Water quality monitoring device and method with synchronous correlation between spectrum push-broom and pose
阅读说明：本技术 一种光谱推扫与位姿同步关联的水质监测装置及方法 (Water quality monitoring device and method with synchronous correlation between spectrum push-broom and pose ) 是由 张霖 郑显华 姚正华 何仁琪 黄江波 于 2020-05-26 设计创作，主要内容包括：本发明公开了一种光谱推扫与位姿同步关联的水质监测装置及方法,包括设置在水面运载平台上的多轴旋转支架,还包括姿态主控模块和光谱探测模块；姿态主控模块包括主控MCU和IMU姿态传感器,主控MCU用于读取IMU姿态传感器的传感信息；IMU姿态传感器用于实时采集姿态信息；光谱探测模块包括光谱MCU、MEMS光谱探测芯片及光学透镜。其能通过单点MEMS光谱探测器与IMU姿态传感器的同步融合进行多变量水质监测,还能通过光谱探测器可见光谱信息的深度学习,实现水面漂浮物与近岸水域暗礁的检测与识别,避免了安全事故的发生。(The invention discloses a water quality monitoring device and a water quality monitoring method synchronously associated with spectrum push-broom and pose, wherein the water quality monitoring device comprises a multi-axis rotating support arranged on a water surface carrying platform, a pose main control module and a spectrum detection module; the attitude master control module comprises a master control MCU and an IMU attitude sensor, and the master control MCU is used for reading the sensing information of the IMU attitude sensor; the IMU attitude sensor is used for acquiring attitude information in real time; the spectrum detection module comprises a spectrum MCU, an MEMS spectrum detection chip and an optical lens. It can carry out multivariable water quality monitoring through the synchronous integration of single-point MEMS spectral detector and IMU attitude sensor, can also realize the detection and the discernment of surface of water floater and near bank waters submerged reef through the degree of depth study of spectral detector visible spectrum information, has avoided the emergence of incident.)
1. A water quality monitoring device synchronously associated with spectrum push-broom and pose comprises a multi-axis rotating support (2) arranged on a water surface carrying platform (1), and is characterized by further comprising a pose main control module and a spectrum detection module;
-the gesture master control module comprises a master MCU (3) and an IMU gesture sensor (4), the master MCU (3) is used for reading the sensing information of the IMU gesture sensor (4); the IMU attitude sensor (4) is used for acquiring attitude information in real time;
the spectrum detection module comprises a spectrum MCU (5), an MEMS spectrum detection chip (6) and an optical lens (7), wherein the spectrum MCU (5) is used for collecting detection data of the MEMS spectrum detection chip (6) at fixed time and carrying out optical single-point analysis on the water quality state; the MEMS spectrum detection chip (6) is used for detecting a spectrum, and the optical lens (7) is used for matching with the MEMS spectrum detection chip (6) to perform spectrum detection.
2. The water quality monitoring device with spectrum push-broom and pose synchronization correlation according to claim 1, wherein the gesture master control module further comprises a piezoelectric ceramic driver (8), the master control MCU (3), the IMU gesture sensor (4) and the piezoelectric ceramic driver (8) are formed in the gesture master control mechanical shell (9), and the master control MCU (3), the IMU gesture sensor (4) and the piezoelectric ceramic driver (8) are respectively connected through RS232 serial ports.
3. The water quality monitoring device with spectrum push-broom and pose synchronization correlation according to claim 1 or 2, wherein the spectrum MCU (5) and the MEMS spectrum detection chip (6) are communicated through SPI, the output end of the MEMS spectrum detection chip (6) is connected with the optical lens (7), and the spectrum MCU (5) and the master control MCU (3) are communicated through SPI or I2C; and the spectrum MCU (5), the MEMS spectrum detection chip (6) and the optical lens (7) are formed in the spectrum detection shell (10).
4. The water quality monitoring device synchronously associated with the spectrum push-broom and the pose as recited in claim 3, wherein the spectrum detection housing (10) is fixed on a bearing plate (11), the bearing plate (11) is movably connected on a pose main control mechanical housing (9), and the pose main control mechanical housing (9) is fixed on the multi-axis rotating bracket (2).
