CN101434286A - Unmanned controlled waterborne environment-protective inspect sampling boat - Google Patents
Unmanned controlled waterborne environment-protective inspect sampling boat Download PDFInfo
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- CN101434286A CN101434286A CNA2007101582404A CN200710158240A CN101434286A CN 101434286 A CN101434286 A CN 101434286A CN A2007101582404 A CNA2007101582404 A CN A2007101582404A CN 200710158240 A CN200710158240 A CN 200710158240A CN 101434286 A CN101434286 A CN 101434286A
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Abstract
The invention relates to a no-man-control water environment-protection inspecting sampling ship, comprising a ship body; a no-man-control ship which is composed of a power-pushing mechanism, a rudder, an electric servo, a navigation control computer and a position/direction sensor and arranged on the ship body; and an automatic sampling mechanism which comprises a sampling electric servo controlled by the navigation control computer; the sampling electric servo is connected with an input shaft of a transmission mechanism and the output shaft is connected with the tail end of a sampling arm. A water inlet pipe of a sampling pump controlled by the navigation control computer is integrated with the sampling arm in a parallel manner; and the water outlet of the sampling pump is connected with a sampling container. The test demonstrates that the invention is provided with high automatic level; the sampling efficiency is distinctly enhanced; and the site distribution and depth range are scientific and proper so as to provide the objective and accurate water and water quality information for an environment protection and detecting department.
Description
Technical field
The present invention relates to the supervisory sampling boat of a kind of environmental protection, particularly a kind of unmanned controlled waterborne environment-protective inspect sampling boat.
Background technology
At present the supervisory department of environmental protection is the water quality situation in waters that grasp is had jurisdiction over, and normally it is carried out regular or the analysis of fitfull sample detecting, determines corresponding environmental practice according to every index of quality of water quality.Yet sample mode in the past, generally be by manually sampling in this waters different loci, this traditional sample mode, although once brought into play positive effect for the development environmental protection cause, but the means that also exist fall behind, there are limitation, efficient low, particularly when centering, the sampling of serious pollution water body, accidentally also have the part many not fully up to expectations that jeopardizes operating personal personal safety hidden danger.Based on above-mentioned situation, a kind of unwatched sample mode appears in recent years, and sampling efficiency height, but still exist the sampling depth scope little has certain limitation, water quality situation that can not objective and accurate reflection sampling waters.The application for a patent for invention of the driverless operation ship of a kind of automatic cruising of number of patent application 200610048006.1, it comprises hull, power, propulsion system, yaw rudder and speed controller, electric servomechanism, navigation control computer, position/heading sensor, wireless data link, remote control receiver and power supply.Can realize navigating by water to and set the site, and can come back to the base automatically by preset program.Can it be a unpiloted marine vehicle regrettably, function singleness more have the sampling function.
Summary of the invention
The present invention is directed to above-mentioned problems of the prior art, provide a kind of the driverless operation ship and sampling mechanism is organic combines together, automatically finish water body sampling work to monitoring waters each detection site, sampling efficiency height, site are many, depth range greatly can be more objective and accurate by environmental administration's grasp the unmanned controlled waterborne environment-protective inspect sampling boat of water quality situation in monitoring waters.
The objective of the invention is to realize by the following technical solutions:
By hull and be loaded on driverless operation ship and the automatic sampling machine structure that power, propulsive mechanism, yaw rudder, electrical servo machine, navigation control computer, position/heading sensor on the hull constitute and form, its described automatic sampling machine structure comprises the sampling electrical servo machine that is subjected to navigation control computer control, sampling electrical servo machine links to each other with the input shaft of transmission device, output shaft links to each other with the tail end of sampling arm, be controlled by fuse parallel with sampling arm of coolant inlet pipe of the sampling pump of navigation control computer, the water outlet of sampling pump links to each other with sampling container.
Described transmission device is a worm-and-wheel gear, and wherein worm shaft links to each other with sampling electrical servo arbor, and worm-wheel shaft links to each other with the tail end of sampling arm.
Also be provided with dynamoelectric switching valve on the water outlet pipeline of described sampling pump, the multiple-limb path links to each other with the sampling container in each corresponding site.
Advantageous effect of the present invention is as follows:
Compared with prior art, because the technical measures that driverless operation ship and automatic sampling machine structure are organically combined together, and the degree of automation height is arranged, obviously improve sampling efficiency, site distribution and depth range is scientific and reasonable can provide objective and accurate water quality information for environmental protection supervisory department through evidence.
Description of drawings
Fig. 1 is a plan structure scheme drawing of the present invention.
