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Method for collecting river water samples based on unmanned monitoring ship, unmanned monitoring ship and process

发布日期:2020-01-07 13:11 Document serial number: 19641800 Release date: 2020-01-07 13:11
Method for collecting river water samples based on unmanned monitoring ship, unmanned monitoring ship and process
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Technical field :
The invention relates to the field of river water quality monitoring, and in particular, to a method for collecting river water samples based on an unmanned monitoring ship and an unmanned monitoring ship.
Background technology :
: With the development of the national economy, China ’s water environment problems are becoming increasingly prominent. Among them, the water pollution problems of rivers and lakes are becoming more and more serious, especially the river sections that flow through urban areas. The pollution is more serious, and even some river sections have become black odorous water bodies. Seriously affected the living and production environment of the people. The "Water Pollution Prevention and Control Action Plan" proposed that "by 2020, the black and odorous water bodies in urban built-up areas at the prefecture level and above will be controlled within 10%; by 2030, the black and odorous water bodies in urban built-up areas will be eliminated as a whole." It can be seen that the key treatment of black and odorous water bodies is imperative. In the treatment of black and odorous water, water sample collection and laboratory analysis are important monitoring methods. However, most of the river water sample collection at this stage depends on manual field collection. This collection method has high cost and large safety risk factor. And other issues, it is difficult to meet the demand of river water sampling at this stage. Technical realization elements: In view of the problems existing in river water sample collection at the current stage, the present invention provides a river water sample collection method based on an unmanned monitoring ship and an unmanned monitoring ship. The present invention adopts the following technical solution: A method for collecting river water samples based on an unmanned monitoring vessel includes the following steps: during the navigation of the unmanned monitoring vessel, the water quality is monitored online in the river, and the online monitored water quality data is sent to the real-time Server; if a manual mode signal is received, the unmanned monitoring boat enters the manual sampling mode; if a manual mode signal is not received, the unmanned monitoring boat enters the automatic sampling mode; in the automatic sampling mode, if the water quality data is up to The lower limit or the fluctuation of water quality data reaches the preset value, so that the unmanned monitoring vessel stops sailing and obtains the water sample bottle number; if the result of the water sample bottle number acquisition is no result, a full load alarm is sent to the server and the alarm position is marked, and the sampling ends The task returns to the ship; if the result of the water sample bottle number acquisition is a result, the water sample bottle corresponding to the water sample bottle number acquisition result is automatically assigned and the water sample collection task is started. A method for collecting water samples from a river based on an unmanned monitoring vessel as described above, after the step of automatically assigning a water sample bottle corresponding to a water sample bottle number acquisition result and starting a water sample collection task, the method further includes the following steps: : If the effective sampling time reaches the set sampling time limit, end the current water sample collection task. The above-mentioned method for collecting river water samples based on an unmanned monitoring ship, after the step of ending the current water sample collection task, further includes the following steps: updating the state of the water sample bottle and marking information. The method for collecting river water samples based on an unmanned monitoring vessel as described above, after the step of ending the current water sample collection task, further includes the following steps: if the monitored navigation distance is greater than a preset minimum separation distance, Then return to the step of the unmanned monitoring ship entering the automatic sampling mode. A method for collecting water samples from a river based on an unmanned monitoring vessel as described above, after the step of automatically assigning a water sample bottle corresponding to a water sample bottle number acquisition result and starting a water sample collection task, the method further includes the following steps: : If the unmanned monitoring vessel is displaced, water sampling is suspended and the position of the unmanned monitoring vessel is automatically adjusted to reset the unmanned monitoring vessel to the sampling position. An unmanned monitoring ship includes: a water quality monitoring module for online monitoring of water quality of a river course during the navigation of the unmanned monitoring ship, and real-time monitoring of water quality data sent to the server; a mode setting module, which uses When the manual