CN105711762A - Unmanned ship used for water quality monitoring and in-situ remediation of river channel - Google Patents
Unmanned ship used for water quality monitoring and in-situ remediation of river channel Download PDFInfo
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- CN105711762A CN105711762A CN201610224554.9A CN201610224554A CN105711762A CN 105711762 A CN105711762 A CN 105711762A CN 201610224554 A CN201610224554 A CN 201610224554A CN 105711762 A CN105711762 A CN 105711762A
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- water quality
- gear
- quality monitoring
- downside
- cabinet
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
Abstract
The invention discloses an unmanned ship used for water quality monitoring and in-situ remediation of a river channel. The unmanned ship comprises a ship body, wherein the ship body is provided with a controller, a power mechanism for driving the ship body to move, a wireless receiver-transmitter, a pushing flow aerator for carrying out circular aeration on bottom mud of the river channel and a deep-layer part of a water body, and a water quality automatic sampling analyzer capable of automatically sampling and analyzing the water body, wherein the wireless receiver-transmitter is connected with a user terminal; the wireless receiver-transmitter is also connected with the controller; and the controller can be used for controlling the power mechanism, the pushing flow aerator and the water quality automatic sampling analyzer to work. The unmanned ship can realize remote control of the ship body and can also carry out an aeration effect test of the pushing flow aerator according to actual working conditions; meanwhile, a testing result of the aeration effect also can be transmitted back to the user terminal through wireless transmission, and remote arrangement and implementation of the aeration effect test of the pushing flow aerator are realized; and furthermore, the reality of testing data can be improved very well and the labor intensity of testers can be reduced very well by the unmanned ship.
Description
Technical field
The present invention relates to the remote control technology field in river, lake, a kind of unmanned boat for river water quality monitoring and in-situ immobilization of concrete offer.
Background technology
At present, the water body places such as reservoir pond such as in river course, lack a kind of can the aeration equipment of automatic moving, additionally in non-laboratory situation, owing to technical force is limit, the aerator actual performance test for the place such as river and lake can become extremely difficult because of place reason.
In view of this, the special proposition present invention.
Summary of the invention
In order to overcome drawbacks described above, the invention provides a kind of unmanned boat for river water quality monitoring and in-situ immobilization, it had both been beneficial to the automatic moving plug-flow oxygen supplement realizing water body, it is beneficial to remote arrangement and the enforcement of oxygenation effect test, improves again the verity of test data and reduce the labor intensity of testing crew.
The present invention is to solve that its technical problem be the technical scheme is that a kind of unmanned boat for river water quality monitoring and in-situ immobilization, including hull, described hull is provided with controller and the actuating unit in order to drive described hull to advance, described hull is also equipped with a wireless transceiver, one in order to be circulated the plug-flow aerator of oxygen supplement to river bottom mud and water body further portion, and water quality automatic sampler-analyzer water body can sampled automatically and analyze, wherein, described wireless transceiver is connected with user terminal by communication, described wireless transceiver is also attached to described controller, and described controller can control this actuating unit, plug-flow aerator, and the work of water quality automatic sampler-analyzer.
As a further improvement on the present invention, described controller is mainly integrated with a main control module and a signal transmitting and receiving module being connected with described wireless transceiver, wherein, described signal transmitting and receiving module is also electrically coupled to described main control module, and described main control module can control this actuating unit, plug-flow aerator and the work of water quality automatic sampler-analyzer.
As a further improvement on the present invention, described plug-flow aerator includes cabinet, location is arranged at the motor on the upside of described cabinet and is movably connected on the mixing component on the downside of described cabinet, described cabinet inside is provided with gear train, described motor is electrically connected to described main control module, and the output shaft of described motor stretches in described cabinet and is in transmission connection with this gear train, described motor can also pass through mixing component described in this gear set drive and rotate；
Also rotating on described cabinet and be provided with a support axle, an axle head of an axle head of described support axle and the output shaft of this gear train all stretches out outside on the downside of described cabinet；Described mixing component includes driving axle housing, driven shaft sleeve and agitator disk, wherein, described driving axle housing positioning sleeve is located on an axle head of the output shaft of this gear train, described driven shaft sleeve positioning sleeve is located on an axle head of described support axle, and has also respectively been respectively articulated with a connection piece in described driving axle housing and driven shaft sleeve；Described agitator disk is integrally connected and composed by mutually perpendicular two discs of central axis, and two described discs are also respectively rotationally connected with two described connectors respectively through a rotating shaft is corresponding.
