CN107340155A - A kind of autonomous water sampling system based on unmanned boat - Google Patents
A kind of autonomous water sampling system based on unmanned boat Download PDFInfo
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- CN107340155A CN107340155A CN201710466855.7A CN201710466855A CN107340155A CN 107340155 A CN107340155 A CN 107340155A CN 201710466855 A CN201710466855 A CN 201710466855A CN 107340155 A CN107340155 A CN 107340155A
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- water
- unmanned boat
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
-
- 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
Abstract
The present invention relates to a kind of autonomous water sampling system based on unmanned boat, mainly includes information processing and remote communication module, unmanned boat freedom positioning system, hydrophore system, remote service end and electric power system；Data interaction is carried out by 4G networks between described information processing and remote communication module and remote server；Communicated between the unmanned boat freedom positioning system and information processing and remote communication module using RS232 standard agreements, described information processing and communication between remote communication module and hydrophore system are same using RS232 host-host protocols；The electric power system is made up of battery and lifting die block.The system can realize the autonomous sampling process of movable type, and real-time online record data, can greatly alleviate the labor intensity of relevant staff and reduce the dangerous absorption of work, shorten the time of sampling, improve sampling efficiency.
Description
Technical field
The present invention relates to a kind of autonomous water sampling system based on unmanned boat, belong to unmanned boat applied technical field.
Background technology
Now, due to resource excessive use and pollute the reasons such as destruction to environment, water quality deterioration aggravation, water quality monitoring
It is more and more important.Water quality monitoring is species, the concentration and variation tendency of each pollutant of pollutant in monitoring and measure water body,
The process of evaluating water quality situation.Monitoring range is quite varied, including is not contaminated and contaminated natural water, river, lake, Hai He
Underground water and various industrial water drainages etc., and the acquisition of water sample is vital in the detection of water quality.
Environmental monitoring of the country to water area resource at present still rests on the mode of Traditional Man collection mostly, i.e., periodically right
Lake and river expansion environmental monitoring work.The drawbacks of this mode is underaction, it is necessary to expend substantial amounts of man power and material,
Water body environment complicated and changeable is not applied for simultaneously, causes the blank of part waters field data.
The content of the invention
With the development of Automation Industry and unmanned technology, one kind miniaturization water surface autonomous navigation carrier -- unmanned boat enters
The visual field of people, for a kind of small-size water surface unmanned boat, GPS, the Big Dipper is typically equipped with thereon, inertial navigation, laser radar, is taken the photograph
As first-class equipment, the functions such as independent navigation, automatic obstacle avoiding, path planning can be achieved.Water quality sampling system can be combined with and realize shifting
The autonomous sampling process of dynamic formula, and can real-time online record data, greatly alleviate relevant staff labor intensity and
The dangerous absorption of work is reduced, the time of sampling is shortened, improves sampling efficiency.
It is an object of the invention to provide a kind of autonomous water sampling system based on unmanned boat, the automatic of non-fixed-point type is realized
Change sampling process, solve the limitation in sampling waters, improve the efficiency of whole-sample.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of autonomous water sampling system based on unmanned boat, mainly include information processing and remote communication module, unmanned boat certainly
Master positioning system, hydrophore system, remote service end and electric power system；Described information processing and remote communication module with it is long-range
Data interaction is carried out by 4G networks between server end；The unmanned boat freedom positioning system and information processing and telecommunication
Communicated between module using RS232 standard agreements, the interaction data between it is mainly the geography in waters where unmanned boat
Position；Described information processing and same transmitted using RS232 of communication between remote communication module and hydrophore system are assisted
View, the data interaction between it are mainly to gather the information of water sample（Capacity, sampling time, the sampling water depth of such as water sample
Deng）；The electric power system is made up of battery and lifting die block.