Fig. 2 is the circuit block diagram of automatic sampling machine structure.
Among the figure, 1. position/heading sensor, 2. hull, 3. power supply, 4. navigation control computer, 5. speed controller, 6. actuating unit, 7. transmission shaft, 8. electrical servo machine, 9. propelling unit, 10. connecting rod, 11. yaw rudder, 12. sampling containers, 13. sampling pumps, 14. sampling arms, 15. sampling electrical servo machines.
The specific embodiment
Embodiment
Content of the present invention is described in detail in conjunction with the accompanying drawings by embodiment.
As shown in Figure 1 make hull 2 by prior art, position/heading sensor 1 is located at the front portion of hull 2, link to each other with navigation control computer 4 by lead, the input end of speed controller 5 links to each other with the output of navigation control computer 4, the mouth of speed controller 5 links to each other with the input end of actuating unit 6, the output termination transmission shaft 7 of actuating unit 6, propelling unit 9 is loaded on the end of transmission shaft 7, the afterbody of hull 2 is provided with yaw rudder 11 and links to each other with electrical servo machine 8 by connecting rod 10, electrical servo machine 8 links to each other with the output of navigation control computer 4, and the input of navigation control computer 4 links to each other with power supply 3; The automatic sampling machine structure is located at hull 2 flat-beds one side, comprise sampling electrical servo machine 15, its input end links to each other with the output of navigation control computer 4, the output shaft of sampling electrical servo machine 15 links to each other with worm screw, link to each other with the worm-wheel shaft of its coupling a end with the sampling arm 14 that be arranged in parallel with hull 2, the coolant inlet pipe of sampling pump 13 and sampling arm 14 fuse, water inlet extends to another termination of sampling arm, sampling pump 13 links to each other with power supply 3, link to each other with navigation control computer 4 by corresponding interface, the pipeline of the water outlet of sampling pump 13 is provided with dynamoelectric switching valve, the multiple-limb path links to each other with the sampling container 12 in each corresponding site.Described navigation control computer 4 storages are flight path, the speed of a ship or plane and the information such as sampling site and sampling depth of establishment in advance, GPS receiver and data transmission radio station also are installed on the ship real time position of unmanned boat can be sent to wayside equipment by the number transmission radio station, whether accurately arrive predetermined sampling location to grasp unmanned boat.
When the present invention uses, navigation control computer 4 control sampling boats navigate by water behind first sampling location, navigation control computer 4 sends the instruction of berthing and sample, sampling boat stops navigation, and instruction sampling electrical servo machine 15 work, when worm-and-wheel gear work drive sampling arm 14 turns to desired depth, electrical servo machine 15 quits work, 13 work of navigation control computer 4 instruction sampling pumps, after the Zhi Luxiang first site sampling container water filling that dynamoelectric switching valve is opened first site finishes, sampling pump 13 quits work, 15 work of electrical servo machine, and sampling arm 14 sets back.Navigation control computer 4 control sampling boats travel to second sampling point, arrive a last sampling point successively, and sampling finishes, and navigation control computer 4 instruction sampling boats make a return voyage to the departure place, and operating personal takes off the sampling container 12 that indicates label.
Claims (3)
1. unmanned controlled waterborne environment-protective inspect sampling boat, by hull (2) and be loaded on power on the hull (2), propulsive mechanism, yaw rudder (11), electrical servo machine (8), navigation control computer (4), driverless operation ship that position/heading sensor (1) constitutes and automatic sampling machine structure are formed, it is characterized in that described automatic sampling machine structure comprises the sampling electrical servo machine (15) that is subjected to navigation control computer (4) control, sampling electrical servo machine (15) links to each other with the input shaft of transmission device, output shaft links to each other with the tail end of sampling arm (14), be controlled by the coolant inlet pipe and parallel the fusing of sampling arm (14) of the sampling pump (13) of navigation control computer (4), the water outlet of sampling pump (13) links to each other with sampling container (12).
2, a kind of unmanned controlled waterborne environment-protective inspect sampling boat according to claim 1, it is characterized in that described transmission device is a worm-and-wheel gear, wherein worm shaft links to each other with sampling electrical servo machine (15) axle, and worm-wheel shaft links to each other with the tail end of sampling arm (14).
