CN103838243A - Novel unmanned cruise driving controller - Google Patents

Novel unmanned cruise driving controller Download PDF

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Publication number
CN103838243A
CN103838243A CN201210478181.XA CN201210478181A CN103838243A CN 103838243 A CN103838243 A CN 103838243A CN 201210478181 A CN201210478181 A CN 201210478181A CN 103838243 A CN103838243 A CN 103838243A
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China
Prior art keywords
ship
monitoring
driving controller
cruises
sensor
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CN201210478181.XA
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Chinese (zh)
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吉金鹏
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SHANGHAI PUDONG NEW ZONE INTELLECTUAL PROPERTY PROTECTION ASSOCIATION
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SHANGHAI PUDONG NEW ZONE INTELLECTUAL PROPERTY PROTECTION ASSOCIATION
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Priority to CN201210478181.XA priority Critical patent/CN103838243A/en
Publication of CN103838243A publication Critical patent/CN103838243A/en
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Abstract

The invention discloses a novel unmanned cruise driving controller. The novel unmanned cruise driving controller comprises a hull, a hull driving power system, an energy supply system, an environment parameter monitoring and display system, a cruise driving control system, a wireless communication system and a salvage system. According to the invention, various parameters and pollution situations of the atmosphere and the water environment of a surrounding area of a ship can be monitored; electrical energy is supplied by use of a solar photovoltaic plate and a storage battery; positioning and navigation are carried out through a GPS, an electronic compass and an ultrasonic sensor; and through a GPRS and remote base station wireless transmission data, remote control and wireless communication of the ship are realized, monitored environment parameters and ship circumferential images are transmitted back to a base station or a mobile phone, and automatic research of a pollution source suspected region and ship automatic berthing are realized. Therefore, an autonomous monitoring ship can replace manual operation to finish round-the-clock water area environment monitoring in a remote place or in a harsh environment.

