CN105691570A - Positionable water conservancy data collecting robot - Google Patents
Positionable water conservancy data collecting robot Download PDFInfo
- Publication number
- CN105691570A CN105691570A CN201610248711.XA CN201610248711A CN105691570A CN 105691570 A CN105691570 A CN 105691570A CN 201610248711 A CN201610248711 A CN 201610248711A CN 105691570 A CN105691570 A CN 105691570A
- Authority
- CN
- China
- Prior art keywords
- adjutage
- data collection
- water conservancy
- water
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/36—Structural form of radiating elements, e.g. cone, spiral, umbrella; Particular materials used therewith
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Medicines Containing Antibodies Or Antigens For Use As Internal Diagnostic Agents (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a positionable water conservancy data collecting robot. The positionable water conservancy data collecting robot comprises a robot main body, wherein a floating cavity is formed in the robot main body; a water hole and an air hole are formed in the top of the floating cavity; the water hole is connected with a water pipe; the air hole is connected with an air pipe; a circuit layer is arranged under the floating cavity; and a communication cavity is formed under the circuit layer; the circuit layer is provided with a data collecting circuit. The data collecting circuit comprises a data processing unit, a water temperature sensor, a radioactive isotope detector, a water quality detector and a communication device, wherein the water temperature sensor, the radioactive isotope detector, the water quality detector and the communication device are respectively connected with the data processing unit through signals; and the communication device is used for transmitting signals to outside. Through reasonable design, sinking detection can be realized; the positionable water conservancy data collecting robot sinks in a place which needs to be detected and then realizes detection so that detection data are accurate and efficient.
Description
Technical field
The present invention relates to one and can position water conservancy data collection machine people。
Background technology
At present, ocean or lake water detection have become as a vital task of hydraulic department, this is wherein, a lot of detection modes are being chemically examine in laboratory after being only confined to sampling, although this mode is with low cost, but effect is bad, it is primarily due to, water in lake water and sea water is flowing, and the environment in lake is also different everywhere, if the data of the environment of the different location that therefore needs to be apparent from water are accomplished by developing a kind of robot that can slip into water。
Summary of the invention
It is an object of the invention to overcome disadvantages described above, it is provided that one can position water conservancy data collection machine people。
For achieving the above object, the concrete scheme of the present invention is as follows: one can position water conservancy data collection machine people, includes robot body, and described robot body is provided with floating cavity；The top of described floating cavity is provided with a water hole and a pore, and described water hole is connected to water pipe, and pore is connected to trachea；Described floating cavity is connected with circuit layer, and described circuit layer is connected with communication chamber；Described circuit layer is provided with data collection circuit, described data collection circuit includes data processing unit, and the cooling-water temperature sensor being connected with data processing unit signal respectively, radioisotope detector, water quality detector, for carrying out the communicator of signal transmission with the external world；Described cooling-water temperature sensor, radioisotope detector, water quality detector are all located on robot body lateral wall；Described communicator includes communication chip and the communication antenna of signal connection with it, and described communication antenna is located at the top in communication chamber；Data are launched after respectively the data detected being reached data processing unit by described cooling-water temperature sensor, radioisotope detector, water quality detector by communicator。
Wherein, described antenna includes cylinder, is provided with multiple antenna stack in described cylinder, and each antenna stack includes a communication oscillator。
Wherein, described communication oscillator includes PCB substrate, and described PCB substrate is provided with in upper and lower symmetrically arranged microstrip element；
Described each microstrip element includes the primary radiation arm of a few font, and one end of described primary radiation arm has vertically extended the first adjutage, and the other end of described primary radiation arm has vertically extended the second adjutage；Described first adjutage extends to the second adjutage side hexagonal first radiation zone, and described second adjutage extends to the first adjutage side hexagonal second radiation zone；The 3rd adjutage it is provided with between first radiation zone and the second radiation zone；
The both sides up and down of described first radiation zone and the both sides up and down of the second radiation zone are equipped with multiple engraved structure；Each hollow hole includes circular main aperture, extend to main aperture center respectively from top and the low side of circular main aperture T-shaped arm, the first radiation arm extended to side, main aperture center from two free ends of T-shaped arm, the secondary orifices outwards arranged respectively from main aperture both sides, the arcuate socket of arc that outwards arranges from secondary empty free end；
Also including two power feed hole for transmitting electric feed signal being located in PCB substrate, two power feed hole feed with T-shaped arm respectively。
