CN112484782A - Hybrid topology type lake water quality monitoring system based on multi-rotor unmanned aerial vehicle - Google Patents
Hybrid topology type lake water quality monitoring system based on multi-rotor unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to a lake water quality monitoring technology, in particular to a hybrid topology type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle. The invention solves the problem that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium. A mixed topology type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part; the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to tenth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera. The invention is suitable for monitoring the lake water quality.
Description
Technical Field
The invention relates to a lake water quality monitoring technology, in particular to a hybrid topology type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle.
Background
The monitoring of the lake water quality is an indispensable component in the evaluation of the lake health and the control of the lake pollution. At present, the monitoring of the lake water quality is mainly realized by depending on a lake water quality monitoring system. Under the prior art, the lake water quality monitoring system is limited by the structure thereof, and generally lacks a reasonable network topology structure and a quick and efficient transmission medium, so that the problems of unstable data transmission and poor data transmission real-time performance are generally caused, and the high efficiency and the reliability of the monitoring process are directly influenced. Based on the above, a mixed topology type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle is needed to be invented, so that the problem that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium is solved.
Disclosure of Invention
The invention provides a hybrid topology type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle, aiming at solving the problems that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium.
The invention is realized by adopting the following technical scheme:
a mixed topology type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part;
the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to tenth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera; the second sensor array comprises a second conductivity sensor, a second PH value sensor, a second turbidity sensor, a second ammonia nitrogen sensor, a second ORP sensor, a second dissolved oxygen sensor, a second residual chlorine sensor, a second COD sensor, a second water temperature sensor and a second waterproof camera;
the relay terminal part comprises an unmanned underwater vehicle, a first very low frequency receiver, a second very low frequency receiver, a first programmable amplifier, a second programmable amplifier, an unmanned ship, a first sigma-delta analog-to-digital converter, a second sigma-delta analog-to-digital converter, a very high frequency transmitter, a multi-rotor unmanned aerial vehicle, a first very high frequency receiver, a second very high frequency receiver, a third very high frequency receiver, a first digital extraction filter, a second digital extraction filter, a first data isolator, a second data isolator, a flight control module, a first disk array, a first intermediate frequency transmitter, a second intermediate frequency transmitter and a third intermediate frequency transmitter;
the convergence terminal part comprises an intermediate frequency receiver, a storage server, a second disk array and a PC (personal computer);
the transmission medium part comprises optical fibers, a radio wave channel, a PROFIBUS bus, an umbilical cable, a first CAN bus, a second CAN bus and a third CAN bus;
the underwater crawler type signal conditioning system comprises a first sensor array, a second sensor array, first to tenth signal conditioners and first to fourth very low frequency transmitters, wherein the first sensor array, the second sensor array, the first to tenth signal conditioners and the first to fourth very low frequency transmitters are all arranged on an underwater crawler; the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier and the second programmable amplifier are all arranged on the unmanned underwater vehicle; the first sigma-delta analog-to-digital converter, the second sigma-delta analog-to-digital converter and the very high frequency transmitter are all arranged on the unmanned ship; the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter, the second digital decimation filter, the first data isolator, the second data isolator, the flight control module, the first disk array, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter are all arranged on the multi-rotor unmanned aerial vehicle;
the first conductivity sensor and the first PH value sensor are both connected with the first signal conditioner; the first turbidity sensor and the first ammonia nitrogen sensor are both connected with the second signal conditioner; the first ORP sensor and the first dissolved oxygen sensor are both connected with the third signal conditioner; the first residual chlorine sensor and the first COD sensor are both connected with the fourth signal conditioner; the first water temperature sensor and the first waterproof camera are connected with the fifth signal conditioner; the first to fifth signal conditioners are connected in series in sequence through optical fibers; the first sensor arrays jointly form branches of the tree-shaped topological structure, and the first to fifth signal conditioners jointly form a trunk of the tree-shaped topological structure; the first very low frequency transmitter, the first to fifth signal conditioners and the second very low frequency transmitter are sequentially connected in series through optical fibers to form a daisy chain topological structure; the first very low frequency transmitter and the second very low frequency transmitter are both wirelessly connected with the first very low frequency receiver through a radio wave channel; the second conductivity sensor and the second PH