CN115328128B - An unmanned boat and unmanned aerial vehicle collaborative online water quality monitoring system and method - Google Patents

Abstract

The invention discloses an unmanned ship and unmanned aerial vehicle cooperation on-line water quality monitoring system and method, comprising an unmanned ship, an unmanned aerial vehicle, a take-off and landing net, a water quality monitoring system, a networking communication radio station and a comprehensive ground station; the comprehensive ground station carries out real-time communication through a networking communication radio station and respectively sends task instructions to the unmanned aerial vehicle and the unmanned ship; monitoring the states of the unmanned aerial vehicle and the unmanned ship, including position, course, speed and fault information, and receiving monitoring results of the water quality monitoring system in real time; terminating the unmanned aerial vehicle and/or unmanned ship at any time; when any water quality parameter monitored by a water quality monitoring system on the unmanned ship exceeds a certain range, a water quality suspected pollution signal is sent out, the unmanned ship automatically takes off, whether the target water area has abnormal theft and discharge conditions or not is detected, and whether the target water area has abnormal theft and discharge conditions or not is fed back to the comprehensive ground station in real time. According to the invention, the water area data monitoring and emergency capability is comprehensively optimized through information sharing and function complementation of the unmanned aerial vehicle and the unmanned ship.

Description

An unmanned boat and unmanned aerial vehicle collaborative online water quality monitoring system and method

Technical Field

The present invention relates to the field of water body monitoring, and in particular to an online water quality monitoring system and method for collaboration between an unmanned boat and an unmanned aerial vehicle.

Background technique

At present, urban water environment monitoring is still mainly based on manual monitoring and monitoring stations, with low monitoring frequency, high operation intensity, high monitoring cost and fixed location, which cannot meet the needs of high-temporal and spatial density monitoring of wide-area water environment, pollution emergency tracking, and investigation and evidence collection of illegal discharge on the shore.

Summary of the invention

The main purpose of the present invention is to provide an online water quality monitoring system and method for the collaboration of an unmanned boat and an unmanned aerial vehicle, so as to improve the execution efficiency of a single unmanned platform when facing the task of monitoring water bodies in urban river networks.

The technical solution adopted by the present invention is: an unmanned boat and unmanned aerial vehicle collaborative online water quality monitoring system, including an unmanned boat, an unmanned aerial vehicle, a take-off and landing network, a water quality monitoring system, a networking communication radio station and an integrated ground station; wherein,

The networking communication radio station wirelessly networks the unmanned boat, the unmanned aerial vehicle and the integrated ground station to communicate with each other;

The integrated ground station performs real-time communication via a networked communication station to complete the following tasks: send task instructions to the drone and unmanned boat respectively; monitor the status of the drone and unmanned boat, including location, heading, speed, fault information, and receive the monitoring results of the water quality monitoring system in real time; terminate the mission of the drone and/or unmanned boat at any time;

The unmanned boat is provided with a shipborne control system and performs the following tasks: data exchange with the integrated ground station and receiving task instructions issued by the integrated ground station; connecting with the water quality monitoring system and sending a suspected water pollution signal when any water quality parameter monitored by the water quality monitoring system exceeds a certain range; data exchange with the drone and sharing its own motion state information, receiving the motion state information of the drone, maintaining a stable state during the take-off and landing of the drone, and ensuring the accurate take-off and landing of the drone on the unmanned boat; and real-time feedback of the monitoring results of the water quality monitoring system to the integrated ground station;

The drone is provided with an airborne control system for completing the following tasks: when receiving the suspected water pollution signal, it takes off autonomously, uses a coordinated follow-up take-off and landing algorithm to maintain the state after take-off, starts aerial photography, and uses an airborne laser radar and a double-entry pod to detect whether there is abnormal illegal discharge in the target waters; when returning after the photography, it exchanges data with the unmanned boat, shares its own motion state information, receives the motion state information of the unmanned boat, and uses a coordinated follow-up take-off and landing algorithm to follow the return and land; exchanges data with the integrated ground station, receives and executes the task instructions issued by the integrated ground station; and provides real-time feedback to the integrated ground station on whether there is abnormal illegal discharge in the target waters;

The take-off and landing net is anchored on the deck of the unmanned boat and is used for parking and charging the UAV;

The water quality monitoring system is installed at the tail of the unmanned boat, and is used to obtain mission instructions from the integrated ground station from the unmanned boat, conduct water quality sampling and monitoring, and feedback the monitoring results; when any water quality parameter monitored by the water quality monitoring system exceeds a certain range, the water body in the area is sampled and retained.