3, a kind of unmanned controlled waterborne environment-protective inspect sampling boat according to claim 1 is characterized in that also being provided with dynamoelectric switching valve on the outlet pipeline of described sampling pump (13), the multiple-limb path links to each other with the sampling container (12) in each corresponding site.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101582404A CN101434286A (en) | 2007-11-13 | 2007-11-13 | Unmanned controlled waterborne environment-protective inspect sampling boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CNA2007101582404A CN101434286A (en) | 2007-11-13 | 2007-11-13 | Unmanned controlled waterborne environment-protective inspect sampling boat |
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| CN101434286A true CN101434286A (en) | 2009-05-20 |
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| CNA2007101582404A Pending CN101434286A (en) | 2007-11-13 | 2007-11-13 | Unmanned controlled waterborne environment-protective inspect sampling boat |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806811A (en) * | 2010-05-10 | 2010-08-18 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN101833335A (en) * | 2010-05-10 | 2010-09-15 | 珠海云洲智能科技有限公司 | Small-size water surface robot device and self-adaptive flow optimizing navigation method |
| CN102251508A (en) * | 2011-05-12 | 2011-11-23 | 中国科学院南京地理与湖泊研究所 | Method for preventing algae from being transported by using automatic positioning rubber floating booms |
| CN102288967A (en) * | 2011-06-17 | 2011-12-21 | 江西海豹高科技有限公司 | Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area |
| CN102306025A (en) * | 2011-06-24 | 2012-01-04 | 石家庄环祥科技有限公司 | Wireless remote-control automatic sampling monitoring ship |
| CN102735501A (en) * | 2012-07-04 | 2012-10-17 | 中国水产科学研究院渔业机械仪器研究所 | Water sampling device for farming water quality monitoring |
| CN102735814A (en) * | 2012-07-04 | 2012-10-17 | 中国水产科学研究院渔业机械仪器研究所 | Movable monitoring device for farming water quality |
| CN102937538A (en) * | 2012-11-08 | 2013-02-20 | 浙江大学 | Remote-controlled three-dimensional sampling system and method applied to water quality emergency monitoring |
| CN104316363A (en) * | 2014-11-19 | 2015-01-28 | 成都蓝宇科维科技有限公司 | Underwater robot for collecting water samples |
| CN104569333A (en) * | 2015-01-06 | 2015-04-29 | 安徽科微智能科技有限公司 | Autonomous navigation type surface water quality sampling and real-time monitoring water level robot |
| CN105092304A (en) * | 2015-09-01 | 2015-11-25 | 江苏新光数控技术有限公司 | Water sampling robot of sewage treatment plant |
| CN105334079A (en) * | 2015-12-15 | 2016-02-17 | 吴振宇 | Solar energy water sample collection device |
| CN105334078A (en) * | 2015-12-15 | 2016-02-17 | 吴振宇 | Conveniently-fixed energy-saving water sample collecting device |
| CN105352764A (en) * | 2015-12-15 | 2016-02-24 | 吴振宇 | Device for collecting water sample |
| CN105547761A (en) * | 2015-12-15 | 2016-05-04 | 吴振宇 | Water sampling device convenient for fixing |
| CN105547747A (en) * | 2015-12-15 | 2016-05-04 | 吴振宇 | Energy-saving water sample acquisition device |
| CN105571902A (en) * | 2015-12-15 | 2016-05-11 | 吴振宇 | Automatic water sample collection device |
| CN105571895A (en) * | 2015-12-15 | 2016-05-11 | 吴振宇 | Energy-saving water sample collection system device |
| JP2016095259A (en) * | 2014-11-17 | 2016-05-26 | 横河電機株式会社 | Plankton measurement system and plankton measurement method |
| CN106708062A (en) * | 2017-03-10 | 2017-05-24 | 信阳农林学院 | Running control method of intelligent medication boat |
| CN107963189A (en) * | 2017-11-21 | 2018-04-27 | 珠海天和检测技术有限公司 | A kind of waterborne environment-protective supervises sampling boat |
| CN108375978A (en) * | 2018-02-02 | 2018-08-07 | 深圳市船夫科技有限公司 | A kind of control method and system of wireless remote console keyboard nest ship |
| CN112798348A (en) * | 2020-12-31 | 2021-05-14 | 山东中正食品科技检测有限公司 | Combined sampling equipment for life drinking water detection |
| WO2021208532A1 (en) * | 2020-04-14 | 2021-10-21 | 山东省工业设计研究院有限公司 | Unmanned yacht |
-
2007