5. The water quality monitoring device with synchronous correlation of spectrum push-broom and pose as claimed in claim 1, wherein the master control MCU (3) performs synchronous acquisition of spectrum detection information and IMU pose information by synchronous timing pulses.
6. The water quality monitoring device synchronously associated with the spectrum push-broom and the pose as recited in claim 5, wherein the multi-axis rotating support (2) is installed on the top of the water surface carrying platform (1), and the front end of the multi-axis rotating support cannot be shielded.
7. The water quality monitoring device synchronously associated with the pose of spectral push-broom according to claim 4, wherein the state main control module and the spectral detection module are used for classifying and identifying submerged reefs and garbage on the water surface through deep learning.
8. A water quality monitoring method synchronously associated with spectrum push-broom and pose is characterized by comprising the following steps:
(1) fixing the posture main control mechanical shell and the spectrum detection shell on a water surface carrying platform through a multi-axis rotating support, and correcting optical detection parameters of the spectrum detection module under the condition that the water surface has no fluctuation;
(2) the main control MCU reads and sends IMU attitude information through the RS232 serial port, and sends a pulse time sequence signal to the MEMS spectrum detection chip through SPI bus communication, so as to drive the spectrum MCU to carry out spectrum single-point detection, and realize the synchronization of the attitude information of the attitude main control module and the information of the spectrum detection module;
(3) the spectrum MCU reads the information of the MEMS spectrum detection chip in real time according to the transmitted pulse time sequence signal and according to the requirement, and the MEMS spectrum detection chip returns the water quality spectrum detection data of corresponding time in real time;
(4) the main control MCU pushes and sweeps the platform pose error detected by the IMU pose information and the water surface at the specific intersection point of the spectrum line beam and the water surface according to the pose information and the spectrum detection information of the IMU pose sensor which are synchronously acquired (h+l) Correspondingly, the water quality state parameters of the current point can be sensed through the spectrum single-point detector;
(5) circulating the steps (2) to (4), continuously scanning the water surface, concentrating all scanned points and expanding the points in the time domain to form a water surface push-scanning curve, and further acquiring water quality state parameters in a tiny strip-shaped area;
(6) the water quality state parameters in the whole plane can be obtained by moving the water surface carrying platform and combining the water quality parameters of the strip area obtained in the step (5);
(7) acquiring water quality state parameters of a certain part of planes at set time intervals by using the master control MCU, and if the water quality state parameters in a certain area are within a normal range, detecting the water quality state again by using the spectrum single-point detector;
(8) if the water quality state parameters in a certain area exceed the range of the normal water quality parameter area, the properties of the current area can be classified and identified by a deep learning method, and submerged reefs and garbage floaters on the water surface can be identified;
(9) the steps are repeated to realize spectrum single-point detection of the water quality state, and detection of submerged reefs and garbage floaters on the water surface can be realized.
9. The water quality monitoring method according to claim 8, wherein in the step (6), the motion state of the water surface carrying platform comprises uniform motion or variable motion; and the monitored water quality state parameters comprise: ammonia nitrogen, pH, COD, conductivity, ORP and temperature.
10. A water quality monitoring method according to claim 8, wherein in the step (8), the classification criteria for different floaters or submerged reefs on the water surface are different as follows: the method comprises the steps of extracting features according to image information of water surface submerged reefs and garbage floats under different wave band spectrums, classifying the images according to the extracted features, and monitoring spectral patterns formed in the current area to be submerged reefs or garbage or general water bodies.
Technical Field
The invention relates to a water quality detection device and method, in particular to a water quality detection device and method with synchronous correlation between spectrum push-broom and pose, and belongs to the technical field of state detection of special intelligent equipment.
Background
At present, the water quality monitoring device is widely applied to the aspects of hydrological environment, agriculture, fishery, quality inspection monitoring and the like, and is main equipment for detecting the water quality state. The sensors for monitoring water quality are also of various types, common water quality sensors comprise an ORP sensor, a turbidity sensor, a PH sensor, a conductivity sensor, a residual chlorine sensor and the like, the water quality detection requirements of different industries are also different, and water quality parameters to be detected are also different, so that different sensors are also required to be equipped. Therefore, the configuration work of the detection equipment is complicated, extra communication/power supply communication and interfaces are required to be configured or carried, and the multivariable water quality state monitoring of single equipment is difficult to realize. In addition, the conventional water quality sensor is used for detecting the water quality of an open water area, a ship is needed or a specific water area observation station is built, and heavy equipment design and manufacturing processes are needed; meanwhile, the equipment is messy, so that certain difficulty is added to the miniaturization of the integrated system.
