CN106020206A - Beacon navigation based water quality improving ship, control system and control process - Google Patents
Beacon navigation based water quality improving ship, control system and control process Download PDFInfo
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- CN106020206A CN106020206A CN201610592085.6A CN201610592085A CN106020206A CN 106020206 A CN106020206 A CN 106020206A CN 201610592085 A CN201610592085 A CN 201610592085A CN 106020206 A CN106020206 A CN 106020206A
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- beacon
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- hull
- quality improvement
- power supply
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 86
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- 230000006872 improvement Effects 0.000 claims abstract description 62
- 238000002604 ultrasonography Methods 0.000 claims description 35
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- 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
Abstract
The invention relates to a beacon navigation based water quality improving ship, which comprises a basic floating body, a photovoltaic power supply power system, an ultrasonic beacon positioning system, a control execution unit and the like, and is characterized in that the ultrasonic positioning portion calculates the range and the azimuth of a target to be measured through a correlation algorithm by utilizing a ranging principle thereof and matching with a wireless communication technology, the moving state of the ship body is controlled by a controller, and cruising along a set course and improvement for the water quality of the water quality improving ship are realized; and the photovoltaic power supply portion realizes energy support for equipment and charging and discharging for a storage battery and the like by utilizing a photovoltaic power generation technology and matching with a processor and a control circuit. The invention further provides a control process of each system of the beacon navigation based water quality improving ship. The control process comprises control processes for the photovoltaic power supply system, a beacon device and ultrasonic positioning cruising of the water quality improving ship. The beacon navigation based water quality improving ship has the advantages of large working range, low noise, convenient movement, flexibility in adaptation to a water area, no pollution, energy conservation, environmental protection, ability of being efficient and intelligent and the like.
Description
[technical field]
The present invention relates to equipment and the control system of a kind of water quality improvement, specifically, be a kind of based on beacon
The water quality improvement ship of navigation and control system and control flow.
[background technology]
China's pond culture major part takes tradition breeding way, under tradition breeding way, due to bait
The growth rhythm of the rule such as release time, quantity, mode and cultivation object can not be effectively matched, substantial amounts of bait
The nutrient substance such as material and fertilizer are wasted, and are deposited on the bottom or are discharged away, cause serious water to pollute
Problem, the growth of impact cultivation object.In traditional pond cultivation, substantial amounts of residual bait, feces at the bottom of pond, can be piled up
Deng organic substance, these organic substances can change into the reduction-states such as ammonia nitrogen, nitrite, methane, hydrogen sulfide
Harmful substance, serious threat cultivation safety.If rationally the Organic substance in release bottom sewage, can alleviate
Pollute, also can balance the content of different water levels carbon, nitrogen, phosphorus.
At present, both at home and abroad for process cultivating pool basic sediment way have chemical method, biological method,
Physical method.Chemical method mainly uses the chemical substances such as oxygenation agent, oxidant, quick lime, this side
Method can quickly improve water quality, but these chemical reagent itself are also a kind of pollutions；Biological method is mainly
Using microorganism formulation, this method can improve the utilization rate of nutrient substance at the bottom of pond, improves water quality, but
Because cannot the growth conditions of conservative control microorganism, effect is unstable；Physical treatment method mainly has utilization
Relevant device is removed mud at the bottom of pond, periodically note and is changed water, oxygen increasing equipment oxygen supplement etc.；Periodically note changes water and machinery is clear
Silt method, adaptable, but workload is big, needs large area to discharge mud, meanwhile, this side
Method can not be to superfluous nutrient substance recycling.Mechanical enhancement mainly uses aerator, aerator, ploughs water
The plant equipment such as machine, surge machine, substrate improvement ship carry out regulating and controlling water quality, but these equipment are all fixed,
Also exist that working range is little, energy consumption is high, movement is difficult and the problem such as water quality improvement weak effect, efficiency is low.
In sum, need that a kind of working range is big, noise is little badly, conveniently moving, flexible adaptation work waters,
A kind of energy-saving and environmental protection of advantage, the water quality improvement ship of high efficiency smart such as pollution-free, but at present about this type of
Technology have not been reported.
[summary of the invention]
It is an object of the invention to for the deficiency in existing water quality improvement technique, it is provided that a kind of based on beacon
Water quality improvement ship and control system and control flow.