value sensor are both connected with the sixth signal conditioner; the second turbidity sensor and the second ammonia nitrogen sensor are both connected with the seventh signal conditioner; the second ORP sensor and the second dissolved oxygen sensor are both connected with the eighth signal conditioner; the second residual chlorine sensor and the second COD sensor are both connected with the ninth signal conditioner; the second water temperature sensor and the second waterproof camera are both connected with the tenth signal conditioner; the sixth to tenth signal conditioners are connected in series in sequence through optical fibers; the second sensor arrays jointly form branches of the tree-shaped topological structure, and the sixth signal conditioner to the tenth signal conditioner jointly form a trunk of the tree-shaped topological structure; the third very low frequency transmitter, the sixth to tenth signal conditioners and the fourth very low frequency transmitter are sequentially connected in series through optical fibers to form a daisy chain topology structure; the third very low frequency transmitter and the fourth very low frequency transmitter are both wirelessly connected with the second very low frequency receiver through a radio wave channel;
the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier and the second programmable amplifier are all connected with a PROFIBUS bus, and the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier, the second programmable amplifier and the PROFIBUS bus form a bus type topological structure together; the first programmable amplifier is connected with the first sigma-delta analog-to-digital converter through an umbilical cable; the second programmable amplifier is connected with the second sigma-delta analog-to-digital converter through an umbilical cable; the first sigma-delta analog-to-digital converter and the second sigma-delta analog-to-digital converter are connected with the very high frequency transmitter through optical fibers; the very high frequency transmitter is respectively in wireless connection with the first very high frequency receiver, the second very high frequency receiver and the third very high frequency receiver through radio wave channels, and the very high frequency transmitter, the first very high frequency receiver, the second very high frequency receiver and the third very high frequency receiver form a star-shaped topological structure together; the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter and the second digital decimation filter are all connected with the first CAN bus, and the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter, the second digital decimation filter and the first CAN bus form a bus type topological structure; the first digital decimation filter, the second digital decimation filter, the first data isolator and the second data isolator are all connected with the second CAN bus, and the first digital decimation filter, the second digital decimation filter, the first data isolator, the second data isolator and the second CAN bus form a bus type topological structure; the first data isolator, the second data isolator and the flight control module are all connected with a third CAN bus, and the first data isolator, the second data isolator, the flight control module and the third CAN bus form a bus type topological structure together;
the flight control module is connected with the first disk array through an optical fiber; the flight control module is respectively connected with the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter through optical fibers, and the flight control module, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter jointly form a star topology structure; the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter are all in wireless connection with the intermediate frequency receiver through radio wave channels, and the first intermediate frequency transmitter, the second intermediate frequency transmitter, the third intermediate frequency transmitter and the intermediate frequency receiver form a star topology structure together; the intermediate frequency receiver, the storage server, the second disk array and the PC are connected end to end through optical fibers to form a ring-shaped topological structure.
When the underwater crawler is in work, the underwater crawler is seated on the lake bed. The unmanned underwater vehicle is suspended in lake water. The unmanned ship floats on the lake surface. Many rotor unmanned aerial vehicle hover in the sky above the lake. The convergence terminal part is installed in a lake management center. The specific working process is as follows: the first conductivity sensor (second conductivity sensor) collects conductivity data of lake water in real time and sends the conductivity data to the first signal conditioner (sixth signal conditioner) in real time. The first PH sensor (second PH sensor) collects PH data of the lake water in real time and transmits the PH data to the first signal conditioner (sixth signal conditioner) in real time. The first turbidity sensor (second turbidity sensor) collects the turbidity data of lake water in real time and sends the turbidity data to the second signal conditioner (seventh signal conditioner) in real time. The first ammonia nitrogen sensor (the second ammonia nitrogen sensor) collects ammonia nitrogen data of lake water in real time and sends the ammonia nitrogen data to the second signal conditioner (the seventh signal conditioner) in real time. The first ORP sensor (second ORP sensor) collects ORP data of lake water in real time and transmits the ORP data to the third signal conditioner (eighth signal conditioner) in real time. The first dissolved oxygen sensor (the second dissolved oxygen sensor) collects the dissolved oxygen data of the lake water in real time and sends the dissolved oxygen data to the third signal conditioner (the eighth signal conditioner) in real time. The first residual chlorine sensor (the second residual chlorine sensor) collects residual chlorine data of lake water in real time and sends the residual chlorine data to the fourth signal