TWI769462B - Multi-point time-sharing water quality monitoring system - Google Patents

Abstract

The present invention provides a multi-point time-sharing water quality monitoring system, which includes a water quality measuring machine and a management station, wherein the unmanned vehicle of the water quality measuring machine receives a task command from a controlled module through a wireless transmission module , and cooperate with the positioning module to travel to and from the designated sensing point according to the set at least two sets of flight routes, so that the unmanned vehicle can perform the collection task of water quality parameter data through the mounted water quality sensing module after reaching the sensing point. The water quality parameter data is sent back to the management station or a background server for storage, and after the unmanned vehicle returns to the management station, the cleaning machine can be automatically controlled to clean the water quality measurement module, and the power supply equipment can be used to clean the power unit. Supplementary power allows on-site operators to use a single water quality measuring machine to monitor multiple sensing points, thereby achieving the purpose of multi-point time-sharing monitoring in a wide area of the environment, and it is not necessary to set up multiple sets of water quality collection devices in different water bodies to be monitored. , more effectively reduce the cost of construction.

Description

Multi-point time-sharing water quality monitoring system

The present invention provides a multi-point time-sharing water quality monitoring system, especially a water quality measuring module that can be mounted on an unmanned vehicle using a water quality measuring machine, and can automatically charge the unmanned vehicle and clean the water quality measuring module. Manage the machine station to form a remote unmanned water quality monitoring system that can monitor the water quality changes of multiple sensing points in real time.

According to this, natural seawater, breeding ponds or aquariums are used to stock useful aquariums and aquatic products, including fish, shrimps or aquatic plants and other aquatic animals and plants. Time, feeding amount, temperature, etc. are all important factors that affect the effect of aquaculture. In order to make aquaculture fish have better growth conditions, most of the current breeding ponds are equipped with a number of waterwheels, automatic bait feeders, filters and other aquaculture equipment. And will use a variety of electronic sensing devices to obtain water quality information in the breeding pond. When the water quality of the breeding pond changes, it can immediately sense and reply to the breeding industry to take corresponding measures to avoid the water quality conditions. death due to changes in the growth of aquatic animals.

However, the organisms stocked in general breeding ponds may come from different environments and require different water quality conditions, and their ecological composition is quite complex, so in the process of breeding, including water quality conditions (such as dissolved oxygen, temperature, pH, salt, etc. degree, etc.), water pollution degree (such as ammonia nitrogen, suspended solids, redox potential, etc.) and plankton, plants, etc., will affect the aquaculture water. Therefore, maintaining good water quality is very important for the health of aquatic animals. A common practice is to monitor the pH (ie PH value) and dissolved oxygen (ie DO value) of the water quality in the aquaculture pond. If the pH change of the water quality deviates from the allowable value, the pump will be started to pump and change the water, and the necessary stabilizers such as lime, humic acid, and probiotics can also be put in to disinfect and decompose the rotten substances at the bottom of the pool. Provide algae nutrients, adjust the pH of the water quality and maintain the density of plankton and plants, etc., wait for a period of time and then test until the pH value is within the allowable range, and when the dissolved oxygen content of the water quality is insufficient, start the waterwheel. Use water or an aerator to supplement the dissolved oxygen in the water, thereby ensuring the ecological balance and continuation of the culture pond.

In the traditional continuous water quality monitoring system, each aquaculture pond in different areas requires a set of water quality collection devices for testing. If it is applied to multiple different aquaculture ponds, in order to achieve unified control of different aquaculture ponds and monitor water quality parameters at any time (such as water temperature, dissolved oxygen, pH, salinity, ammonia nitrogen, suspended solids, redox potential, etc.), it is necessary to have multiple sets of water quality collection devices, which not only cost a lot to build, but also caused aquaculture operators to The willingness to adopt a continuous water quality monitoring system is low.