Another purpose of the present invention is to provide the photovoltaic power supply of a kind of water quality improvement ship based on beacon
The control flow of system.
Another purpose of the present invention is to provide the beacon apparatus of a kind of water quality improvement ship based on beacon
Control flow.
The ultrasound wave that another purpose of the present invention is to provide a kind of water quality improvement ship based on beacon is fixed
Position control flow.
For realizing above-mentioned first purpose, the present invention adopts the technical scheme that:
Described water quality improvement ship based on beacon include can the basic buoyancy aid of automatic moving, photovoltaic power supply move
Force system, supersonic wave beacon alignment system.
Described the basic buoyancy aid of automatic moving can include hull, turn to by Side Thrusters, steer motor, draw water
Pipe, drain pipe, turbine, mair motor；Described steer motor and turn to the ship being arranged in hull with Side Thrusters
Head position, and turned to by Side Thrusters rotation generation thrust by steer motor driving, to control the advance side of hull
To；Described drinking-water pipe, drain pipe, turbine, mair motor are arranged in the afterbody of hull；Described mair motor
For direct current generator, mair motor drives the rotation of turbine, pond bottom sewage by drinking-water pipe to drain pipe
It is pumped to the topmost surface in pond；The equal scalable of the draft of described drinking-water pipe and orientation；Described row
Water pipe, when draining, not only realizes the improvement of pond water quality, hull can be produced a counteracting force with when entering,
This counteracting force promotes hull to move ahead.
Described photovoltaic power supply dynamical system includes photovoltaic cell, the first controller and accumulator；Described light
Volt battery is arranged on the upper surface of hull, and the first described controller is by wire and photovoltaic cell and accumulator
It is connected；Described photovoltaic power supply dynamical system power supply mode is, the voltage of detection module detection photovoltaic cell,
Its voltage is gradually reduced along with gradually weakening of intensity of illumination, when detecting that photovoltaic cell output voltage is less than
During accumulator both end voltage, then switching to accumulator is system energy supply；When intensity of illumination strengthens, its photovoltaic
When cell voltage increases to setting value, supplying power for photovoltaic cell can be automatically converted to, charge for accumulator simultaneously.
Described supersonic wave beacon alignment system, including the first ultrasound wave receiver module on body corner as being located at,
Second ultrasound wave receiver module, the 3rd ultrasound wave receiver module, the 4th ultrasound wave receiver module, first wireless
Transceiver module and the first controller；The littoral beacon rationally disposed in described target pond, its quantity is no less than
2；Described beacon is provided with SV power supply, second controller, the second radio receiving transmitting module and ultrasound wave
Transmitter module；Described supersonic wave beacon alignment system, refers to rationally dispose beacon target pond bank,
By utilize the first wireless signal transceiver module, the first ultrasound wave receiver module, the second ultrasound wave receiver module,
3rd ultrasound wave receiver module, the 4th ultrasound wave receiver module and radio receiving transmitting module, ultrasonic emitting module
And first the cooperation of controller and second controller measure the distance and bearing of corresponding supersonic wave beacon, recording
Information send the first controller to, by first controller control hull moving direction；This hull can also pass through
Remote controller realizes the moving direction of manual change's hull.
Described water quality improvement ship, when automatic running, can switch to manual remote control control by remote controller.
For realizing above-mentioned second purpose, the present invention adopts the technical scheme that:
The control flow of described photovoltaic power supply system, including starting and initialization subroutine；Gather photovoltaic electric
The parameters such as pond electric current, voltage also show；Start DC/DC boosting；Judge that can this voltage fill accumulator
Electricity；As cannot, then be back to gather parameter the step display such as photovoltaic cell electric current, voltage；As permissible,
Then accumulator is charged, and judges whether accumulator fills with；As filled with, then start electric discharge
And be back to gather parameter the step displays such as photovoltaic cell electric current, voltage；Such as underfill, then continue charging,
And be back to judge whether accumulator fills with step.