conditioner (the ninth signal conditioner) in real time. The first COD sensor (the second COD sensor) collects the COD data of the lake water in real time and sends the COD data to the fourth signal conditioner (the ninth signal conditioner) in real time. The first water temperature sensor (the second water temperature sensor) collects water temperature data of the lake water in real time and sends the water temperature data to the fifth signal conditioner (the tenth signal conditioner) in real time. The first waterproof camera (the second waterproof camera) collects image data of lake water in real time and sends the image data to the fifth signal conditioner (the tenth signal conditioner) in real time. The first to fifth signal conditioners condition the respective received data, and then send the respective received data to the first very low frequency transmitter in real time through the optical fiber, the first very low frequency transmitter sends each item of data to the first very low frequency receiver in real time through the radio wave channel (if the first very low frequency transmitter fails, the first to fifth signal conditioners send the respective received data to the second very low frequency transmitter in real time through the optical fiber, and the second very low frequency transmitter sends each item of data to the first very low frequency receiver in real time through the radio wave channel). The first very low frequency receiver sends various data to the PROFIBUS bus in real time. The sixth to tenth signal conditioners condition the respective received data, and then transmit the respective received data to the third very low frequency transmitter in real time through the optical fiber, the third very low frequency transmitter transmits each item of data to the second very low frequency receiver in real time through the radio wave channel (if the third very low frequency transmitter fails, the sixth to tenth signal conditioners transmit the respective received data to the fourth very low frequency transmitter in real time through the optical fiber, and the fourth very low frequency transmitter transmits each item of data to the second very low frequency receiver in real time through the radio wave channel). The second very low frequency receiver sends various data to the PROFIBUS bus in real time. The first programmable amplifier firstly accesses a PROFIBUS bus in real time and obtains various data, then amplifies the various data, and then sends the various data to the first sigma-delta analog-to-digital converter in real time through an umbilical cable, the first sigma-delta analog-to-digital converter performs analog-to-digital conversion on the various data, and then sends the various data to the very high frequency transmitter in real time through optical fibers (if the first programmable amplifier or the first sigma-delta analog-to-digital converter fails, the second programmable amplifier firstly accesses the PROFIBUS bus in real time and obtains the various data, then amplifies the various data, and then sends the various data to the second sigma-delta analog-to-digital converter in real time through the umbilical cable, and the second sigma-delta analog-to-digital converter performs analog-to-digital conversion on the various data, and then sends the various data to the very high frequency transmitter in real time through the optical fibers). The very high frequency transmitter sends various data to the first very high frequency receiver in real time through the radio wave channel, and the first very high frequency receiver sends various data to the first CAN bus in real time (if the first very high frequency receiver breaks down, the very high frequency transmitter sends various data to the second very high frequency receiver or the third very high frequency receiver in real time through the radio wave channel, and the second very high frequency receiver or the third very high frequency receiver sends various data to the first CAN bus in real time). The first digital extraction filter accesses the first CAN bus in real time and acquires various data, extracts and filters the various data, and then sends the various data to the second CAN bus in real time (if the first digital extraction filter fails, the second digital extraction filter accesses the first CAN bus in real time and acquires various data, extracts and filters the various data, and then sends the various data to the second CAN bus in real time). The first data isolator firstly accesses the second CAN bus in real time and acquires various data, then performs data isolation on the various data, and then transmits the various data to the third CAN bus in real time (if the first data isolator fails, the second data isolator firstly accesses the second CAN bus in real time and acquires various data, then performs data isolation on the various data, and then transmits the various data to the third CAN bus in real time). The flight control module accesses the third CAN bus in real time and acquires various data, and then transmits the various data to the first disk array for backup in real time through the optical fiber on the one hand, and transmits the various data to the first medium-frequency transmitter in real time through the optical fiber on the other hand, and the first medium-frequency transmitter transmits the various data to the medium-frequency receiver in real time through the radio wave channel (if the first medium-frequency transmitter fails, the flight control module transmits the various data to the second medium-frequency transmitter or the third medium-frequency transmitter in real time through the optical fiber, and the second medium-frequency transmitter or the third medium-frequency transmitter transmits the various data to the medium-frequency receiver in real time through the radio wave channel). And on the other hand, the medium-frequency receiver sends various data to a second disk array for backup in real time through the optical fiber, and on the third hand, the medium-frequency receiver sends various data to a PC (personal computer) for display in real time through the optical fiber.