As a further improvement on the present invention, this gear train includes input gear, at least one middle transition gear and output gear, described input gear, this at least one middle transition gear and described output gear respectively rotate axle respectively through one and are arranged in described cabinet, and described input gear, this at least one middle transition gear and described output gear are also connected by meshing transmission successively；Wherein the axle that rotates corresponding to described output gear is the output shaft of this gear train.
As a further improvement on the present invention, two described connectors are hingedly connected to the structure in described driving axle housing and driven shaft sleeve and are: the downside of described driving axle housing and driven shaft sleeve is all in bifurcated, two described connectors are band ring body jaggy, the lateral surface of two described connectors is respectively installed with a lug respectively, wherein lug described in can movable be between the bifurcated on the downside of described driving axle housing, another described lug can movable be between the bifurcated on the downside of described driven shaft sleeve, and also each on two described lugs offers through hole respectively；
It is additionally provided with two bearing pins, after wherein bearing pin activity is fed through the through hole of lug described in described in one, and is located by connecting between the bifurcated on the downside of described driving axle housing；After another described bearing pin activity is fed through the through hole of another described lug, and it is located by connecting between the bifurcated on the downside of described driven shaft sleeve.
As a further improvement on the present invention, two described discs offer central through hole all between two parties；
In two described rotating shafts fixing central through holes being placed through two described discs respectively, and in the also corresponding respectively breach being rotatably connected on two described connectors of two described rotating shafts.
As a further improvement on the present invention, described water quality automatic sampler-analyzer has one in order to export the analysis signal output port of Analysis Results of Water Quality；
Described controller is also integrated with a water quality signal receiving module electrically connected with described analysis signal output port, and described water quality signal receiving module also electrically connects with described main control module and signal transmitting and receiving module respectively.
As a further improvement on the present invention, described hull is also equipped with water treatment facilities, this water treatment facilities includes a drug feeding device being loaded with water treatment agent and in order to urban river water to be filtered the filter processed, described main control module can control described drug feeding device and filter work, with river course is aborted treatment agent and filtration treatment.
The invention has the beneficial effects as follows: by being provided with wireless transceiver, plug-flow aerator and water quality automatic sampler-analyzer on hull, both the long-range control to this hull can have been realized, the plug-flow aerator oxygenation effect test of actual condition can be carried out again, the test result of oxygenation effect returns to user terminal also by being wirelessly transferred simultaneously, it is achieved the remote arrangement of plug-flow aerator oxygenation effect test and enforcement；Additionally, this unmanned boat being used for river water quality monitoring and in-situ immobilization also well improves the test verity of data and reduces test and labor intensity that water sampling is analyzed.
Accompanying drawing explanation
Fig. 1 is the operation principle block diagram for river water quality monitoring and the unmanned boat of in-situ immobilization of the present invention；
Fig. 2 is the cross-sectional view for river water quality monitoring and the unmanned boat of in-situ immobilization of the present invention；
Fig. 3 is the structural representation of plug-flow aerator one duty of the present invention；
Fig. 4 is the structural representation of plug-flow another duty of aerator of the present invention；
Fig. 5 is the structural representation at agitator disk one visual angle of the present invention；
Fig. 6 is the structural representation at another visual angle of agitator disk of the present invention.
In conjunction with accompanying drawing, make the following instructions:
1 hull 20 main control module
21 signal transmitting and receiving module 22 water quality signal receiving modules
3 actuating unit 4 wireless transceivers
5 plug-flow aerator 50 cabinets
51 motor 52 mixing components
520 driving axle housing 521 driven shaft sleeve
522 connector 523 agitator disks
524 rotating shaft 6 water quality automatic sampler-analyzers
7 water treatment facilities
Detailed description of the invention
Referring to figure to a preferred embodiment of the present invention will be described in detail.
The invention discloses a kind of unmanned boat for river water quality monitoring and in-situ immobilization, including hull 1, described hull 1 is provided with controller and the actuating unit 3 in order to drive described hull 1 to advance, described hull 1 is also equipped with a wireless transceiver 4, one in order to be circulated the plug-flow aerator 5 of oxygen supplement to river bottom mud and water body further portion, and the water quality automatic sampler-analyzer 6 water body can sampled automatically and analyze, wherein, described wireless transceiver 4 is connected with user terminal by communication, described wireless transceiver 4 is also attached to described controller, and described controller can control this actuating unit 3 according to the user instruction that described wireless transceiver receives, plug-flow aerator 5, and water quality automatic sampler-analyzer 6 works.Automatically sample additionally, water quality automatic sampler-analyzer of the present invention possesses and automatically analyze function, the routine techniques means that it is well known to those skilled in the art, at this, structure that is embodied as of water quality automatic sampler-analyzer is not detailed.