For realizing above-mentioned 3rd purpose, the present invention adopts the technical scheme that:
The control flow of described beacon apparatus, including program after reset or hardware reset, first to being
System initializes；Then initial set information is obtained, including the location choosing such as move mode and communication mode
Select；Then ID is read, because the corresponding ID of each beacon, time only identical with hull system identifier
Can communication；Then the voltage detecting to this system power supply battery；Then check with or without command adapted thereto；If without phase
Should instruct, then return and obtain initial set information step, if there being command adapted thereto, then detection is to find command also
It it is reading order；Find command in this way, then carry out corresponding ultrasonic signal and launch；Read status command in this way,
Then receive system to hull and send the current state read, thus coordinate hull to complete to position mobile task；It
After repeat the functions such as above-mentioned button.
For realizing above-mentioned 4th purpose, the present invention adopts the technical scheme that:
The ultrasonic locating cruise control flow of described water quality improvement ship includes starting and initializing, such as: be
System Parameters variation, I/O mouth, interruption and intervalometer etc. initialize；Determine whether remote signal, if receiving
To remote signal, the most directly control the kinestate of hull, if without remote signal, system key information being read
Take, process, mainly include positioning moving parameter value, being automatically positioned the information such as the method for operation；Then ID is read,
Described ID is used for distinguishing other interference information；Secondly system major parameter is shown；Receive ultrasonic
Ripple, obtains four tunnels in interruption and receives the time；Make a determination to obtaining number, if more than or equal to 3, then leading to
Cross the calculating to respective beacon, determine the distance at hull midpoint and respective beacon, and beacon is relative to hull
Orientation；Then gained distance is made comparisons with predeterminable range, if less than preset value, then inputting new ID and protect
Depositing, location target changes the beacon of another channel into, if more than preset value, then to gained azimuth and default side
Parallactic angle is made comparisons；If azimuth is less than preset value, then control mair motor work, if azimuth is more than preset value
Then control steer motor and turn to Side Thrusters work, making hull move to beacon direction；Afterwards, weight is started
New initialize, repeat said procedure, complete water quality improvement ship along the Route Work of next beacon composition until
Complete whole location cruises.
The invention has the advantages that:
1, the present invention have that working range is big, noise is little, conveniently moving, work waters flexible.
2, the present invention is with clean energy resource photovoltaic cell as major impetus, is that the water quality of a kind of energy-saving and environmental protection changes
Good ship.
3, the present invention uses ultrasonic locating technology, it is achieved equipment is automatic between each target set in advance
Location also automatically moves to target setting, and control flow is flexible, and automaticity is high.
[accompanying drawing explanation]
Accompanying drawing 1 is the Ship Structure schematic diagram of a kind of water quality improvement ship based on beacon.
Accompanying drawing 2 is the structural representation of beacon.
Accompanying drawing 3 is that a kind of water quality improvement ship based on beacon is at rectangle pond cruise path schematic diagram.
Accompanying drawing 4 is that a kind of water quality improvement ship based on beacon is at circular pond cruise path schematic diagram.
Accompanying drawing 5 is the control flow chart of the photovoltaic power supply system of a kind of water quality improvement ship based on beacon.
Accompanying drawing 6 is the control flow chart of the beacon apparatus of a kind of water quality improvement ship based on beacon.
Accompanying drawing 7 is the ultrasonic locating cruise control flow chart of a kind of water quality improvement ship based on beacon.
[detailed description of the invention]
The detailed description of the invention provided the present invention below in conjunction with the accompanying drawings elaborates.
The reference and the ingredient that relate in accompanying drawing are as follows:
1. hull 2. turns to and uses Side Thrusters
3. steer motor 4. accumulator
5. wire 6. drinking-water pipe
7. drain pipe 8. turbine
9. mair motor 10. first ultrasound wave receiver module
11. second ultrasound wave receiver module 12. first controllers
13. photovoltaic cell 14. first radio receiving transmitting modules
15. the 3rd ultrasound wave receiver module 16. the 4th ultrasound wave receiver modules
17.SV power supply 18. second controller
19. second radio receiving transmitting module 20. ultrasonic emitting modules
A kind of water quality improvement ship based on beacon, its element includes can automatic moving basic
Buoyancy aid, photovoltaic power supply dynamical system, supersonic wave beacon alignment system and control performance element etc..Ultrasound wave is fixed
Bit position utilize its range measurement principle coordinate wireless communication technology, by related algorithm calculate target to be measured away from
From and orientation, by controller control hull kinestate, it is achieved water quality improvement ship is in the cruise of setting path
With to water quality improvement.Photovoltaic power supply part utilizes photovoltaic power generation technology to coordinate processor and control circuit to be embodied as
Equipment energy supply and accumulator cell charging and discharging etc..