As shown in Figure 2, it is a schematic block diagram of a conventional multi-point water quality monitoring system, wherein the multi-point water quality monitoring system uses a plurality of sensing modules A1 of the water quality collecting device A (including the water quality sensor and the signal processing part, etc. ) are respectively set in different breeding ponds, and the signal acquisition and storage unit A2 will collect the water quality parameter data in the water body sensed by the water quality sensor through wired or wireless transmission for storage, and then upload it to the background server through the Internet However, the multi-point water quality monitoring system usually places the water quality sensor in the water body of the aquaculture pond for a long time. If the detected water body has a high degree of pollution or rich When plankton and plants, it will cause algae and shells to easily adhere to the optical water quality sensor. The sensing signal is rapidly attenuated or distorted, and the electrochemical water quality sensor is also prone to rapid aging due to the continuous reaction of the electrodes. It is necessary to dispatch personnel to regularly travel to and from the breeding ponds in different locations for frequent calibration, repair and maintenance. etc., the dependence on manpower is extremely high, and once the maintenance is neglected, it will cause a significant impact, and even lead to system failures, misjudgments and other situations.

Therefore, in the era of the use of automatic water quality monitoring and control in breeding ponds, because the water quality parameters in the closed water body do not change frequently or drastically, how should the industry design a water quality monitoring and control that can be performed at multiple points and time? And in the maintenance of the water quality sensor, the human water quality monitoring system can be simplified, so as to effectively improve the inconvenience and lack of unified control of multiple breeding ponds, reduce the cost of manual maintenance, and maintain the best state of water quality. , which is an important issue that the industry has been eager to improve for a long time.

Therefore, in view of the above deficiencies, the inventor collects relevant information, conducts multiple evaluations and considerations, and uses years of experience in the industry to continue trial production and modification, and then develop and design this multi-point time-sharing water quality monitoring. The invention patent of the system was born.

The main purpose of the present invention is that the unmanned vehicle of the water quality measuring machine is equipped with a water quality measuring module, and cooperates with a management station with a cleaning machine and a power supply equipment to form a remote unmanned water quality monitoring system. The machine can receive a task command, and automatically fly to the designated sensing point according to the set at least two sets of flight routes to perform various water quality parameter data collection tasks, and return the water quality parameter data to the management station or background server for storage. , and after the water quality sensor returns to the management station, it can automatically complete the power supply for the unmanned vehicle and the cleaning of the water quality sensor module, so that the field operator can use a single water quality sensor to monitor multiple sensors in real time. Changes in water quality at the point, and according to the monitoring results to understand the current state of the water body in the sensing point, and then to achieve environmental For the purpose of wide-area multi-point time-sharing monitoring, it is not necessary to set up multiple sets of water quality collection devices in different water bodies that need to be monitored, which can effectively reduce the cost of construction.

The secondary purpose of the present invention is that a single water quality measuring machine cooperates with the management station, and only one set of water quality measuring modules can be installed to collect water quality parameter data for multiple sensing points, and transmit the water quality parameter data back. To the management station or the backend server for storage, you only need to issue the task command through the backend server or the management program of the cloud processing platform to automatically plan or increase the setting and arrangement of the flight route, and you can increase the sensing points without additional cost. It allows field operators to monitor the water quality changes at multiple sensing points in real time, and take corresponding measures according to the monitoring results.

Another object of the present invention is that the unmanned vehicle of the water quality measuring machine can obtain the task command issued by the management program of the background server or the cloud processing platform through the wireless transmission module, and provide the weather including rainfall and wind speed according to the management program. The information determines that the weather conditions are suitable for flight, and all online water quality measuring machines will automatically perform various collection tasks, and the management program is connected to the open data platform of the Meteorological Bureau through the application program interface to obtain the weather information of each district, and can be based on the real-time weather. Situation planning and correction of the latest flight routes.

Another object of the present invention is that when the unmanned vehicle flies to the sensing point, the controlled module can locate the unmanned vehicle according to the positioning mark set at the sensing point, so as to guide the unmanned vehicle to fly to the sensing point accurately. The specified position and height can prevent the unmanned vehicle from being affected by the terrain, vegetation, and trees around the sensing point, and making wrong flight decisions.