According to the above scheme, the water quality parameters monitored by the water quality monitoring system include pH value, conductivity, dissolved oxygen, turbidity and temperature.

According to the above scheme, the mission instructions issued by the integrated ground station include instructions for the unmanned boat's cruising target point, cruising speed, and water sampling, as well as patrol, detection, and evidence collection instructions for the drone.

According to the above scheme, the collaborative follow-up take-off and landing algorithm includes a take-off algorithm and a landing algorithm, wherein the landing algorithm is specifically:

The drone completes the mission and returns, initiating the tracking command;

Using PID cascade control, the UAV receives the position and speed information of the unmanned boat, dynamically calculates the desired point after the offset, and the horizontal distance between the UAV and the unmanned boat, and gradually shortens the horizontal distance between the UAV and the unmanned boat by using position tracking proportional control, speed tracking proportional control and speed feedforward control until the horizontal distance between the UAV and the unmanned boat reaches the preset distance value; the speed feedforward control is based on the speed of the unmanned boat as feedforward;

When the unmanned boat remains stable, the drone descends to a designated position on the unmanned boat;

The take-off algorithm is activated when the UAV receives the suspected water pollution signal, and the UAV gradually takes off and rises to a preset position using the PID cascade control.

According to the above scheme, the PID cascade control includes an outer loop control and an inner loop control; wherein the outer loop control includes a position loop controller and a speed loop controller, and the inner loop includes a posture loop controller and an angular velocity controller;

The position loop controller adopts position tracking proportional control to detect the actual position p of the UAV, compare it with the expected position _pd of the UAV, and calculate the expected speed _Vd of the UAV for the speed loop controller; the speed loop controller uses the speed _VF of the unmanned boat as feedforward, compares it with the expected speed _Vd of the UAV, and adopts speed tracking proportional control to provide the expected pitch angle _φd and roll angle _θd of the UAV; at the same time, the speed loop controller detects the real-time speed V of the UAV, and detects the environmental force _Fe generated by the collision with the deck during the landing process through the on-board force sensor, and inputs the total lift _Fd required by the UAV into the UAV mixing control;

The attitude loop controller and the speed loop controller are cascaded controlled, and the desired pitch angle φ _d and roll angle θ _d of the UAV are input, and the desired yaw angle ψ _d of the UAV is input at the same time, and the actual pitch angle φ, roll angle θ and yaw angle ψ of the UAV fuselage are detected, and the desired angular velocity ω _d of the UAV is output by using proportional differential control; the angular velocity loop controller uses the actual heading angle ω _F of the unmanned boat as feedforward, detects the actual heading angle ω of the UAV according to the desired angular velocity ω _d of the UAV, inputs the total torque required by the UAV for the UAV mixing control, and then obtains the angular velocity of each rotor of the UAV by the UAV mixing control;

The inner and outer rings work together to change the movement of the drone's quadrotor, allowing the drone to complete the takeoff and follow the landing process.

The online water quality monitoring method implemented by the online water quality monitoring system of unmanned boat and unmanned aerial vehicle collaboration includes the following steps:

S1. The unmanned boat receives the command from the integrated ground station and travels on the water surface to be tested;

S2. When the unmanned boat arrives at the designated sampling location, the water quality monitoring system on board the unmanned boat obtains the task instructions from the integrated ground station, performs water quality sampling and monitoring, and feeds back the monitoring results; when any water quality parameter monitored by the water quality monitoring system exceeds a certain range, the water body in the area is sampled and retained, and the unmanned boat sends a suspected water pollution signal; the unmanned boat continues to travel to the next designated sampling location;

S3. When the drone receives the suspected water pollution signal, it takes off autonomously and starts aerial photography. It uses the onboard laser radar and the double-guan pod to detect whether there is any abnormal discharge at the current designated sampling location, takes photos and collects evidence, and transmits the photography results in real time.

