CN108107178A - A kind of towed water quality detecting device of unmanned boat - Google Patents
A kind of towed water quality detecting device of unmanned boat Download PDFInfo
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Abstract
本发明公开了一种无人船牵引式水质检测装置，包括无人船、电路板母体、壳体、电机装置、水下传感器和水翼，电路板母体固定安装在无人船上，电路板母体与电缆线相连接；电缆线与壳体及水下传感器相连接；水下传感器及电机装置固定安装在壳体内部；电机装置与螺旋桨相连接，水翼与壳体的侧外缘相连。本发明结构原理简单，有效解决水质检测效率低下且不能推广等问题，采用无人船拖拽式水质检测装置可以节约人力资源，且可频繁定期检测不同深度的水质状况。
The invention discloses a traction type water quality detection device for an unmanned ship, which comprises an unmanned ship, a circuit board matrix, a casing, a motor device, an underwater sensor and hydrofoils, the circuit board matrix is fixedly installed on the unmanned vessel, and the circuit board matrix It is connected with the cable; the cable is connected with the casing and the underwater sensor; the underwater sensor and the motor device are fixedly installed inside the casing; the motor device is connected with the propeller, and the hydrofoil is connected with the side outer edge of the casing. The invention has a simple structure and principle, and effectively solves the problems of low water quality detection efficiency and cannot be popularized. The use of an unmanned ship towed water quality detection device can save human resources, and can frequently and regularly detect water quality conditions at different depths.
Description
技术领域technical field
本发明涉及海洋水质检测装置技术领域，具体为一种无人船牵引式水质检测装置。The invention relates to the technical field of marine water quality detection devices, in particular to an unmanned ship towed water quality detection device.
背景技术Background technique
随着工业化技术不断发展，我们的生活水平显著提高。然而，发展的同时也给我们带来了很多问题，其中水资源问题尤为突出。据调查，我国总体水质状况不容乐观。水资源不仅影响国民经济的发展，也与我们的生活息息相关。因此，水质检测尤为重要。通过采样对实验分析，对水质的各参数进行全面检测，是可以得到准确度较高的数据，但由于这种常见的水质检测方式人力消耗量较大，其检测次数不能得到有效保障，且检测的响应时间长、自动化程度低，所以难以推广，不能实现对水质进行实时监测和预测。同时，落后的水质监测网络也已经成为制约我国水环境改善的重大阻碍。With the continuous development of industrial technology, our standard of living has improved significantly. However, development has also brought us many problems, among which water resources are particularly prominent. According to the survey, the overall water quality in my country is not optimistic. Water resources not only affect the development of the national economy, but are also closely related to our lives. Therefore, water quality testing is particularly important. Through sampling and analysis of experiments, comprehensive detection of various parameters of water quality can obtain data with high accuracy. However, due to the large manpower consumption of this common water quality detection method, the number of detections cannot be effectively guaranteed, and the detection The response time is long and the degree of automation is low, so it is difficult to promote, and it cannot realize real-time monitoring and prediction of water quality. At the same time, the backward water quality monitoring network has also become a major obstacle restricting the improvement of my country's water environment.
如何实时有效的对不同深度的水质进行检测，目前在核心期刊与专利查询中均未发现与此发明类似的设备介绍。How to detect the water quality at different depths in real time and effectively, at present, no introduction of equipment similar to this invention has been found in core journals and patent inquiries.
发明内容Contents of the invention
本发明的目的在于提供一种无人船牵引式水质检测装置，以解决上述背景技术中提出的问题。The purpose of the present invention is to provide an unmanned ship towed water quality detection device to solve the problems raised in the above-mentioned background technology.