1: Water texture measuring machine

11: Unmanned Vehicles

12: Controlled modules

13: Wireless transmission module

14: Positioning module

15: Water quality measurement module

16: Power unit

2: Management station

21: Landing platform

22: Master control module

23: Wireless transmission module

24: Washing machine

25: Power Supplementary Equipment

3: Backend server

31: Management Program

32:Database

4: Sensing point

A: Water quality collection device

A1: Sensing module

A2: Signal acquisition and storage unit

B: Backend server or cloud processing platform

[Fig. 1] is a block diagram of a preferred embodiment of the present invention.

[Figure 2] is a block diagram of a conventional multi-point water quality monitoring system.

In order to achieve the above-mentioned purpose and effect of the present invention, the technical means and structure adopted by the present invention, the preferred embodiment of the present invention will be described in detail as follows, so as to be fully understood.

Please refer to Figure 1, which is a block diagram of a preferred embodiment of the present invention. It can be clearly seen from the figure that the multi-point time-sharing water quality monitoring system of the present invention includes at least one water quality measuring machine 1 and a management machine Station 2, where:

The water quality measuring machine 1 includes an unmanned vehicle 11 , a controlled module 12 , a wireless transmission module 13 , a positioning module 14 , a water quality measuring module 15 and a power unit 16 , wherein the unmanned vehicle 11 is an unmanned flight Vehicle (Unmanned Aerial Vehicle, UAV) or Unmanned Aircraft System (Unmanned Aircraft System, UAS), also known as aerial camera, remote control drone, etc., and a power device is installed on the frame of the unmanned vehicle 11, and the The power plant is mainly composed of propellers and motors to form a rotorcraft, fixed-wing aircraft and helicopter rotorcraft, which can drive the body to fly by the reaction force generated by the rotation of the blades.

The unmanned vehicle 11 generally uses sensors such as gyroscopes, accelerometers, magnetometers, and barometers as feedback, and the controlled module 12 (including the controller, signal processing unit, and storage unit) transmits wirelessly. The module 13 receives the task command or control signal, and can cooperate with the positioning module 14 (including Global Positioning System (GPS) or inertial navigation system) to obtain information such as the attitude, heading or altitude of the unmanned vehicle 11, and also The unmanned vehicle 11 can be locked at the specified position and altitude for positioning and navigation, and the flight trajectory and movement of the unmanned vehicle 11 can be tracked and recorded in real time, so as to have the functions of attitude stabilization and control, mission equipment management and emergency control. .

In this embodiment, the unmanned vehicle 11 is equipped with a water quality sensing module 15 under the frame, and the water quality sensing module 15 includes at least one water quality sensor, which is respectively used for sensing including but not limited to Physical parameters such as water temperature and water pressure; chemical parameters such as dissolved oxygen, pH, salinity, ammonia nitrogen (NH3-N), suspended solids, redox potential, or other data related to water quality parameters, and can also be the above items Any one or a group of two or more water quality parameters is combined, and after the data of each water quality parameter is integrated by the controlled module 12, the wireless transmission module 13 uses 3G, 4G-LTE or 5G- The NR mobile communication network is sent back to the database 32 of the management station 2 or the background server 3 for storage; in addition, the unmanned vehicle 11 is installed with a rechargeable or power-swappable power unit 16 in the body, and the power unit 16 It can be used for lithium polymer batteries, solar cells or fuel cells, etc., to provide the power required for the whole.

Furthermore, the controlled module 12 of the water quality measuring machine 1 can obtain the task instruction issued by the background server 3 or the management program 31 of the cloud processing platform through the wireless transmission module 13, and automatically plan and set at least two sets of fixed-point round-trip flights. After the weather conditions are determined to be suitable for flying according to the weather information provided by the management program 31, all online water quality measuring machines 1 will automatically complete various collection tasks according to the task instructions issued, and quickly transmit real-time water quality measuring machines 1. Send back images and water quality measurement data, etc., so that the on-site operator can understand the task execution status of the water quality sensor 1, and can also stream the audio and video on the aircraft in real time, set the flight area and issue air rights, etc. to operate the flight action, and then The management program 31 of the server 3 is connected to the open data platform of the Meteorological Bureau through an application programming interface (API) to obtain the weather information of each district, including rainfall, wind speed, etc., and can plan and correct the latest weather conditions according to the real-time weather conditions. flight route.