Disclosure of Invention
The invention aims to provide a water quality monitoring device and method with spectrum push-broom and pose synchronization correlation, which can carry out multivariable water quality monitoring through the synchronous fusion of a single-point MEMS (micro-electromechanical system) spectrum detector and an IMU (inertial measurement Unit) attitude sensor, can also realize the detection and identification of water surface floaters and a near-shore water area submerged reef through the deep learning of visible spectrum information of the spectrum detector, and effectively avoids the occurrence of safety accidents.
In order to achieve the purpose, the invention adopts the technical scheme that the water quality monitoring device synchronously associated with spectrum push-broom and pose comprises a multi-axis rotating support arranged on a water surface carrying platform, a posture main control module and a spectrum detection module;
the attitude master control module comprises a master control MCU and an IMU attitude sensor, and the master control MCU is configured to read sensing information of the IMU attitude sensor; the IMU attitude sensor is used for acquiring attitude information in real time;
the spectrum detection module comprises a spectrum MCU, an MEMS spectrum detection chip and an optical lens, wherein the spectrum MCU is used for collecting detection data of the MEMS spectrum detection chip at regular time and carrying out optical single-point analysis on the water quality state; the MEMS spectrum detection chip is used for detecting a spectrum, and the optical lens is used for matching with the MEMS spectrum detection chip to perform spectrum detection.
In the patent, due to different wavelengths of the spectra, the MEMS spectrum detection chip has different directional sensing spectral characteristics, such as a fluorescence spectrum with a wavelength of 850 μm, and the MEMS spectrum detection chip can only collect spectra of 12 channels at most.
Preferably, the attitude master control module further comprises a piezoelectric ceramic driver, the master control MCU, the IMU attitude sensor and the piezoelectric ceramic driver are formed in the attitude master control mechanical housing, and the master control MCU, the IMU attitude sensor and the piezoelectric ceramic driver are respectively connected through RS232 serial ports.
Preferably, the spectrum MCU and the MEMS spectrum detection chip are communicated through SPI, the output end of the MEMS spectrum detection chip is connected with the optical lens, and the spectrum MCU and the master control MCU are communicated through SPI or I2C; and the spectrum MCU, the MEMS spectrum detection chip and the optical lens are formed in the spectrum detection shell.
Preferably, the spectrum detection shell is fixed on a bearing plate, the bearing plate is movably connected to the posture main control mechanical shell, and the posture main control mechanical shell is fixed on the multi-axis rotating support.
Gesture host system and spectral detection module are integrated respectively in corresponding mechanical housing, install on the multiaxis runing rest, and in this patent, the multiaxis runing rest can realize the mechanical anti-shake of optical detection under the undulant condition of complicated surface of water, and the bearing plate interacts with piezoceramics driver, and piezoceramics driver is used for perception spectral detection module's movement track.
Preferably, the master control MCU performs synchronous acquisition of the spectrum detection information and the IMU posture information through synchronous timing pulses.
Preferably, the multi-axis rotating support is arranged on the top of the water carrying platform, and the front end of the multi-axis rotating support cannot be shielded.
Preferably, the state main control module and the spectrum detection module classify and identify the submerged reefs and the garbage on the water surface through deep learning.