为实现上述目的，本发明提供如下技术方案：一种无人船牵引式水质检测装置，包括无人船、电路板母体、壳体、电机装置、水下传感器和水翼，所述电路板母体固定安装在无人船上，所述电路板母体与电缆线相连接；所述电缆线与壳体及水下传感器相连接；所述水下传感器及电机装置固定安装在壳体内部；所述电机装置与螺旋桨相连接；所述水翼与壳体的侧外缘相连；In order to achieve the above object, the present invention provides the following technical solutions: an unmanned ship towed water quality detection device, including an unmanned ship, a circuit board matrix, a housing, a motor device, underwater sensors and hydrofoils, the circuit board matrix Fixedly installed on the unmanned ship, the circuit board matrix is connected to the cable; the cable is connected to the shell and the underwater sensor; the underwater sensor and the motor device are fixedly installed inside the shell; the motor The device is connected with the propeller; the hydrofoil is connected with the side outer edge of the casing;
所述电路板母体上设有单片机、电机控制模块、锂电池、RTC时钟模块、通信模块、数据处理模块和SD卡，所述单片机分别连接锂电池、RTC时钟模块、电机控制模块、数据处理模块，所述单片机通过通信模块连接远程基站，所述电机控制模块控制电机装置，所述电机装置连接螺旋桨；所述数据处理模块分别连接SD卡和水下传感器，所述单片机还连接无人船控制中心。The mother body of the circuit board is provided with a single-chip microcomputer, a motor control module, a lithium battery, an RTC clock module, a communication module, a data processing module and an SD card, and the single-chip microcomputer is respectively connected to the lithium battery, the RTC clock module, the motor control module, and the data processing module , the single-chip microcomputer is connected to the remote base station through the communication module, the motor control module controls the motor device, and the motor device is connected to the propeller; the data processing module is respectively connected to the SD card and the underwater sensor, and the single-chip microcomputer is also connected to the unmanned ship center.
优选的，所述水下传感器包括水质检测模块，所述水质检测模块包括温度传感器、PH传感器、溶解氧浓度传感器、浊度传感器、水质氨氮盐传感器。Preferably, the underwater sensor includes a water quality detection module, and the water quality detection module includes a temperature sensor, a pH sensor, a dissolved oxygen concentration sensor, a turbidity sensor, and a water quality ammonia nitrogen salt sensor.
优选的，所述单片机型号采用STM32F103T8U6；所述电机控制模块型号采用L298N；所述SD卡型号采用AT24C02；所述RTC时钟模块采用DSl302时钟芯片。Preferably, the model of the single-chip microcomputer is STM32F103T8U6; the model of the motor control module is L298N; the model of the SD card is AT24C02; the RTC clock module is DS1302 clock chip.
优选的，两个所述水翼对称设置于所述壳体前部的两侧，水翼用来平稳壳体，避免由于拖拽、水浪等导致壳体旋转等不平稳现象发生，一定程度上使得检测装置更加稳定。Preferably, the two hydrofoils are arranged symmetrically on both sides of the front of the housing, and the hydrofoils are used to stabilize the housing, avoiding the occurrence of unstable phenomena such as the rotation of the housing due to dragging, water waves, etc., to a certain extent This makes the detection device more stable.
本发明的另一目的在于提供一种实现前述无人船牵引式水质检测装置的使用方法，该使用方法包括以下步骤：Another object of the present invention is to provide a method for realizing the use of the towed water quality detection device of the aforementioned unmanned ship, which method includes the following steps:
A、当水下传感器进行采集时，无人船上的控制中心传送命令给电路板母体，电路板母体再向水下传感器模块发出采集命令；A. When the underwater sensor collects, the control center on the unmanned ship sends a command to the circuit board matrix, and the circuit board matrix then sends a collection command to the underwater sensor module;
B、采集命令将通过电缆线传输给水下传感器，传输过程是通过485总线传输的，同时电路板母体中的电机控制模块将会发出指令给电机装置命令电机装置停止运作；B. The acquisition command will be transmitted to the underwater sensor through the cable. The transmission process is transmitted through the 485 bus. At the same time, the motor control module in the circuit board matrix will send an instruction to the motor device to order the motor device to stop operating;
C、当水下传感器不进行采集时，电路板母体将下达指令给电机控制模块，电机控制模块将会不间断发出正转与反转的指令，即螺旋桨将会继续正反转；螺旋桨的运作一定程度上为无人船牵引式水质检测装置提供了动力，推动检测装置从而辅助无人船拖拽壳体到不同领域进行水质检测。C. When the underwater sensor is not collecting data, the circuit board matrix will issue instructions to the motor control module, and the motor control module will continuously send forward and reverse instructions, that is, the propeller will continue to rotate forward and reverse; the operation of the propeller To a certain extent, it provides power for the towed water quality detection device of the unmanned ship, and promotes the detection device to assist the unmanned ship to drag the shell to different areas for water quality detection.
