外罩发出三种不同状态的警示荧光信号、分别表示水质超标、水质指标即将达到可排放标准、可以进行排放，可视化反应水域水质监测和评估结果、警示超标水质、快速向外界发出警示信息，利于提高预警监控和管理效率；
该装置的特点之四在于搭载通信与控制***的智能网关和通信天线33，可实现于卫星和包括PC端上位机的物联网设备通信，实时获取位置信息和传递数据，以便实现采样巡航规 划、自巡航和定点悬浮、远程监控和管理水域的监测和评估结果。
②基于悬浮式自平衡自巡航水质在线监测装置的监测方法通过W型水域采样巡航路径自动规划解决了不同水域优化连续移动监测问题：根据水域的卫星地形数据，依据每相邻三个着岸点的连线内面积小于等于特征区域阈值优化着岸点位置和数目，使优化W型水域巡航路径为在采样点充分表征水域整体状况条件下的最短最佳路径，使不同水域连续移动监测有限易测，监测自动完成、在一定程度上提高了水质的监测精度，其极大地降低了水域监测成本。
③基于监测方法的评估方法解决了对于水体评估的片面性问题：根据水域所有采样点的多参数在线监测结果与评估因子拟合出水域的综合评估向量数据，向量与水质评估标准的比对结果生成和输出水域水质评估结果，对水域整体情况进行综合评估分析，使得水体的评估自动完成且更加全面准确。
综上，本发明的技术方案通过水面悬浮式自平衡自巡航水域水质在线监测装置、监测方法和评估方法，自动规划路径和采样点、精准定位自巡航监测，且监测过程位置稳定、自平衡不受水面波动的侵扰，有利于提高监测和评估精度、极大降低水域监测和评估成本、适用于特别是流动及需要连续监测的不同水域水质监测和评估。
应当理解，虽然本说明书是按照各个实施例描述的，但并非每个实施例仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
上文所列出的一系列的详细说明仅仅是针对本发明的可行性实施例的具体说明，它们并非用以限制本发明的保护范围，凡未脱离本发明技艺精神所作的等效实施例或变更均应包含在本发明的保护范围之内。

Claims (13)

  1. 一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，包括悬浮舱主体(1)、通信与控制***、位于悬浮舱主体(1)内部可以自平衡姿态调节的悬空搭载台(2)，所述悬浮舱主体(1)外部设有若干悬浮脚(4)，各悬浮脚(4)用于驱动悬浮舱主体(1)自平衡姿态调节、巡航或定点悬浮，所述悬空搭载台(2)上设有水样检测装置，所述通信与控制***用于接收卫星信号并根据水域地形规划W型水域巡航路径和W型水域巡航路径上的采样点、控制悬浮脚(4)运行、控制悬空搭载台(2)姿态调节、控制水样检测装置沿采样点在线检测悬浮舱主体(1)外部水质、依据水样检测装置的在线检测结果评估水域水质并输出监测和评估结果。
  2. 根据权利要求1所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述悬浮舱主体(1)包括浮心可以变化且位于悬空搭载台(2)底部的悬浮底舱(11)、与悬浮底舱(11)相连且位于悬空搭载台(2)外部的外罩，所述外罩可以依据控制***的监测和评估结果显示对应可视警示信号。
  3. 根据权利要求1所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述通信与控制***包括外控制器(31)，所述外控制器(31)包括GPS模块、通信模块和协调外控制器(31)运行的外核心控制器，所述GPS模块用于通过通信模块与卫星通信反馈位置信息，所述外核心控制器集成有W型水域巡航路径自动规划算法，所述W型水域巡航路径自动规划算法依据GPS模块的位置信息解算优化W型水域巡航路径和水样检测装置的采样点、优化W型水域巡航路径为采样点表征水域整体状况条件下的最短路径。
  4. 根据权利要求3所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述外控制器(31)包括第一陀螺仪和第一驱动模块，所述第一陀螺仪用于对悬浮舱主体(1)姿态解析，所述第一驱动模块用于驱动悬浮脚(4)姿态调节和运行，所述外核心控制器用于依据W型水域巡航路径自动规划算法的结果和/或第一陀螺仪的姿态反馈控制第一驱动模块运行。
  5. 根据权利要求4所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述悬浮脚(4)包括悬浮腿(41)和椭球形悬浮体，所述悬浮腿(41)一端与悬浮舱主体(1)相连，悬浮腿(41)另一端与椭球形悬浮体相连，所述悬浮腿(41)包括至少一个关节，所述关节上设有与第一驱动模块相连的第一驱动机构，所述第一驱动机构用于驱动关节相对运动，所述椭球形悬浮体与悬浮腿(41)之间第二驱动机构，所述第二驱动机构与第一驱动模块相连且用于驱动椭球形悬浮体相对悬浮腿(41)转动。
  6. 根据权利要求1所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述悬空搭载台(2)可以相对悬浮舱主体(1)转动，悬空搭载台(2)上设有用于驱动悬空搭载 台(2)自平衡的平衡装置，所述通信与控制***包括内控制器(32)，所述内控制器(32)包括第二陀螺仪、第二驱动模块和调内控制器(32)运行的内核心控制器，所述第二陀螺仪用于对悬空搭载台(2)姿态解析，所述第二驱动模块用于驱动平衡装置和水样检测装置运行，所述内核心控制器用于依据第二陀螺仪的姿态反馈控制第二驱动模块对平衡装置的驱动、内核心控制器上集成有水域水质评估模型，所述水域水质评估模型用于依据水样检测装置的在线检测结果评估水域水质并生成监测和评估结果。
