CN107021196A - The autonomous underwater vehicle of the water quality for the monitoring river that river length is used - Google Patents
The autonomous underwater vehicle of the water quality for the monitoring river that river length is used Download PDFInfo
- Publication number
- CN107021196A CN107021196A CN201710473385.7A CN201710473385A CN107021196A CN 107021196 A CN107021196 A CN 107021196A CN 201710473385 A CN201710473385 A CN 201710473385A CN 107021196 A CN107021196 A CN 107021196A
- Authority
- CN
- China
- Prior art keywords
- water
- water quality
- river
- underwater vehicle
- lithium ion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
Abstract
The autonomous underwater vehicle of the water quality of the monitoring river used the present invention relates to river length, belongs to Intelligent unattended submariner device applied technical field.Autonomous underwater vehicle is navigated by water in river, video camera shoots turbidity, pollutant, the image of blow-off line of water body in the water on the anterior top surface of autonomous underwater vehicle, and the radio communication device that image information is sent to land by conductor wire, Wireless Telecom Equipment first, radio antenna first is received.The pollutant data message measured is inputted water quality information by conductor wire respectively and gathers storage device by the PH sensors at video camera rear, water analysis sensor and water quality monitoring sensor in water, and the radio communication device that the data message for gathering storage device output from water quality information is sent to land by electronic computer first, Wireless Telecom Equipment second and radio antenna second is received.River length is analyzed and studied according to the image information and data message that receive, takes specific aim measure to administer pollution of estuary.
Description
Technical field
The autonomous underwater vehicle of the water quality of the monitoring river used the present invention relates to river length, belongs to Intelligent unattended submariner device application
Technical field.
Background technology
On May 29th, 2007 to afternoon June 3, Wuxi Taihu Lake blue-green algae concentrates outburst, have impact on the life of two a population of one million
Drinking water.Near the water head site of running water substantial amounts of NH3, mercaptan, thioether are generated during blue-green algae bulk deposition, anaerobic digestion
And the smell substance such as hydrogen sulfide.The exceeded eutrophication of nitrogen phosphorus in global warming, lake water, the work in Taihu Lake periphery small towns
Industry, agricultural and sanitary sewage are discharged into Taihu Lake by river course, and these are all to cause the reason for blue-green algae concentrates outburst.Arrive thenceforth
2017, Wuxi will spend substantial amounts of man power and material to salvage blue-green algae every year.Because there is water in the part river course towards Taihu Lake
It is seriously polluted, renovated for a long time without desilting, add the illegal blowdown of Some Enterprises, agricultural non-point source pollution seriously, controlled to implement
The responsibility of pollution of estuary is managed, Wuxi City initiates ' river length system ', Wuxi City party and government chief leading cadre has served as 64 rivers respectively
River is long, really every pollution treatment carrying out measures in place.2008, Jiangsu Province promoted river length system, set up city, county, town, the four of village
Level ' river length system ' management system, enhances the responsibility to stream entering lake water quality reaching standard.Central Committee of the Communist Party of China's office on December 11st, 2016
The Room, the General Office of the State Council have printed and distributed " opinion on river length of carrying out in an all-round way ", determine to promote river length system in the whole nation.
Have the working sense of responsibility of a river length very strong, his hand take pen, another hand take notebook, walking along the river,
The pollution condition of river is recorded paragraph by paragraph.This river length color on eye observation river surface and its change, smell with one's nose by the river
The smell that river is distributed, works very tired.However, he does not still know that causes pollution of estuary has that several chemical element,
Whether more serious than the river on top layer the pollution condition of the river of river course bottom is, though this river length is tiredly dry, work effect
Rate is not high, and working effect is also not ideal enough.
The content of the invention
It is an object of the present invention to overcome the above deficiencies, using river length use monitoring river water quality nobody dive
Navigate device.