mode signal is received, the unmanned monitoring ship is put into the manual sampling mode. When the manual mode signal is not received, the unmanned monitoring ship is put into the automatic sampling mode. The suspension module is used in the automatic sampling mode. And when the water quality monitoring module detects that the water quality data reaches the upper and lower limits or the water quality data fluctuation reaches a preset value, the unmanned monitoring vessel stops sailing; a water sample bottle number acquisition module is used in an automatic sampling mode, and the The water quality monitoring module detects the water sample bottle number when the water quality data reaches the upper and lower limits or the water quality data fluctuates to a preset value; an alarm module is used to obtain the water sample bottle number when the water bottle number acquisition module obtains no water bottle number When the result is reached, a full-load alert is sent to the server and the alert position is marked; the return home module is ended, which is used to obtain a model at the water sample bottle number When the result of obtaining the water sample bottle number is no result, the unmanned monitoring vessel is driven to end the sampling task and return to the sea; the water sample collection start module is used to obtain the water sample bottle number in the water sample bottle number obtaining module. When there is a result, the water sample bottle corresponding to the water sample bottle number acquisition result is automatically assigned and the water sample collection task is started. The above-mentioned unmanned monitoring ship includes: a water sample collection stop module, which is used to end the current water sample collection task when the effective sampling time reaches a set sampling time limit. An unmanned monitoring ship as described above includes an information update module configured to update a water sample bottle status and mark information after the water sample collection stop module ends a current water sample collection task. The above-mentioned unmanned monitoring ship includes: a navigation monitoring module configured to monitor the navigation distance of the unmanned monitoring ship after the water sample collection stop module ends the current water sample collection task. The above-mentioned unmanned monitoring ship includes a resetting module, which is used to suspend water sampling and automatically adjust the position of the unmanned monitoring ship to reset the unmanned monitoring ship to the sampling position when the unmanned monitoring ship is displaced. on. Compared with the prior art, the present application has the following advantages: the unmanned monitoring vessel is sailing on the river and the water quality indicators of the river are monitored online, and the points where the water quality is abnormal are automatically sampled. Automatic control greatly reduces the cost of manual analysis and operation and improves sampling efficiency. [Brief Description of the Drawings] In order to explain the technical solution of the present invention more clearly, the drawings required in the description of the embodiments will be described below. Obviously, the following drawings are only part of the embodiments of the present invention. For those skilled in the art,
SUMMARY OF THE INVENTION The drawings of other embodiments are easily obtained. Figure 1 is a flow chart of a method for collecting water samples from rivers based on unmanned monitoring vessels; Figure 2 is a structural block diagram of unmanned monitoring vessels; Figure 3 is a schematic diagram of unmanned monitoring vessels; Figure 4 is a water sample collection of unmanned monitoring vessels Front view of the device; Figure 5 is a top view of the water sample collection device of the unmanned monitoring ship; Figure 6 is a side view of the water sample collection device of the unmanned monitoring ship. DETAILED DESCRIPTION The technical solution of the present invention will be clearly and completely described in the following specific embodiments. As shown in the flowchart of the embodiment of the present invention shown in FIG. 1, a method for collecting river water samples based on an unmanned monitoring ship includes the following steps: step s101, performing on-line monitoring of water quality of a river channel during navigation of the unmanned monitoring ship, Real-time monitoring of water quality data is sent to the server. In this step, online water quality monitoring includes online water quality monitoring of river temperature, ph, dissolved oxygen, cod, orp, electrical conductivity, total phosphorus, and turbidity. Among them, the range of the temperature probe used to monitor the river temperature is not less than 0-50 ° C, the accuracy is not greater than 0.1 ° C, and the resolution is not greater than 0.01 ° C; the range of the ph probe is not less than 0-14, the accuracy is greater than 0.1, and the resolution is not greater than 0.01; the range of the orp probe is not less than [-500mv, 500mv], and the accuracy and resolution is not greater than 1mv; the range of the conductivity probe is not less than 0-5000us / cm, the accuracy is not greater than 5us / cm, and the resolution is not greater than 1us / cm ; The range of the dissolved oxygen probe is not