S4. After the drone completes filming and evidence collection, it sends a return signal to the integrated ground station and the unmanned boat at the same time, and uses a coordinated follow-up take-off and landing algorithm to follow the unmanned boat and then land.

The beneficial effects of the present invention are as follows: through information sharing and functional complementarity between drones and unmanned boats, unmanned boats can be used to achieve all-weather observation of key monitoring points, and the drones can be used to grid-cover the entire water area and conduct emergency monitoring and emergency pollution tracing in the first time, thereby comprehensively optimizing the water area data monitoring and emergency response capabilities; while the drone is shooting and collecting evidence, the unmanned boat continues to monitor water quality at the next designated sampling location, and the drone follows back after the shooting and evidence collection is completed, so there is no need for the unmanned boat to wait for the drone, saving time.

BRIEF DESCRIPTION OF THE DRAWINGS

The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

FIG. 1 is a functional schematic diagram of an embodiment of the present invention.

Figure 2 is a flowchart of drone takeoff.

Figure 3 is a schematic diagram of the UAV cooperative follow-up take-off and landing algorithm.

Figure 4 is a flowchart of drone landing.

Detailed ways

In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

As shown in FIG1 , the present invention provides an online water quality monitoring system for collaboration between an unmanned boat and a drone, comprising an unmanned boat, a drone, a take-off and landing network, a water quality monitoring system, a networking communication radio station and an integrated ground station.

The networking communication radio station connects the unmanned boat, the unmanned aerial vehicle and the integrated ground station through wireless networking so as to communicate with each other.

The integrated ground station conducts real-time communication through a networked communication station to complete the following tasks: send mission instructions to the UAV and unmanned boat respectively; monitor the status of the UAV and unmanned boat, including position, heading, speed, fault information, and receive the monitoring results of the water quality monitoring system in real time; terminate the mission of the UAV and/or unmanned boat at any time; the mission instructions issued by the integrated ground station include the cruising target point, cruising speed, and water sample retention instructions for the unmanned boat, as well as patrol, detection, and evidence collection instructions for the UAV.

The unmanned boat is equipped with a shipborne control system and completes the following tasks: exchanges data with the integrated ground station and receives mission instructions issued by the integrated ground station; connects with the water quality monitoring system and issues a suspected water pollution signal when any water quality parameter monitored by the water quality monitoring system exceeds a certain range; exchanges data with the drone and shares its own motion state information, receives the motion state information of the drone, maintains a stable state during the take-off and landing of the drone, and ensures the precise take-off and landing of the drone on the unmanned boat; and feeds back the monitoring results of the water quality monitoring system to the integrated ground station in real time.

The UAV is provided with an airborne control system for completing the following tasks: taking off autonomously when receiving the suspected water pollution signal, maintaining the state after takeoff by adopting a coordinated follow-up take-off and landing algorithm, starting aerial photography, and detecting whether there is abnormal illegal discharge in the target waters by using an airborne laser radar and a double-entry pod; when returning after the photography, exchanging data with the unmanned boat, sharing its own motion state information, receiving the motion state information of the unmanned boat, following the return and landing by adopting a coordinated follow-up take-off and landing algorithm; exchanging data with the integrated ground station, receiving and executing the task instructions issued by the integrated ground station; and providing real-time feedback to the integrated ground station whether there is abnormal illegal discharge in the target waters.

The collaborative follow-up take-off and landing algorithm includes a take-off algorithm and a landing algorithm, wherein the landing algorithm is specifically:

The drone completes the mission and returns, initiating the tracking command;

Using PID cascade control, the UAV receives the position and speed information of the unmanned boat, dynamically calculates the desired point after the offset, and the horizontal distance between the UAV and the unmanned boat, and gradually shortens the horizontal distance between the UAV and the unmanned boat by using position tracking proportional control, speed tracking proportional control and speed feedforward control until the horizontal distance between the UAV and the unmanned boat reaches the preset distance value; the speed feedforward control is based on the speed of the unmanned boat as feedforward;

When the unmanned boat remains stable, the drone descends to a designated position on the unmanned boat;

The take-off algorithm is activated when the UAV receives the suspected water pollution signal, and the UAV gradually takes off and rises to a preset position using the PID cascade control.