In the present embodiment, described controller is mainly integrated with main control module 20 and the signal transmitting and receiving module 21 being connected with described wireless transceiver 4, wherein, described signal transmitting and receiving module 21 is also electrically coupled to described main control module 20, and described main control module 20 can control this actuating unit 3, plug-flow aerator 5 and water quality automatic sampler-analyzer 6 and work.
In the present embodiment, described plug-flow aerator 5 includes cabinet 50, location is arranged at the motor 51 on the upside of described cabinet 50 and is movably connected on the mixing component 52 on the downside of described cabinet 50, described cabinet 50 is internally provided with gear train, described motor 51 is electrically connected to described main control module 20, and the output shaft of described motor 51 stretches in described cabinet 50 and is in transmission connection with this gear train, described motor 51 can also pass through mixing component 52 described in this gear set drive and rotate；
Also rotating on described cabinet 50 and be provided with a support axle, an axle head of an axle head of described support axle and the output shaft of this gear train all stretches out outside on the downside of described cabinet 50；Described mixing component 52 includes driving axle housing 520, driven shaft sleeve 521 and agitator disk 523, wherein, described driving axle housing 520 positioning sleeve is located on an axle head of output shaft of this gear train, described driven shaft sleeve 521 positioning sleeve is located on an axle head of described support axle, and has also respectively been respectively articulated with a connection piece 522 in described driving axle housing 520 and driven shaft sleeve 521；Described agitator disk 523 is integrally connected and composed by mutually perpendicular two discs of central axis, and two described discs are also respectively rotationally connected with two described connectors 522 respectively through a rotating shaft 524 is corresponding.
Preferably, this gear train includes input gear (employing duplicate gear), at least one middle transition gear (employing duplicate gear) and output gear, described input gear, this at least one middle transition gear and described output gear respectively rotate axle respectively through one and are arranged in described cabinet 50, and described input gear, this at least one middle transition gear and described output gear are also connected by meshing transmission successively；Wherein the axle that rotates corresponding to described output gear is the output shaft of this gear train.Said structure design is only a kind of preferred embodiment of gear train, is not intended to limit the present invention；Except designing except said structure, gear train also can adopt various structures to design, and its technological means being well known to those skilled in the art is not done at this and described in detail one by one.
Preferably, the structure that two described connectors 522 are hingedly connected in described driving axle housing 520 and driven shaft sleeve 521 is: the downside of described driving axle housing 520 and driven shaft sleeve 521 is all in bifurcated, two described connectors 522 are band ring body jaggy, the lateral surface of two described connectors 522 is respectively installed with a lug respectively, wherein lug described in can movable be between the bifurcated on the downside of described driving axle housing 520, another described lug can movable be between the bifurcated on the downside of described driven shaft sleeve 521, and also each on two described lugs offer through hole respectively；It is additionally provided with two bearing pins, after wherein bearing pin activity is fed through the through hole of lug described in described in one, and is located by connecting between the bifurcated on the downside of described driving axle housing 520；After another described bearing pin activity is fed through the through hole of another described lug, and it is located by connecting between the bifurcated on the downside of described driven shaft sleeve 521.
It is further preferred that two described discs offer central through hole all between two parties；In two described rotating shafts 524 fixing central through holes being placed through two described discs respectively, and in the also corresponding respectively breach being rotatably connected on two described connectors 522 of two described rotating shafts 524.
Plug-flow aerator of the present invention has the advantage that 1. this plug-flow aerator adopts Aurion body formula agitator disk, namely agitator disk is integrally connected and composed by mutually perpendicular two discs of central axis, agitator disk is made to have a curved surface profile, so when stirred fluid, Aurion body formula agitator disk can make bed mud and water body produce longitudinal flow, thus fully realizing oxygen supplement, reach self-purification of water effect；It addition, the motion that Aurion body formula agitator disk can also make fluid when stirring is more smooth, effectively reduce fluid impact loss；2. this plug-flow aerator adopts single shaft power transmission, it is possible to reduce the equipment requirement to installation accuracy, it is to avoid movement interference, improves the stability of aerator work；3. this Aurion body formula applicable in river, lake, the place such as pool carry out bed mud or the self-purification of water, not only treating capacity is big, energy-conservation, goes back a tractor serves several purposes, the suitability strong.
In the present embodiment, described water quality automatic sampler-analyzer 6 has one in order to export the analysis signal output port of Analysis Results of Water Quality；Described controller is also integrated with a water quality signal receiving module 22 electrically connected with described analysis signal output port, and described water quality signal receiving module 22 also electrically connects with described main control module 20 and signal transmitting and receiving module 21 respectively.