Autonomous underwater vehicle is by remote control or is controlled automatically at the utensil of underwater navigation, can also climb up on top of the water on use channel radio
Letter antenna sends the information gathered under water, is the intellectualizing system for carrying out underwater operation.Autonomous underwater vehicle can be divided into distance type
Autonomous underwater vehicle and self-action autonomous underwater vehicle, are mainly used in the task such as collection underwater information and communication.At present, autonomous underwater vehicle
Based on military, technology is quite ripe, and it is civilian to start steering.The hull of autonomous underwater vehicle is Torpedo Shape, using aluminium
Material or composite manufacture shell.Power set use Three Degree Of Freedom propeller, and power is provided by chargeable lithium ion battery.
Navigation is with control, and the propeller that its propulsion system is moved by generation different directions is constituted, and sail control device control is waved, wave
Gush, lift, pitching and yaw direction are moved, being designed with balance wing in right water, balance wing in left water, autonomous underwater vehicle can be prevented
Roll, with self-correcting function.Mission payload has video camera in water, collision avoidance feeler lever, sail control device, water quality information collection storage
Cryopreservation device, PH sensors, water analysis sensor, water quality monitoring sensor, radio antenna first, Wireless Telecom Equipment first,
Electronic computer first, radio antenna second, Wireless Telecom Equipment second, electricpropulsion installation, propeller.Communication aspects equipped with
Big Dipper global positioning system.This autonomous underwater vehicle is equipped with water surface radio communication.The miniature self-service submariner device for monitoring water quality is more
Number navigation is in small and medium sized rivers, using handheld launch with reclaiming on riverbank, ship, on bridge.Minority navigation is in the Yellow River, the Changjiang river
It can be launched etc. the large-scale autonomous underwater vehicle in big river course using crane with reclaiming.
Be respectively mounted on the anterior top surface of autonomous underwater vehicle the contact PH sensors of water body, water analysis sensor,
Water quality monitoring sensor, can effectively monitor the water quality condition of river.PH sensors are for detecting hydrogen ion concentration in measured object
And the sensor of corresponding usable output signal is converted into, the measurement range of PH sensors is 0-14PH.Accuracy is positive and negative
0.02PH, resolution ratio reaches 0.01PH, because pH value will not occur for the acid-base value of polluted river less than 2 and pH value is more than 12
Situation, so the present invention is PH2 using the scope of measurement PH values --- PH12 PH sensors.PH sensors will be perceived
The acid-base value PH numerical value of water body is converted into electric signal and inputs water quality information collection storage device, water analysis sensing by conductor wire
Device by it is perceiving, analyze the Heavy Metals in Waters ion come, ammonia nitrogen, total phosphorus numerical information be converted into electric signal, pass through
Conductor wire input water quality information collection storage device.Water quality monitoring sensor is turbid by water body perceiving, detecting
Degree, chlorine residue, suspension, fluoride, the numerical information of sulfate are converted into electric signal and input water quality information collection by conductor wire
Storage device.The whole water quality data information for gathering storage device output from water quality information by conductor wire input electronic computer
First is handled, and then Wireless Telecom Equipment second is inputted by conductor wire, by wireless above Wireless Telecom Equipment second
Communication antenna second sends the radio antenna that radio wave communicates information to land when autonomous underwater vehicle emerges
Receive.When collision avoidance feeler lever before autonomous underwater vehicle runs into hard foreign matter, collision information can be inputted by conductor wire
Sail control device, sail control device meeting adjust automatically course, navigation of detouring, and navigation route information is defeated by conductor wire
Enter image information in the water that video camera is shot in water in Wireless Telecom Equipment first, water and Wireless Telecom Equipment is inputted by conductor wire
First, by the radio antenna first in Wireless Telecom Equipment first when autonomous underwater vehicle emerges, by image in water
The radio antenna that information and navigation route information are sent to land is received, and the radio antenna of land will be received
Full detail by built-in conductor wire input land Wireless Telecom Equipment, electronic computer second and water quality information storage at
Reason device is handled and stored.In the middle part and rear portion of autonomous underwater vehicle, lithium ion battery second is by conductor wire to floating body
Power supply, under power, the volume of this special floating body can become big as needed or diminish.Lithium ion battery second passes through
Conductor wire provides power to electricpropulsion installation, drives propeller rotation to produce thrust by electricpropulsion installation, promotes nobody to dive
Boat device is navigated by water in water body.The present invention is using low-voltage powerline carrier communication transmission line as conductor wire, and this conductor wire can
Conduction, can transmit information again.