less than 0-20mg / l, the accuracy is not greater than 0.6mg / l, and the resolution is not greater than 0.01mg / l; the range of the turbidity probe is not less than 0-500ntu, and the accuracy and resolution is not greater than 2ntu. The monitoring frequency of all water quality indicators is not less than 1hz. In step s102, it is determined whether a manual mode signal is received. If a manual mode signal is not received, the process proceeds to step s103, and if a manual mode signal is received, the process proceeds to step s104. In step s103, the unmanned monitoring ship enters the automatic sampling mode. In step s104, the unmanned monitoring ship enters a manual sampling mode. In step s105, in the automatic sampling mode, it is determined whether the monitored water quality data has reached the upper and lower limits or the water quality data fluctuation has reached a preset value. If yes, go to step s106; if not, go back to step s103. Specifically, the preset value of the water quality fluctuation is a water quality fluctuation value within a range of 10m in diameter, and the fluctuation value is 10-20%. The specific calculation method is to use the position of the unmanned monitoring ship as the center, and count all the monitoring within a 10m diameter range. The maximum value and minimum value of the data are compared with the detection value of the current position of the unmanned monitoring ship respectively, and the one with a larger fluctuation value is selected. In step s106, the unmanned monitoring vessel stops sailing and obtains a water sample bottle number. In step s107, it is determined whether the acquisition result of the water sample bottle number is no result. If the acquisition result of the water sample bottle number is no result, the process proceeds to step s108; otherwise, the process proceeds to step s109. In step s108, a full-load alarm is sent to the server and the alarm position is marked, the sampling task is ended and the flight is returned. In step s109, a water sample bottle corresponding to the water sample bottle number acquisition result is automatically allocated and a water sample collection task is started. In step s110, it is determined whether the unmanned monitoring ship has been displaced. If yes, go to step s111; if no, go to step s112. In this step, the upper limit of the displacement is 1m in the horizontal direction. If the horizontal displacement reaches 1m, it is considered that a displacement has occurred. In step s111, the water sample collection is suspended, and the position of the unmanned monitoring ship is automatically adjusted to reset the unmanned monitoring ship to the sampling position. In step s112, it is determined whether the effective sampling time has reached the set sampling time limit. If not, the process returns to step s110, and if so, the process proceeds to step s113. Step s113: End the current water sample collection task. In step s114, the status and marking information of the water sample bottle are updated. Specifically, the tag information includes position information of the current water sample and water sample number information. In step s115, it is determined whether the monitored sailing distance is greater than a preset minimum separation distance, and if so, it returns to step s103. By unmanned monitoring ship sailing on the river and online monitoring of the water quality indicators of the river, automatic sampling of points where the water quality is abnormal, and the entire process can be automatically controlled by the unmanned monitoring ship, which greatly reduces the cost of manual analysis and operation. Improve sampling efficiency. The partial test data of the water sample collected by the unmanned monitoring ship is shown in the following table: Table 1: Table 2: Total phosphorus in the bottle number (mg / l) Total phosphorus deviation from the blank /% blank .664.7650.630.0060.641.5970.653.1780.641.59 Note: The blank is taken directly from the river, and the bottle number 1-8 is the water sample collected by the water sample collection module. An unmanned monitoring vessel as shown in FIG. 2 includes a water quality monitoring module 101, a mode setting module 102, a suspension module 103, a water sample bottle number acquisition module 104, an alarm module 105, an end returning module 106, and a water sample collection start Module 107, water sample collection stop module 108, information update module 109, navigation monitoring module 110, and reset module 111. The water quality monitoring module 101 is used for online monitoring of water quality of a river channel during the navigation of an unmanned monitoring ship, and sends the water quality data monitored online to a server in real time. The mode setting module 102 is used to make the unmanned monitoring ship enter the manual sampling mode when receiving the manual mode signal, and make the unmanned monitoring ship enter the automatic sampling mode when the manual mode signal is not received. The suspension module 103 is used to stop the unmanned monitoring boat when the water quality monitoring module 101 detects that the water quality data reaches the upper and lower limits or the water quality data fluctuation reaches a preset value in the automatic sampling mode. The water sample bottle number obtaining module 104 is configured