Described information processing and remote communication module are made up of information processing layer and telecommunication layer；Wherein, it is described long-range
Communication Layer is made up of network communication module, and GPRS module is integrated with network communication module, the transmission with remote server
Agreement is 4G networks；Telecommunication layer receives the control instruction remotely sent and beams back water sample and unmanned boat by 4G network remotes
Status information；Described information process layer turns TTL modules by STM32 single-chip microcomputers, two RS232 and a TTL turns ethernet module
Composition；Wherein STM32 single-chip microcomputers are the core processor in information processing layer, turn TTL modules and one with two RS232 respectively
TTL turns ethernet module connection, completes the processing of information fusion and information；Information fusion be fusion unmanned boat positional information and
Water sampling status information, in addition, the processing of information is to focus on information and the control sent of network communication module of fusion
Instruction.
The remote service end is made up of data interaction interface, server, and database；Handed over by administrative staff in data
After mutual interface sends execution order, order is received by the information processing of distal end and remote communication module, and perform；Meanwhile data
The data message that the information processing of interactive interface real-time reception and remote communication module return, and long-range connection server；Will be final
Data inputting to the database of server back end, after user gets corresponding authority, that is, pass through the number on network access backstage
Corresponding data message is obtained according to storehouse.
The unmanned boat freedom positioning system by unmanned boat central processing unit, locating module, power module, control module,
Path planning module forms；Described locating module by GPS, the Big Dipper, inertial navigation sensor group into；Described power module is by electricity
Source monitoring module and power management module composition；Described control module is made up of motor drive module；Unmanned boat centre
After reason device receives execution order from information processing and remote communication module, by sea chart of the path planning module based on off-line type
Corresponding optimal path is cooked up, the path planned is exactly the cruise track of unmanned boat；Positional information based on locating module
With input quantity of the deviation as control module of cruise track, exported by pid algorithm to motor drive module with motor；
After unmanned boat, which reaches, specifies water acquisition place, feedback position information carrys out announcement information processing and remote communication module starts water acquisition work
Industry；After the completion of water acquisition, return instruction is beamed back by information processing and remote communication module, the autonomous basis of unmanned boat is above planned
Path returns to recovery point.
The hydrophore system is by STM32 central processing units, water volume feedback device, data storage area, water fetching device, water sample
Memory and bar code scanner composition；Described water volume feedback device is made up of infrared emission pipe, volume scale bar, is passed through
Infrared emission pipe detects whether water reaches specified collection capacity in real time, and infrared emission pipe is fixed on volume scale bar,
By adjusting infrared emission pipe height and position, to set the capacity of water intaking；When described data storage cell is used for storing water intaking
The relevant information of water sample；Described water fetching device is made up of rotating disk, water pump, mozzle；Rotating disk is fixed water sample memory
Device, water intaking process is that the water in river is extracted by water pump, then is output to by mozzle in the volumetric flask of formulation；The water sample
Memory is made up of volumetric flask and bar code, and the bar code number of the information of unique identification is posted on each volumetric flask；It is described
Bar code scanner is for scanning the bar code identification on water sample memory.
Compared with prior art, the beneficial effects of the invention are as follows：
Apparatus of the present invention can realize autonomous water acquisition process, and can be applied to the different waters such as river, river, lake, sea and carry out water acquisition work
Industry, water acquisition process realize automation.Cost of labor is greatly reduced, improves whole water acquisition efficiency.Information is added in addition
Interaction platform, user can very easily obtain the parameter information of corresponding water sample from network, discard the tradition of manual record
Mode.
Brief description of the drawings
Fig. 1 is the autonomous water sampling system overall structure diagram based on unmanned boat of the present invention.
Fig. 2 is information processing and the remote communication module structural representation of the present invention.
Fig. 3 is the remote server schematic diagram of the present invention.
Fig. 4 is the unmanned boat freedom positioning system structural representation of the present invention.
Fig. 5 is the hydrophore system structure diagram of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described further.