In order to solve the above-mentioned technical problem, the present invention is achieved by the following technical solutions：
By autonomous underwater vehicle 1, material shell 2, floating body 3, electricpropulsion installation 4, propeller 5, collision avoidance feeler lever 6, navigation control
Video camera 10 in device 7 processed, conductor wire 8, lithium ion battery first 9, water, water quality information collection storage device 11, PH sensors 12,
Put down in water analysis sensor 13, water quality monitoring sensor 14, radio antenna first 15, Wireless Telecom Equipment first 16, right water
Balance wing 18, electronic computer first 19, radio antenna second 20, Wireless Telecom Equipment second 21, lithium ion in the weighing apparatus wing 17, left water
Battery second 22 is collectively constituted；
Autonomous underwater vehicle 1 is navigated by water in river 27, is pacified on the outer surface on the right side of the material shell 2 of autonomous underwater vehicle 1
Balance wing 17 in right water is filled, balance wing in left water is installed on the outer surface in the left side of the material shell 2 of autonomous underwater vehicle 1
18, video camera 10 in water is installed on the anterior top surface of the material shell 2 of autonomous underwater vehicle 1, in autonomous underwater vehicle 1
The rear of video camera 10 is installed PH sensors 12, water analysis and passed successively on the anterior top surface of material shell 2, in water
Sensor 13, water quality monitoring sensor 14, below PH sensors 12, water analysis sensor 13 and water quality monitoring sensor 14
, the inside of material shell 2 water quality information collection storage device 11 is installed, outside the rear of collision avoidance feeler lever 6, composite
Sail control device 7 is installed, sail control device 7 is located at lithium ion battery first 9 and water quality information collection storage device 11 in shell 2
Front, lithium ion battery first 9 be located at water quality information gather storage device 11 lower section, sail control device 7 top pacify
Wireless Telecom Equipment first 16 is filled, radio antenna first 15, Wireless Telecom Equipment are installed above Wireless Telecom Equipment first 16
First 16 is arranged on the inside of material shell 2, and radio antenna first 15 is arranged on the outer surface of material shell 2,
Floating body 3 is installed in the lower half of postmedian in material shell 2, and lithium ion battery second 22 is installed in the top of floating body 3,
Wireless Telecom Equipment second 21 is installed in the top of lithium ion battery second 22, and radio communication is installed above Wireless Telecom Equipment second 21
Antenna second 20, Wireless Telecom Equipment second 21 is arranged on the inside of material shell 2, and radio antenna second 20 is arranged on compound
On the outer surface of the outside of material envelope 2, electrometer is installed in the front of Wireless Telecom Equipment second 21 and lithium ion battery second 22
Calculation machine first 19, electricpropulsion installation 4 is installed at the rear portion of autonomous underwater vehicle 1, and electricpropulsion installation 4 is arranged on material shell
2 inside, propeller 5 is arranged on the top of the rotary shaft for the outside that material shell 2 is reached from electricpropulsion installation 4,
The full detail sent from the radio antenna first 15 and radio antenna second 20 of autonomous underwater vehicle 1 is sent out by radio wave
The radio antenna 23 for being sent to land is received, and the Wireless Telecom Equipment of land is installed below radio antenna 23
24, electronic computer second 25 is installed below Wireless Telecom Equipment 24 on land, pacified below electronic computer second 25
Water quality information storing treater 26 is filled, has river 27 beside land, autonomous underwater vehicle 1 slips into water sometimes in river 27