Embodiment 1
Refer to the Ship Structure that Fig. 1 and Fig. 2, Fig. 1 are a kind of water quality improvement ships based on beacon show
It is intended to.Fig. 2 is the structural representation of beacon.Described a kind of based on beacon water quality improvement ship, bag
Include can the basic buoyancy aid of automatic moving, photovoltaic power supply dynamical system, supersonic wave beacon alignment system.
Refer to figure, Fig. 1 is the Ship Structure schematic diagram of a kind of water quality improvement ship based on beacon.Institute
That states the basic buoyancy aid of automatic moving can include hull 1, turns to Side Thrusters 2, steer motor 3, drinking-water pipe
6, drain pipe 7, turbine 8, mair motor 9.Described steer motor 3 is arranged in Side Thrusters 2 with turning to
The fore position of hull 1, and driven by steer motor 3 and turn to and rotate generation thrust with Side Thrusters 2, this pushes away
The direction of power is as turning to and changing of hull 1, to control the direction of advance of hull 1.Described draws water
Pipe 6, drain pipe 7, turbine 8, mair motor 9 are arranged in the afterbody of hull 1, and described mair motor 9 is straight
Stream motor, mair motor 9 drives the rotation of turbine 8, pond bottom sewage by drinking-water pipe 6 to drain pipe
7 and be pumped to the topmost surface in pond.The equal scalable of draft and orientation of described drinking-water pipe 6.Institute
The drain pipe 7 stated, when draining, not only realizes the improvement of pond water quality, hull can be produced one with when entering
Counteracting force, this counteracting force promotes hull 1 to move ahead.
Refer to the Ship Structure schematic diagram that Fig. 1, Fig. 1 are a kind of water quality improvement ships based on beacon.
Described photovoltaic power supply dynamical system includes photovoltaic cell the 13, first controller 12 and accumulator 4.Described
Photovoltaic cell 13 be arranged on the upper surface of hull 1, the first described controller 12 is by wire 5 and light
Volt battery 13 is connected with accumulator 4.Described photovoltaic power supply dynamical system power supply mode is, detection module
The voltage of detection photovoltaic cell 13, its voltage is gradually reduced along with gradually weakening of intensity of illumination, works as inspection
When measuring photovoltaic cell 13 output voltage less than accumulator 4 both end voltage, then switch to accumulator 4 for being
System energy supply；When intensity of illumination strengthens, when its photovoltaic cell 13 voltage increases to setting value, can automatically turn
It is changed to photovoltaic cell 13 power, charges for accumulator 4 simultaneously.
Refer to the Ship Structure that Fig. 1 and Fig. 2, Fig. 1 are a kind of water quality improvement ships based on beacon show
It is intended to.Fig. 2 is the structural representation of beacon.Described supersonic wave beacon alignment system, including body as being located at
First ultrasound wave receiver module the 10, second ultrasound wave receiver module the 11, the 3rd ultrasound wave on 1 four jiaos receives
Module the 15, the 4th ultrasound wave receiver module the 16, first radio receiving transmitting module 14 and the first controller 12.Institute
The littoral beacon rationally disposed in the target pond stated, its quantity is no less than 2.Described beacon is provided with
SV power supply 17, second controller the 18, second radio receiving transmitting module 19 and ultrasonic emitting module 20.Institute
The supersonic wave beacon alignment system stated, refers to rationally dispose beacon, by utilizing first target pond bank
Wireless signal transceiver module the 14, first ultrasound wave receiver module the 10, second ultrasound wave receiver module 11,
Three ultrasound wave receiver module the 15, the 4th ultrasound wave receiver modules 16 are sent out with radio receiving transmitting module 19, ultrasound wave
Penetrate the cooperation of module 20 and the first controller 12 and second controller 18 measure corresponding supersonic wave beacon away from
From and orientation, the information recorded is sent to the first controller 12, by the first controller 12 control hull move
Dynamic direction.