As shown in figure 1, a kind of autonomous water sampling system based on unmanned boat, mainly includes information processing and telecommunication
Module, unmanned boat freedom positioning system, hydrophore system, remote service end and electric power system；Described information processing and long-range
Data interaction is carried out by 4G networks between communication module and remote server, communication interaction data is two classes, is several respectively
It is believed that breath and command information；RS232 is used between the unmanned boat freedom positioning system and information processing and remote communication module
Standard agreement is communicated, and the interaction data between it is mainly the geographical position in waters where unmanned boat；Described information processing
And the communication between remote communication module and hydrophore system is same using RS232 host-host protocols, the data between it are handed over
Mutually mainly gather the information of water sample；The electric power system is made up of 2 pieces of capacity 12V 45AH battery and lifting die block.
Lifting die block input be battery 12V voltages, after main buck exportable 5V, 3.3V and 12V these three not
Same voltage, the device of supply different driving voltage use.
As shown in Fig. 2 described information processing and remote communication module are made up of information processing layer and telecommunication layer；Its
In, the telecommunication layer is made up of network communication module, and GPRS module is integrated with network communication module, with remote service
The host-host protocol at device end is 4G networks；Telecommunication layer receives the control instruction remotely sent and beams back water by 4G network remotes
Sample and unmanned boat status information；Described information process layer turns TTL modules by STM32 single-chip microcomputers, two RS232 and a TTL turns
Ethernet module forms；Wherein STM32 single-chip microcomputers are the core processor in information processing layer, turn TTL with two RS232 respectively
Module turns ethernet module with a TTL and connected, and completes the processing of information fusion and information；Information fusion is fusion unmanned boat position
Confidence ceases and water sampling status information, in addition, the processing of information is to focus on the information and network communication module of fusion
The control instruction sent.The information handled produces two bags, is that packet and control are wrapped respectively, then again corresponding information
It is distributed to long-range and bottom.Its whole working method is：The control by remotely being beamed back by 4G networks is received in telecommunication layer
After system order, in this layer, the agreement that TCP/IP is parsed into by network communication module data is transferred to information processing layer.Believing
Cease in process layer, handled by STM32 central processing units, instruction is parsed, the director data parsed is turned by RS232
TTL modules, it is transmitted to following performer.Vice versa.
As shown in figure 3, the remote service end is made up of data interaction interface, server, and database；By custodian
After member sends execution order at data interaction interface, order is received by the information processing of distal end and remote communication module, and perform；
Meanwhile the data message that the real-time reception information processing of data interaction interface and remote communication module return, and long-range Connection Service
Device；By the database of final data inputting to server back end, after user gets corresponding authority, that is, pass through network access
The database on backstage obtains corresponding data message.
As shown in figure 4, the unmanned boat freedom positioning system by unmanned boat central processing unit, locating module, power module,
Control module, path planning module composition；Described locating module by GPS, the Big Dipper, inertial navigation sensor group into；Described electricity
Source module is made up of Power Monitoring Unit and power management module；Described control module is made up of motor drive module；Nothing
People's ship central processing unit received from information processing and remote communication module execution order after, by path planning module be based on from
The sea chart of wire type cooks up corresponding optimal path, and the path planned is exactly the cruise track of unmanned boat；Based on locating module
Positional information and cruise track input quantity of the deviation as control module, exported by pid algorithm to motor drive module
With motor；After unmanned boat, which reaches, specifies water acquisition place, feedback position information comes announcement information processing and telecommunication mould
BOB(beginning of block) water acquisition operation；After the completion of water acquisition, return instruction, the autonomous root of unmanned boat are beamed back by information processing and remote communication module
Recovery point is returned to according to the path above planned.