As shown in FIG3 , the PID cascade control includes an outer loop control and an inner loop control; wherein the outer loop control includes a position loop controller and a speed loop controller, and the inner loop includes an attitude loop controller and an angular velocity controller;

The position loop controller adopts position tracking proportional control to detect the actual position p of the UAV, compare it with the expected position p _d of the UAV, and calculate the expected speed V _d of the UAV for the speed loop controller; the speed loop controller uses the speed V _F of the unmanned boat as feedforward, compares it with the expected speed V _d of the UAV, and adopts speed tracking proportional control to provide the expected pitch angle φ _d and roll angle θ _d of the UAV; at the same time, the speed loop controller detects the real-time speed V of the UAV, and detects the environmental force F _e generated by the collision with the deck during the landing process through the on-board force sensor, and inputs the total lift F _d required by the UAV into the UAV mixing control;

The attitude loop controller and the speed loop controller are cascaded controlled, and the desired pitch angle φ _d and roll angle θ _d of the UAV are input, and the desired yaw angle ψ _d of the UAV is input at the same time, and the actual pitch angle φ, roll angle θ and yaw angle ψ of the UAV fuselage are detected, and the desired angular velocity ω _d of the UAV is output by using proportional differential control; the angular velocity loop controller uses the actual heading angle ω _F of the unmanned boat as feedforward, detects the actual heading angle ω of the UAV according to the desired angular velocity ω _d of the UAV, inputs the total torque required by the UAV for the UAV mixing control, and then obtains the angular velocity of each rotor of the UAV by the UAV mixing control;

The inner and outer rings work together to change the movement of the drone's quadrotor, allowing the drone to complete the takeoff and follow the landing process.

Among them, the environmental external force F _e is only present at the moment of landing, and the others remain the same during takeoff and follow-up landing. Velocity feedforward V _F and bow feed ω _F are also required because they must ensure that the formation is maintained smoothly during the mission and that the posture is relatively smooth to facilitate subsequent landing work.

The take-off and landing net is anchored on the deck of the unmanned boat and is used for parking and charging the UAV.

The water quality monitoring system is installed at the tail of the unmanned boat, and is used to obtain the task instructions of the integrated ground station from the unmanned boat, perform water quality sampling and monitoring, and feedback the monitoring results; when any water quality parameter monitored by the water quality monitoring system exceeds a certain range, the water body in the area is sampled and retained. The water quality parameters monitored by the water quality monitoring system include pH value, conductivity, dissolved oxygen, turbidity and temperature.

The online water quality monitoring method implemented by the online water quality monitoring system of unmanned boat and unmanned aerial vehicle collaboration includes the following steps:

S1. The unmanned boat receives the command from the integrated ground station and travels on the water surface to be tested. The integrated ground station can set several designated sampling locations, and the unmanned boat stops at the above designated sampling locations in sequence according to the established path.

S2. When the unmanned boat arrives at the designated sampling location, the water quality monitoring system on board the unmanned boat obtains the task instructions from the integrated ground station, conducts water quality sampling and monitoring, and feeds back the monitoring results; when any water quality parameter monitored by the water quality monitoring system exceeds a certain range, the water in the area is sampled and retained, and the unmanned boat sends out a suspected water pollution signal; the unmanned boat continues to travel to the next designated sampling location.

S3. When the UAV receives the suspected water pollution signal, it takes off autonomously and starts aerial photography. It uses the onboard laser radar and the double-entry pod to detect whether there is any abnormal discharge at the current designated sampling location, takes pictures and collects evidence, and transmits the shooting results in real time. The take-off process is shown in Figure 2. The UAV will only perform take-off operations such as "harpoon" (i.e., take-off and landing net anchor) recovery and propeller speed increase when the conditions such as sufficient power, good GPS signal, and stable navigation are met. When the propeller speed reaches the requirement, the UAV rises at a constant speed; when the rising height reaches the requirement, the UAV remains in hovering, and the take-off process of the UAV ends.

S4. After the drone completes filming and evidence collection, it sends a return signal to the integrated ground station and the unmanned boat at the same time, and uses a coordinated follow-up take-off and landing algorithm to follow the unmanned boat and then land.