Refer to Fig. 3, Fig. 3 is that a kind of water quality improvement ship based on beacon is on cruise road, rectangle pond
Footpath schematic diagram.Described pond is rectangle, and according to pond area, the edge along rectangle pond is uniformly pacified
Put 14 beacons, beacon label be respectively A, B, C, D, 1,2,3,4,5,6,7,8,9,
10, water quality improvement ship utilizes ultrasonic locating technology, to the beacon being set in around pre-operation region by setting
Order positions successively, and under command of a controller, work hull moves to target beacon, arrives two
It is after person's preset distance, under command of a controller, to next beacon location, then close to it,
Finally realize between 14 default beacons according to set A → 1 → 9 → 3 → 7 → 5 → B → C → 6 →
4 → 8 → 2 → 10 → D → A rule cruise, in this process, equipment is extracted into upper strata pond bottom sewage
The water surface, and promote hull to move ahead by discharging the counteracting force of water, reach water quality improvement ship automatic cruising and change
The purpose of kind pond water quality.
This hull can also realize the moving direction of manual change's hull by remote controller, during automatic running, permissible
Manual remote control control is switched to by remote controller.The control method general control known in the art of remote controller
Method, the present embodiment repeats no more.
Refer to the control that Fig. 5, Fig. 5 are the photovoltaic power supply systems of a kind of water quality improvement ship based on beacon
Flow chart processed.The control flow control journey of described photovoltaic power supply system includes starting and initialization subroutine；Gather
The parameters such as photovoltaic cell 13 electric current, voltage also show；Start DC/DC boosting；Judge that can this voltage right
Accumulator 4 is charged；As cannot, then be back to gather the parameter such as photovoltaic cell 13 electric current, voltage and show
Show step；As permissible, then accumulator 4 is charged, and judges whether accumulator 4 fills with；As
Fill with, then start electric discharge and be back to gather the parameters such as photovoltaic cell 13 electric current, voltage and show step
Suddenly；Such as underfill, then continue charging, and be back to judge whether accumulator 4 fills with step.
Refer to the control stream that Fig. 6, Fig. 6 are the beacon apparatus of a kind of water quality improvement ship based on beacon
Cheng Tu.Its control flow includes that system, after reset or hardware reset, is first initialized by program；
Then initial set information is obtained, select including location move mode and communication mode etc.；Then ID is read,
Because the corresponding ID of each beacon, could communicate time only identical with hull system identifier；Then to this
The voltage detecting of system power supply battery；Then check with or without command adapted thereto；If without command adapted thereto, then return and obtain
Taking initial set information step, if there being command adapted thereto, then detection finds command or reading order；In this way
Find command, then carry out corresponding ultrasonic signal and launch；Read status command in this way, then receive system to hull
System sends the current state read, thus coordinates hull to complete to position mobile task；Repeat above-mentioned button afterwards
Etc. function.
Refer to the ultrasonic locating cruise control that Fig. 7, Fig. 7 are a kind of water quality improvement ships based on beacon
Flow chart processed.The ultrasonic locating cruise control flow of described water quality improvement ship includes starting and initializing,
As: system parameter variations, I/O mouth, interruption and intervalometer etc. initialize；Determine whether remote signal,
If the remote signal of receiving, the then kinestate of direct remote pilot hull, if without remote signal, to system
Initial set information obtains, and mainly includes positioning moving parameter value, being automatically positioned the information such as the method for operation；Connect
Reading ID, described ID to be used for distinguishing other interference information；Judge whether azimuth is more than setting value,
If azimuth is more than setting value, then send diversion order, start intervalometer time delay, open interruption；Wait 30
Receive ultrasound wave after Miao, interruption obtains four tunnels and receives the time；As azimuth is less than or equal to setting value, then
Directly the number obtaining effective time is made a determination, if less than 3, then postbacking and send diversion order, start
Intervalometer, leaves the step of interruption, if more than or equal to 3, then by the position calculation to respective beacon, determining
Hull midpoint and the distance of respective beacon；Then gained distance is made comparisons with predeterminable range, if less than presetting
Value, then proceed to new ID and to reading ID and preserve step, if more than preset value, then controls mair motor 9 and works,
Hull is made to move to target beacon direction；Afterwards, start to reinitialize, repeat said procedure, complete water
The Route Work that matter improvement ship forms along next beacon is until completing whole location cruises.
