Cooperative control method of bionic fish for large-range water monitoring

Abstract

The invention relates to a cooperative control method of bionic fish for large-range water monitoring. According to the method, water quality parameter information is acquired by means of group control of multiple mobile nodes. A pilot bionic node and follower bionic nodes are shaped in tunas. The pilot bionic node floats and inspects in a surface area, informs the follower bionic nodes in water about queue information by means of hydroacoustic broadcasting, collects the water quality parameter information acquired by the follower bionic nodes, and communicates with a shore base station. The follower bionic nodes receive the queue information, move with the pilot bionic node in a certain geometric form, and collect and send the water quality parameter information. The pilot and follower bionic nodes are communicated in a hydroacoustic manner; the pilot bionic node is communicated with the shore base station by the GPRS (general packet radio service) technology; a group system is controlled in a distributed fuzzy group control manner, remote control is available, the test range is wide, precision is high, water quality parameters of different water areas are monitored online, and the applicable prospect is promising.

Description

【Technical field】 [0001] The invention relates to a water quality monitoring method, in particular to a bionic fish collaborative control method for large-scale water quality monitoring, and belongs to the technical field of water quality monitoring. 【Background technique】 [0002] At present, my country's water quality monitoring methods include laboratory monitoring, automatic monitoring and mobile monitoring. Laboratory monitoring is to set certain cross-sections to take timed and fixed-point instant samples, and then bring the samples back to the laboratory for instrumental analysis. Although the analysis accuracy is high, the stored water samples will be affected by the coagulation and sedimentation of suspended solids, the metabolic process of organisms, and the decomposition process of death. etc., and the real-time performance of the data is poor. Automatic monitoring is an on-site water quality automatic monitoring station set in the river basin. The construction...

AI Technical Summary

Problems solved by technology

Laboratory monitoring is to set certain cross-sections to take timed and fixed-point instant samples, and then bring the samples back to the laboratory for instrumental analysis. Although the analysis accuracy is high, the stored water samples will be affected by the coagulation and sedimentation of suspended solids, the metabolic process of organisms, and the decomposition process of death. etc., and the data real-time performance is poor

Automatic monitoring is an on-site water quality automatic monitoring station set in the river basin. The construction of an automatic monitoring station requires the construction of a special factory building, and the online water quality analysis instrument is also very expensive.

Mobile monitoring is mostly manually driven water quality monitoring ships, which not only cost high but also cause secondary pollution

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