As shown in figure 5, the hydrophore system by STM32 central processing units, water volume feedback device, data storage area, take
Water installations, water sample memory and bar code scanner composition；Described water volume feedback device is by infrared emission pipe, volume scale
Bar forms, and detects whether water reaches specified collection capacity in real time by infrared emission pipe, infrared emission pipe is fixed on appearance
Measure on scale bar, by adjusting infrared emission pipe height and position, to set the capacity of water intaking；Described data storage cell is used for
The relevant information of water sample during storage water intaking；Described water fetching device is made up of rotating disk, water pump, mozzle；Rotating disk is fixed water
The device of sample memory, water intaking process is that the water in river is extracted by water pump, then the volumetric flask of formulation is output to by mozzle
In；The water sample memory is made up of volumetric flask and bar code, and the bar of the information of unique identification is posted on each volumetric flask
Shape code number；The bar code scanner is for scanning the bar code identification on water sample memory.
Information exchange between described collector systems and information processing and remote communication module is the state letter of water sample
Breath.After receiving sampling instruction by STM32 central processing units, start water fetching device, arrived the volumetric flask transformation of ownership of sky by rotating disk
Water acquisition area is treated, while volumetric flask goes to region to be fetched water, the bar code on volumetric flask is scanned by bar code scanner, side
Just to the identification of volumetric flask information, start water pump and come water from region extraction to be fetched water, and water is poured into by appearance by mozzle
In measuring bottle.During whole water intaking, by infrared emission pipe Real-time Feedback water amount information.When water reaches the water marked in advance
During position, water volume feedback device can send a flag bit and give STM32 central processing units, i.e. water acquisition is completed.Then by corresponding number
According to storage in data storage, and STM32 central processing units are given by the feedback of the information of data storage, then by STM32 centers
Processor is distributed to information processing and remote communication module.
Claims (5)
1. a kind of autonomous water sampling system based on unmanned boat, it is characterised in that mainly include information processing and telecommunication
Module, unmanned boat freedom positioning system, hydrophore system, remote service end and electric power system；Described information processing and long-range
Data interaction is carried out by 4G networks between communication module and remote server；The unmanned boat freedom positioning system and information
Communicated between processing and remote communication module using RS232 standard agreements, the interaction data between it is mainly unmanned boat
The geographical position in place waters；What described information processing and the communication between remote communication module and hydrophore system equally used
It is RS232 host-host protocols, the data interaction between it is mainly to gather the information of water sample；The electric power system be by battery and
Lift die block composition.
2. the autonomous water sampling system based on unmanned boat according to claim 1, it is characterised in that described information processing and
Remote communication module is made up of information processing layer and telecommunication layer；Wherein, the telecommunication layer is by network communication module group
Into being integrated with GPRS module in network communication module, the host-host protocol with remote server is 4G networks；Telecommunication layer
Receive the control instruction remotely sent and water sample and unmanned boat status information are beamed back by 4G network remotes；Described information process layer
Turn TTL modules by STM32 single-chip microcomputers, two RS232 and a TTL turns ethernet module and formed；Wherein STM32 single-chip microcomputers are letter
The core processor in process layer is ceased, turns TTL modules with two RS232 respectively and a TTL turns ethernet module and is connected, is completed
The processing of information fusion and information；Information fusion is fusion unmanned boat positional information and water sampling status information, in addition, letter
The processing of breath is to focus on the information and the control instruction sent of network communication module of fusion.
3. the autonomous water sampling system based on unmanned boat according to claim 1, it is characterised in that the remote service end
It is made up of data interaction interface, server, and database；After execution order being sent by administrative staff at data interaction interface,
Order is received by the information processing of distal end and remote communication module, and performed；Meanwhile at the real-time reception information of data interaction interface
The data message that reason and remote communication module return, and long-range connection server；By final data inputting to server back end
Database, after user gets corresponding authority, i.e., corresponding data message is obtained by the database on network access backstage.