Embodiment 2
In the present embodiment, a kind of water quality improvement ship structure based on beacon, the structure of beacon, with enforcement
Example 1 is identical, and the present embodiment repeats no more.
Refer to Fig. 4, Fig. 4 is that a kind of water quality improvement ship based on beacon is in circular cruise path, pond
Schematic diagram.Described pond is circular, and according to pond area, the edge along circular pond uniformly disposes 5
Beacon, beacon label is respectively 1,2,3,4,5, and water quality improvement ship utilizes ultrasonic locating technology, right
The beacon being set in around pre-operation region is positioned successively by setting order, under command of a controller,
Work hull moves to target beacon, after preset distance both arriving, under command of a controller,
To next beacon location, then close to it, finally realize between 5 default beacons according to setting
1 → 3 → 5 → 2 → 4 → 1 rule cruise, in this process, equipment is extracted into pond bottom sewage
The layer water surface, and promote hull to move ahead by discharging the counteracting force of water, reach automatic cruising and improve pond water quality
Purpose.
In the present embodiment, plant the control flow of the photovoltaic power supply system of water quality improvement ship based on beacon,
A kind of control flow of the beacon apparatus of water quality improvement ship based on beacon, a kind of based on beacon
The hull method for ultrasonic locating of water quality improvement ship, identical with embodiment 1, the present embodiment repeats no more.
The above is only the preferred embodiment of the present invention, it is noted that common for the art
Technical staff, on the premise of without departing from the inventive method, it is also possible to makes some improvement and supplements, including
Can be at the upper sensor increasing corresponding parameter of hull (buoyancy aid), such as dissolved oxygen meter etc., detection water quality changes in real time
Good index, time up to standard, system is automatically stopped work, and returns at beacon standby, continuous firing time below standard,
Or automatically starting work, these improve and supplement and also should be regarded as protection scope of the present invention.
Claims (9)
1. a water quality improvement ship based on beacon, it is characterised in that described based on beacon
Water quality improvement ship includes can the basic buoyancy aid of automatic moving, photovoltaic power supply dynamical system, supersonic wave beacon location
System.
A kind of water quality improvement ship based on beacon the most according to claim 1, it is characterised in that
Described can the basic buoyancy aid of automatic moving include hull, turn to Side Thrusters, steer motor, drinking-water pipe,
Drain pipe, turbine, mair motor；Described steer motor and turn to the fore portion being arranged in hull with Side Thrusters
Position, and turned to by Side Thrusters rotation generation thrust by steer motor driving, to control the direction of advance of hull；
Described drinking-water pipe, drain pipe, turbine, mair motor are arranged in the afterbody of hull；Described mair motor is straight
Stream motor, mair motor drive turbine rotation, pond bottom sewage by drinking-water pipe to drain pipe pump drainage
Topmost surface to pond；The equal scalable of the draft of described drinking-water pipe and orientation；Described drain pipe
When draining, not only realizing the improvement of pond water quality, hull can be produced a counteracting force simultaneously, this is anti-
Active force promotes hull to move ahead.
A kind of water quality improvement ship based on beacon the most according to claim 1, it is characterised in that
Described photovoltaic power supply dynamical system includes photovoltaic cell, the first controller and accumulator；Described photovoltaic electric
Pond is arranged on the upper surface of hull, and the first described controller is connected with photovoltaic cell and accumulator by wire；
Described photovoltaic power supply dynamical system power supply mode is, the voltage of detection module detection photovoltaic cell, its voltage
It is gradually reduced along with gradually weakening of intensity of illumination, when detecting that photovoltaic cell output voltage is less than accumulator
During both end voltage, then switching to accumulator is system energy supply；When intensity of illumination strengthens, its photovoltaic cell electricity
When pressure increases to setting value, supplying power for photovoltaic cell can be automatically converted to, charge for accumulator simultaneously.