与现有技术相比，本发明的有益效果是：本发明结构原理简单，解决水质检测效率低下且不能推广等问题，采用无人船拖拽式水质检测装置可以节约人力资源，且可频繁定期检测不同深度的水质状况。Compared with the prior art, the beneficial effect of the present invention is: the structure principle of the present invention is simple, solves the problems of low efficiency of water quality detection and cannot be popularized, etc., the use of unmanned ship towed water quality detection device can save human resources, and can be frequently and regularly Detect water quality conditions at different depths.
附图说明Description of drawings
图1为本发明的整体结构示意图；Fig. 1 is the overall structure schematic diagram of the present invention;
图2为本发明电路板母体的电路结构图；Fig. 2 is the circuit structural diagram of circuit board matrix of the present invention;
图3为本发明的控制原理框图；Fig. 3 is a control principle block diagram of the present invention;
图4为本发明的运作流程图。FIG. 4 is a flowchart of the operation of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
请参阅图1-4，本发明的无人船牵引式水质检测装置包括无人船1、电路板母体2、壳体3、电机装置4、水下传感器5和水翼31，所述电路板母体2固定安装在无人船上1，所述电路板母体2与电缆线6相连接；所述电缆线6与壳体3及水下传感器5相连接；所述水下传感器5及电机装置4固定安装在壳体3内部；所述电机装置4与螺旋桨7相连接；两个所述水翼31对称设置于所述壳体3前部的两侧并与壳体3的侧外缘相连，水翼31用来平稳壳体，避免由于拖拽、水浪等导致壳体旋转等不平稳现象发生，一定程度上使得检测装置更加稳定。Please refer to Fig. 1-4, the unmanned ship traction type water quality detection device of the present invention comprises unmanned ship 1, circuit board matrix 2, housing 3, motor device 4, underwater sensor 5 and hydrofoil 31, described circuit board The mother body 2 is fixedly installed on the unmanned ship 1, and the circuit board mother body 2 is connected with the cable 6; the cable 6 is connected with the housing 3 and the underwater sensor 5; the underwater sensor 5 and the motor device 4 Fixedly installed inside the housing 3; the motor device 4 is connected to the propeller 7; two hydrofoils 31 are symmetrically arranged on both sides of the front of the housing 3 and connected to the outer edge of the housing 3, The hydrofoil 31 is used to stabilize the casing, avoiding the occurrence of unstable phenomena such as the rotation of the casing due to dragging, water waves, etc., and makes the detection device more stable to a certain extent.