4. the autonomous water sampling system based on unmanned boat according to claim 1, it is characterised in that the unmanned boat is autonomous
Alignment system is made up of unmanned boat central processing unit, locating module, power module, control module, path planning module；Described
Locating module by GPS, the Big Dipper, inertial navigation sensor group into；Described power module is by Power Monitoring Unit and power management mould
Block forms；Described control module is made up of motor drive module；Unmanned boat central processing unit is logical from information processing and remotely
Interrogate after execution order is received in module, corresponding optimal path cooked up by sea chart of the path planning module based on off-line type,
The path planned is exactly the cruise track of unmanned boat；The deviation of positional information and cruise track based on locating module is as control
The input quantity of molding block, is exported to motor drive module with motor by pid algorithm；When unmanned boat reaches with specifying water acquisition
After point, feedback position information carrys out announcement information processing and remote communication module starts water acquisition operation；After the completion of water acquisition, by information
Reason and remote communication module beam back return instruction, and the path that the autonomous basis of unmanned boat is above planned returns to recovery point.
5. the autonomous water sampling system based on unmanned boat according to claim 1, it is characterised in that the hydrophore system
By STM32 central processing units, water volume feedback device, data storage area, water fetching device, water sample memory and bar code scanner
Composition；Described water volume feedback device is made up of infrared emission pipe, volume scale bar, and water is detected in real time by infrared emission pipe
Whether specified collection capacity is reached, and infrared emission pipe is fixed on volume scale bar, by adjusting infrared emission pipe height
Position, to set the capacity of water intaking；The relevant information of water sample when described data storage cell is used for storing water intaking；Described takes
Water installations are made up of rotating disk, water pump, mozzle；Rotating disk is the device of fixed water sample memory, and water intaking process is to pass through water pump
The water in river is extracted, then is output to by mozzle in the volumetric flask of formulation；The water sample memory is by volumetric flask and bar shaped
Code is formed, and the bar code number of the information of unique identification is posted on each volumetric flask；The bar code scanner is for scanning
Bar code identification on water sample memory.
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| CN107976683A (en) * | 2017-11-24 | 2018-05-01 | 中国人民解放军63653部队 | A kind of method for measuring terrain clearance at the top of dirigible in boathouse in real time with laser radar |
| CN108153311A (en) * | 2017-12-22 | 2018-06-12 | 武汉理工大学 | The intelligence control system and control method formed into columns towards unmanned boat |
| CN109632265A (en) * | 2019-01-28 | 2019-04-16 | 上海大学 | A kind of the unmanned boat water sampling device mated condition detection system and method for view-based access control model |
| CN110208478A (en) * | 2019-06-20 | 2019-09-06 | 南京芊玥机器人科技有限公司 | A kind of solar energy unmanned boat carrying water environment monitoring system |
| CN110362097A (en) * | 2019-08-16 | 2019-10-22 | 泰州市柯普尼通讯设备有限公司 | Water quality sampling unmanned boat control system and control method |
| CN110481720A (en) * | 2019-08-19 | 2019-11-22 | 西北工业大学 | A kind of refuse on water surface intelligence ship and its control system |
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| CN114062052A (en) * | 2020-07-31 | 2022-02-18 | 力合科技（湖南）股份有限公司 | River dynamic sampling method and water environment intelligent sampling terminal with supervision function |
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| CN107976683A (en) * | 2017-11-24 | 2018-05-01 | 中国人民解放军63653部队 | A kind of method for measuring terrain clearance at the top of dirigible in boathouse in real time with laser radar |
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| CN110362097A (en) * | 2019-08-16 | 2019-10-22 | 泰州市柯普尼通讯设备有限公司 | Water quality sampling unmanned boat control system and control method |
| CN110481720A (en) * | 2019-08-19 | 2019-11-22 | 西北工业大学 | A kind of refuse on water surface intelligence ship and its control system |
| CN114062052A (en) * | 2020-07-31 | 2022-02-18 | 力合科技（湖南）股份有限公司 | River dynamic sampling method and water environment intelligent sampling terminal with supervision function |
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