CN105928557A - Lake and ocean water data collection robot - Google Patents
Lake and ocean water data collection robot Download PDFInfo
- Publication number
- CN105928557A CN105928557A CN201610248712.4A CN201610248712A CN105928557A CN 105928557 A CN105928557 A CN 105928557A CN 201610248712 A CN201610248712 A CN 201610248712A CN 105928557 A CN105928557 A CN 105928557A
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- China
- Prior art keywords
- data collection
- adjutage
- lake
- arm
- machine people
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Classifications
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- 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
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The invention discloses a lake and ocean water data collection robot. The robot comprises a robot main body, and a floating cavity with a water hole and an air hole arranged in the top is arranged in the robot main body; the water hole is connected with a water pipe, and the air hole is connected with an air pipe; a circuit layer is arranged under the floating cavity, and a communication cavity is arranged under the circuit layer; the circuit layer is provided with a data collection circuit including a data processing unit and a water temperature sensor, a radioisotope detector, a water quality detector, and a communication device for transmitting signals with the outside world, wherein the water temperature sensor, the radioisotope detector, the water quality detector, and the communication device are in signal connection with the data processing unit. Through a reasonable design, the robot can achieve sinking detection. The robot can sink at a position in need of detection and then conduct detection, so that detection data are accurate and efficient.
Description
Technical field
The present invention relates to a kind of lake, ocean water conservancy data collection machine people.
Background technology
At present, ocean or lake water detection have become as a vital task of hydraulic department, among these, a lot of detection modes are being to 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, is accomplished by developing a kind of robot that can slip into water if therefore needing to be apparent from the data of the environment of different location in water.
Summary of the invention
It is an object of the invention to overcome disadvantages described above, it is provided that a kind of lake, ocean water conservancy data collection machine people.
For achieving the above object, the concrete scheme of the present invention is as follows: a kind of lake, ocean 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 connects water pipe, and pore connects trachea；It is provided with circuit layer below described floating cavity, below described circuit layer, is provided with communication chamber；Described circuit layer is provided with data collection circuit, described data collection circuit includes data processing unit, and be connected with data processing unit signal respectively cooling-water temperature sensor, 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 therewith, 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, the T-shaped arm extended respectively from the top of circular main aperture and low side, the first radiation arm extended to side, main aperture center from two free ends of T-shaped arm, the secondary orifices the most outwards arranged from main aperture both sides, the arcuate socket of arc that outwards arranges from secondary empty free end to main aperture center；
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 extend the most 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 reasonably 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
The present invention is further detailed explanation with specific embodiment below in conjunction with the accompanying drawings, is not that the practical range of the present invention is confined to this.
As shown in Figures 1 to 9, a kind of lake described in the present embodiment, ocean water conservancy data collection machine people, include 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 connects water pipe 3, and pore connects trachea 4；It is provided with circuit layer 12 below described floating cavity 11, below described circuit layer 12, is provided with communication chamber；Described circuit layer 12 is provided with data collection circuit, described data collection circuit includes data processing unit, and be connected with data processing unit signal respectively cooling-water temperature sensor 21, 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 therewith, 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 when, 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 reasonably 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.
A kind of lake described in the present embodiment, ocean water conservancy data collection machine people, 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, 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 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, the T-shaped arm b8 extended respectively from the top of circular main aperture b7 and low side, the first radiation arm b81 extended to side, main aperture center from two free ends of T-shaped arm b8, secondary orifices b71 the most outwards arranged from main aperture both sides, the arcuate socket b72 of arc that outwards arranges from secondary empty free end to main aperture center；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.Designed by substantial amounts of microstrip circuit structure, 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, averagely reaches 9.65dBi near this frequency range under bandwidth；And other electric properties also have more 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 preferable 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 is so that can more stablize and efficiently and accurately when robot transmits signal in pipeline 1.
A kind of lake described in the present embodiment, ocean water conservancy data collection machine people, the described engraved structure quantity in each edge is 5-8.A kind of lake described in the present embodiment, ocean water conservancy data collection machine people, described first adjutage b21 and the second adjutage b22 extends the most obliquely the second next door arm b5.Radiation arm.A kind of lake described in the present embodiment, ocean water conservancy data collection machine people, the first radiation arm b81 is provided with laciniation away from a side of the first radiation zone b31.A kind of lake described in the present embodiment, ocean water conservancy data collection machine people, the inner side edge of the second radiation arm b6 is provided with laciniation.A kind of lake described in the present embodiment, ocean water conservancy data collection machine people, PCB substrate a1 position octagon, and two ends are connected with cylinder a by fixed arm.Being found by test of many times, if meeting above-mentioned specification, the performance of antenna will more optimize, and especially in terms of 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, back up, prevent 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 structure, feature and the principle described in present patent application scope change or modify, and are included in the protection domain of present patent application.