- 2007-11-13 CN CNA2007101582404A patent/CN101434286A/en active Pending
Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806811B (en) * | 2010-05-10 | 2012-12-19 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN101833335A (en) * | 2010-05-10 | 2010-09-15 | 珠海云洲智能科技有限公司 | Small-size water surface robot device and self-adaptive flow optimizing navigation method |
| CN101806811A (en) * | 2010-05-10 | 2010-08-18 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN101833335B (en) * | 2010-05-10 | 2013-10-30 | 珠海云洲智能科技有限公司 | Small-size water surface robot device and self-adaptive flow optimizing navigation method |
| CN102251508A (en) * | 2011-05-12 | 2011-11-23 | 中国科学院南京地理与湖泊研究所 | Method for preventing algae from being transported by using automatic positioning rubber floating booms |
| CN102251508B (en) * | 2011-05-12 | 2013-06-12 | 中国科学院南京地理与湖泊研究所 | Method for preventing algae from being transported by using automatic positioning rubber floating booms |
| CN102288967A (en) * | 2011-06-17 | 2011-12-21 | 江西海豹高科技有限公司 | Underwater ultrasonic ranging sub system and intelligentized monitoring system and control method for intelligentized monitoring system under turbid water area |
| CN102306025A (en) * | 2011-06-24 | 2012-01-04 | 石家庄环祥科技有限公司 | Wireless remote-control automatic sampling monitoring ship |
| CN102735814A (en) * | 2012-07-04 | 2012-10-17 | 中国水产科学研究院渔业机械仪器研究所 | Movable monitoring device for farming water quality |
| CN102735501A (en) * | 2012-07-04 | 2012-10-17 | 中国水产科学研究院渔业机械仪器研究所 | Water sampling device for farming water quality monitoring |
| CN102937538A (en) * | 2012-11-08 | 2013-02-20 | 浙江大学 | Remote-controlled three-dimensional sampling system and method applied to water quality emergency monitoring |
| CN102937538B (en) * | 2012-11-08 | 2014-12-03 | 浙江大学 | Remote-controlled three-dimensional sampling system and method applied to water quality emergency monitoring |
| JP2016095259A (en) * | 2014-11-17 | 2016-05-26 | 横河電機株式会社 | Plankton measurement system and plankton measurement method |
| CN104316363A (en) * | 2014-11-19 | 2015-01-28 | 成都蓝宇科维科技有限公司 | Underwater robot for collecting water samples |
| CN104569333A (en) * | 2015-01-06 | 2015-04-29 | 安徽科微智能科技有限公司 | Autonomous navigation type surface water quality sampling and real-time monitoring water level robot |
| CN105092304A (en) * | 2015-09-01 | 2015-11-25 | 江苏新光数控技术有限公司 | Water sampling robot of sewage treatment plant |
| CN105092304B (en) * | 2015-09-01 | 2018-01-30 | 江苏新光数控技术有限公司 | the water sampling robot of sewage treatment plant |
| CN105334079A (en) * | 2015-12-15 | 2016-02-17 | 吴振宇 | Solar energy water sample collection device |
| CN105547761A (en) * | 2015-12-15 | 2016-05-04 | 吴振宇 | Water sampling device convenient for fixing |
| CN105547747A (en) * | 2015-12-15 | 2016-05-04 | 吴振宇 | Energy-saving water sample acquisition device |
| CN105571902A (en) * | 2015-12-15 | 2016-05-11 | 吴振宇 | Automatic water sample collection device |
| CN105571895A (en) * | 2015-12-15 | 2016-05-11 | 吴振宇 | Energy-saving water sample collection system device |
| CN105334078A (en) * | 2015-12-15 | 2016-02-17 | 吴振宇 | Conveniently-fixed energy-saving water sample collecting device |
| CN105352764A (en) * | 2015-12-15 | 2016-02-24 | 吴振宇 | Device for collecting water sample |
| CN106708062A (en) * | 2017-03-10 | 2017-05-24 | 信阳农林学院 | Running control method of intelligent medication boat |
| CN106708062B (en) * | 2017-03-10 | 2020-10-09 | 信阳农林学院 | Driving control method of intelligent pesticide applying ship |
| CN107963189A (en) * | 2017-11-21 | 2018-04-27 | 珠海天和检测技术有限公司 | A kind of waterborne environment-protective supervises sampling boat |
| CN108375978A (en) * | 2018-02-02 | 2018-08-07 | 深圳市船夫科技有限公司 | A kind of control method and system of wireless remote console keyboard nest ship |
| WO2021208532A1 (en) * | 2020-04-14 | 2021-10-21 | 山东省工业设计研究院有限公司 | Unmanned yacht |
| CN112798348A (en) * | 2020-12-31 | 2021-05-14 | 山东中正食品科技检测有限公司 | Combined sampling equipment for life drinking water detection |
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Open date: 20090520 |