Meanwhile, the invention also provides a water quality monitoring method with synchronous correlation between spectrum push-broom and pose, which comprises the following steps:
(1) fixing the posture main control mechanical shell and the spectrum detection shell on a water surface carrying platform through a multi-axis rotating support, and correcting optical detection parameters of the spectrum detection module under the condition that the water surface has no fluctuation;
(2) the main control MCU reads and sends IMU attitude information through the RS232 serial port, and sends a pulse time sequence signal to the MEMS spectrum detection chip through SPI bus communication, so as to drive the spectrum MCU to carry out spectrum single-point detection, and realize the synchronization of the attitude information of the attitude main control module and the information of the spectrum detection module;
(3) the spectrum MCU reads the information of the MEMS spectrum detection chip in real time according to the transmitted pulse time sequence signal and according to the requirement, and the MEMS spectrum detection chip returns the water quality spectrum detection data of corresponding time in real time;
(4) the main control MCU pushes and sweeps the platform pose error detected by the IMU pose information and the water surface at the specific intersection point of the spectrum line beam and the water surface according to the pose information and the spectrum detection information of the IMU pose sensor which are synchronously acquired (h+l) Correspondingly, the water quality state parameters of the current point can be sensed through the spectrum single-point detector;
(5) circulating the steps (2) to (4), continuously scanning the water surface, concentrating all scanned points and expanding the points in the time domain to form a water surface push-scanning curve, and further acquiring water quality state parameters in a tiny strip-shaped area;
(6) through the movement of the water surface carrying platform, the water quality state parameters in the whole plane can be obtained by combining the water quality parameters of the strip area obtained in the step (5);
(7) acquiring water quality state parameters of a certain part of planes at set time intervals by using the master control MCU, and if the water quality state parameters in a certain area are within a normal range, detecting the water quality state again by using the spectrum single-point detector;
(8) if the water quality state parameters in a certain area exceed the range of the normal water quality parameter area, the properties of the current area can be classified and identified by a deep learning method, and submerged reefs and garbage floaters on the water surface can be identified;
(9) the steps are repeated to realize spectrum single-point detection of the water quality state, and detection of submerged reefs and garbage floaters on the water surface can be realized.
Preferably, in step (6), the motion state of the water surface carrying platform comprises uniform motion or variable-speed motion; and the monitored water quality state parameters comprise: ammonia nitrogen, pH, COD, conductivity, ORP and temperature.
Preferably, in step (8), the classification criteria for different floats or reefs on the water surface are different, which are as follows: the method comprises the steps of extracting features according to image information of water surface submerged reefs and garbage floats under different wave band spectrums, classifying the images according to the extracted features, and monitoring spectral patterns formed in the current area to be submerged reefs or garbage or general water bodies. The data source for identification comprises RGB images, near infrared band spectrum images and far infrared band spectrum images.
The invention has the beneficial effects that: the method compensates spectrum ground proximity detection errors caused by complex water surface fluctuation in real time in a mode of synchronously associating spectrum single-point push scan with IMU (inertial measurement unit) poses; meanwhile, the spectrum detects the water quality state parameters of a certain specific water surface area by combining spectrum single-point push-broom and the motion rule of the platform. This patent only needs the MEMS spectral detector of extremely low cost can realize quality of water state single-point detection, combines the motion of surface of water carrying platform can further realize the detection of foreign matters such as surface of water submerged reef, rubbish floater, has avoided surface of water carrying platform to touch the reef when independently removing, has prevented that the incident from taking place.
Drawings
In order to more clearly illustrate the technical solution of the present invention, the drawings used in the description of the embodiment or the prior art will be briefly described below.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of the mounting structure of the present invention;
FIG. 3 is a schematic diagram of the spectrum single-point push-scan and pose synchronization association method of the present invention;
in the figure: 1. the system comprises a water surface carrying platform, 2 a multi-axis rotating support, 3 a main control MCU, 4 an IMU attitude sensor, 5 a spectrum MCU, 6 an MEMS spectrum detection chip, 7 an optical lens, 8 a piezoelectric ceramic driver, 9 an attitude main control mechanical shell, 10 a spectrum detection shell, 11 a bearing plate and 12 a mechanical fastening device.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the present application will be clearly and completely described below with reference to the embodiments.
As shown in fig. 1-3, the invention discloses a water quality monitoring device with synchronous correlation between spectrum push-broom and pose, which comprises a multi-axis rotating
the attitude master control module comprises a master MCU3 and an
the spectrum detection module comprises a spectrum MCU5, an MEMS
In the patent, due to different wavelengths of the spectrum, the spectrum characteristics of the MEMS spectrum detection chip for the directional perception of the MEMS spectrum detection chip are different, for example, the wavelength of the fluorescence spectrum is 850 μm, and the MEMS spectrum detection chip can only collect the spectrum of 12 channels at most.