In addition, a camera module can also be mounted on the front of the rack of the unmanned vehicle 11 , and the captured image and the GPS coordinate image of the positioning module 14 are real-time transmitted through the wireless transmission module 13 After the data is sent back to the background server 3, the on-site operator can monitor the current task execution status and set the flight route through the images on the screen. However, this part is about how the controlled module 12 receives the task command through the wireless transmission module 13. , and cooperate with the positioning module 14 so that the unmanned vehicle 11 can automatically complete various tasks according to the set flight route, and the method of collecting the water body by the water quality sensing module 15 is within the scope of the prior art, and the composition of the details is not the case in this case. The main points of the creation are explained together in the following description of this case, and they are presented together.

The management machine station 2 includes a take-off and landing platform 21, a main control module 22, a wireless transmission module 23, a cleaning machine 24 and a power supplementary device 25, wherein the management machine station 2 can be a fixed or mobile base station, and is located at A platform release frame is arranged on the take-off and landing platform 21, so that the main control module 22 can control the platform release frame to hold the unmanned vehicle 11 stably before releasing, and can assist the unmanned vehicle 11 to lift off smoothly when it is released. Not limited to this, the management station 2 is used to manage all the water quality measuring machines 1 on the line to ensure whether each unmanned vehicle 11 can operate normally, and when an abnormal condition of the unmanned vehicle 11 is detected , it can also issue a warning to the on-site operator to deal with it immediately, so the following descriptions in this case are all explained together and presented together.

In this embodiment, the cleaning machine 24 has a cleaning water tank, and the cleaning water tank is connected with a water inlet pipe and a drain pipe, and the cleaning water tank is provided with an electric brush or a nozzle. When the water quality sensor 1 is positioned on the landing platform 21 When the sensor is installed, the sensor head of the water quality sensor module 15 will be inserted into the cleaning water tank, and each sensor head will be cleaned (brushed) by an electric brush or a nozzle, and then the cleaned The water or cleaning liquid is discharged through the drain pipe, so as to realize the functions of automatic cleaning (brushing), water intake, drainage, and drug addition (such as detergent).

The power supplementary method used by the power supplement device 25 to the water texture sensor 1 clamped on the take-off and landing platform 21 includes but is not limited to charging, power exchange, or parallel charging and power exchange. In this embodiment, the power supplementary device 25 uses the charging unit on the platform to charge the lithium polymer battery of the power unit 16 by means of wired or wireless power transmission, and will be charged after being fully charged or charged for a predetermined period of time. Automatically power off, so that the water quality sensor 1 has enough power to go to and from the management station 2, and will not be limited by distance and flight time. It can also further use the solar panel to provide its power source, and the way to change the power is to use The robot arm first removes the battery of the unmanned vehicle 11 in the battery slot, and inserts it into the charger in the platform for fast charging, then grabs a fully charged battery and puts it into the battery slot to quickly complete the replacement, and then restarts the water Texture sensor 1, continue to complete the remaining tasks.

When the present invention is in use, the controlled module 12 of the water quality sensor 1 can obtain the task instruction issued by the background server 3 or the management program 31 of the cloud processing platform through the wireless transmission module 13, so that the unmanned vehicle 11 can cooperate with The positioning module 14 can travel to and from the sensing point 4 according to at least two sets of flight routes set by the automatic planning, and after the take-off and landing platform 21 of the management station 2 takes off smoothly, it can automatically fly to the designated sensing point 4 for execution. Various collection tasks, and the sensing point 4 can preferably be implemented as a breeding pond or a fish farm, but it is not limited to this, and can also be a natural water area (such as a river, lake, etc.) or an artificial water body (such as a pi ponds, weirs, reservoirs, etc.), at least one positioning mark can also be set at each sensing point 4 to be used for fool-proof positioning of the unmanned vehicle 11. When the unmanned vehicle 11 flies to the sensing point 4 At the time, the controlled module 12 can first confirm the positioning mark (such as a label or pattern, etc.) through the camera module, and according to the positioning mark, the unmanned vehicle 11 can be positioned and the predetermined descending position and height can be calculated. Guide the unmanned vehicle 11 to accurately descend to a distance above the water surface in the sensing point 4, so as to prevent the unmanned vehicle 11 from being affected by the terrain, vegetation and trees around the sensing point 4, and make a wrong flight determination. High hover for easy task execution.

