CN-122017132-A - Self-exploration-based navigation type greenhouse gas monitoring system

CN122017132ACN 122017132 ACN122017132 ACN 122017132ACN-122017132-A

Abstract

The application relates to a walking type greenhouse gas monitoring system based on autonomous exploration, which comprises an unmanned ship body, an autonomous sensing and dynamic programming module and an integrated greenhouse gas acquisition monitoring module, wherein the autonomous sensing and dynamic programming module is integrated on the unmanned ship body, the integrated greenhouse gas acquisition monitoring module is used for working in a walking type continuous pre-sampling mode to acquire real-time pre-sampling data when the unmanned ship body performs autonomous cruising scanning on a water area to be detected, and is also used for automatically switching to a fixed-point closed type accurate measurement mode to perform measurement when the unmanned ship body reaches any optimal sampling point according to an optimal navigation path, the autonomous sensing and dynamic programming module is used for generating dynamic spatial distribution information of greenhouse gas based on the real-time pre-sampling data, and also is used for acquiring environmental obstacle information in real time, and generating an optimal sampling point sequence and an optimal navigation path of the unmanned ship body reaching each optimal sampling point based on the environmental obstacle information and the optimal navigation path of the unmanned ship body.

Inventors

LI SHUANG
Wu Quanchao
HE QIAN
WANG ZHENGSHU
Zhou xinjiang
LUO NAN
WANG ZHEN

Assignees

北京首创生态环保集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20251230

Claims (10)