所述电路板母体2上设有单片机8、电机控制模块9、锂电池10、RTC时钟模块11、通信模块12、数据处理模块13和SD卡14，所述单片机8分别连接锂电池10、RTC时钟模块11、电机控制模块9、数据处理模块13，所述单片机8通过通信模块12连接远程基站15，所述电机控制模块9连接电机装置4，所述电机装置4连接螺旋桨7；所述数据处理模块13分别连接SD卡14和水下传感器5，所述单片机8还连接无人船控制中心16；水下传感器5包括水质检测模块17，所述水质检测模块17包括温度传感器18、PH传感器19、溶解氧浓度传感器20、浊度传感器21、水质氨氮盐传感器22；单片机8型号采用STM32F103T8U6；所述电机控制模块9型号采用L298N；所述SD卡14型号采用AT24C02；所述RTC时钟模块11采用DS1302时钟芯片。The circuit board matrix 2 is provided with a single-chip microcomputer 8, a motor control module 9, a lithium battery 10, an RTC clock module 11, a communication module 12, a data processing module 13 and an SD card 14, and the single-chip microcomputer 8 is connected to the lithium battery 10 and the RTC respectively. Clock module 11, motor control module 9, data processing module 13, described single-chip microcomputer 8 connects remote base station 15 by communication module 12, described motor control module 9 connects motor device 4, and described motor device 4 connects propeller 7; Processing module 13 connects SD card 14 and underwater sensor 5 respectively, and described single-chip microcomputer 8 also connects unmanned ship control center 16; Underwater sensor 5 comprises water quality detection module 17, and described water quality detection module 17 comprises temperature sensor 18, pH sensor 19. A dissolved oxygen concentration sensor 20, a turbidity sensor 21, and a water quality ammonia nitrogen salt sensor 22; the single chip microcomputer 8 model adopts STM32F103T8U6; the motor control module 9 model adopts L298N; the SD card 14 model adopts AT24C02; the RTC clock module 11 Using DS1302 clock chip.
其中，电缆线可以将水下传感器采集的数据实时有效的传输到电路板母体的SD卡上，再由无人船及时的将采集到的水质状况参数传送到远程基站等。且电缆线的长度可以人为提前决定，这样就可以采集到不同深度的水质参数。这比普通的测量水质装置灵活，且测量范围更加广泛。电路板母体中的电机控制模块传出的指令来控制电机装置正反转从而控制螺旋桨的正反转，且当水下传感器采集数据时，电机控制模块会发出停止指令，电机装置会停止正反转，同时螺旋桨也停止动作，这有效的避免了水流速度过快给水下传感器采集数据带来的负面影响。螺旋桨还可用于提供一定的动力，推动检测装置从而辅助无人船拖拽壳体到不同领域进行水质检测，这样可以解决电缆线由于机体重量以及水中拖拽时所受到的阻力而导致电缆线受力过大的问题。与此同时，螺旋桨的正反转一定程度上促进了壳体内水流速度，从而减少了水下传感器表面的附着微生物，这就有效的延长了该水质测量装置的寿命。检测装置的壳体侧外缘安有水翼用来平稳壳体，避免由于拖拽、水浪等导致壳体旋转等不平稳现象发生，一定程度上使得检测装置更加稳定。Among them, the cable can effectively transmit the data collected by the underwater sensor to the SD card of the circuit board mother body in real time, and then the unmanned ship will transmit the collected water quality parameters to the remote base station in a timely manner. And the length of the cable can be artificially determined in advance, so that water quality parameters at different depths can be collected. This is more flexible than ordinary water quality measurement devices, and the measurement range is wider. The instructions sent by the motor control module in the circuit board matrix control the forward and reverse rotation of the motor device to control the forward and reverse rotation of the propeller, and when the underwater sensor collects data, the motor control module will issue a stop command, and the motor device will stop the forward and reverse rotation. At the same time, the propeller also stops, which effectively avoids the negative impact of the fast water flow on the data collected by the underwater sensor. The propeller can also be used to provide a certain amount of power to push the detection device to assist the unmanned ship to drag the shell to different areas for water quality detection. The problem of excessive force. At the same time, the forward and reverse rotation of the propeller promotes the water flow velocity in the shell to a certain extent, thereby reducing the microorganisms attached to the surface of the underwater sensor, which effectively prolongs the life of the water quality measuring device. The outer edge of the casing side of the detection device is equipped with hydrofoils to stabilize the casing, avoiding instability such as casing rotation due to dragging, water waves, etc., which makes the detection device more stable to a certain extent.