Middle collection storage water quality information, emerges and sends the radio wave of water quality information sometimes；
Sail control device 7 is connected by conductor wire 8 with lithium ion battery first 9, and sail control device 7 passes through conductor wire 8 and nothing
Line communication equipment first 16 is connected, and lithium ion battery first 9 is connected by conductor wire 8 with video camera in water 10, Wireless Telecom Equipment first
16 are connected by conductor wire 8 with video camera in water 10, and lithium ion battery first 9 is connected by conductor wire 8 with Wireless Telecom Equipment first 16
Connect, lithium ion battery first 9 gathers storage device 11 by conductor wire 8 and water quality information and is connected, water quality information collection storage device
11 are connected by conductor wire 8 with PH sensors 12, and water quality information gathers storage device 11 and sensed by conductor wire 8 and water analysis
Device 13 is connected, and water quality information collection storage device 11 is connected by conductor wire 8 with water quality monitoring sensor 14, water quality information collection
Storage device 11 is connected by conductor wire 8 with electronic computer first 19, and electronic computer first 19 passes through conductor wire 8 and radio communication
Equipment second 21 is connected, and electronic computer first 19 is connected by conductor wire 8 with lithium ion battery second 22, and lithium ion battery second 22 passes through
Conductor wire 8 is connected with floating body 3, and lithium ion battery second 22 is connected by conductor wire 8 with electricpropulsion installation 4, electricpropulsion installation 4
It is connected by power transmission shaft with propeller 5, the radio antenna 23 of land passes through built-in conductor wire and the channel radio of land
Letter equipment 24 is connected, and the Wireless Telecom Equipment 24 of land is connected by built-in conductor wire with electronic computer second 25, electrometer
Calculation machine second 25 is connected by built-in conductor wire with water quality information storing treater 26.
Lithium ion battery first 9 and lithium ion battery second 22 are cobalt acid lithium lithium ion battery or manganate lithium ion battery or titanium
Sour lithium ion battery or ferric phosphate lithium ion battery；Video camera 10 is imaged in video camera or CMOS water in CCD water in water
Machine；The length of material shell 2 is 30 centimeters -360 centimeters；A diameter of 10 centimeters of the cross section of material shell 2-
120 centimeters；The scope of the pH value of the detection river of PH sensors 12 is PH2-PH12.
Compared with prior art, the beneficial effects of the invention are as follows：1. the operating efficiency of the water quality of monitoring river is high, and nobody dives
The water quality condition that device navigation of navigating is arrived in that waters, this waters measures clear immediately.2. multinomial water quality index is carried out simultaneously
Monitoring.3. autonomous underwater vehicle dive can float to water surface radio communication into water after gathered data information and image information
The radio antenna that mode sends information to land is received.4. river length can quickly see the water quality information data in river course
With water body realtime graphic.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Embodiment
River length is selected according to the water pollution situation of the length in river course, the width of the water body of river, the depth of river, river
With length and volume are suitable, mission payload is complete, sensor and the advanced autonomous underwater vehicle of equipment, autonomous underwater vehicle is launched
Into river, river length is navigated by water with wireless communication means remotely pilotless submariner device in river, is passed by PH sensors, water analysis
Sensor and water quality monitoring sensor gather the related data information of river.