A kind of water quality improvement ship based on beacon the most according to claim 1, it is characterised in that
Described supersonic wave beacon alignment system, including the first ultrasound wave receiver module on body corner as being located at,
Two ultrasound wave receiver modules, the 3rd ultrasound wave receiver module, the 4th ultrasound wave receiver module, the first wireless receipts
Send out module and the first controller；The littoral beacon rationally disposed in described target pond, its quantity is no less than 2
Only；Described beacon is provided with SV power supply, second controller, the second radio receiving transmitting module and ultrasound wave and sends out
Penetrate module；Described supersonic wave beacon alignment system, refers to rationally dispose beacon target pond bank, logical
Cross utilize the first wireless signal transceiver module, the first ultrasound wave receiver module, the second ultrasound wave receiver module,
3rd ultrasound wave receiver module, the 4th ultrasound wave receiver module and radio receiving transmitting module, ultrasonic emitting module
And first the cooperation of controller and second controller measure the distance and bearing of corresponding supersonic wave beacon, recording
Information send the first controller to, by first controller control hull moving direction；This hull can also pass through
Remote controller realizes the moving direction of manual change's hull.
5. the control flow of a water quality improvement ship based on beacon, it is characterised in that described control
Flow process processed includes the control flow of photovoltaic power supply system, the control flow of beacon apparatus, and water quality improvement ship
Ultrasonic locating cruise control flow.
The control flow of a kind of water quality improvement ship based on beacon the most according to claim 5,
It is characterized in that, the control flow of described photovoltaic power supply system, including starting and initialization subroutine；Adopt
The parameters such as collection photovoltaic battery current, voltage also show；Start DC/DC boosting；Judge that can this voltage right
Accumulator is charged；As cannot, then be back to gather parameter the step display such as photovoltaic cell electric current, voltage；
As permissible, then accumulator is charged, and judges whether accumulator fills with；As filled with, then
Start electric discharge and be back to gather parameter the step displays such as photovoltaic cell electric current, voltage；Such as underfill, then
Continue charging, and be back to judge whether accumulator fills with step.
The control flow of a kind of water quality improvement ship based on beacon the most according to claim 5,
It is characterized in that, the control flow of described beacon apparatus, including program after reset or hardware reset,
First system is initialized；Then initial set information is obtained, including positioning move mode and communicating
Modes etc. select；Then ID is read, because the corresponding ID of each beacon, only with hull system identifier
Could communicate time identical；Then the voltage detecting to this system power supply battery；Then check with or without command adapted thereto；
If without command adapted thereto, then returning and obtain initial set information step, if there being command adapted thereto, then detection is to find
Order or reading order；Find command in this way, then carry out corresponding ultrasonic signal and launch；Read shape in this way
State order, then receive system to hull and send the current state read, thus it is mobile to coordinate hull to complete location
Task；Repeat the functions such as above-mentioned button afterwards.
The control flow of a kind of water quality improvement ship based on beacon the most according to claim 5,
It is characterized in that, the ultrasonic locating cruise control flow of described water quality improvement ship includes starting and initializing,
As: system parameter variations, I/O mouth, interruption and intervalometer etc. initialize；Determine whether remote signal,
If the remote signal of receiving, the then kinestate of direct remote pilot hull, if without remote signal, to system
Initial set information obtains, and mainly includes positioning moving parameter value, being automatically positioned the information such as the method for operation；Connect
Reading ID, described ID to be used for distinguishing other interference information；Then judge that whether azimuth is more than setting
Value, if azimuth is more than setting value, then sends diversion order, starts intervalometer time delay, open interruption；Wait
Receive ultrasound wave after 30 seconds, interruption obtains four tunnels and receives the time；If azimuth is less than or equal to setting value,
Then directly the number obtaining effective time is made a determination, if less than 3, then postbacking and send diversion order, open
Dynamic intervalometer, open the step of interruption, if more than or equal to 3, then by the position calculation to respective beacon, really
Determine the distance at hull midpoint and respective beacon；Then gained distance is made comparisons with predeterminable range, if less than pre-
If value, then proceed to new ID and to reading ID and preserve step, if more than preset value, then control mair motor work,
Hull is made to move to target beacon direction；Afterwards, start to reinitialize, repeat said procedure, complete water
The Route Work that matter improvement ship forms along next beacon is until completing whole location cruises.
9. a water quality improvement ship based on beacon, it is characterised in that described water quality improvement ship exists
During automatic running, manual remote control control can be switched to by remote controller.
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Application publication date: 20161012 |