1. The utility model provides a walk-through greenhouse gas monitoring system based on independently explore which characterized in that includes: the unmanned ship comprises an unmanned ship body, an autonomous sensing and dynamic planning module and an integrated greenhouse gas acquisition and monitoring module, wherein the autonomous sensing and dynamic planning module is integrated in the unmanned ship body; the integrated greenhouse gas collection monitoring module is used for working in a sailing type continuous pre-sampling mode when the unmanned ship body performs autonomous cruising scanning on a water area to be tested, so as to obtain real-time pre-sampling data of the greenhouse gas in a water-gas interface escaping state; The autonomous sensing and dynamic planning module is used for generating dynamic space distribution information of the escaping greenhouse gas of the water-gas interface based on the real-time pre-sampling data, acquiring environment obstacle information in real time, and dynamically generating an optimal sampling point position sequence and an optimal navigation path of the unmanned ship body reaching each optimal sampling point in real time based on the environment obstacle information and the dynamic space distribution information; The integrated greenhouse gas collection monitoring module is also used for automatically switching to a fixed-point closed type accurate measurement mode to measure the escaping greenhouse gas of the water-gas interface when the unmanned ship body reaches any one of the optimal sampling points according to the optimal navigation path; the generation of the optimal sampling point position sequence and the optimal navigation path, and the triggering of the fixed-point closed type accurate measurement mode are all related to the real-time pre-sampling data acquired by the navigation type continuous pre-sampling mode.
2. The autonomous exploration-based walk-through greenhouse gas monitoring system of claim 1, wherein the autonomous sensing and dynamic programming module comprises: The environment and gas association sensing unit is used for generating dynamic space distribution information of the escaping greenhouse gas of the water-gas interface based on the real-time pre-sampling data, acquiring environment obstacle information in real time and generating an environment-gas association map based on the environment obstacle information and the dynamic space distribution information; the sampling point position decision unit is used for identifying the spatial distribution characteristics of the greenhouse gas concentration based on the environment-gas correlation map and generating an optimized sampling point position sequence containing point position coordinates and priorities according to a preset monitoring strategy; And the self-adaptive path planning unit is used for generating an optimal navigation path based on the optimized sampling point position sequence, the navigation performance parameters of the unmanned ship body and the environmental obstacle information.
3. The autonomous exploration-based walk-through greenhouse gas monitoring system of claim 2, wherein the environment and gas associated sensing unit comprises: The space-time alignment and fusion subunit is used for performing space-time alignment on the real-time pre-sampling data and the environmental obstacle information based on a unified time and space reference system to generate space-time aligned real-time pre-sampling data and the environmental obstacle information; The spatial distribution field reconstruction subunit is used for processing the time-space aligned real-time pre-sampling data through a spatial interpolation algorithm to generate a spatially continuous distributed enhanced gas concentration distribution field serving as dynamic spatial distribution information of the escaping greenhouse gas of the water-gas interface; and the multidimensional correlation map generation subunit is used for carrying out spatial superposition and correlation analysis on the enhanced gas concentration distribution field and the environmental obstacle information aligned in time and space to generate an environment-gas correlation map representing the coupling relation among the navigable area, the environmental characteristics and the greenhouse gas concentration distribution.
4. The autonomous exploration based walk through greenhouse gas monitoring system of claim 2, wherein the sampling point location decision unit comprises: The distribution characteristic extraction subunit is used for analyzing the environment-gas association map, extracting a concentration high-value clustering region and a gradient mutation zone as spatial distribution characteristics, and dividing a water area to be detected into a plurality of independent candidate monitoring regions based on the spatial boundary of the extracted spatial distribution characteristics; The monitoring priority ordering subunit is used for configuring basic weights for different types of the spatial distribution characteristics based on a preset evaluation system, configuring sub-item weights for each candidate monitoring area, generating comprehensive priority scores of each area through weighted calculation, and generating a monitoring priority sequence according to the scores; The initial point position generation subunit is used for generating an initial sampling point set according to the monitoring priority sequence and a preset layout rule, wherein the preset layout rule is that encryption and point arrangement are carried out on a high-priority area, linear point arrangement is carried out on a medium-priority area along a gradient mutation zone, and grid uniform point arrangement is carried out on a low-priority area; And the point position optimization screening subunit is used for carrying out simplified adjustment based on the endurance constraint of the unmanned ship body to obtain an optimized sampling point position sequence containing point position coordinates and priorities.
5. The autonomous exploration-based walk-through greenhouse gas monitoring system of claim 4, wherein the monitoring prioritization subunit wherein the predetermined evaluation system comprises: The characteristic type weight library is pre-stored with basic weights corresponding to different spatial distribution characteristic types, wherein the weights configured in the concentration high-value clustering region are larger than those configured in the gradient mutation zone; and the regional attribute quantization rule is used for calculating a set of quantifiable attribute parameters for each candidate monitoring region, wherein the attribute parameters at least comprise the regional area.
6. The autonomous exploration based walk through greenhouse gas monitoring system of claim 2, wherein the adaptive path planning unit comprises: The global path generation subunit is used for generating a cost map based on the optimized sampling point position sequence containing the point position coordinates and the priority, the navigation performance parameters of the unmanned ship body and the environment obstacle information; And the path optimizing subunit is used for carrying out path calculation on the cost map by taking the minimized comprehensive navigation cost and the maximized attractive force to the high-priority point location as targets and adopting a motion planning algorithm to generate an optimal navigation path for connecting the current unmanned ship position with the subsequent point location in the optimized sampling point location sequence.
7. The autonomous exploration-based walk-through greenhouse gas monitoring system of claim 6, wherein the global path generation subunit is specifically configured to: Constructing an initial grid map, wherein the basic cost value of each cell or node is determined by the environmental obstacle information, and the area occupied by the obstacle is endowed with a cost value for forbidden traffic; generating a corresponding attraction field for each optimized sampling point on the initial map based on the optimized sampling point sequence containing the point coordinates and the priorities, and generating the cost map by superposing the attraction field on the basic cost value of the initial map.
8. The autonomous exploration based walk through greenhouse gas monitoring system of claim 6, wherein the path optimizing subunit is specifically configured to: Constructing a comprehensive objective function of path optimization, and running an A-type algorithm on the cost map to find a candidate path for optimizing the comprehensive objective function; and smoothing the candidate path with the optimal comprehensive objective function to obtain an optimal navigation route.
9. The autonomous exploration-based walk-through greenhouse gas monitoring system of claim 8, wherein the comprehensive objective function consists of two parts of total cost of navigation of the path and total benefit of monitoring value of the path; the navigation total cost of the path is obtained through accumulated calculation according to the basic passing cost corresponding to each position of the path passing through on the cost map; The total gain of the monitoring value of the path is obtained by accumulatively calculating the approach degree of the path to each point in the optimized sampling point sequence and the priority of each point; the optimization objective of the comprehensive objective function is to achieve minimization of the total sailing cost and maximization of the total monitoring value benefit on the premise of meeting the sailing duration constraint.
10. The autonomous exploration-based walk-through greenhouse gas monitoring system of claim 1, further comprising: The task management and storage module is integrated on the unmanned ship body and is used for receiving and storing the environment-gas association map, the optimized sampling point sequence and the optimal navigation path from the autonomous perception and dynamic programming module, and all pre-sampling data and fixed-point accurate measurement data from the integrated greenhouse gas acquisition and monitoring module.