The present invention will be further described with reference to the embodiment in accompanying drawing below：
There is a chemical plant to bury the dark drainage pipeline in underground into lower floor's water body of river up to two meters of river bank in river depth
Stealthily discharge the polluters such as fluoride, sulfate.Water colour on the length observation river surface of river, it was found that the different shape as clues and traces,
But do not grasp the positive evidence that water environment is destroyed in the chemical plant.River length launches autonomous underwater vehicle into river, and remote control without
The rapid submariner of people's submariner device is to suspicious waters, water quality monitoring Sensor monitoring to certain density fluoride and sulfate, follows the trail of
To the end-of-the-pipe that pollutant concentration is increasing, the image for stealing sewer of dark drainage pipeline is shot with video camera in water, will
The image information collected is converted into electric signal and inputs Wireless Telecom Equipment first by conductor wire, when autonomous underwater vehicle is floated on the surface of the water
When, radio wave is sent by the radio antenna first in Wireless Telecom Equipment first image information is sent to land
Radio antenna receive.PH sensors, water analysis sensor and water quality monitoring sensor difference on autonomous underwater vehicle
By the pollutant data conversion each measured into electric signal input water quality information collection storage device, gather and store up from water quality information
The data message of cryopreservation device output inputs electronic computer first by conductor wire and stored, when autonomous underwater vehicle is floated on the surface of the water, from
The data message of electronic computer first output launches radio wave by radio antenna second, and data message is sent into land
On radio antenna receive, full detail is inputted land by the radio antenna of land by built-in conductor wire
Wireless Telecom Equipment is stored, and is then inputted electronic computer second and is handled, from electronic computer second export it is treated complete
Portion's information inputs water quality information storing treater by built-in conductor wire.River length is seen from water quality information storing treater
Total data information and image information, have comprehensive understanding to the situation that the private buried lower hidden pipe in the chemical plant steals sewer.River
Length is decide on the spot, notifies environmentally friendly law enfrocement official to order chemical plant to dig out the private ground down blow hidden pipe buried, and in accordance with the law to stealing sewer
Behavior punished, effectively protect the cleaning of river.
Autonomous underwater vehicle day and night normals cruise in the river in river course, finds and traces various forms of pollution sources,
Upper strata water body, middle level water body, the multinomial scientific evidence in lower floor's water body and the material picture of river are gathered, passes through side wireless communication
Formula, inputs electronic computer second by data message and image information and water quality information storing treater is stored and handled.
On the basis of substantial amounts of river information is accumulated, the water body Internet of Things of river is progressively built, the pollution treatment to the river in river course is entered
Row intelligent management.Autonomous underwater vehicle improves the operating efficiency of river length, allows river length to have using information-based, electronization scientific method
Imitate the water quality of management and control river.Autonomous underwater vehicle will turn into the healthy bodyguard of river.
Now enumerate embodiment as follows：
Embodiment one：
River length launches miniature self-service submariner device, the composite wood of miniature self-service submariner device into the river of river using light-duty transmitter
The length for expecting shell is 80 centimeters, and a diameter of 25 centimeters of the cross section of material shell, power set are equipped with and use direct current
The electricpropulsion installation of brushless electric machine, is powered by cobalt acid lithium lithium ion battery.Using GPS navigation under water.Task is carried
Pocket includes video camera in water, collision avoidance feeler lever, sail control device, water quality information storing treater, PH sensors, water analysis
Sensor, water quality monitoring sensor, radio antenna first, Wireless Telecom Equipment first, electronic computer first, radio antenna
Second, Wireless Telecom Equipment second, electricpropulsion installation, propeller.In the CCD water on the anterior top surface of autonomous underwater vehicle
Video camera to polluted-water, pollutant and is hidden the blow-off line in water and taken pictures in water, obtains image information.Autonomous underwater vehicle
By the data message and image information of the pollutant gathered in water body, the mode with radio communication, the electricity of land is sent to
In sub- computer second and water quality information storing treater, the water quality of river is controlled comprehensively for river length, take improvement pollution of estuary
Measure.
Embodiment two：
River length selects the autonomous underwater vehicle that the scale of construction with river matches, or river customizes special autonomous underwater vehicle.