Wherein, the described engraved structure quantity in each edge is 5-8。
Wherein, described first adjutage and the second adjutage all inwards extend obliquely the second next door arm。
Wherein, the free end of described first adjutage and the second adjutage has all extended upward the second radiation arm。
Wherein, the first radiation arm is provided with laciniation away from a side of the first radiation zone。
Wherein, the inner side edge of the second radiation arm is provided with laciniation。
Wherein, PCB substrate position octagon, and two ends are connected with cylinder by fixed arm。
Wherein, it is additionally provided with the propeller for making robot rise bottom described robot body；
Wherein, described data collection circuit also includes GPS positioner, and described GPS positioner is connected with data processing unit signal；
Wherein, described data collection circuit also includes memory element, and described memory element is connected with data processing unit signal；
Wherein, described data collection circuit also includes video acquisition unit, and described video acquisition unit is photographic head；Video acquisition unit is connected with data processing unit signal。
The invention have the benefit that by rational design, it is possible to achieve the detection of sunk type, sink in needs detection place, then realize detection so that detection data precise and high efficiency。
Accompanying drawing explanation
Fig. 1 is schematic cross-section of the present invention；
Fig. 2 is the theory diagram of the data collection circuit of the present invention；
Fig. 3 is the sectional view of the antenna of the present invention；
Fig. 4 is the top view of the communication oscillator of the present invention；
Fig. 5 is the partial enlarged drawing of this Fig. 4；
Fig. 6 is the return loss test figure of this antenna；
Fig. 7 is the isolation performance test figure of this antenna；
Fig. 8 is directional diagram during this antenna 2.4GHz；
Fig. 9 is directional diagram during this antenna 5.0GHz；
Description of reference numerals in Fig. 1 to Fig. 9:
1-robot body；The floating cavity of 11-；12-circuit layer；13-propeller；14-communication antenna；21-cooling-water temperature sensor；22-radioisotope detector；23-water quality detector；24-video acquisition unit；3-water pipe；4-trachea；
A-cylinder；A1-PCB substrate；
B1-primary radiation arm；B21-the first adjutage；B22-the second adjutage；B31-the first radiation zone；B32-the second radiation zone；B4-the 3rd adjutage；B5-the second next door arm；B6-the second radiation arm；
B7-circle main aperture；B71-secondary orifices；B72-arcuate socket；B8-T shape arm；B81-the first radiation arm。
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation, is not that the practical range of the present invention is limited thereto。
As shown in Figures 1 to 9, the one described in the present embodiment can position water conservancy data collection machine people, includes robot body 1, and described robot body 1 is provided with floating cavity 11；The top of described floating cavity 11 is provided with a water hole and a pore, and described water hole is connected to water pipe 3, and pore is connected to trachea 4；Described floating cavity 11 is connected with circuit layer 12, and described circuit layer 12 is connected with communication chamber；Described circuit layer 12 is provided with data collection circuit, described data collection circuit includes data processing unit, and the cooling-water temperature sensor 21 being connected with data processing unit signal respectively, radioisotope detector 22, water quality detector 23, for carrying out the communicator of signal transmission with the external world；Described cooling-water temperature sensor 21, radioisotope detector 22, water quality detector 23 are all located on robot body 1 lateral wall；Described communicator includes communication chip and the communication antenna 14 of signal connection with it, and described communication antenna 14 is located at the top in communication chamber；Data are launched after respectively the data detected being reached data processing unit by described cooling-water temperature sensor 21, radioisotope detector 22, water quality detector 23 by communicator；When needs sink time, robot is prevented in corresponding water, and water filling in water pipe 3, can sink because of water inlet in floating cavity 11 after water filling, when needs rise, if then charged air induction in trachea 4, being discharged from water pipe 3 by water, robot will float；By rational design, it is possible to achieve the detection of sunk type, sink in needs detection place, then realize detection so that detection data precise and high efficiency。
One described in the present embodiment can position water conservancy data collection machine people, and described antenna includes cylinder a, is provided with multiple antenna stack in described cylinder a, and each antenna stack includes a communication oscillator。Described communication oscillator includes PCB substrate a1, described PCB substrate a1 and is provided with in upper and lower symmetrically arranged microstrip element；Described each microstrip element includes the primary radiation arm b1 of a few font, and one end of described primary radiation arm b1 has vertically extended the first adjutage b21, and the other end of described primary radiation arm b1 has vertically extended the second adjutage b22；Described first adjutage b21 extends to the second adjutage b22 side hexagonal first radiation zone b31, and described second adjutage b22 extends to the first adjutage b21 side hexagonal second radiation zone b32；It is provided with the 3rd adjutage b4 between first radiation zone b31 and the second radiation zone b32；The both sides up and down of described first radiation zone b31 and the both sides up and down of the second radiation zone b32 are equipped with multiple engraved structure；Each hollow hole includes circular main aperture b7, extend to main aperture center respectively from top and the low side of circular main aperture b7 T-shaped arm b8, the first radiation arm b81 extended to side, main aperture center from two free ends of T-shaped arm b8, the secondary orifices b71 outwards arranged respectively from main aperture both sides, the arcuate socket b72 of arc that outwards arranges from secondary empty free end；Also including two power feed hole for transmitting electric feed signal being located on PCB substrate a1, two power feed hole feed with T-shaped arm b8 respectively。