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CN-122009407-A - Gesture locking and event driven fixed-point cruising water quality detection ship and method

CN122009407ACN 122009407 ACN122009407 ACN 122009407ACN-122009407-A

Abstract

The invention discloses a ship and a method for detecting water quality in a cruise mode under the action of attitude locking and event driving. The detection ship comprises a ship body, wherein a GPS (global positioning system) locator and a six-axis inertial measurement unit are arranged on the ship body, the ship body is electrically connected with a control system, a water tank is mounted on the ship body, the water tank is communicated with a water suction pipe and a water discharge pipe, a water baffle is fixedly connected to the tail of the ship body, and screw propellers are symmetrically arranged on two sides of the bottom of the water baffle. The method comprises the steps of obtaining water quality parameters of current pose points, comparing the water quality parameters with a threshold value, triggering an event driving mode when the threshold value is exceeded, interrupting cruising and marking coordinates of the current pose points, obtaining water quality parameters of adjacent pose points, comparing the water quality parameters to determine a target course, and ending the event driving mode and returning to an original cruising path when a water quality detection value falls below the threshold value. The invention realizes active attitude locking and depth-fixed sampling through the six-axis inertial measurement unit and the self-adaptive PID control, realizes autonomous tracing through event-driven logic, and forms a high-precision monitoring scheme from hardware wave elimination to software steady state.

Inventors

  • ZHANG JIALIN
  • ZHU PENGCHAO
  • Hou Zhire
  • LIANG YUE

Assignees

  • 西安培华学院

Dates

Publication Date
20260512
Application Date
20260403

Claims (10)

  1. 1. The utility model provides a but gesture locking and event driven fixed point cruises water quality testing ship, its characterized in that, including hull (1), hull (1) upper surface mounting has GPS locator (2) and six inertial measurement units (16), GPS locator (2) and six inertial measurement units (16) are electric connection respectively has control system, hull (1) carries on water tank (12), water tank (12) intercommunication has drinking-water pipe (4) and drain pipe (3), be provided with the water pump between water tank (12) and drinking-water pipe (4), hull (1) afterbody rigid coupling has breakwater (13), breakwater (13) bottom bilateral symmetry is provided with the screw.
  2. 2. The gesture-locked and event-driven fixed-point cruising water quality detection ship according to claim 1, wherein a plurality of sensors are installed in the water tank (12), the plurality of sensors are respectively and electrically connected with a control system, the control system is further electrically connected with a propeller, the plurality of sensors are respectively a TDS sensor (7), a PH sensor (8) and a turbidity sensor (14), and the two propellers are a first propeller (10) and a second propeller (11).
  3. 3. The attitude-locked and event-driven fixed-point cruising water quality detection ship according to claim 2, wherein the control system is internally integrated with an attitude-locked module and an event-driven cruising module, the attitude-locked module is electrically connected with a six-axis inertial measurement unit (16), a first propeller (10) and a second propeller (11), and the event-driven cruising module is electrically connected with a GPS (global positioning system) locator (2), a TDS (time domain sensor) sensor (7), a PH (potential of hydrogen) sensor (8), a turbidity sensor (14), the first propeller (10) and the second propeller (11).
  4. 4. The attitude-locked and event-driven fixed-point cruising water quality detection ship according to claim 2, wherein a camera (15) is mounted on the head of the ship body (1), and a storage battery is arranged in the ship body (1) and is electrically connected with a control system, a GPS (global positioning system) positioner (2), a six-axis inertial measurement unit (16), the camera (15), a TDS (time domain reflectometer) sensor (7), a PH (potential of hydrogen) sensor (8) and a turbidity sensor (14) respectively.
  5. 5. The attitude-locked and event-driven fixed-point cruising water quality detection ship according to claim 1, wherein the six-axis inertial measurement unit (16) is arranged at the geometric center of the ship body (1), a first sponge (5) and a second sponge (6) are respectively fixed on the outer edges of the two sides of the ship body (1), and the first sponge (5) and the second sponge (6) are respectively arranged on the two sides of the water tank (12).
  6. 6. The attitude locking and event driven fixed point cruising water quality detection ship according to claim 1, wherein the ship body (1) is further provided with a J-link interface (9), and the J-link interface (9) is electrically connected with a control system.
  7. 7. The water quality detection method capable of realizing fixed-point cruising under the action of gesture locking and event driving is characterized by comprising the following steps of: step 1, controlling a water quality detection ship to travel to a monitoring point for sampling according to a set point cruising path; step 2, acquiring attitude data of the ship body (1), adjusting propeller thrust according to attitude angle deviation, and performing water quality detection after the ship body (1) is balanced; Step 3, acquiring current pose point water quality parameters, comparing the current pose point water quality parameters with a threshold value, triggering an event driving mode when the current pose point water quality parameters exceed the threshold value, interrupting cruising and marking current pose point coordinates; step 4, acquiring water quality parameters of adjacent pose points, comparing the water quality parameters with the water quality parameters of the current pose points, and determining a target course; And 5, ending the event driving mode and returning to the original cruising path when the water quality detection value falls back below the threshold value.
  8. 8. The method for detecting water quality in a fixed-point cruise according to claim 7, wherein the step 2 is specifically: step 201, acquiring attitude data of a water quality detection ship in real time through a six-axis inertial measurement unit, and obtaining an attitude angle deviation variance according to the attitude data; Step 202, the attitude locking module dynamically adjusts the thrust of the first propeller (10) and the second propeller (11) by adopting a PID control algorithm, and the proportional coefficient, the integral coefficient and the differential coefficient of the PID control algorithm are adaptively adjusted according to the variance of the attitude angle deviation acquired by the six-axis inertia measurement unit; and 203, the attitude locking module realizes attitude locking through fine adjustment of thrust, water quality detection is carried out after the water quality detection ship is balanced, and the water inlet of the water suction pipe (4) is at a constant sampling depth.
  9. 9. The method for detecting water quality in a fixed-point cruise according to claim 7, wherein the step 3 is specifically: Step 301, detecting water quality parameters of a current pose point through a TDS sensor (7), a PH sensor (8) and a turbidity sensor (14); Step 302, acquiring a real-time image through a camera (15), and storing the water quality parameter of the current pose point after performing time stamp synchronous matching with the real-time image; step 303, after the data storage of the front pose point is completed, the water sample in the water tank (12) is emptied through the drain pipe (3), so that cross contamination is prevented; Step 304, comparing the current pose point water quality parameter with a threshold value, and triggering an event driving mode when the current pose point water quality parameter exceeds the threshold value to interrupt cruising; And 305, marking the coordinates of the current pose point through a GPS (global positioning system) locator (2).
  10. 10. The method for detecting water quality in a fixed-point cruise according to claim 7, wherein the step 4 is specifically: Step 401, starting from the current pose point record, comparing the concentration change rates of adjacent pose points to calculate a concentration gradient; And step 402, when the concentration gradient exceeds a preset threshold, automatically correcting the heading, wherein the target heading is corrected to be the vector direction in which the concentration increases the fastest.

