초록 ▼

Embodiments of the present disclosure relate to a water body pollution intelligent investigation method and device based on unmanned ships. The method includes: determining a first pollutant concentration value of a monitored water area according to water quality data of the monitored water area; co

Embodiments of the present disclosure relate to a water body pollution intelligent investigation method and device based on unmanned ships. The method includes: determining a first pollutant concentration value of a monitored water area according to water quality data of the monitored water area; controlling an unmanned ship to cruise in the monitored water area according to a preset cruise trajectory and perform water quality collection to obtain a second pollutant concentration value of the monitored water area; determining, when there is an abnormal cruise coordinate point, a target cruise trajectory according to the second pollutant concentration value of the abnormal cruise coordinate point; and controlling the unmanned ship to cruise according to the target cruise trajectory to determine a pollution source of the monitored water area.

대표청구항 ▼

1. A water body pollution intelligent investigation method based on unmanned ships, comprising: determining a first pollutant concentration value of a monitored water area according to water quality data of the monitored water area;controlling an unmanned ship to cruise in the monitored water area a

1. A water body pollution intelligent investigation method based on unmanned ships, comprising: determining a first pollutant concentration value of a monitored water area according to water quality data of the monitored water area;controlling an unmanned ship to cruise in the monitored water area according to a preset cruise trajectory and perform water quality collection to obtain a second pollutant concentration value of the monitored water area;determining, when there is an abnormal cruise coordinate point, a target cruise trajectory according to the second pollutant concentration value of the abnormal cruise coordinate point, wherein a difference between the first pollutant concentration value and the second pollutant concentration value of the abnormal cruise coordinate point is greater than a preset threshold; andcontrolling the unmanned ship to cruise according to the target cruise trajectory to determine a pollution source of the monitored water area. 2. The method according to claim 1, wherein the determining the first pollutant concentration value of the monitored water area according to the water quality data of the monitored water area comprises: acquiring the water quality data of the monitored water area, wherein the water quality data comprises satellite data of the monitored water area and a plurality of sensor data; andinputting the satellite data and the plurality of sensor data into a water area pollution analysis model to obtain the first pollutant concentration value, wherein the water area pollution analysis model is previously trained according to the water quality data. 3. The method according to claim 1, wherein the determining, when there is an abnormal cruise coordinate point, the target cruise trajectory according to the second pollutant concentration value of the abnormal cruise coordinate point comprises: acquiring the abnormal cruise coordinate point;determining a first cruise trajectory according to a circle with a preset radius centered on the abnormal cruise coordinate point;controlling the unmanned ship to cruise according to the first cruise trajectory and collect at least two pollutant concentration values of at least two first cruise coordinate points; anddetermining the target cruise trajectory according to the at least two pollutant concentration values. 4. The method according to claim 3, wherein the acquiring the abnormal cruise coordinate point comprises: acquiring pollutant concentration values of a plurality of first cruise coordinate points in the preset cruise trajectory; andsorting the pollutant concentration values of the plurality of first cruise coordinate points and determining that the first cruise coordinate point with the largest pollutant concentration value is the abnormal cruise coordinate point. 5. The method according to claim 3, wherein the acquiring the abnormal cruise coordinate point comprises: acquiring pollutant concentration values corresponding to a plurality of first cruise coordinate points in the preset cruise trajectory;acquiring at least two reference coordinate points of which pollutant concentration values are greater than a preset pollutant concentration threshold among the plurality of first cruise coordinate points; anddetermining that a center point of the at least two reference coordinate points is the abnormal cruise coordinate point. 6. The method according to claim 1, wherein the controlling the unmanned ship to cruise according to the target cruise trajectory to determine the pollution source of the monitored water area comprises: acquiring pollutant concentration values of a plurality of second cruise coordinate points in the target cruise trajectory;determining that the second cruise coordinate point with the largest pollutant concentration value is a pollution source coordinate point of the pollution source; andcontrolling the unmanned ship to perform water quality collection and image collection at the pollution source coordinate point. 