Based on the process, compared with the existing lake water quality monitoring system, the hybrid topology type lake water quality monitoring system based on the multi-rotor unmanned aerial vehicle has the following advantages by adopting a brand new structure: the invention adopts tree topology, daisy chain topology, bus topology, star topology and ring topology, wherein the tree topology is easy to expand and the fault isolation is easy, the daisy chain topology can connect multiple nodes with limited signal transmission line without bus competition and blocking, the bus topology is simple, the transmission medium is less, there is no central node, the fault of any node will not cause the whole network paralysis, the reliability is high, the expansion is easy, the star topology is simple, the control is simple, the fault diagnosis and isolation are easy, the service is convenient, the expansibility is good, the ring topology has no path selection problem, The method has the advantages of simple control protocol, simple structure, only simple connection operation when nodes are increased or reduced, less required transmission media and fixed transmission time, and has a reasonable network topology structure, so that the data transmission is more stable, the real-time performance of the data transmission is stronger, and the high efficiency and the reliability of the monitoring process are effectively ensured. Secondly, the optical fiber and the radio wave channel are adopted as transmission media, on one hand, the advantages of wide optical fiber frequency band, low loss, light weight, strong anti-interference capability, high fidelity and reliable performance are utilized, on the other hand, the advantages of large communication capacity, long transmission distance, building penetration, convenient and flexible installation and no geographical range constraint are utilized, and the rapid and efficient transmission media are provided, so that the data transmission is more stable, the real-time performance of the data transmission is stronger, and the efficiency and the reliability of the monitoring process are further effectively ensured.
The lake water quality monitoring system is reasonable in structure and ingenious in design, effectively solves the problem that the existing lake water quality monitoring system is lack of a reasonable network topology structure and a quick and efficient transmission medium, and is suitable for lake water quality monitoring.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Detailed Description
A mixed topology type lake water quality monitoring system based on a multi-rotor unmanned aerial vehicle comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part;
the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to tenth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera; the second sensor array comprises a second conductivity sensor, a second PH value sensor, a second turbidity sensor, a second ammonia nitrogen sensor, a second ORP sensor, a second dissolved oxygen sensor, a second residual chlorine sensor, a second COD sensor, a second water temperature sensor and a second waterproof camera;
the relay terminal part comprises an unmanned underwater vehicle, a first very low frequency receiver, a second very low frequency receiver, a first programmable amplifier, a second programmable amplifier, an unmanned ship, a first sigma-delta analog-to-digital converter, a second sigma-delta analog-to-digital converter, a very high frequency transmitter, a multi-rotor unmanned aerial vehicle, a first very high frequency receiver, a second very high frequency receiver, a third very high frequency receiver, a first digital extraction filter, a second digital extraction filter, a first data isolator, a second data isolator, a flight control module, a first disk array, a first intermediate frequency transmitter, a second intermediate frequency transmitter and a third intermediate frequency transmitter;
the convergence terminal part comprises an intermediate frequency receiver, a storage server, a second disk array and a PC (personal computer);
the transmission medium part comprises optical fibers, a radio wave channel, a PROFIBUS bus, an umbilical cable, a first CAN bus, a second CAN bus and a third CAN bus;
the underwater crawler type signal conditioning system comprises a first sensor array, a second sensor array, first to tenth signal conditioners and first to fourth very low frequency transmitters, wherein the first sensor array, the second sensor array, the first to tenth signal conditioners and the first to fourth very low frequency transmitters are all arranged on an underwater crawler; the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier and the second programmable amplifier are all arranged on the unmanned underwater vehicle; the first sigma-delta analog-to-digital converter, the second sigma-delta analog-to-digital converter and the very high frequency transmitter are all arranged on the unmanned ship; the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter, the second digital decimation filter, the first data isolator, the second data isolator, the flight control module, the first disk array, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter are all arranged on the multi-rotor unmanned aerial vehicle;