如图2所示，U1是STM32F103T8U6，U1的PB7/USART1_RX管脚和PB6/USART1_TX管脚接TTL转485通信模块的两个输入端3和4。其管脚PA2/USART2_TX和PA3/USART2_RX分别与P5的管脚5和管脚7相连接，管脚1和管脚19接VCC，其电压值为5V，管脚18与GND相连。P1和S1结合为电源模块，其中P1的管脚2和管脚3接GND，将P1的管脚1与S1的管脚2、管脚5相连接，而S1的管脚3和管脚6接VCC，其电压值为5V；P2为电源接口，其中P2的管脚1、管脚2、管脚3和管脚4接VCC，其电压值为5V，而P2的管脚5、管脚6、管脚7和管脚8接GND；P4是排插，其中P4的管脚1和管脚2分别接P5的管脚2和管脚3；P5为L298N电机驱动模块，通过单片机的I/O输入改变芯片控制端的电平，即可以对电机进行正反转，停止的操作，其中P5的管脚1、管脚8和管脚15接GND，管脚5和管脚7分别接U1的管脚23和管脚22，用来接收控制芯片发出的指令，管脚4、管脚9和管脚6、管脚11都与GND相连接，其VCC与GND之间并联电容C1(100uF)和电容C2(0.1uF)。而在管脚4、管脚9和管脚2之间串联接有一个二极管D1，管脚4、管脚9和管脚3之间串联接有一个二极管D2，管脚2和管脚3与GND之间连接两个二极管D3和D4，同时管脚2和管脚3为信号输出端口，驱动直流电机；U2为SD卡，本发明采用的AT24C02模块进行信息的储存，将采集好的数据储存到AT24C02中，外部接有DS1302时钟芯片可定时储存。其中U2的管脚1、管脚2、管脚3和管脚4及管脚7接GND，管脚5、管脚6和管脚8接VCC，在VCC与管脚5、管脚6之间接有电阻R2和电阻R3；U3为时钟模块，采用了DS1302时钟芯片，其中U3的管脚1接VCC，其电压值为5V，管脚4和管脚8接GND，管脚5、管脚6和管脚7接U1的管脚13、管脚12、管脚11；电源指示灯是将VCC与GND之间接有电阻R5和发光二极管LED0，用来对电源进行监控；PWM为脉冲宽度调制，其中管脚1接U1的管脚14，管脚2接GND。U4为接收外来信息的485总线模块，其中U4的管脚2和管脚10接GND，管脚1接VCC，在VCC与GND之间连接着并联的电容C5(0.1uF)和电容C6(10uF)。在管脚8、管脚9与GND之间连接着三个二极管分别为D6、D7和D8。且管脚8、管脚9分别连接着P6的管脚1和管脚2，管脚3和管脚4的RxD、TxD接外来的传输信号，其中P6是接传感器的排插。U6为降压模块，其中U6的管脚1接VIN的管脚2为VCC。管脚3和管脚5接GND，在VCC与GND之间接有电容C10(100uF)。管脚2与GND之间接有二极管D11，管脚4与GND之间接有电容C12(220uF)，管脚2与VOUT的管脚1之间接有电感L1(100uH)，其VOUT的管脚1接VCC，在其VOUT的管脚1与GND之间接有并联的电容C12(220uF)和电容C13(220uF)。As shown in Figure 2, U1 is STM32F103T8U6, and the PB7/USART1_RX pin and PB6/USART1_TX pin of U1 are connected to the two input terminals 3 and 4 of the TTL to 485 communication module. Its pins PA2/USART2_TX and PA3/USART2_RX are respectively connected to pin 5 and pin 7 of P5, pin 1 and pin 19 are connected to VCC, the voltage value is 5V, and pin 18 is connected to GND. P1 and S1 are combined into a power module, where pin 2 and pin 3 of P1 are connected to GND, connect pin 1 of P1 to pin 2 and pin 5 of S1, and pin 3 and pin 6 of S1 Connect to VCC, the voltage value is 5V; P2 is the power interface, where pin 1, pin 2, pin 3 and pin 4 of P2 are connected to VCC, the voltage value is 5V, and pin 5, pin 4 of P2 6. Pin 7 and pin 8 are connected to GND; P4 is a socket, and pin 1 and pin 2 of P4 are respectively connected to pin 2 and pin 3 of P5; P5 is the L298N motor drive module, through the I /O input changes the level of the control terminal of the chip, that is, the motor can be reversed and stopped. Pin 1, pin 8 and pin 15 of P5 are connected to GND, and pin 5 and pin 7 are respectively connected to U1. Pin 23 and pin 22 are used to receive instructions from the control chip. Pin 4, pin 9, pin 6, and pin 11 are all connected to GND, and a capacitor C1 (100uF) is connected in parallel between VCC and GND ) and capacitor C2 (0.1uF). A diode D1 is connected in series between the pin 4, the pin 9 and the pin 2, a diode D2 is connected in series between the pin 4, the pin 9 and the pin 3, and the pin 2 and the pin 3 are connected in series. Two diodes D3 and D4 are connected between GND, and pin 2 and pin 3 are