By substantial amounts of microstrip circuit structural design, and under substantial amounts of l-G simulation test and parameter adjustment, finally determine above-mentioned antenna structure；This antenna after feeding coupling by multiple antenna stacks simultaneously, and it shows excellent electric performance at 2.4GHz and 5.0GHz, specifically such as Fig. 6, on average reaches 9.65dBi near this frequency range under bandwidth；And other electric properties also have comparatively excellent result, its return loss is superior to-15dB in the return loss of 2.4-2.48GHz frequency range and 5.15-5.875GHz frequency range；Such as Fig. 7, isolation is better than-20dB at the isolation loss of 2.4-2.48GHz and 5.15-5.875GHz frequency range。Prove that this antenna itself possesses good performance；It addition, its directivity of this antenna, as shown in Figure 8 and Figure 9, under two frequency, it is omni-directional antenna。Therefore, it can so that can stablize and efficiently and accurately when robot transmits signal in pipeline 1 more。
One described in the present embodiment can position water conservancy data collection machine people, and the described engraved structure quantity in each edge is 5-8。One described in the present embodiment can position water conservancy data collection machine people, and described first adjutage b21 and the second adjutage b22 all inwards extends obliquely the second next door arm b5。Radiation arm。One described in the present embodiment can position water conservancy data collection machine people, and the first radiation arm b81 is provided with laciniation away from a side of the first radiation zone b31。One described in the present embodiment can position water conservancy data collection machine people, and the inner side edge of the second radiation arm b6 is provided with laciniation。One described in the present embodiment can be positioned water conservancy data collection machine people, PCB substrate a1 position octagon, and two ends and is connected with cylinder a by fixed arm。Being found by test of many times, if meeting above-mentioned specification, the performance of antenna will optimize more, and especially in return loss, its return loss is superior to-17dB in the return loss of 2.4-2.48GHz frequency range and 5.15-5.875GHz frequency range。
The propeller 13 for making robot rise it is additionally provided with bottom described robot body 1；Propeller 13 can help robot to sink or rise so that the use of robot is convenient。
Described, described data collection circuit also includes GPS positioner, and described GPS positioner is connected with data processing unit signal；Positioning robot position, convenient searching can be facilitated。
Wherein, described data collection circuit also includes memory element, and described memory element is connected with data processing unit signal；Memory element is connected with central processing unit signal；Detectable signal can be recorded at any time, be backed-up, it is prevented that loss of data。
Wherein, described data collection circuit also includes video acquisition unit 24, and described video acquisition unit 24 is photographic head；Video acquisition unit 24 is connected with data processing unit signal。The video data at the bottom can be gathered easily。
Originally implement an only preferred embodiment, therefore all equivalences done according to the structure described in present patent application scope, feature and principle change or modify, and are included in the protection domain of present patent application。
Claims (9)
1. one kind can position water conservancy data collection machine people, it is characterised in that: ' including robot body (1), described robot body (1) is provided with floating cavity (11)；The top of described floating cavity (11) is provided with a water hole and a pore, and described water hole is connected to water pipe (3), and pore is connected to trachea (4)；Described floating cavity (11) is connected with circuit layer (12), and described circuit layer (12) is connected with communication chamber；Described circuit layer (12) is provided with data collection circuit, described data collection circuit includes data processing unit, and the cooling-water temperature sensor (21) that signal is connected respectively with data processing unit, radioisotope detector (22), water quality detector (23), is used for carrying out the communicator of signal transmission with the external world；Described cooling-water temperature sensor (21), radioisotope detector (22), water quality detector (23) are all located on robot body (1) lateral wall；Described communicator includes communication chip and the communication antenna (14) of signal connection with it, and described communication antenna (14) is located at the top in communication chamber；Data are launched after respectively the data detected being reached data processing unit by described cooling-water temperature sensor (21), radioisotope detector (22), water quality detector (23) by communicator；
Described data collection circuit also includes GPS positioner, and described GPS positioner is connected with data processing unit signal。
2. one according to claim 1 can position water conservancy data collection machine people, it is characterised in that: described antenna includes cylinder (a), is provided with multiple antenna stack in described cylinder (a), and each antenna stack includes a communication oscillator。