the first conductivity sensor and the first PH value sensor are both connected with the first signal conditioner; the first turbidity sensor and the first ammonia nitrogen sensor are both connected with the second signal conditioner; the first ORP sensor and the first dissolved oxygen sensor are both connected with the third signal conditioner; the first residual chlorine sensor and the first COD sensor are both connected with the fourth signal conditioner; the first water temperature sensor and the first waterproof camera are connected with the fifth signal conditioner; the first to fifth signal conditioners are connected in series in sequence through optical fibers; the first sensor arrays jointly form branches of the tree-shaped topological structure, and the first to fifth signal conditioners jointly form a trunk of the tree-shaped topological structure; the first very low frequency transmitter, the first to fifth signal conditioners and the second very low frequency transmitter are sequentially connected in series through optical fibers to form a daisy chain topological structure; the first very low frequency transmitter and the second very low frequency transmitter are both wirelessly connected with the first very low frequency receiver through a radio wave channel; the second conductivity sensor and the second PH value sensor are both connected with the sixth signal conditioner; the second turbidity sensor and the second ammonia nitrogen sensor are both connected with the seventh signal conditioner; the second ORP sensor and the second dissolved oxygen sensor are both connected with the eighth signal conditioner; the second residual chlorine sensor and the second COD sensor are both connected with the ninth signal conditioner; the second water temperature sensor and the second waterproof camera are both connected with the tenth signal conditioner; the sixth to tenth signal conditioners are connected in series in sequence through optical fibers; the second sensor arrays jointly form branches of the tree-shaped topological structure, and the sixth signal conditioner to the tenth signal conditioner jointly form a trunk of the tree-shaped topological structure; the third very low frequency transmitter, the sixth to tenth signal conditioners and the fourth very low frequency transmitter are sequentially connected in series through optical fibers to form a daisy chain topology structure; the third very low frequency transmitter and the fourth very low frequency transmitter are both wirelessly connected with the second very low frequency receiver through a radio wave channel;
the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier and the second programmable amplifier are all connected with a PROFIBUS bus, and the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier, the second programmable amplifier and the PROFIBUS bus form a bus type topological structure together; the first programmable amplifier is connected with the first sigma-delta analog-to-digital converter through an umbilical cable; the second programmable amplifier is connected with the second sigma-delta analog-to-digital converter through an umbilical cable; the first sigma-delta analog-to-digital converter and the second sigma-delta analog-to-digital converter are connected with the very high frequency transmitter through optical fibers; the very high frequency transmitter is respectively in wireless connection with the first very high frequency receiver, the second very high frequency receiver and the third very high frequency receiver through radio wave channels, and the very high frequency transmitter, the first very high frequency receiver, the second very high frequency receiver and the third very high frequency receiver form a star-shaped topological structure together; the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter and the second digital decimation filter are all connected with the first CAN bus, and the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter, the second digital decimation filter and the first CAN bus form a bus type topological structure; the first digital decimation filter, the second digital decimation filter, the first data isolator and the second data isolator are all connected with the second CAN bus, and the first digital decimation filter, the second digital decimation filter, the first data isolator, the second data isolator and the second CAN bus form a bus type topological structure; the first data isolator, the second data isolator and the flight control module are all connected with a third CAN bus, and the first data isolator, the second data isolator, the flight control module and the third CAN bus form a bus type topological structure together;
the flight control module is connected with the first disk array through an optical fiber; the flight control module is respectively connected with the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter through optical fibers, and the flight control module, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter jointly form a star topology structure; the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter are all in wireless connection with the intermediate frequency receiver through radio wave channels, and the first intermediate frequency transmitter, the second intermediate frequency transmitter, the third intermediate frequency transmitter and the intermediate frequency receiver form a star topology structure together; the intermediate frequency receiver, the storage server, the second disk array and the PC are connected end to end through optical fibers to form a ring-shaped topological structure.