River length delivers large-scale autonomous underwater vehicle into the river in great river using crane, the material shell of large-scale autonomous underwater vehicle
Length is 260 centimeters, and a diameter of 75 centimeters of the cross section of material shell, power set are equipped with and use DC brushless motor
Electricpropulsion installation, powered by manganate lithium ion battery.Using GPS navigation under water.Mission payload includes water
Middle video camera, collision avoidance feeler lever, sail control device, water quality information storing treater, PH sensors, water analysis sensor,
It is water quality monitoring sensor, radio antenna first, Wireless Telecom Equipment first, Wireless Telecom Equipment first, electronic computer first, wireless
Communication antenna second, Wireless Telecom Equipment second, electricpropulsion installation, propeller.On the anterior top surface of autonomous underwater vehicle
CMOS water in video camera to polluted-water, pollutant and hide the blow-off line in water in water and take pictures, obtain image information.
The data message and image information of the pollutant gathered in water body, the mode with radio communication are sent to by autonomous underwater vehicle
In the electronic computer second and water quality information storing treater of land, control the water quality of river comprehensively for river length, take and control
Manage the measure of pollution of estuary.
Claims (6)
1. the autonomous underwater vehicle of the water quality for the monitoring river that river length is used, it is characterized in that, by autonomous underwater vehicle（1）, composite
Shell（2）, floating body（3）, electricpropulsion installation（4）, propeller（5）, collision avoidance feeler lever（6）, sail control device（7）, conductor wire
（8）, lithium ion battery first（9）, video camera in water（10）, water quality information collection storage device（11）, PH sensors（12）, water quality
Analyte sensors（13）, water quality monitoring sensor（14）, radio antenna first（15）, Wireless Telecom Equipment first（16）, right water
Middle balance wing（17）, balance wing in left water（18）, electronic computer first（19）, radio antenna second（20）, radio communication sets
Standby second（21）, lithium ion battery second（22）Collectively constitute；
Autonomous underwater vehicle（1）Navigation is in river（27）In, in autonomous underwater vehicle（1）Material shell（2）Right side it is outer
Balance wing in right water is installed on surface（17）, in autonomous underwater vehicle（1）Material shell（2）Left side outer surface on pacify
Fill balance wing in left water（18）, in autonomous underwater vehicle（1）Material shell（2）Anterior top surface on install water in image
Machine（10）, in autonomous underwater vehicle（1）Material shell（2）Anterior top surface on, the video camera in water（10）Rear
PH sensors are installed successively（12）, water analysis sensor（13）, water quality monitoring sensor（14）, in PH sensors（12）, water
Matter analyte sensors（13）With water quality monitoring sensor（14）Lower section, material shell（2）Inside install water quality information
Gather storage device（11）, in collision avoidance feeler lever（6）Rear, material shell（2）Interior installation sail control device（7）, boat
Row control device（7）Positioned at lithium ion battery first（9）Storage device is gathered with water quality information（11）Front, lithium ion battery first
（9）Storage device is gathered positioned at water quality information（11）Lower section, in sail control device（7）Top install Wireless Telecom Equipment
First（16）, in Wireless Telecom Equipment first（16）Above install radio antenna first（15）, Wireless Telecom Equipment first（16）Peace
Mounted in material shell（2）Inside, radio antenna first（15）Installed in material shell（2）Outer surface on,
In material shell（2）The lower half of interior postmedian is installed by floating body（3）, in floating body（3）Top install lithium ion battery
Second（22）, in lithium ion battery second（22）Top install Wireless Telecom Equipment second（21）, in Wireless Telecom Equipment second（21）'s
Radio antenna second installed above（20）, Wireless Telecom Equipment second（21）Installed in material shell（2）Inside, wirelessly