3. one according to claim 2 can position water conservancy data collection machine people, it is characterised in that: described communication oscillator includes PCB substrate (a1), and described PCB substrate (a1) is provided with in upper and lower symmetrically arranged microstrip element；
Described each microstrip element includes the primary radiation arm (b1) of a few font, and one end of described primary radiation arm (b1) has vertically extended the first adjutage (b21), and the other end of described primary radiation arm (b1) has vertically extended the second adjutage (b22)；Described first adjutage (b21) is extended to the second adjutage (b22) side hexagonal first radiation zone (b31), and described second adjutage (b22) is extended to the first adjutage (b21) side hexagonal second radiation zone (b32)；The 3rd adjutage (b4) it is provided with between first radiation zone (b31) and the second radiation zone (b32)；
The both sides up and down of described first radiation zone (b31) and the both sides up and down of the second radiation zone (b32) are equipped with multiple engraved structure；Each hollow hole includes circular main aperture (b7), extend to main aperture center respectively from top and the low side of circular main aperture (b7) T-shaped arm (b8), the first radiation arm (b81) extended to side, main aperture center from two free ends of T-shaped arm (b8), the secondary orifices (b71) outwards arranged respectively from main aperture both sides, the arcuate socket (b72) of arc that outwards arranges from secondary empty free end；
Also including two power feed hole for transmitting electric feed signal being located in PCB substrate (a1), two power feed hole feed with T-shaped arm (b8) respectively。
4. one according to claim 3 can position water conservancy data collection machine people, it is characterised in that: the described engraved structure quantity in each edge is 5-8。
5. one according to claim 3 can position water conservancy data collection machine people, it is characterised in that: described first adjutage (b21) and the second adjutage (b22) all inwards extend obliquely the second next door arm (b5)。
6. one according to claim 3 can position water conservancy data collection machine people, it is characterised in that: the free end of described first adjutage (b21) and the second adjutage (b22) has all extended upward the second radiation arm (b6)。
7. one according to claim 3 can position water conservancy data collection machine people, it is characterised in that: the first radiation arm (b81) is provided with laciniation away from a side of the first radiation zone (b31)。
8. one according to claim 6 can position water conservancy data collection machine people, it is characterised in that: the inner side edge of the second radiation arm (b6) is provided with laciniation。
9. one according to claim 3 can position water conservancy data collection machine people, it is characterised in that: PCB substrate (a1) position octagon, and two ends are connected with cylinder (a) by fixed arm。
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610248711.XA CN105691570A (en) | 2016-04-20 | 2016-04-20 | Positionable water conservancy data collecting robot |
| PCT/CN2017/081318 WO2017181985A1 (en) | 2016-04-20 | 2017-04-20 | Robot capable of collecting water-related data and positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610248711.XA CN105691570A (en) | 2016-04-20 | 2016-04-20 | Positionable water conservancy data collecting robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105691570A true CN105691570A (en) | 2016-06-22 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610248711.XA Withdrawn CN105691570A (en) | 2016-04-20 | 2016-04-20 | Positionable water conservancy data collecting robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105691570A (en) |
| WO (1) | WO2017181985A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017181984A1 (en) * | 2016-04-20 | 2017-10-26 | 欧志洪 | Robot capable of collecting water-related data from lakes and sea |
| WO2017181985A1 (en) * | 2016-04-20 | 2017-10-26 | 欧志洪 | Robot capable of collecting water-related data and positioning |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3488365B2 (en) * | 1997-07-07 | 2004-01-19 | ジヤトコ株式会社 | Ocean mobile and ocean mobile management system |
| CN103197040B (en) * | 2013-04-03 | 2015-09-23 | 国家海洋局第二海洋研究所 | Coastal ocean spring layer water quality real-time monitoring system |
| CN104918263B (en) * | 2015-06-08 | 2018-08-21 | 浙江理工大学 | A kind of mobile auxiliary network device and its network-building method based on underwater sound sensor net |
| CN105356056B (en) * | 2015-11-24 | 2016-11-16 | 福建创想智慧网络科技有限公司 | A kind of router antenna being provided with anti oxidation layer |
| CN105387353B (en) * | 2015-11-26 | 2017-02-15 | 安徽中安巨能电器科技有限公司 | Intelligent LED lamp with suspension loop |
| CN105329440B (en) * | 2015-11-26 | 2016-06-29 | 国网山东省电力公司潍坊供电公司 | Solar electric power wireline inspection unmanned plane |
| CN105691570A (en) * | 2016-04-20 | 2016-06-22 | 欧志洪 | Positionable water conservancy data collecting robot |
-
2016
- 2016-04-20 CN CN201610248711.XA patent/CN105691570A/en not_active Withdrawn
-
2017
- 2017-04-20 WO PCT/CN2017/081318 patent/WO2017181985A1/en active Application Filing
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017181984A1 (en) * | 2016-04-20 | 2017-10-26 | 欧志洪 | Robot capable of collecting water-related data from lakes and sea |
| WO2017181985A1 (en) * | 2016-04-20 | 2017-10-26 | 欧志洪 | Robot capable of collecting water-related data and positioning |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017181985A1 (en) | 2017-10-26 |
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Application publication date: 20160622 |
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| WW01 | Invention patent application withdrawn after publication |