The first conductivity sensor and the second conductivity sensor are both NH155 type conductivity sensors; the first pH value sensor and the second pH value sensor are both NHPH49 type pH value sensors; the first turbidity sensor and the second turbidity sensor both adopt NH151 type turbidity sensors; the first ammonia nitrogen sensor and the second ammonia nitrogen sensor both adopt NH152 type ammonia nitrogen sensors; the first ORP sensor and the second ORP sensor both adopt NH154 type ORP sensors; the first dissolved oxygen sensor and the second dissolved oxygen sensor both adopt NH147 type dissolved oxygen sensors; the first residual chlorine sensor and the second residual chlorine sensor both adopt NH161 type residual chlorine sensors; the first COD sensor and the second COD sensor both adopt NHCOD-100-R type COD sensors; the first water temperature sensor and the second water temperature sensor are both NH133S type water temperature sensors; the storage server adopts a TaiShan 2280 v2 type server; the optical fiber is a single mode optical fiber.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that these are by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (2)
1. The utility model provides a mix topological formula lake water quality monitoring system based on many rotor unmanned aerial vehicle which characterized in that: the terminal comprises an acquisition terminal part, a relay terminal part, a convergence terminal part and a transmission medium part;
the acquisition terminal part comprises an underwater crawler, a first sensor array, a second sensor array, first to tenth signal conditioners and first to fourth very low frequency transmitters; the first sensor array comprises a first conductivity sensor, a first PH value sensor, a first turbidity sensor, a first ammonia nitrogen sensor, a first ORP sensor, a first dissolved oxygen sensor, a first residual chlorine sensor, a first COD sensor, a first water temperature sensor and a first waterproof camera; the second sensor array comprises a second conductivity sensor, a second PH value sensor, a second turbidity sensor, a second ammonia nitrogen sensor, a second ORP sensor, a second dissolved oxygen sensor, a second residual chlorine sensor, a second COD sensor, a second water temperature sensor and a second waterproof camera;
the relay terminal part comprises an unmanned underwater vehicle, a first very low frequency receiver, a second very low frequency receiver, a first programmable amplifier, a second programmable amplifier, an unmanned ship, a first sigma-delta analog-to-digital converter, a second sigma-delta analog-to-digital converter, a very high frequency transmitter, a multi-rotor unmanned aerial vehicle, a first very high frequency receiver, a second very high frequency receiver, a third very high frequency receiver, a first digital extraction filter, a second digital extraction filter, a first data isolator, a second data isolator, a flight control module, a first disk array, a first intermediate frequency transmitter, a second intermediate frequency transmitter and a third intermediate frequency transmitter;
the convergence terminal part comprises an intermediate frequency receiver, a storage server, a second disk array and a PC (personal computer);
the transmission medium part comprises optical fibers, a radio wave channel, a PROFIBUS bus, an umbilical cable, a first CAN bus, a second CAN bus and a third CAN bus;
the underwater crawler type signal conditioning system comprises a first sensor array, a second sensor array, first to tenth signal conditioners and first to fourth very low frequency transmitters, wherein the first sensor array, the second sensor array, the first to tenth signal conditioners and the first to fourth very low frequency transmitters are all arranged on an underwater crawler; the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier and the second programmable amplifier are all arranged on the unmanned underwater vehicle; the first sigma-delta analog-to-digital converter, the second sigma-delta analog-to-digital converter and the very high frequency transmitter are all arranged on the unmanned ship; the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter, the second digital decimation filter, the first data isolator, the second data isolator, the flight control module, the first disk array, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter are all arranged on the multi-rotor unmanned aerial vehicle;
the first conductivity sensor and the first PH value sensor are both connected with the first signal conditioner; the first turbidity sensor and the first ammonia nitrogen sensor are both connected with the second signal conditioner; the first ORP sensor and the first dissolved oxygen sensor are both connected with the third signal conditioner; the first residual chlorine sensor and the first COD sensor are both connected with the fourth signal conditioner; the first water temperature sensor and the first waterproof camera are connected with the fifth signal conditioner; the first to fifth signal conditioners are connected in series in sequence through optical fibers; the first sensor arrays jointly form branches of the tree-shaped topological structure, and the first to fifth signal conditioners jointly form a trunk of the tree-shaped topological structure; the first very low frequency transmitter, the first to fifth signal conditioners and the second very low frequency transmitter are sequentially connected in series through optical fibers to form a daisy chain topological structure; the first very low frequency transmitter and the second very low frequency transmitter are both wirelessly connected with the first very low frequency receiver through a radio wave channel; the second conductivity sensor and the second PH