Description

Self-exploration-based navigation type greenhouse gas monitoring system Technical Field The application relates to the technical field of environment monitoring, in particular to a walking type greenhouse gas monitoring system based on autonomous exploration. Background The emission and dissipation of greenhouse gases are one of the core driving factors of global climate change, wherein the greenhouse gas dissipation quantity of a water-gas interface is used as an important component of global carbon circulation, and the accurate monitoring has a key supporting effect on climate change research and emission reduction policy formulation. Along with the upgrading of environmental protection monitoring demand, the monitoring of the greenhouse gas emission of the water body water-gas interface gradually develops towards the direction of automation, intellectualization and large-scale coverage, but the existing monitoring technology still has difficulty in meeting the monitoring requirement of high precision and high efficiency, and a plurality of problems to be solved urgently exist. At present, the greenhouse gas monitoring of a water body water-gas interface mainly adopts a traditional implementation mode of 'preset path+fixed point position', and the core of the method is that sampling point positions in a monitoring area are determined through manual early-stage investigation, and after a navigation path is preset, sampling monitoring is completed by manually operating monitoring equipment or a simple unmanned ship platform to reach the fixed point positions according to a preset route. Because the setting of sampling points in the mode is completely dependent on manual presetting, dynamic adjustment cannot be performed according to the concentration distribution characteristics of dissolved greenhouse gases in an actual water body, the problems of missed detection in a high-value abnormal region and redundant sampling in a uniform distribution region are easy to occur, the representativeness of monitoring data is poor, the overall view of regional escape is difficult to truly reflect, so that accurate monitoring requirements under a complex water body environment are adapted, and high-quality monitoring data support cannot be provided for climate change research and emission reduction policy formulation. Therefore, there is a need for a walk-through greenhouse gas monitoring system based on autonomous exploration. Disclosure of Invention First, the technical problem to be solved In view of the above-mentioned drawbacks and shortcomings of the prior art, the present application provides a walking greenhouse gas monitoring system based on autonomous exploration, which solves the technical problems of low monitoring efficiency, poor data representativeness and poor environmental adaptability of the existing walking greenhouse gas monitoring technology. (II) technical scheme In order to achieve the above purpose, the main technical scheme adopted by the application comprises the following steps: The embodiment of the application provides a walking type greenhouse gas monitoring system based on autonomous exploration, which comprises the following components: the unmanned ship comprises an unmanned ship body, an autonomous sensing and dynamic planning module and an integrated greenhouse gas acquisition and monitoring module, wherein the autonomous sensing and dynamic planning module is integrated in the unmanned ship body; the integrated greenhouse gas collection monitoring module is used for working in a sailing type continuous pre-sampling mode when the unmanned ship body performs autonomous cruising scanning on a water area to be tested, so as to obtain real-time pre-sampling data of the greenhouse gas in a water-gas interface escaping state; The autonomous sensing and dynamic planning module is used for generating dynamic space distribution information of the escaping greenhouse gas of the water-gas interface based on the real-time pre-sampling data, acquiring environment obstacle information in real time, and dynamically generating an optimal sampling point position sequence and an optimal navigation path of the unmanned ship body reaching each optimal sampling point in real time based on the environment obstacle information and the dynamic space distribution information; The integrated greenhouse gas collection monitoring module is also used for automatically switching to a fixed-point closed type accurate measurement mode to measure the escaping greenhouse gas of the water-gas interface when the unmanned ship body reaches any one of the optimal sampling points according to the optimal navigation path; the generation of the optimal sampling point position sequence and the optimal navigation path, and the triggering of the fixed-point closed type accurate measurement mode are all related to the real-time pre-sampling data acquired by the navigation type continuous pre-sampling mode. Optionally, in some emb