When returning, the UAV continuously receives the position and speed information of the unmanned boat, dynamically calculates the expected point after the offset, and the horizontal distance between the UAV and the unmanned boat, and uses the collaborative follow-up take-off and landing algorithm to gradually shorten the horizontal distance between the UAV and the unmanned boat until the horizontal distance between the UAV and the unmanned boat reaches the preset distance value; the speed feedforward control is based on the speed of the unmanned boat; when the unmanned boat remains in a stable state, the UAV descends to the designated area on the unmanned boat.

When the horizontal distance between the drone and the unmanned boat reaches the preset distance, the path planning algorithm is used to find the best trajectory for landing on the unmanned boat. The drone will continuously plan its path during the landing process to ensure the coordination of the movements between the two, so as to achieve accurate landing and smooth landing.

The landing flow chart used by the drone is shown in Figure 4. When the attitude of the unmanned boat is suitable for the drone to land smoothly, the drone maintains a relatively static tracking state with the unmanned boat and reduces the speed to descend the vertical height. If the attitude of the unmanned boat does not meet the landing conditions, the landing conditions are that the unmanned boat is in a stable state, the unmanned boat suppresses its own roll and heave movements, ensures the stability of the boat body and the deck where the drone is parked is parallel to the horizontal plane, then the drone will go around and maintain a relatively static tracking state until the drone lands at a suitable position and the propeller stops. At this point, the drone landing process ends.

The online water quality monitoring system may also include an energy supply device for a UAV, which is electrically connected to the UAV to obtain a source of electricity.

It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims (6)