value sensor are both connected with the sixth signal conditioner; the second turbidity sensor and the second ammonia nitrogen sensor are both connected with the seventh signal conditioner; the second ORP sensor and the second dissolved oxygen sensor are both connected with the eighth signal conditioner; the second residual chlorine sensor and the second COD sensor are both connected with the ninth signal conditioner; the second water temperature sensor and the second waterproof camera are both connected with the tenth signal conditioner; the sixth to tenth signal conditioners are connected in series in sequence through optical fibers; the second sensor arrays jointly form branches of the tree-shaped topological structure, and the sixth signal conditioner to the tenth signal conditioner jointly form a trunk of the tree-shaped topological structure; the third very low frequency transmitter, the sixth to tenth signal conditioners and the fourth very low frequency transmitter are sequentially connected in series through optical fibers to form a daisy chain topology structure; the third very low frequency transmitter and the fourth very low frequency transmitter are both wirelessly connected with the second very low frequency receiver through a radio wave channel;
the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier and the second programmable amplifier are all connected with a PROFIBUS bus, and the first very low frequency receiver, the second very low frequency receiver, the first programmable amplifier, the second programmable amplifier and the PROFIBUS bus form a bus type topological structure together; the first programmable amplifier is connected with the first sigma-delta analog-to-digital converter through an umbilical cable; the second programmable amplifier is connected with the second sigma-delta analog-to-digital converter through an umbilical cable; the first sigma-delta analog-to-digital converter and the second sigma-delta analog-to-digital converter are connected with the very high frequency transmitter through optical fibers; the very high frequency transmitter is respectively in wireless connection with the first very high frequency receiver, the second very high frequency receiver and the third very high frequency receiver through radio wave channels, and the very high frequency transmitter, the first very high frequency receiver, the second very high frequency receiver and the third very high frequency receiver form a star-shaped topological structure together; the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter and the second digital decimation filter are all connected with the first CAN bus, and the first very high frequency receiver, the second very high frequency receiver, the third very high frequency receiver, the first digital decimation filter, the second digital decimation filter and the first CAN bus form a bus type topological structure; the first digital decimation filter, the second digital decimation filter, the first data isolator and the second data isolator are all connected with the second CAN bus, and the first digital decimation filter, the second digital decimation filter, the first data isolator, the second data isolator and the second CAN bus form a bus type topological structure; the first data isolator, the second data isolator and the flight control module are all connected with a third CAN bus, and the first data isolator, the second data isolator, the flight control module and the third CAN bus form a bus type topological structure together;
the flight control module is connected with the first disk array through an optical fiber; the flight control module is respectively connected with the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter through optical fibers, and the flight control module, the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter jointly form a star topology structure; the first intermediate frequency transmitter, the second intermediate frequency transmitter and the third intermediate frequency transmitter are all in wireless connection with the intermediate frequency receiver through radio wave channels, and the first intermediate frequency transmitter, the second intermediate frequency transmitter, the third intermediate frequency transmitter and the intermediate frequency receiver form a star topology structure together; the intermediate frequency receiver, the storage server, the second disk array and the PC are connected end to end through optical fibers to form a ring-shaped topological structure.
2. The multi-rotor unmanned aerial vehicle-based hybrid topology type lake water quality monitoring system according to claim 1, characterized in that: the first conductivity sensor and the second conductivity sensor are both NH155 type conductivity sensors; the first pH value sensor and the second pH value sensor are both NHPH49 type pH value sensors; the first turbidity sensor and the second turbidity sensor both adopt NH151 type turbidity sensors; the first ammonia nitrogen sensor and the second ammonia nitrogen sensor both adopt NH152 type ammonia nitrogen sensors; the first ORP sensor and the second ORP sensor both adopt NH154 type ORP sensors; the first dissolved oxygen sensor and the second dissolved oxygen sensor both adopt NH147 type dissolved oxygen sensors; the first residual chlorine sensor and the second residual chlorine sensor both adopt NH161 type residual chlorine sensors; the first COD sensor and the second COD sensor both adopt NHCOD-100-R type COD sensors; the first water temperature sensor and the second water temperature sensor are both NH133S type water temperature sensors; the storage server adopts a TaiShan 2280 v2 type server; the optical fiber is a single mode optical fiber.
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