When the unmanned vehicle 11 flies and reaches above the water surface in the designated sensing point 4, its retractable mechanism will drive the water quality sensor module 15 to swing downward, and the direction of the sensor head of the water quality sensor can be changed. Angle, or the unmanned vehicle 11 can be directly moored on the water surface through the internal buoyancy cabin or adding a floating kit, so that the sensor head of the water quality sensor can be extended into the water surface to collect various water quality parameters in the water body After the data of various water quality parameters are integrated by the controlled module 12, the wireless transmission modules 13 and 23 will instantly return the data to the main control module 22 of the management station 2 or the background server 3. The library 32 is stored for various monitoring or control actions performed by the background server 3 or the cloud processing platform, and can be flexibly changed to a plurality of different sensing points 4, so that the field operator can use a single water quality sensor 1 to Multiple sensing points 4 are monitored to achieve the purpose of multi-point time-sharing monitoring in a wide area of the environment, and there is no need to set up multiple sets of water quality collection devices in different water bodies to be monitored, which can effectively reduce the cost of construction.

After the unmanned vehicle 11 returns to the management station 2 and descends on the landing platform 21 and is firmly held by the platform release frame, the main control module 22 will automatically control the cleaning machine 24 to detect the water quality on the water quality sensor module 15. Each sensor head is cleaned, and the power supply device 25 is used to quickly supply power to the power unit 16, and after the unmanned vehicle 11 completes cleaning and power supply, it will continue to the next sensing point 4 according to the set flight route. The task of collecting water quality parameter data is repeated until all tasks are completed, but in practical applications, it is not limited to this, and after completing more than one task according to the flight distance and time provided by the power unit 16, Return to the management station 2 for cleaning and power supply, and the main control module 22 can track and record the flight trajectory and movement of the unmanned vehicle 11 in real time, so that the background server 3 or the cloud processing platform can plan the next flight route , and the maintenance of the water quality sensing module 15 can also be automatically cleaned by the cleaning machine 24 to simplify manpower and reduce maintenance costs.

Therefore, the present invention mainly provides the unmanned vehicle 11 of the water quality measuring machine 1 equipped with the water quality measuring module 15, and cooperates with the management station 2 with the cleaning machine 24 and the power supplementary equipment 25 to form a remote unmanned water quality The monitoring system, the water quality measuring machine 1 can receive a task instruction, and automatically fly back and forth to the designated sensing point 4 according to the set at least two sets of flight routes to perform the collection task of various water quality parameter data, and the water quality measuring machine 1 After returning to the management station 2 to automatically complete cleaning and replenishing power, continue to the next sensing point 4 to collect water quality parameter data according to the set flight route until all tasks are over.

This single water quality measuring machine 1 cooperates with the management station 2, and only needs to be equipped with a set of water quality measuring modules 15 to collect water quality parameter data from multiple sensing points 4, and send it back to the management station 2 or The background server 3 performs storage, and only needs to automatically plan or increase the setting and arrangement of the flight route through the management program 31 of the background server 3 or the task command issued by the cloud processing platform, and the sensing point 4 can be added without the need for At an additional cost, the latest flight route can also be planned and revised according to the real-time weather conditions, so that the on-site operator can monitor the water quality changes of multiple sensing points 4 in real time, and understand the current state of the water body to be monitored according to the monitoring results. In order to take corresponding measures (such as automatic control of the pump to change water, water truck to draw water, water temperature heater or chiller to adjust the water temperature, automatic feeder to spray bait, etc.).