to obtain the water sample bottle number in the automatic sampling mode and when the water quality monitoring module 101 detects that the water quality data reaches the upper and lower limits or the water quality data fluctuation reaches a preset value. The alarm module 105 is configured to send a full-load alarm to the server and mark the alarm position when the water sample bottle number obtaining module 104 obtains a water sample bottle number without a result. The end-to-home module 106 is configured to drive the unmanned monitoring ship to end the sampling task and return to the voyage when the water sample bottle number obtaining module 104 obtains the water sample bottle number without a result. The water sample collection starting module 107 is configured to automatically assign a water sample bottle corresponding to the water sample bottle number acquisition result and start the water sample when the water sample bottle number acquisition module 104 obtains a result of the water sample bottle number. Acquisition tasks. The water sample collection stop module 108 is configured to end the current water sample collection task when the effective sampling time reaches a set sampling time limit. The information update module 109 is configured to update the water sample bottle status and label information after the water sample collection stop module 108 ends the current water sample collection task. The navigation monitoring module 110 is configured to monitor the navigation distance of the unmanned monitoring ship after the water sample collection stopping module 108 ends the current water sample collection task. The resetting module 111 is used to suspend water sampling and automatically adjust the position of the unmanned monitoring ship to reset the unmanned monitoring ship to the sampling position when the unmanned monitoring ship is displaced. In addition, as shown in FIG. 3, the unmanned monitoring ship includes a hull 1 and a water sample collection device 2 provided on the stern of the hull 1. In order to prevent the unmanned monitoring ship from propelling the water sample during navigation, In the interference of collection, the water sampling position of the water sample collection device 2 should be set in front of the thruster of the unmanned monitoring ship. Correspondingly, a hollow cabin 3 is provided in the middle of the hull 1 for the inlet pipe 4 of the water sample collection device 2 to pass Passing the hollow cabin 3 to the bottom of the hull 1, a water outlet pipe 5 is provided above the hollow cabin 3. Preferably, in order to satisfy the transportation capacity required for the water sample collection device 2 at full load, the length of the hull 1 should not be less than 1m, and the rated carrying capacity should not be less than 30kg. In order to meet the power supply and signal control requirements required by the water sample collection device 2, the hull 1 can reserve a power supply capacity of not less than 40w and no less than one s-bus signal output. Further, as shown in FIG. 4, FIG. 5, and FIG. 6, the water sample collection device 2 includes a casing 6 and a top cover 7. The casing 6 is provided with a water inlet 18 and a water outlet 19, and the water inlet 18 It is in communication with the water inlet pipe 4, the water outlet 19 is in communication with the water outlet 5, and the casing 6 is provided with a water pump 15 in communication with the water inlet 18 through a water pipe 21, The water sample bottle 13 in which the water pump 15 and the water outlet 19 communicate with each other. Preferably, the water pipe 21 is a silicone tube, and the inner diameter is not less than 3 mm. A pwm control switch 17 electrically connected to the water pump 15 through a wire 22 and a pwm signal conversion module 16 electrically connected to the pwm control switch 17 through a wire 22 are provided in the casing 6. When collecting water samples in this embodiment, after receiving a control signal from an unmanned monitoring ship, the control signal is converted to a pwm signal, and then the pwm signal is converted to a switch signal, so as to control the turning on of the water pump to realize the water sample to the water In the sample bottle, when the liquid level of the water sample bottle reaches the highest value, the excess water sample is automatically discharged from the water outlet. The structure is simple and easy to use. Therefore, the water sample collection device can be combined with an unmanned monitoring boat to achieve effective water samples in the river channel. collection. Preferably, the outer shell 6 is rectangular, the size is 30cm * 30cm * 15cm, and the thickness is not more than 5mm. The outer shell 6 is made of a lightweight, corrosion-resistant and excellent sealing material. Specifically, the outer shell 6 may be made of Alloy materials, engineering plastics or composite materials. More preferably, the casing 6 is made of aluminum alloy material and argon arc welding, and has a thickness of 3 mm, and a smooth transition process is performed at the edges to avoid scoring the external pipeline. Further, in order to separate the water sample from the electronic device and prevent the electronic device from being short-circuited by water as much as possible, the casing 6 is provided with a control for the water sample bottle 