Automatic driving method and system of intelligent boat for water quality monitoring

Abstract

The invention discloses an automatic driving method and system for a water quality monitoring intelligent boat, and the method comprises the steps that: a radar detects the surroundings when a boat sails, and a network camera is driven to start visual detection after a control computer determines that the detection information received by the radar is an effective target signal; the area of the effective target under pixel coordinates detected by the radar is determined by the control computer, and then image detection is carried out. Under the pixel coordinate system, the overlapping condition of the target area detected by the radar and the target area detected by the vision is determined by comparing; if the repetition value reaches the threshold value, it is judged that the detection information is accurate, and obstacle avoidance is implemented; if the value is lower than the threshold value, it is determined that information is inaccurate; then whether a longitudinal signal sentby the radar signal is lower than an early warning value or not is judged; if the longitudinal signal sent by the radar signal is lower than the early warning value, the boat keeps moving forwards, and if the longitudinal signal is higher than the early warning value, obstacle avoidance is implemented. The method can effectively avoid obstacles in a riverway, and therefore autonomous navigation ofthe boat is achieved.

Description

technical field [0001] The invention relates to the field of water quality monitoring, in particular to an automatic driving method and system for a water quality monitoring intelligent boat. Background technique [0002] At present, in order to grasp the water quality of the waters under its jurisdiction, the environmental protection supervision department usually conducts regular or irregular sampling and analysis of the water quality, and determines the corresponding environmental protection measures according to the various quality indicators of the water quality. However, the existing automatic water quality monitoring stations are difficult to find pollution sources in time due to their fixed positions, and most of the mobile monitoring methods are manned water quality monitoring vehicles or monitoring boats, which are not only costly, but also affected by the complex topography of urban water bodies, artificial monitoring boats in some waters Or the monitoring vehicle...

AI Technical Summary

Problems solved by technology

However, the existing automatic water quality monitoring stations are difficult to find pollution sources in time due to their fixed positions, and most of the mobile monitoring methods are manned water quality monitoring vehicles or monitoring boats, which are not only costly, but also affected by the complex topography of urban water bodies, artificial monitoring boats in some waters Or the monitoring vehicle cannot drive in at all, resulting in problems such as untimely response and low temporal and spatial resolution in the current water quality monitoring system

At present, the mobile collection method used for water quality monitoring in the market cannot specify the depth of collection, the hull is easy to roll over, and the steering operation is difficult

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