In the present embodiment, described hull 1 is also equipped with water treatment facilities 7, this water treatment facilities 7 includes a drug feeding device being loaded with water treatment agent and in order to urban river water to be filtered the filter processed, described main control module 20 can control described drug feeding device and filter work, to realize river course is aborted treatment agent and filtration treatment.
This operation principle of unmanned boat being used for river water quality monitoring and in-situ immobilization is: wireless transceiver 4 receives the user instruction that user terminal sends and (includes the start and stop instruction of actuating unit, navigation instruction, the operation instruction of motor in plug-flow aerator, the sampling analysis work order etc. of water quality automatic sampler-analyzer), and it is transferred to described main control module 20 by described signal transmitting and receiving module 21, described main control module 20 controls this actuating unit 3 according to the user instruction received, plug-flow aerator 5, and water quality automatic sampler-analyzer 6 works, particularly as follows: water body is circulated plug-flow oxygen supplement according to user instruction by described plug-flow aerator 5, plug-flow oxygen supplement rear region is carried out automatic sampling analysis according to user instruction by described water quality automatic sampler-analyzer, the Analysis Results of Water Quality drawn can be passed through again wireless transceiver 4 and feed back to user terminal in time, online comparison while can realizing different target test zone on the one hand, user terminal can control described plug-flow aerator 5 by the Analysis Results of Water Quality that feedback comes again and carry out operational factor correction on the other hand.In addition, user terminal also can control the work of described drug feeding device according to the Analysis Results of Water Quality that feedback comes by main control module 20, with treatment agent that the water body stirred through plug-flow aerator 5 is aborted to carry out water treatment, but water treatment facilities described herein 7 is not limited to again taste removal, accelerates clarification.
The above is only the preferred embodiment of the present invention; but it is not limited to the present invention; should be understood that; for those skilled in the art; under the premise without departing from the technology of the present invention principle; can also making some improvement and modification, these improve and modification also should be regarded as in protection scope of the present invention.
Claims (8)
1. the unmanned boat for river water quality monitoring and in-situ immobilization, including hull (1), described hull (1) is provided with controller and the actuating unit (3) in order to drive described hull (1) to advance, it is characterized in that: on described hull (1), be also equipped with a wireless transceiver (4), one in order to be circulated the plug-flow aerator (5) of oxygen supplement to river bottom mud and water body further portion, and the water quality automatic sampler-analyzer (6) water body can sampled automatically and analyze, wherein, described wireless transceiver (4) is connected with user terminal by communication, described wireless transceiver (4) is also attached to described controller, and described controller can control this actuating unit (3), plug-flow aerator (5), and water quality automatic sampler-analyzer (6) work.
2. the unmanned boat for river water quality monitoring and in-situ immobilization according to claim 1, it is characterized in that: described controller is mainly integrated with a main control module (20) and a signal transmitting and receiving module (21) being connected with described wireless transceiver (4), wherein, described signal transmitting and receiving module (21) is also electrically coupled to described main control module (20), and described main control module (20) can control this actuating unit (3), plug-flow aerator (5) and water quality automatic sampler-analyzer (6) work.
3. the unmanned boat for river water quality monitoring and in-situ immobilization according to claim 2, it is characterized in that: described plug-flow aerator (5) includes cabinet (50), location is arranged at the motor (51) of described cabinet (50) upside, and it is movably connected on the mixing component (52) of described cabinet (50) downside, described cabinet (50) is internally provided with gear train, described motor (51) is electrically connected to described main control module (20), and the output shaft of described motor (51) stretches in described cabinet (50) and is in transmission connection with this gear train, described motor (51) can also pass through mixing component (52) described in this gear set drive and rotate；
Also rotating on described cabinet (50) and be provided with a support axle, an axle head of an axle head of described support axle and the output shaft of this gear train all stretches out outside described cabinet (50) downside；Described mixing component (52) includes driving axle housing (520), driven shaft sleeve (521) and agitator disk (523), wherein, described driving axle housing (520) positioning sleeve is located on an axle head of the output shaft of this gear train, described driven shaft sleeve (521) positioning sleeve is located on an axle head of described support axle, and has also respectively been respectively articulated with a connection piece (522) in described driving axle housing (520) and driven shaft sleeve (521)；Described agitator disk (523) is integrally connected and composed by mutually perpendicular two discs of central axis, and two described discs are also respectively rotationally connected with two described connectors (522) respectively through a rotating shaft (524) is corresponding.