Description

A kind of novel nobody driving controller that cruises
Technical field
The present invention relates to environment monitoring device field, particularly one take ARM7 as core controller, can monitor novel nobody driving controller that cruises of the various parameters of boats and ships neighboring area atmosphere, water environment and pollution condition.
Background technology
China lake is faced with severe environmental problem.As western Lakes Dry Up, salinize, even dry; Lake, east is enclosed and cultivated with net culture in enclosure and is grown seriously, pollutes aggravation.Northern China and western restriction and economic and the social fast development that is subject to physical environment, water resource critical shortage; And water resource causes water quality lack of water than more rich south because of the artificial pollution of water environment; seriously restricting the mankind's existence and the development of the economy and society in region; must cause social great attention and take effective measures; strengthen protection and the improvement of lake environment, maintain man and nature and sustainable development harmonious region.But the environmental monitoring work in inland lake basin always because workload is large, the many factors such as wide of working is difficult to carry out frequency monitoring, causes the relevant Monitoring Data of inland lake atmosphere water quality situation can not upgrade timely.
The domestic driving controller that cruises is still little at present, and main representative has following two kinds:
1) " No. one, astronomical phenomena " unmanned marine detecting ship.The measured values such as wind speed that " No. one, astronomical phenomena " unmanned boat aerological sounding system can provide, wind direction, temperature, humidity, water temperature.Key operation object is weather condition.The Meteorological safeguard and service of the Olympic Sailing competition in Qingdao that " No. one, astronomical phenomena " are Beijing Olympic Games has been made very large contribution, and this is also that first Application unmanned boat carries out aerological sounding in the world.
2) " the Changjiang river water ring prison 2000 ".(large-sized artificial driving) this monitoring ship can carry out Yangtze River Water environmental monitoring quickly and accurately, supervises, monitors riverine pollution discharge into river situation, and provincial boundaries water body, emphasis are polluted to section and water pollution accident implementation dynamic monitoring.This ship came into operation from 2000, before current " the Changjiang river action " starts, had been equipped with specially again many covers professional equipment.
Along with the pay attention to day by day of Chinese Government to pollutant control and energy-saving and emission-reduction, China's environmental monitoring field opportunity is greater than challenge.The coming years, can further be favored at Chinese robotization, multi-functional, instant, systematization, intelligent high value added product, the product of giving priority to has automatic water quality monitoring system, flue dust and SO2 online auto monitoring system, organic contaminant automatic continuous monitoring system, major polluting sources monitoring system and online portable emergency monitoring equipment etc.This project has been catered to social development, will certainly produce certain marketable value.
The invention provides a kind of novel nobody driving controller that cruises, can monitor the data such as the relevant wind speed, wind direction, temperature, humidity, air pressure, air quality, illumination, noise, rainfall amount of atmosphere, equally also can monitor the data such as the water temperature, pH value, oxygen dissolved, ammonia nitrogen of water quality, and there is the functions such as real-time data transmission, there is good social benefit and value, can make certain contribution for the environmental protection cause of China.
Summary of the invention
The technical problem to be solved in the present invention is: for the demand of current lake, marine environmental monitoring, a kind of novel nobody driving controller that cruises is provided, there is volume little, easy to operate, to the environmental monitoring at the higher scenic spot of environmental requirement, more can embody its Real-Time Monitoring, the advantage of sharp work, there is good social benefit and value, can make certain contribution for the environmental protection cause of China.
The technical solution used in the present invention is: the present invention includes hull 1, hull driving power system, energy supply system, environmental parameter monitoring and display system, the Ride Control System that cruises, wireless telecommunication system and salvaging system.
The power that hull driving power system provides ship to advance, is mainly made up of screw propeller 2 and drive motor, considers from environmental protection and zero-emission angle, has adopted direct current generator type of drive.
Energy supply system, adopts take sun power as main, accumulator as auxiliary Dual-energy source electric power system, solar panel 7 is fixed on hull 1 top by pillar 8 and pole 14, and accumulator is positioned at hull 1 inside.Solar cell is 36V/100W, totally 3, and general power 300W; The accumulator of selecting is 36V/12 ampere-hour, totally 2 groups; The energy switches use, realizes the zero blowdown of monitoring ship.
The Ride Control System that cruises is responsible for the unmanned control of ship, is positioned and is navigated by GPS, electronic compass 16 and ultrasonic sensor, realizes the functions such as setting path navigation, roaming, pollution source search control and automatic homing berth.Automatic homing berth function can make ship timing return base station maintenance.Can, in base station or by mobile phone remote mechanical arm, make ship in berthing or setting out state.
Wireless telecommunication system application dual-mode wireless transmission communication: form on receiver and ship 15 communications of GPRS module or carry out communication by GPRS module on mobile phone and ship 15 by GPRS module and host computer.Two kinds of wireless transmitting systems complete the transmission of Monitoring Data jointly, realize the Long-distance Control to boats and ships and the environmental parameter monitoring and boats and ships surrounding image are transferred back on base station and mobile phone.
Salvaging system comprises that lifter 4, mechanical arm 5, rail of lifter 3 and pollutant cabin 6 form, and the pollution source that search and pollutant can be salvaged by mechanical arm 5, and be put into pollutant cabin 6, realizes the salvaging of pollutant.
Unmanned monitoring ship also adopts pyroelectric infrared sensor, inlet water sensor, runs into the emergency conditioies such as stranger's intrusion, barrier and collision, energy and alarm, the safe reliability of raising monitoring ship.
In use procedure, can, according to actual detection target and region, set the information such as track and alarm parameters by the control button 17 on master station 11.
The technique effect that the present invention realizes is: monitoring ship central controller can judge the variation of water pollution parameter and the relation of shipping agency footpath trail change, the doubtful position of image processor pollution source, and send and report to the police to base station; Redundancy is applied to Wireless Data Transmission, compared with traditional personal monitoring's ship, has improved the reliability of data transmission, also improved monitoring ship work efficiency; Developed automatic berth mechanism, real realization monitoring ship completely unmanned from the berth of starting working, for the atmosphere water quality condition monitoring in the waters such as China lake, scenic spot provides very large help.
Accompanying drawing explanation
Fig. 1 is monitoring ship front view
Fig. 2 is monitoring ship side view
Wherein: 1. hull 2. screw propeller 3. rail of lifter 4. lifter 5. mechanical arm 6. refuse cabin 7. sun power electroplax 8. pillar 9. camera 10. rotating disk 11. master station 12. atmosphere pressure sensor 13. air mass sensor 14. pole 15.GPS module 16. electronic compasss 17. are controlled button 18. display screen 19. noise transducer 20. humidity, temperature sensor 21. water quality sensor 22. expansion links.
Embodiment
Environmental parameter monitoring is responsible for water environment parameter monitoring with display system, is made up of atmospheric pressure monitoring sensor 12, air mass sensor 13, water quality sensor 21, humidity sensor 20, noise transducer 19, camera 9, LED display 18 and voice module.Wherein atmospheric surveillance sensor 12, air mass sensor 13, humidity sensor 20, noise transducer 19 are arranged on master station 11; Camera 9 is arranged on fore by rotating disk 10; Water quality sensor 21 is arranged on fore below by expansion link 22, can measure according to demand the water quality of different depth.Can monitor atmospheric environment, as wind speed, wind direction, humidity, air quality etc.; Water body situation, as water temperature, pH value, oxygen dissolved, ammonia nitrogen etc., in addition, monitoring ship central controller can judge the variation of water pollution parameter and the relation of shipping agency footpath track, the intelligent of ship improved in the doubtful position of image processor pollution source.
This robot can be used for southern large-size lake and waters, scenic spot, has good social benefit and value, can make certain contribution for the environmental protection cause of China.