Claims (9)
1. a lake, ocean 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 connects water pipe (3), and pore connects trachea (4)；Described floating cavity (11) lower section is provided with circuit layer (12), and described circuit layer (12) lower section is provided with communication chamber；Described circuit layer (12) is provided with data collection circuit, described data collection circuit includes data processing unit, and signal is connected respectively with data processing unit cooling-water temperature sensor (21), 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 therewith, 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.
A kind of lake, ocean water conservancy data collection machine people the most according to claim 1, 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.
A kind of lake, ocean water conservancy data collection machine people the most according to claim 2, 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), the T-shaped arm (b8) extended respectively from the top of circular main aperture (b7) and low side, the first radiation arm (b81) extended to side, main aperture center from two free ends of T-shaped arm (b8), the secondary orifices (b71) the most outwards arranged from main aperture both sides, the arcuate socket (b72) of arc that outwards arranges from secondary empty free end to main aperture center；
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.
A kind of lake, ocean water conservancy data collection machine people the most according to claim 3, it is characterised in that: the described engraved structure quantity in each edge is 5-8.
A kind of lake, ocean water conservancy data collection machine people the most according to claim 3, it is characterised in that: described first adjutage (b21) and the second adjutage (b22) extend the most obliquely the second next door arm (b5).
A kind of lake, ocean water conservancy data collection machine people the most according to claim 3, 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).
A kind of lake, ocean water conservancy data collection machine people the most according to claim 3, it is characterised in that: the first radiation arm (b81) is provided with laciniation away from a side of the first radiation zone (b31).
A kind of lake, ocean water conservancy data collection machine people the most according to claim 6, it is characterised in that: the inner side edge of the second radiation arm (b6) is provided with laciniation.
A kind of lake, ocean water conservancy data collection machine people the most according to claim 3, 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 |
|---|---|---|---|
| CN201610248712.4A CN105928557A (en) | 2016-04-20 | 2016-04-20 | Lake and ocean water data collection robot |
| PCT/CN2017/081317 WO2017181984A1 (en) | 2016-04-20 | 2017-04-20 | Robot capable of collecting water-related data from lakes and sea |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610248712.4A CN105928557A (en) | 2016-04-20 | 2016-04-20 | Lake and ocean water data collection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105928557A true CN105928557A (en) | 2016-09-07 |
Family
ID=56839440
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610248712.4A Withdrawn CN105928557A (en) | 2016-04-20 | 2016-04-20 | Lake and ocean water data collection robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105928557A (en) |
| WO (1) | WO2017181984A1 (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 |
| CN112034119A (en) * | 2019-06-04 | 2020-12-04 | 庆扬资讯股份有限公司 | Water quality monitoring device and system thereof |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI701434B (en) * | 2019-06-03 | 2020-08-11 | 慶揚資訊股份有限公司 | Water quality monitoring device and system thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08136291A (en) * | 1994-11-08 | 1996-05-31 | Mitsubishi Heavy Ind Ltd | Magnetic induction type underwater robot |
| CN202333122U (en) * | 2011-09-16 | 2012-07-11 | 广州杰赛科技股份有限公司 | Broadband dual-polarized radiation unit |
| 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 |
| CN105203144B (en) * | 2015-11-09 | 2016-06-08 | 国网山东省电力公司金乡县供电公司 | Multifunctional high pressure power station detecting device |
| CN105490177A (en) * | 2016-01-21 | 2016-04-13 | 欧志洪 | Power distribution cabinet |
| CN105865524A (en) * | 2016-04-20 | 2016-08-17 | 欧志洪 | Water conservancy data collection robot |
| CN105928497A (en) * | 2016-04-20 | 2016-09-07 | 欧志洪 | Water conservancy data collection robot capable of shooting pictures |
| CN105928557A (en) * | 2016-04-20 | 2016-09-07 | 欧志洪 | Lake and ocean water data collection robot |
| CN105691570A (en) * | 2016-04-20 | 2016-06-22 | 欧志洪 | Positionable water conservancy data collecting robot |
| CN105759007B (en) * | 2016-04-20 | 2017-06-16 | 广东企辅健环安检测技术有限公司 | Water conservancy data collection machine people with memory cell |
-
2016
- 2016-04-20 CN CN201610248712.4A patent/CN105928557A/en not_active Withdrawn
-
2017
- 2017-04-20 WO PCT/CN2017/081317 patent/WO2017181984A1/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 |
| CN112034119A (en) * | 2019-06-04 | 2020-12-04 | 庆扬资讯股份有限公司 | Water quality monitoring device and system thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2017181984A1 (en) | 2017-10-26 |
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Application publication date: 20160907 |