7. A water body pollution intelligent investigation device, comprising: a first determining unit, configured to determine a first pollutant concentration value of a monitored water area according to water quality data of the monitored water area;a first control unit, configured to control an unmanned ship to cruise in the monitored water area according to a preset cruise trajectory and perform water quality collection to obtain a second pollutant concentration value of the monitored water area;a second determining unit, configured to determine, when there is an abnormal cruise coordinate point, a target cruise trajectory according to the second pollutant concentration value of the abnormal cruise coordinate point, wherein a difference between the first pollutant concentration value and the second pollutant concentration value of the abnormal cruise coordinate point is greater than a preset threshold; anda second control unit, configured to control the unmanned ship to cruise according to the target cruise trajectory to determine a pollution source of the monitored water area. 8. The device according to claim 7, wherein the first determining unit comprises: an acquisition module, configured to acquire the water quality data of the monitored water area, wherein the water quality data comprises satellite data of the monitored water area and a plurality of sensor data; anda processing module, configured to input the satellite data and the plurality of sensor data into a water area pollution analysis model to obtain the first pollutant concentration value, wherein the water area pollution analysis model is previously trained according to the water quality data. 9. (canceled) 10. A non-transitory machine-readable storage medium including instructions that, when accessed by a processor, cause the processor to: determine a first pollutant concentration value of a monitored water area according to water quality data of the monitored water area;control an unmanned ship to cruise in the monitored water area according to a preset cruise trajectory and perform water quality collection to obtain a second pollutant concentration value of the monitored water area;determine, when there is an abnormal cruise coordinate point, a target cruise trajectory according to the second pollutant concentration value of the abnormal cruise coordinate point, wherein a difference between the first pollutant concentration value and the second pollutant concentration value of the abnormal cruise coordinate point is greater than a preset threshold; andcontrol the unmanned ship to cruise according to the target cruise trajectory to determine a pollution source of the monitored water area. 11. The non-transitory machine-readable storage medium to claim 10, wherein to determine the first pollutant concentration value of the monitored water area according to the water quality data of the monitored water area, the processor is further to: acquire the water quality data of the monitored water area, wherein the water quality data comprises satellite data of the monitored water area and a plurality of sensor data; andinput the satellite data and the plurality of sensor data into a water area pollution analysis model to obtain the first pollutant concentration value, wherein the water area pollution analysis model is previously trained according to the water quality data. 12. The non-transitory machine-readable storage medium of claim 10, wherein to determine, when there is an abnormal cruise coordinate point, the target cruise trajectory according to the second pollutant concentration value of the abnormal cruise coordinate point, the processor is further to: acquire the abnormal cruise coordinate point;determine a first cruise trajectory according to a circle with a preset radius centered on the abnormal cruise coordinate point;control the unmanned ship to cruise according to the first cruise trajectory and collect at least two pollutant concentration values of at least two first cruise coordinate points; anddetermine the target cruise trajectory according to the at least two pollutant concentration values. 13. The non-transitory machine-readable storage medium of claim 12, wherein, to acquire the abnormal cruise coordinate point, the processor is to: acquire pollutant concentration values of a plurality of first cruise coordinate points in the preset cruise trajectory; andsort the pollutant concentration values of the plurality of first cruise coordinate points and determining that the first cruise coordinate point with the largest pollutant concentration value is the abnormal cruise coordinate point. 14. The non-transitory machine-readable storage medium of claim 12, wherein, to acquire the abnormal cruise coordinate point, the processor is further to: acquire pollutant concentration values corresponding to a plurality of first cruise coordinate points in the preset cruise trajectory;acquire at least two reference coordinate points of which pollutant concentration values are greater than a preset pollutant concentration threshold among the plurality of first cruise coordinate points; anddetermine that a center point of the at least two reference coordinate points is the abnormal cruise coordinate point. 15. The non-transitory machine-readable storage medium of claim 10, wherein, to control the unmanned ship to cruise according to the target cruise trajectory to determine the pollution source of the monitored water area, the processor is further to: acquire pollutant concentration values of a plurality of second cruise coordinate points in the target cruise trajectory;determine that the second cruise coordinate point with the largest pollutant concentration value is a pollution source coordinate point of the pollution source; andcontrol the unmanned ship to perform water quality collection and image collection at the pollution source coordinate point. 16. The device of claim 7, further comprising the unmanned ship.