1. An unmanned boat and unmanned aerial vehicle collaborative online water quality monitoring system, characterized in that it includes an unmanned boat, an unmanned aerial vehicle, a take-off and landing network, a water quality monitoring system, a networking communication radio station and an integrated ground station; wherein, The networking communication radio station wirelessly networks the unmanned boat, the unmanned aerial vehicle and the integrated ground station to communicate with each other; The integrated ground station performs real-time communication via a networked communication station to complete the following tasks: send task instructions to the drone and unmanned boat respectively; monitor the status of the drone and unmanned boat, including location, heading, speed, fault information, and receive the monitoring results of the water quality monitoring system in real time; terminate the mission of the drone and/or unmanned boat at any time; The unmanned boat is provided with a shipborne control system and performs the following tasks: data exchange with the integrated ground station and receiving task instructions issued by the integrated ground station; connecting with the water quality monitoring system and sending a suspected water pollution signal when any water quality parameter monitored by the water quality monitoring system exceeds a certain range; data exchange with the drone and sharing its own motion state information, receiving the motion state information of the drone, maintaining a stable state during the take-off and landing of the drone, and ensuring the accurate take-off and landing of the drone on the unmanned boat; and real-time feedback of the monitoring results of the water quality monitoring system to the integrated ground station; The drone is provided with an airborne control system for completing the following tasks: when receiving the suspected water pollution signal, it takes off autonomously, uses a coordinated follow-up take-off and landing algorithm to maintain the state after take-off, starts aerial photography, and uses an airborne laser radar and a double-entry pod to detect whether there is abnormal illegal discharge in the target waters; when returning after the photography, it exchanges data with the unmanned boat, shares its own motion state information, receives the motion state information of the unmanned boat, and uses a coordinated follow-up take-off and landing algorithm to follow the return and land; exchanges data with the integrated ground station, receives and executes the task instructions issued by the integrated ground station; and provides real-time feedback to the integrated ground station on whether there is abnormal illegal discharge in the target waters; The take-off and landing net is anchored on the deck of the unmanned boat and is used for parking and charging the UAV; The water quality monitoring system is installed at the tail of the unmanned boat, and is used to obtain mission instructions from the integrated ground station from the unmanned boat, conduct water quality sampling and monitoring, and feedback the monitoring results; when any water quality parameter monitored by the water quality monitoring system exceeds a certain range, the water body in the area is sampled and retained. 2. The unmanned boat and unmanned aerial vehicle collaborative online water quality monitoring system according to claim 1 is characterized in that the water quality parameters monitored by the water quality monitoring system include pH value, conductivity, dissolved oxygen, turbidity and temperature. 3. According to the unmanned boat and drone collaborative online water quality monitoring system of claim 1, it is characterized in that the task instructions issued by the integrated ground station include instructions for the unmanned boat's cruising target point, cruising speed, and water sample retention, as well as patrol, detection, and evidence collection instructions for the drone. 4. The unmanned boat and unmanned aerial vehicle collaborative online water quality monitoring system according to claim 1 is characterized in that the collaborative follow-up take-off and landing algorithm includes a take-off algorithm and a landing algorithm, wherein the landing algorithm is specifically: The drone completes the mission and returns, initiating the tracking command; Using PID cascade control, the UAV receives the position and speed information of the unmanned boat, dynamically calculates the desired point after the offset, and the horizontal distance between the UAV and the unmanned boat, and gradually shortens the horizontal distance between the UAV and the unmanned boat by using position tracking proportional control, speed tracking proportional control and speed feedforward control until the horizontal distance between the UAV and the unmanned boat reaches the preset distance value; the speed feedforward control is based on the speed of the unmanned boat as feedforward; When the unmanned boat remains stable, the drone descends to a designated position on the unmanned boat; The take-off algorithm is activated when the UAV receives the suspected water pollution signal, and adopts the PID cascade control to gradually take off and rise to a preset position. 5. The unmanned boat and unmanned aerial vehicle collaborative online water quality monitoring system according to claim 4 is characterized in that the PID cascade control includes an outer loop control and an inner loop control; wherein the outer loop control includes a position loop controller and a speed loop controller, and the inner loop includes an attitude loop controller and an angular velocity loop controller; The position loop controller adopts position tracking proportional control to detect the actual position p of the UAV, compare it with the expected position _pd of the UAV, and calculate the expected speed _Vd of the UAV for the speed loop controller; the speed loop controller uses the speed _VF of the unmanned boat as feedforward, compares it with the expected speed _Vd of the UAV, and adopts speed tracking proportional control to provide the expected pitch angle _φd and roll angle _θd of the UAV; at the same time, the speed loop controller detects the real-time speed V of the UAV, and detects the environmental force _Fe generated by the collision with the deck during the landing process through the on-board force sensor, and inputs the total lift _Fd required by the UAV into the UAV mixing control; The attitude loop controller and the speed loop controller are cascaded controlled, and the desired pitch angle φ _d and roll angle θ _d of the UAV are input, and the desired yaw angle ψ _d of the UAV is input at the same time, and the actual pitch angle φ, roll angle θ and yaw angle ψ of the UAV fuselage are detected, and the desired angular velocity ω _d of the UAV is output by using proportional differential control; the angular velocity loop controller uses the actual heading angle ω _F of the unmanned boat as feedforward, detects the actual heading angle ω of the UAV according to the desired angular velocity ω _d of the UAV, inputs the total torque required by the UAV for the UAV mixing control, and then obtains the angular velocity of each rotor of the UAV by the UAV mixing control; The inner and outer rings work together to change the movement of the drone's quadrotor, allowing the drone to complete the takeoff and follow the landing process. 6. An online water quality monitoring method implemented by using the online water quality monitoring system of unmanned boat and unmanned aerial vehicle cooperation according to any one of claims 1 to 5, characterized in that the method comprises the following steps: S1. The unmanned boat receives the command from the integrated ground station and travels on the water surface to be tested; S2. When the unmanned boat arrives at the designated sampling location, the water quality monitoring system on board the unmanned boat obtains the task instructions from the integrated ground station, performs water quality sampling and monitoring, and feeds back the monitoring results; when any water quality parameter monitored by the water quality monitoring system exceeds a certain range, the water body in the area is sampled and retained, and the unmanned boat sends a suspected water pollution signal; the unmanned boat continues to travel to the next designated sampling location; S3. When the drone receives the suspected water pollution signal, it takes off autonomously and starts aerial photography. It uses the onboard laser radar and the double-guan pod to detect whether there is any abnormal discharge at the current designated sampling location, takes photos and collects evidence, and transmits the photography results in real time. S4. After the drone completes filming and evidence collection, it sends a return signal to the integrated ground station and the unmanned boat at the same time, and uses a coordinated follow-up take-off and landing algorithm to follow the unmanned boat and then land.