Description

Gesture locking and event driven fixed-point cruising water quality detection ship and method Technical Field The invention belongs to the technical field of water quality detection, and relates to a water quality detection ship capable of realizing fixed-point cruising under the action of gesture locking and event driving, and a water quality detection method capable of realizing fixed-point cruising under the action of gesture locking and event driving. Background With the enhancement of environmental protection awareness and standardization of water resource management, water quality monitoring of inland rivers, lakes and reservoirs is becoming increasingly important. These waters are not only ecological barriers for cities, but also important sources of domestic water. However, the water area is complex and has a wide area, so that the water body needs to be periodically detected at high frequency and multiple points. Currently, manual monitoring is mostly adopted, and monitoring personnel need to drive ships or sample on the shore and send the ships or the shore to a laboratory for analysis. The work has high labor intensity and low efficiency, and when in operation in severe weather or in a water area with serious pollution, workers face potential safety hazards such as water falling and poisoning, and the data feedback has hysteresis, so that the method is not cost-effective. There are also some water quality monitoring devices on the market at present, for example, application with publication number CN117360128a discloses an amphibious intelligent water quality monitoring ship, the monitoring ship can be positioned and maintained, but in complex flow fields (such as turbulence and stormy waves), the traditional differential positioning only focuses on the ground coordinates, dynamic interference of ship body shaking to sampling depth is ignored, water inlets jump among water layers with different depths, sensor data fluctuation is large, and reality is poor. As another example, the application with publication number CN208140686U discloses an intelligent water body monitoring device, which can automatically control but mostly adopts a fixed track to cruise, and cannot autonomously adjust navigation strategy according to real-time water quality feedback, so that the traceability of sudden pollution sources is very weak. Therefore, the automatic operation water quality monitoring ship with high environmental adaptability and decision making capability is developed, the limitations of ship body swing on sampling interference and fixed track cruising on dynamic tracing tasks under differential speed positioning are overcome, the realization of the technical span from conventional inspection to autonomous tracing has important significance, and the automatic operation water quality monitoring ship has become a key technical direction for improving the fine monitoring capability of complex water areas. Disclosure of Invention The invention aims to provide a water quality detection ship capable of realizing fixed-point cruising through gesture locking and event driving, and solves the problems that the ship body shaking interference sampling precision and the fixed track cruising in the prior art lack of autonomous decision making capability. A second object of the present invention is to provide a water quality detection method for attitude lock and event driven fixed point cruising. The technical scheme includes that the ship body is provided with a GPS (global positioning system) positioner and a six-axis inertial measurement unit, the GPS positioner and the six-axis inertial measurement unit are respectively and electrically connected with a control system, the ship body is provided with a water tank, the water tank is communicated with a water suction pipe and a water discharge pipe, a water pump is arranged between the water tank and the water suction pipe, the tail of the ship body is fixedly connected with a water baffle, and two sides of the bottom of the water baffle are symmetrically provided with screw propellers. The invention is characterized in that: the inside of the water tank is provided with a plurality of sensors which are respectively and electrically connected with a control system, the control system is also electrically connected with a propeller, the plurality of sensors are respectively a TDS sensor, a PH sensor and a turbidity sensor, and the two propellers are a first propeller and a second propeller. The control system is internally integrated with a gesture locking module and an event-driven cruising module, the gesture locking module is electrically connected with the six-axis inertial measurement unit, the first propeller and the second propeller, and the event-driven cruising module is electrically connected with the GPS locator, the TDS sensor, the PH sensor, the turbidity sensor, the first propeller and the second propeller. The camera is installed at the hull head, and