4. the unmanned boat for river water quality monitoring and in-situ immobilization according to claim 3, it is characterized in that: this gear train includes input gear, at least one middle transition gear and output gear, described input gear, this at least one middle transition gear and described output gear respectively rotate axle respectively through one and are arranged in described cabinet (50), and described input gear, this at least one middle transition gear and described output gear are also connected by meshing transmission successively；Wherein the axle that rotates corresponding to described output gear is the output shaft of this gear train.
5. the unmanned boat for river water quality monitoring and in-situ immobilization according to claim 3, it is characterized in that: the structure that two described connectors (522) are hingedly connected in described driving axle housing (520) and driven shaft sleeve (521) is: the downside of described driving axle housing (520) and driven shaft sleeve (521) is all in bifurcated, two described connectors (522) are band ring body jaggy, the lateral surface of two described connectors (522) is respectively installed with a lug respectively, wherein lug described in can activity be between the bifurcated on the downside of described driving axle housing (520), another described lug can activity be between the bifurcated on the downside of described driven shaft sleeve (521), and also each on two described lugs offer through hole respectively；
It is additionally provided with two bearing pins, after wherein bearing pin activity is fed through the through hole of lug described in described in one, and is located by connecting between the bifurcated of described driving axle housing (520) downside；After another described bearing pin activity is fed through the through hole of another described lug, and it is located by connecting between the bifurcated of described driven shaft sleeve (521) downside.
6. the unmanned boat for river water quality monitoring and in-situ immobilization according to claim 5, it is characterised in that: two described discs offer central through hole all between two parties；
In two described rotating shafts (524) fixing central through holes being placed through two described discs respectively, and in the also corresponding respectively breach being rotatably connected on two described connectors (522) of two described rotating shafts (524).
7. the unmanned boat for river water quality monitoring and in-situ immobilization according to claim 2, it is characterised in that: described water quality automatic sampler-analyzer (6) has one in order to export the analysis signal output port of Analysis Results of Water Quality；
Described controller is also integrated with a water quality signal receiving module (22) electrically connected with described analysis signal output port, and described water quality signal receiving module (22) also electrically connects with described main control module (20) and signal transmitting and receiving module (21) respectively.
8. the unmanned boat for river water quality monitoring and in-situ immobilization according to claim 2, it is characterized in that: on described hull (1), be also equipped with water treatment facilities (7), this water treatment facilities (7) includes a drug feeding device being loaded with water treatment agent and in order to urban river water to be filtered the filter processed, described main control module (20) can control described drug feeding device and filter work, with river course is aborted treatment agent and filtration treatment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610224554.9A CN105711762B (en) | 2016-04-12 | 2016-04-12 | For river water quality monitoring and the unmanned boat of in-situ immobilization |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610224554.9A CN105711762B (en) | 2016-04-12 | 2016-04-12 | For river water quality monitoring and the unmanned boat of in-situ immobilization |
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| CN105711762A true CN105711762A (en) | 2016-06-29 |
| CN105711762B CN105711762B (en) | 2018-04-13 |
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| CN106467330A (en) * | 2016-09-23 | 2017-03-01 | 浙江水利水电学院 | A kind of solar energy water purifying device being applied to lake and its method |
| CN107499486A (en) * | 2017-07-28 | 2017-12-22 | 安徽工程大学 | Mobile platform and its localization method on a kind of positioning intelligent water |
| CN107991446A (en) * | 2017-10-10 | 2018-05-04 | 浙江嘉科新能源科技有限公司 | A kind of river regulation cuts dust detection equipment |
| CN109019712A (en) * | 2018-08-03 | 2018-12-18 | 南京信息工程大学 | The unmanned boat administration device of automatic spraying drug in a kind of wide waters |
| CN109358171A (en) * | 2018-10-19 | 2019-02-19 | 中国联合网络通信集团有限公司 | A kind of water quality detection and tampering devic and method |
| CN111074866A (en) * | 2019-12-31 | 2020-04-28 | 华北水利水电大学 | Water quality monitoring and improving device and method based on ecological river protection slope |
| CN111473994A (en) * | 2020-05-13 | 2020-07-31 | 福州京杉角电子科技有限公司 | Lake seabed mud sample collection ship |
| CN112193377A (en) * | 2020-10-14 | 2021-01-08 | 长沙理工大学 | Small four-wheel-drive intelligent unmanned surface ship platform and control method thereof |
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| CN112193377A (en) * | 2020-10-14 | 2021-01-08 | 长沙理工大学 | Small four-wheel-drive intelligent unmanned surface ship platform and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN105711762B (en) | 2018-04-13 |
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