signal output ports at the same time, drive DC motor; In the AT24C02, a DS1302 clock chip is connected externally for timing storage. Among them, pin 1, pin 2, pin 3, pin 4 and pin 7 of U2 are connected to GND, pin 5, pin 6 and pin 8 are connected to VCC, and between VCC and pin 5 and pin 6 There are resistors R2 and R3 indirectly; U3 is a clock module, using a DS1302 clock chip, where pin 1 of U3 is connected to VCC, its voltage value is 5V, pin 4 and pin 8 are connected to GND, pin 5, pin 6 and pin 7 are connected to pin 13, pin 12, and pin 11 of U1; the power indicator is to connect a resistor R5 and a light-emitting diode LED0 between VCC and GND to monitor the power supply; PWM is pulse width modulation , where pin 1 is connected to pin 14 of U1, and pin 2 is connected to GND. U4 is a 485 bus module for receiving external information, where pin 2 and pin 10 of U4 are connected to GND, pin 1 is connected to VCC, and capacitor C5 (0.1uF) and capacitor C6 (10uF) connected in parallel between VCC and GND ). Three diodes D6, D7 and D8 are connected between pin 8, pin 9 and GND. And pin 8 and pin 9 are respectively connected to pin 1 and pin 2 of P6, and RxD and TxD of pin 3 and pin 4 are connected to external transmission signals, among which P6 is connected to the sensor socket. U6 is a step-down module, where pin 1 of U6 is connected to VIN and pin 2 is VCC. Pin 3 and pin 5 are connected to GND, and a capacitor C10 (100uF) is connected between VCC and GND. A diode D11 is connected between pin 2 and GND, a capacitor C12 (220uF) is connected between pin 4 and GND, an inductor L1 (100uH) is connected between pin 2 and VOUT pin 1, and VOUT pin 1 is connected to VCC has capacitor C12 (220uF) and capacitor C13 (220uF) connected in parallel between pin 1 of VOUT and GND.
如图3，为本发明无人船拖拽式水质检测装置具体运作流程图，电路板母体通过锂电池进行供电。电路板母体的运作由无人船控制中心通过can总线进行命令传输，电路板母体的数据模块向水下传感器传送指令控制其运行状态，水下传感器采集到的数据会实时传送给数据处理模块在存到存储卡内。与此同时电路板母体会发出指令让控制电机停止运作以避免水流速度过快给水下传感器采集数据带来负面影响。当水下传感器停止采集数据时电路板母体会发出指令让控制电机继续动作。As shown in Fig. 3, it is a specific operation flow chart of the unmanned ship towed water quality detection device of the present invention, and the circuit board matrix is powered by a lithium battery. The operation of the circuit board matrix is transmitted by the control center of the unmanned ship through the CAN bus. The data module of the circuit board matrix transmits instructions to the underwater sensor to control its operating status. The data collected by the underwater sensor will be sent to the data processing module in real time. Save to memory card. At the same time, the circuit board matrix will issue an instruction to stop the control motor to avoid the negative impact of excessive water flow on the data collected by the underwater sensor. When the underwater sensor stops collecting data, the circuit board matrix will issue instructions to allow the control motor to continue to operate.