The above detailed description is only for describing a preferred feasible embodiment of the present invention, but the embodiment is not intended to limit the scope of the patent application of the present invention, and all other equivalent changes and modifications are completed without departing from the technical spirit disclosed in the present invention. Changes should be included in the patent scope covered by the present invention.

To sum up, when the multi-point time-sharing water quality monitoring system of the present invention is used, in order to achieve its efficacy and purpose, the present invention is an invention with excellent practicability. The application requirements for an invention patent should be filed in accordance with the law. We hope that the review committee will approve the case as soon as possible to protect the inventor's hard work. If the review committee has any doubts, please do not hesitate to send a letter for instructions. The inventor will do his best to cooperate. easy.

1: Water texture measuring machine

11: Unmanned Vehicles

12: Controlled modules

13: Wireless transmission module

14: Positioning module

15: Water quality measurement module

16: Power unit

2: Management station

21: Landing platform

22: Master control module

23: Wireless transmission module

24: Washing machine

25: Power Supplementary Equipment

3: Backend server

31: Management Program

32:Database

4: Sensing point

Claims (8)

A multi-point time-sharing water quality monitoring system includes at least one water quality measuring machine and a management station, wherein: the water quality measuring machine includes an unmanned vehicle, a controlled module, a wireless transmission module, a positioning module, a The water quality sensing module and the power unit on the unmanned vehicle, the controlled module receives a task command through the wireless transmission module, and cooperates with the positioning module to control the at least two sets of flight routes. The unmanned vehicle travels back and forth to the designated sensing points, so that the unmanned vehicle can fly to the sensing points to perform various water quality parameter data collection tasks through the water quality sensing module, and return the water quality parameter data. To the management station, each sensing point is provided with a positioning mark for use as a fool-proof positioning of the unmanned vehicle, and the unmanned vehicle of the water quality measuring machine obtains the background servo through the wireless transmission module The task command issued by the management program of the computer or the cloud processing platform will automatically plan at least two sets of fixed-point round-trip flight routes, and provide weather information including rainfall and wind speed according to the management program to determine that the weather conditions are suitable for flight. Various collection tasks will be performed, and the management program of the background server or cloud processing platform is connected to an open data platform of the Meteorological Bureau through an application program interface to obtain the weather information of each district; Vehicle positioning platform, main control module, wireless transmission module, cleaning machine and power supplementary equipment, the main control module manages the operation of the water quality measuring machine through the wireless transmission module, and receives the some water quality parameter data, when the unmanned vehicle returns to the landing platform from the sensing points, the main control module automatically controls the washing machine to clean the water quality sensing module, and the power supplementary equipment to supplement the power unit. The multi-point time-sharing water quality monitoring system according to claim 1, wherein the unmanned vehicle of the water quality measuring machine is an unmanned aerial vehicle or an unmanned aircraft system, and the water quality measuring module mounted on the unmanned vehicle comprises: At least one water quality sensor is used for sensing water quality parameter data in the water body at the sensing points. The multi-point time-sharing water quality monitoring system according to claim 2, wherein the water quality parameters include any one of water temperature, dissolved oxygen, pH, salinity, ammonia nitrogen (NH3-N), suspended solids, and redox potential or A group of two or more combinations. The multi-point time-sharing water quality monitoring system according to claim 1, wherein the positioning module of the water quality measuring machine is a global positioning system or an inertial navigation system. The multi-point time-sharing water quality monitoring system as claimed in claim 1, wherein the power unit of the water quality measuring machine is a battery, and the power supplementary method of the power supply unit at the management station is charging or battery replacement. . The multi-point time-sharing water quality monitoring system according to claim 1, wherein the cleaning machine of the management station has a cleaning water tank into which the water quality sensing module extends, and an electric motor is installed inside the cleaning water tank brush or nozzle. The multi-point time-sharing water quality monitoring system as claimed in claim 1, wherein the positioning mark is a label or a pattern. The multi-point time-sharing water quality monitoring system according to claim 1, wherein the sensing points are respectively a breeding pond, a fish farm, a river in natural waters, a lake or a pond, weir, and reservoir in artificial water.

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