Gesture master control module still includes
The spectrum MCU5 and the MEMS
The
Gesture host system and spectral detection module are integrated respectively in corresponding mechanical housing, install on the multiaxis runing rest, and in this patent, the multiaxis runing rest can realize the mechanical anti-shake of optical detection under the undulant condition of complicated surface of water, and the bearing plate interacts with piezoceramics driver, and piezoceramics driver is used for perception spectral detection module's movement track.
The master control MCU3 synchronously acquires the spectrum detection information and IMU posture information through synchronous timing pulses.
The multi-axis rotating
The state main control module and the spectrum detection module classify and identify the submerged reefs and the garbage on the water surface through deep learning.
Meanwhile, the invention also provides a water quality monitoring method with synchronous correlation between spectrum push-broom and pose, which comprises the following steps:
(1) fixing the posture main control mechanical shell and the spectrum detection shell on a water surface carrying platform through a multi-axis rotating support, and correcting optical detection parameters of the spectrum detection module under the condition that the water surface has no fluctuation;
(2) the main control MCU reads and sends IMU attitude information through the RS232 serial port, and sends a pulse time sequence signal to the MEMS spectrum detection chip through SPI bus communication, so as to drive the spectrum MCU to carry out spectrum single-point detection, and realize the synchronization of the attitude information of the attitude main control module and the information of the spectrum detection module;
(3) the spectrum MCU reads the information of the MEMS spectrum detection chip in real time according to the transmitted pulse time sequence signal and according to the requirement, and the MEMS spectrum detection chip returns the water quality spectrum detection data of corresponding time in real time;
(4) the main control MCU pushes and sweeps the platform pose error detected by the IMU pose information and the water surface at the specific intersection point of the spectrum line beam and the water surface according to the pose information and the spectrum detection information of the IMU pose sensor which are synchronously acquired (h+l) Correspondingly, the water quality state parameters of the current point can be sensed through the spectrum single-point detector;
(5) circulating the steps (2) to (4), continuously scanning the water surface, concentrating all scanned points and expanding the points in the time domain to form a water surface push-scanning curve, and further acquiring water quality state parameters in a tiny strip-shaped area;
(6) through the movement of the water surface carrying platform, the water quality state parameters in the whole plane can be obtained by combining the water quality parameters of the strip area obtained in the step (5); the motion state of the water surface carrying platform comprises uniform motion or adjustable variable speed motion of acceleration and the like; and the monitored water quality state parameters comprise: ammonia nitrogen, pH value, COD, conductivity, ORP, temperature and the like;
(7) acquiring water quality state parameters of a certain part of planes at set time intervals by using the master control MCU, and if the water quality state parameters in a certain area are within a normal range, detecting the water quality state again by using the spectrum single-point detector;
in the present solution, the time zone must not be greater than (fmax 2)-1Wherein fmax is the maximum frequency of the sinusoidal push-broom curve;
(8) if the water quality state parameters in a certain area exceed the range of the normal water quality parameter area, the properties of the current area can be classified and identified by a deep learning method, and submerged reefs and garbage floaters on the water surface can be identified;
the classification standards of different floaters or submerged reefs on the water surface are different, and the classification standards are as follows: the method comprises the steps of extracting features according to image information of water surface submerged reefs and garbage floats under different wave band spectrums, classifying the images according to the extracted features, and monitoring spectral patterns formed in the current area to be submerged reefs or garbage or general water bodies. The data source used in the identification comprises an RGB image, a near infrared band spectrum image, a far infrared band spectrum image and the like;
(9) the steps are repeated to realize spectrum single-point detection of the water quality state, and detection of submerged reefs and garbage floaters on the water surface can be realized.
The method compensates spectrum ground proximity detection errors caused by complex water surface fluctuation in real time in a mode of synchronously associating spectrum single-point push scan with IMU (inertial measurement unit) poses; meanwhile, the spectrum detects the water quality state parameters of a certain specific water surface area by combining spectrum single-point push-broom and the motion rule of the platform. This patent only needs the MEMS spectral detector of extremely low cost can realize quality of water state single-point detection, combines the motion of surface of water carrying platform can further realize the detection of foreign matters such as surface of water submerged reef, rubbish floater, has avoided surface of water carrying platform to touch the reef when independently removing, has prevented that the incident from taking place.
The described embodiments are only some embodiments of the invention, not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
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