  7. 根据权利要求6所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述悬空搭载台(2)通过球状铰链连接杆(5)可以相对悬浮舱主体(1)转动地吊连在悬浮舱主体(1)内，所述球状铰链连接杆(5)包括承重杆(51)、球状铰链球壳(52)、球状铰链球体(53)和平衡台连接杆(54)，所述承重杆(51)一端与悬浮舱主体(1)顶部相连，承重杆(51)另一端与球状铰链球壳(52)相连，所述球状铰链球体(53)设置于球状铰链球壳(52)内部且与球状铰链球壳(52)内部转动配合，所述搭载台连接杆(54)一端与球状铰链球体(53)连接、搭载台连接杆(54)另一端与悬空搭载台(2)或内控制器(32)连接，所述平衡装置包括设置在对向设置在悬空搭载台(2)上的两个平衡电机(71)，所述平衡电机(71)的电机轴连接有平衡飞轮(72)；
    所述悬浮舱主体(1)包括荧光外罩(12)，所述内控制器(32)上设有依据通信与控制***的监测和评估结果输出对应光源的LED警示灯带(34)，所述荧光外罩(12)用于在LED警示灯带(34)激发下发出对应可视警示荧光信号，所述内控制器(32)与物联网设备通信、输出监测和评估结果。
  8. 根据权利要求1所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述水样检测装置包括进水管路(601)、检测室(602)、水质传感器阵列(603)、水位传感器组(604)和出水管路(605)，所述进水管路(601)与悬浮舱主体(1)外部和检测室(602)连通，所述检测室(602)用于存储进水管路(601)输入的过滤水体样本，所述水质传感器阵列(603)用于检测和传输检测室(602)内的水体样本包括至少一类、至少一种参数的在线检测结果，所述水位传感器组(604)用于向通信与控制***反馈检测室(602)内的水体样本水位，所述出水管路(605)与悬浮舱体外部和检测室(602)连通，所述通信与控制***用于控制进水管路(601)的进水启闭和出水管路(605)的出水启闭、控制水质传感器阵列(603)运行。
  9. 根据权利要求1所述一种悬浮式自平衡自巡航水质在线监测装置，其特征在于，所述悬浮舱主体(1)上设有电源***，所述电源***包括位于悬浮舱主体(1)上的太阳能电池板(8)，所述通信与控制***用于控制电源***为通信与控制***、悬浮脚(4)和水样检测 装置供电。
  10. 一种水质在线监测方法，其特征在于，基于权利要求1～9任意一项所述悬浮式自平衡自巡航水质在线监测装置，其方法包括：
    S1：通信与控制***接收卫星信号、获取水域卫星地形数据；
    S2：根据卫星地形数据计算出水域地形的最长直径，最长直径两端设为起始着岸点和终着岸点；
    S3：在最长直径两侧选取若干个着岸点并从起始着岸点开始、对各着岸点进行两侧交替的顺序编号至终着岸点，使相邻编号的着岸点连线构成整数个W型图形；
    S4：依据卫星地形数据计算特征区域阈，所述特征区域阈为表征水域特性的面积上限，依据每相邻三个着岸点的连线内面积小于等于特征区域阈值优化着岸点位置和数目，生成根据水域地形规划的W型水域巡航路径；
    S5：在W型水域巡航路径上选取采样点；
    S6：通信与控制***控制悬浮舱主体(1)沿采样点巡航；
    S7：在各采样点控制悬浮舱主体(1)定点悬浮，悬浮舱主体(1)与悬空搭载台(2)自平衡姿态调节；
    S8：控制水样检测装置在线检测悬浮舱主体(1)外部水质、生成和输出水域水质的在线监测结果。
  11. 根据权利要求10所述一种水质在线监测方法，其特征在于，所述步骤S1-S6基于W型水域巡航路径自动规划算法，步骤S4中以W型水域巡航路径自动规划算法对每相邻三个着岸点的连线内三角形面积编号顺序，使三角形面积为S j，j为1到4n-1的整数，n为≥1的整数，特征区域阈M的计算公式为M＝3S 水域/H*(4n-1)，H＝h m/h l，公式中S 水域为步骤S1中卫星地形数据的整个水域总面积，h m为步骤S1中卫星地形数据的水域最深处的水深，h l为步骤S1中卫星地形数据的水域最浅处的水深；以所有S j≤M优化着岸点位置和数目，生成根据水域地形规划的W型水域巡航路径。
  12. 一种水质在线评估方法，其特征在于，基于权利要求10所述水质在线监测方法，评估方法包括：
    S9：通信与控制***设定水质评估标准和评估因子；
    S10：依据监测方法的在线监测结果构造包括各采样点检测数据的矩阵；
    S11：依据矩阵与评估因子计算向量；
    S12：依据向量的范数与水质评估标准的比对结果生成和输出水域水质评估结果。
  13. 根据权利要求12所述一种水质在线监测方法，其特征在于，所述步骤S9-S12基于水 域水质评估模型，步骤S9中水域水质评估模型的评估因子N的计算公式为N＝e*(1/k)，式中e为单位向量，k为步骤S10中矩阵向量维数，步骤S10以水样检测装置在i个采样点的检测数据计为m维向量X i，以k维X i构造矩阵M计算向量X o，X o的计算公式为X o＝M*N，步骤S12范数计算公式为||X o|| 2＝λ，以λ与水质评估标准比较生成水域水质评估结果。
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