如图4，为本发明无人船拖拽式水质检测装置具体运作流程图。水下传感器采集到的数据接收到信号后会选择运行模式，若开始运行则水下传感器会实时采集水质情况，并实时将数据传送到存储卡内。与此同时电路板母体会发出指令给电机控制模块控制电机停止运作以避免水流速度过快给水下传感器采集数据带来负面影响。若传感器停止采集数据，则电路板母体会发出指令给电机控制模块让控制电机正常运作。As shown in Fig. 4, it is a flow chart of the specific operation of the unmanned ship towed water quality detection device of the present invention. The data collected by the underwater sensor will select the operating mode after receiving the signal. If it starts to run, the underwater sensor will collect the water quality in real time and transmit the data to the memory card in real time. At the same time, the circuit board matrix will send instructions to the motor control module to control the motor to stop operating to avoid negative impacts on the data collected by the underwater sensor due to excessive water flow. If the sensor stops collecting data, the circuit board matrix will send an instruction to the motor control module to control the motor to operate normally.
本发明的使用方法包括以下步骤：The using method of the present invention comprises the following steps:
A、当水下传感器进行采集时，无人船上的控制中心传送命令给电路板母体，电路板母体再向水下传感器模块发出采集命令；A. When the underwater sensor collects, the control center on the unmanned ship sends a command to the circuit board matrix, and the circuit board matrix then sends a collection command to the underwater sensor module;
B、采集命令将通过电缆线传输给水下传感器，传输过程是通过485总线传输的，同时电路板母体中的电机控制模块将会发出指令给电机装置命令电机装置停止运作；B. The acquisition command will be transmitted to the underwater sensor through the cable. The transmission process is transmitted through the 485 bus. At the same time, the motor control module in the circuit board matrix will send an instruction to the motor device to order the motor device to stop operating;
C、当水下传感器不进行采集时，电路板母体将下达指令给电机控制模块，电机控制模块将会不间断发出正转与反转的指令，即螺旋桨将会继续正反转；螺旋桨的运作一定程度上为无人船牵引式水质检测装置提供了动力，推动检测装置从而辅助无人船拖拽壳体到不同领域进行水质检测。C. When the underwater sensor is not collecting data, the circuit board matrix will issue instructions to the motor control module, and the motor control module will continuously send forward and reverse instructions, that is, the propeller will continue to rotate forward and reverse; the operation of the propeller To a certain extent, it provides power for the towed water quality detection device of the unmanned ship, and promotes the detection device to assist the unmanned ship to drag the shell to different areas for water quality detection.
综上所述，本发明结构原理简单，解决水质检测效率低下且不能推广等问题，采用无人船拖拽式水质检测装置可以节约人力资源，且可频繁定期检测不同深度的水质状况。To sum up, the invention has a simple structure and principle, and solves the problems of low water quality detection efficiency and cannot be popularized. The use of an unmanned ship towed water quality detection device can save human resources, and can frequently and regularly detect water quality conditions at different depths.
尽管已经示出和描述了本发明的实施例，对于本领域的普通技术人员而言，可以理解在不脱离本发明的原理和精神的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由所附权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications and substitutions can be made to these embodiments without departing from the principle and spirit of the present invention. and modifications, the scope of the invention is defined by the appended claims and their equivalents.
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Application publication date: 20180601 |