Claims (10)

1. novel nobody driving controller that cruises, it comprises hull (1), hull driving power system, energy supply system, environmental parameter monitoring and display system, the Ride Control System that cruises, wireless telecommunication system and salvaging system.
2. the driving controller that cruises according to claim 1, is characterized in that: the power that hull driving power system provides ship to advance, is mainly made up of screw propeller (2) and drive motor, and has adopted direct current generator type of drive.
3. the driving controller that cruises according to claim 1 and 2, it is characterized in that: its energy supply system, adopt take sun power as master, accumulator are as auxiliary Dual-energy source electric power system, solar panel (7) is fixed on hull (1) top by pillar (8) and pole (14), and accumulator is positioned at hull (1) inside.
4. the driving controller that cruises according to claim 3, is characterized in that: solar cell is 36V/100W, totally 3, and general power 300W; The accumulator of selecting is 36V/12 ampere-hour, totally 2 groups; The energy switches use, realizes the zero blowdown of monitoring ship.
5. the driving controller that cruises according to claim 4, it is characterized in that: environmental parameter monitoring is responsible for water environment parameter monitoring with display system, is made up of atmospheric pressure monitoring sensor (12), air mass sensor (13), water quality sensor (21), humidity sensor (20), noise transducer (19), camera (9), LED display (18) and voice module; Wherein atmospheric surveillance sensor (12), air mass sensor (13), humidity sensor (20), noise transducer (19) are arranged on master station (11); Camera (9) is arranged on fore by rotating disk (10); Water quality sensor (21) is arranged on fore below by expansion link (22), can measure according to demand the water quality of different depth; Can monitor atmospheric environment, as wind speed, wind direction, humidity, air quality etc.; Water body situation, as water temperature, pH value, oxygen dissolved, ammonia nitrogen etc., in addition, monitoring ship central controller can judge the variation of water pollution parameter and the relation of shipping agency footpath track, the intelligent of ship improved in the doubtful position of image processor pollution source.
6. according to the driving controller that cruises described in claim 4 or 5, it is characterized in that: the Ride Control System that cruises is responsible for the unmanned control of ship, position and navigate by GPS, electronic compass (16) and ultrasonic sensor, realizing the functions such as setting path navigation, roaming, pollution source search control and automatic homing berth; Automatic homing berth function can make ship timing return base station maintenance; Can, in base station or by mobile phone remote mechanical arm, make ship in berthing or setting out state.
7. the driving controller that cruises according to claim 6, is characterized in that: wireless telecommunication system application dual-mode wireless transmission communication: formed on receiver and ship (15) communication of GPRS module or carried out communication by GPRS module (15) on mobile phone and ship by GPRS module and host computer; Two kinds of wireless transmitting systems complete the transmission of Monitoring Data jointly, realize the Long-distance Control to boats and ships and the environmental parameter monitoring and boats and ships surrounding image are transferred back on base station and mobile phone.
8. the driving controller that cruises according to claim 7, it is characterized in that: salvaging system comprises lifter (4), mechanical arm (5), rail of lifter (3) and pollutant cabin (6) composition, the pollution source that search and pollutant can be salvaged by mechanical arm (5), and put into pollutant cabin (6), realize the salvaging of pollutant.
9. the driving controller that cruises according to claim 8, it is characterized in that: unmanned monitoring ship also adopts pyroelectric infrared sensor, inlet water sensor, runs into the emergency conditioies such as stranger's intrusion, barrier and collision, energy and alarm, the safe reliability of raising monitoring ship.
10. the driving controller that cruises according to claim 9, it is characterized in that: in use procedure, can, according to actual detection target and region, set the information such as track and alarm parameters by the control button (17) on master station (11).
CN201210478181.XA 2012-11-22 2012-11-22 Novel unmanned cruise driving controller Pending CN103838243A (en)