Communication antenna second（20）Installed in material shell（2）Outside outer surface on, in Wireless Telecom Equipment second（21）And lithium
Ion battery second（22）Front install electronic computer first（19）, in autonomous underwater vehicle（1）Rear portion install be electric-only propulsion dress
Put（4）, electricpropulsion installation（4）Installed in material shell（2）Inside, propeller（5）Installed in from being electric-only propulsion dress
Put（4）Reach material shell（2）Outside rotary shaft top, from autonomous underwater vehicle（1）Radio antenna
First（15）With radio antenna second（20）The full detail sent is sent to the radio communication day of land by radio wave
Line（23）Receive, in radio antenna（23）Below install land Wireless Telecom Equipment（24）, nothing on land
Line communication equipment（24）Below install electronic computer second（25）, in electronic computer second（25）Below water quality information is installed
Storing treater（26）, there is river beside land（27）, autonomous underwater vehicle（1）In river（27）In pull the plug sometimes
Collection storage water quality information, emerges and sends the radio wave of water quality information sometimes；
Sail control device（7）Pass through conductor wire（8）With lithium ion battery first（9）Connection, sail control device（7）Pass through conduction
Line（8）With Wireless Telecom Equipment first（16）Connection, lithium ion battery first（9）Pass through conductor wire（8）With video camera in water（10）Even
Connect, Wireless Telecom Equipment first（16）Pass through conductor wire（8）With video camera in water（10）Connection, lithium ion battery first（9）By leading
Electric wire（8）With Wireless Telecom Equipment first（16）Connection, lithium ion battery first（9）Pass through conductor wire（8）Gather and store up with water quality information
Cryopreservation device（11）Connection, water quality information collection storage device（11）Pass through conductor wire（8）With PH sensors（12）Connection, water quality letter
Breath collection storage device（11）Pass through conductor wire（8）With water analysis sensor（13）Connection, water quality information collection storage device
（11）Pass through conductor wire（8）With water quality monitoring sensor（14）Connection, water quality information collection storage device（11）Pass through conductor wire
（8）With electronic computer first（19）Connection, electronic computer first（19）Pass through conductor wire（8）With Wireless Telecom Equipment second（21）Even
Connect, electronic computer first（19）Pass through conductor wire（8）With lithium ion battery second（22）Connection, lithium ion battery second（22）By leading
Electric wire（8）With floating body（3）Connection, lithium ion battery second（22）Pass through conductor wire（8）With electricpropulsion installation（4）Connection, it is electronic
Propulsion plant（4）Pass through power transmission shaft and propeller（5）Connection, the radio antenna of land（23）By built-in conductor wire with
The Wireless Telecom Equipment of land（24）Connection, the Wireless Telecom Equipment of land（24）Calculated by built-in conductor wire and electronics
Machine second（25）Connection, electronic computer second（25）Pass through built-in conductor wire and water quality information storing treater（26）Connection.
2. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 is used, it is characterized in that, it is described
Lithium ion battery first（9）With lithium ion battery second（22）It is cobalt acid lithium lithium ion battery or manganate lithium ion battery or lithium titanate
Lithium ion battery or ferric phosphate lithium ion battery.
3. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 is used, it is characterized in that, it is described
Video camera in water（10）It is video camera in video camera or CMOS water in CCD water.
4. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 is used, it is characterized in that, it is described
Material shell（2）Length be 30 centimeters -360 centimeters.
5. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 is used, it is characterized in that, it is described
Material shell（2）A diameter of 10 centimeters -120 centimeters of cross section.
6. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 is used, it is characterized in that, it is described
PH sensors（12）The scope for detecting the pH value of river is PH2-PH12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710473385.7A CN107021196A (en) | 2017-06-21 | 2017-06-21 | The autonomous underwater vehicle of the water quality for the monitoring river that river length is used |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710473385.7A CN107021196A (en) | 2017-06-21 | 2017-06-21 | The autonomous underwater vehicle of the water quality for the monitoring river that river length is used |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107021196A true CN107021196A (en) | 2017-08-08 |
Family
ID=59531967
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710473385.7A Withdrawn CN107021196A (en) | 2017-06-21 | 2017-06-21 | The autonomous underwater vehicle of the water quality for the monitoring river that river length is used |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107021196A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107861141A (en) * | 2017-12-18 | 2018-03-30 | 无锡同春新能源科技有限公司 | The monitoring system of unmanned boat investigation water quality based on Beidou navigation positioning |
| CN107894494A (en) * | 2017-10-27 | 2018-04-10 | 四川嘉义索隐科技有限公司 | Underwater units for the detection of water quality acid-base value |
| CN110514800A (en) * | 2019-08-24 | 2019-11-29 | 深圳市正杰智能工程有限公司 | A kind of underwater monitoring robot and its application method |
| CN111152900A (en) * | 2020-02-19 | 2020-05-15 | 温州市推木科技有限公司 | Underwater environment detection robot |
| CN111806660A (en) * | 2019-04-12 | 2020-10-23 | 西安天衡计量仪表有限公司 | Unmanned submarine device facing water quality monitoring and method thereof |
-
2017
- 2017-06-21 CN CN201710473385.7A patent/CN107021196A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107894494A (en) * | 2017-10-27 | 2018-04-10 | 四川嘉义索隐科技有限公司 | Underwater units for the detection of water quality acid-base value |
| CN107861141A (en) * | 2017-12-18 | 2018-03-30 | 无锡同春新能源科技有限公司 | The monitoring system of unmanned boat investigation water quality based on Beidou navigation positioning |
| CN111806660A (en) * | 2019-04-12 | 2020-10-23 | 西安天衡计量仪表有限公司 | Unmanned submarine device facing water quality monitoring and method thereof |
| CN110514800A (en) * | 2019-08-24 | 2019-11-29 | 深圳市正杰智能工程有限公司 | A kind of underwater monitoring robot and its application method |
| CN111152900A (en) * | 2020-02-19 | 2020-05-15 | 温州市推木科技有限公司 | Underwater environment detection robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107021196A (en) | The autonomous underwater vehicle of the water quality for the monitoring river that river length is used | |
| CN103310610B (en) | Mobile ocean observation net based on intelligent buoy and intelligent submersible vehicle | |
| CN102700695B (en) | Riverway illegal sewage drain detection robot fish | |
| CN104215988B (en) | A kind of submarine target localization method | |
| CN203593143U (en) | Wind-solar complementary type unmanned ocean monitoring boat | |
| CN108045530A (en) | A kind of submarine cable detection underwater robot and operational method | |
| JP6039063B2 (en) | Satellite and acoustic tracking device | |
| CN200957883Y (en) | Water body and its environment investigation measuring apparatus | |
| CN102306025A (en) | Wireless remote-control automatic sampling monitoring ship | |
| CN108955764A (en) | Deep-sea Geological Environment Engineering long-term observation system and method in real time in situ | |
| CN104267643A (en) | Target positioning recognition system of underwater robot | |
| US20140158591A1 (en) | Aqua-robotic pollutant removing systems and devices, and methods of removing pollutants from bodies of water | |
| CN108312151A (en) | It drifts about and detects underwater robot device and control method | |
| CN110243411A (en) | A kind of Multi-functional disome formula water environment unmanned monitoring ship | |
| CN107010176A (en) | A kind of miniature self-service ship for intensive measurement | |
| CN106444767A (en) | Linkage-combined automatic navigation unmanned ship control system based on APM and I7 intelligent chip | |
| CN107878669A (en) | The wisdom water surface monitors trimaran | |
| CN207089590U (en) | A kind of new anchor system multi-parameter monitoring system | |
| Xiang et al. | Research progresses on equipment technologies used in safety inspection, repair, and reinforcement for deepwater dams | |
| Chen et al. | Application analysis of autonomous underwater vehicle in submarine cable detection operation | |
| Frejek et al. | Design of a small-scale autonomous amphibious vehicle | |
| Desa et al. | A small autonomous surface vehicle for ocean color remote sensing | |
| CN106956751A (en) | The flying wing type sea aerodone system and implementation of powered by wave energy | |
| CN202120123U (en) | Automatic wireless remote-control sampling monitoring boat | |
| CN206900619U (en) | The autonomous underwater vehicle of the water quality for the monitoring river that river length uses |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170808 |
|
| WW01 | Invention patent application withdrawn after publication |