13 and the water pump 15 and the pwm control. The switch 17 is separated from the pwm signal conversion module 16 by a central partition 9. Preferably, the central partition plate 9 is made of aluminum alloy, has a thickness of 3 mm, and is tightly welded to the casing 6. Further, in order to facilitate water sampling, the central partition plate 9 is provided for connecting the water pump 15 and the water sample bottle 13 through a water pipe 21 and for connecting the water sample bottle 13 and the outlet through a water pipe 21 The central partition joint 20 of the water inlet 19, the water inlet 18, the water outlet 19, and the central partition joint 20 are equal-diameter through-plate joints, and the inner diameter is not less than 3 mm. The number of 19 is consistent with the number of the water sample bottles 13, and the number of the central partition joint 20 is consistent with the total of the water inlet 18 and the water outlet 19. Further, in order to facilitate the taking and placing of the water sample bottle 13, the top cover 7 is formed as a two-part structure, and a part of the top cover 7 is provided above the water sample bottle 13. One part is provided above the water pump 15, and the two parts of the top cover 7 are connected by a rotating shaft 8. The part of the top cover 7 provided above the water pump 15 is sealed and fixed to the housing 6. A portion of the top cover 7 provided above the water pump 15 and the casing 6 are fixed by a flange. A portion of the top cover 7 provided above the water sample bottle 13 is opened and closed by the rotating shaft 8 in order to take and place the water sample bottle 13. Further, for convenience of use, a water sample bottle partition 10 for fixing the water sample bottle 13, a water pump partition 11 for installing the water pump 15, and the pwm control are installed in the housing 6. The switch 17 and the control module partition 12 of the pwm signal conversion module 16 are provided with a control line socket 23 electrically connected to the pwm control switch 17 through a wire 22. Preferably, the material and thickness of the water sample bottle partition 10 are consistent with the outer shell 6, and the installation position in cooperation with the water sample bottle 13 is the height above the middle of the water sample bottle 13. Further, in order to prevent the water sample from being affected by light, the water sample bottle 13 is made of opaque plastic. The shape of the water sample bottle 13 is cylindrical and the capacity is not less than 100 ml. The water sample bottle 13 is provided with Rubber stopper 14, more preferably, the volume of the water sample bottle 13 is 250 ml, the diameter of the bottle mouth is 35 mm, the outer diameter of the bottom of the rubber stopper 14 is 33 mm, the outer diameter of the top is 38 mm, and the thickness is 30 mm. The plug 14 is provided with a 90 ° connecting pipe. Each rubber plug 14 is connected to the water inlet or the water outlet through the connecting pipe. The connecting pipe is made of 316 stainless steel and has an inner diameter of 3 mm. The number of water sample bottles 13 in the casing 6 is not less than 8. The water pump 15 is a micro peristaltic pump. The power supply mode is 12v-24v DC. The number is consistent with the number of water sample bottles 13. The water inlet 18 The number of water outlets 19 is eight, and the number of central partition joints 20 is sixteen. Preferably, in order to ensure the stability of water sample collection and non-interference between each water sample, this embodiment uses multiple water pumps 15 to provide power, and each water pump 15 is controlled by a single channel on the pwm signal conversion module 16, The power supply of the pump is 24v DC, the rated power is 10w, the quantity is 8, the inner diameter of the supporting water pipe is 3mm, and the rated working flow is 60ml / min. Further, in order to cooperate with the unmanned monitoring ship, the pwm signal conversion module 16 is an s-bus to pwm signal module, which is used to convert the signal of the unmanned monitoring ship controller into a pwm signal. Preferably, the pwm signal conversion module The number of 16 is 1, the number of pwm channels it controls is not less than 16, and it can be controlled individually. The pwm control switch is a DC pwm control switch, its size is not greater than 40mm * 30mm * 20mm, and the control voltage range is not less than 3.3-30v The number of control channels of a single module of the PWM control switch is not less than 2, and the current load of a single channel is not less than 1a. Further, the electric wire 22 is a multi-core wire with a shielded wire, the rated current is not less than 5a, and the control line socket 23 is a multi-core waterproof socket, and the number of cores is not less than 5. The foregoing is an implementation manner provided in combination with specific content, and it is not considered that the specific implementation of this application is limited to these descriptions. Any method similar to or similar to the method and structure of this application, or some technical deductions or replacements made on the premise of the concept of this application, shall be regarded as the scope of protection of this application. Current 1 Page 1 2 3
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