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105137993A (en) * 2015-09-09 2015-12-09 广州睿航电子科技有限公司 Pollution source tracking method and system used for unmanned ship
CN106845709A (en) * 2017-01-20 2017-06-13 四方继保(武汉)软件有限公司 Fishery scheduling system and method based on unmanned ships and light boats
CN108216504A (en) * 2018-01-23 2018-06-29 何雨潇 The unmanned monitoring instrument bogey of lake water
TWI644115B (en) * 2017-12-22 2018-12-11 財團法人船舶暨海洋產業研發中心 Vessel remote monitoring system and the operating method thereof
CN109501970A (en) * 2018-11-12 2019-03-22 浙江海洋大学 A kind of hydrometeorological real-time monitoring of collection and Culture pure seine automatic checkout system
CN110583560A (en) * 2019-09-18 2019-12-20 上海海事大学 Solar unmanned ship for adjusting water body temperature and adjusting method thereof
CN111524247A (en) * 2020-04-20 2020-08-11 北京海益同展信息科技有限公司 Environment monitoring method, device, equipment and storage medium
CN112526092A (en) * 2020-11-06 2021-03-19 佛山市禅城区环境监测站 Unmanned ship-based online river water quality monitoring system and method
WO2021208532A1 (en) * 2020-04-14 2021-10-21 山东省工业设计研究院有限公司 Unmanned yacht
CN114827673A (en) * 2022-04-24 2022-07-29 北京北航天宇长鹰无人机科技有限公司 Unmanned equipment and remote control system thereof
CN114919703A (en) * 2022-04-27 2022-08-19 江苏科技大学 Environment monitoring four-body unmanned ship with local flexible body and design method thereof
CN117104398A (en) * 2023-10-10 2023-11-24 华南理工大学 Underwater offshore photovoltaic power generation device based on wave-resistant plate

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105137993A (en) * 2015-09-09 2015-12-09 广州睿航电子科技有限公司 Pollution source tracking method and system used for unmanned ship
CN105137993B (en) * 2015-09-09 2018-07-17 广州睿航电子科技有限公司 A kind of pollution sources method for tracing and system for unmanned boat
CN106845709A (en) * 2017-01-20 2017-06-13 四方继保(武汉)软件有限公司 Fishery scheduling system and method based on unmanned ships and light boats
TWI644115B (en) * 2017-12-22 2018-12-11 財團法人船舶暨海洋產業研發中心 Vessel remote monitoring system and the operating method thereof
CN108216504A (en) * 2018-01-23 2018-06-29 何雨潇 The unmanned monitoring instrument bogey of lake water
CN109501970A (en) * 2018-11-12 2019-03-22 浙江海洋大学 A kind of hydrometeorological real-time monitoring of collection and Culture pure seine automatic checkout system
CN110583560A (en) * 2019-09-18 2019-12-20 上海海事大学 Solar unmanned ship for adjusting water body temperature and adjusting method thereof
WO2021208532A1 (en) * 2020-04-14 2021-10-21 山东省工业设计研究院有限公司 Unmanned yacht
CN111524247A (en) * 2020-04-20 2020-08-11 北京海益同展信息科技有限公司 Environment monitoring method, device, equipment and storage medium
CN112526092A (en) * 2020-11-06 2021-03-19 佛山市禅城区环境监测站 Unmanned ship-based online river water quality monitoring system and method
CN114827673A (en) * 2022-04-24 2022-07-29 北京北航天宇长鹰无人机科技有限公司 Unmanned equipment and remote control system thereof
CN114827673B (en) * 2022-04-24 2023-12-01 北京北航天宇长鹰无人机科技有限公司 Unmanned equipment and remote control system thereof
CN114919703A (en) * 2022-04-27 2022-08-19 江苏科技大学 Environment monitoring four-body unmanned ship with local flexible body and design method thereof
CN117104398A (en) * 2023-10-10 2023-11-24 华南理工大学 Underwater offshore photovoltaic power generation device based on wave-resistant plate
CN117104398B (en) * 2023-10-10 2024-03-15 华南理工大学 Underwater offshore photovoltaic power generation device based on wave-resistant plate

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Application publication date: 20140604