CN108267342A - A kind of unmanned boat sampling system and sampling method - Google Patents
A kind of unmanned boat sampling system and sampling method Download PDFInfo
- Publication number
- CN108267342A CN108267342A CN201810360366.8A CN201810360366A CN108267342A CN 108267342 A CN108267342 A CN 108267342A CN 201810360366 A CN201810360366 A CN 201810360366A CN 108267342 A CN108267342 A CN 108267342A
- Authority
- CN
- China
- Prior art keywords
- sampling
- stepper motor
- drive module
- water pump
- water
- 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.)
- Pending
Links
Classifications
-
- 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
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Hydrology & Water Resources (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a kind of unmanned boat sampling system and sampling methods,Including hull,Sampling system is installed on hull,Sampling system includes sampling bottle,Water pump,Capstan winch,Draught line,Position stepper motor,Screw,Sample stepper motor,Z-type fixing bracket,Elastic water pipe and plummet,Hull is equipped with sampling sink,Several sampling bottles are distributed in sampling sink,Screw is located at the surface of the sampling bottle in sampling sink,Screw is connect with position stepper motor,Screw is connected on feed screw nut and feed screw nut and is fixed with sliding block,The water outlet of water pump is fixed on by outlet pipe on the sliding block,Left end in sampling sink is equipped with sampling discharge outlet,The water inlet of water pump connects flexible water pipe,Sampling stepper motor is connected with capstan winch,Draught line is wound on capstan winch,Draught line is connect with the water inlet end and plummet of elastic water pipe,The present invention will not cause water-pipe blockage,The problems such as water pipe knots,Depth selection can be specified,Avoid the sample contamination between repeatedly sampling.
Description
Technical field
The present invention relates to unmanned boat technical fields, and in particular to a kind of unmanned boat sampling system and sampling method.
Background technology
At present, environmentally friendly inspection department is the water quality situation for grasping administrative waters, typically water quality is carried out regular or indefinite
The sampling detection and analysis of phase determine corresponding environmental protection measure according to every quality index of water quality.However, existing automatic water quality monitoring
It stands to fix due to position and is difficult to find pollution sources in time, and mobile monitoring means are mostly manned water quality monitoring vehicle or monitoring
Ship, it is not only of high cost, but also influenced by the complicated landform of urban water-body, part waters personal monitoring's ship or monitoring car at all can not
Drive into, cause current water quality monitoring system exist response not in time, the problems such as time and space resolution ratio is relatively low, therefore occur
Unmanned boat samples.Unmanned boat sampling mode is unable to designated depth sampling, sampling structure complexity, easily blocks water pipe currently on the market.
Such as：It is wrapped on capstan winch using water pipe, allows motor that capstan winch is driven to carry out downward discharge tube sampling after allowing, which, which has, takes
Sampling device heaviness is dumb, complicated, foldable blocks, and depth selection is calculated due to being be easy to cause when water pipe more slightly samples
Inaccurately, it and be easy to cause water-pipe blockage in sampling, withdrawal water pipe and depth selection and repeatedly sampling cannot be specified.
Invention content
The technical problems to be solved by the invention are to provide a kind of unmanned boat sample train in view of the above shortcomings of the prior art
System and sampling method, this unmanned boat sampling system and sampling method are at low cost, simple in structure, will not be caused during sampling
The problems such as water-pipe blockage, water pipe knot, it is possible to specify depth selection can be sampled repeatedly, while can also avoid repeatedly sampling
Between sample contamination.
To realize the above-mentioned technical purpose, the technical solution taken of the present invention is：
A kind of unmanned boat sampling system, power plant and supply unit including hull, for driving hull movement, the hull
On sampling system is installed, the sampling system includes sampling bottle, water pump, capstan winch, draught line, position stepper motor, screw, takes
Sample stepper motor, Z-type fixing bracket, elastic water pipe and plummet, the hull are equipped with sampling sink, in the sampling sink from
Left end to right end is evenly distributed with several sampling bottles, and the screw is fixed on the hull by bearing spider and screw position
In the surface of the sampling bottle in sampling sink, the screw is connect by shaft coupling with position stepper motor, and the screw connects
It is connected on feed screw nut and feed screw nut and is fixed with sliding block, the water outlet of the water pump is fixed on the sliding block by outlet pipe
On, the left end in the sampling sink is equipped with sampling discharge outlet, and the sampling discharge outlet extends to the outer of hull by drainpipe
Side, the water inlet of the water pump connect the water outlet of flexible water pipe, and the sampling stepper motor is mounted on the right side of the hull
End, the sampling stepper motor are connected with capstan winch, draught line are wound on the capstan winch, described support bracket fastened one end of Z-type is consolidated
The right end of the hull is scheduled on, the elasticity water pipe is fixed on the Z-type fixing bracket, and the Z-type is support bracket fastened another
The draught line that the surface at end is equipped on threading hole and capstan winch is located at the surface of threading hole, and the other end of the draught line is worn
String holes is simultaneously connect with the water inlet end of elastic water pipe and plummet, the power plant, position stepper motor, sampling stepper motor and water
Pump is electrically connected with supply unit.
As further improved technical scheme of the present invention, the power plant includes propeller and driving motor, described
Driving motor is fixed on the hull, and the driving motor is connect with the propeller.
As further improved technical scheme of the present invention, the unmanned boat is equipped with master controller, alignment system, wireless
Communication system, power motor drive module, water pump drive module, position stepper motor drive module and sampling stepper motor driving
Module, the alignment system, wireless communication system, power motor drive module, water pump drive module, the driving of position stepper motor
Module and sampling stepper motor drive module are electrically connected with master controller, and the wireless communication system is remotely connected with upper
Machine, the power motor drive module are electrically connected with the driving motor, and the water pump drive module is electrically connected with the water pump,
The position stepper motor drive module is electrically connected with the position stepper motor, the sampling stepper motor drive module and institute
State sampling stepper motor electrical connection, the master controller, alignment system, wireless communication system, power motor drive module, water pump
Drive module, position stepper motor drive module and sampling stepper motor drive module are electrically connected with supply unit.
As further improved technical scheme of the present invention, the master controller uses microcontroller STM32F103ZET6, institute
Alignment system is stated using Big Dipper RTK alignment systems, the wireless communication system uses GPRS wireless communication systems, the power electric
Using L298N chips, the driving circuit in the water pump drive module uses L298N cores for driving circuit in machine drive module
Piece, the position stepper motor drive module use TB6600 stepper motor drivers, the sampling stepper motor drive module
Using TB6600 stepper motor drivers.
As further improved technical scheme of the present invention, the position stepper motor and sampling stepper motor use
Four line composite stepper motor of 42BYGH47-401A two-phases.
As further improved technical scheme of the present invention, the bottom of the sampling bottle is fixed on the bottom of the sampling sink
On wall.
To realize the above-mentioned technical purpose, another technical solution for taking of the present invention is：
A kind of sampling method of unmanned boat sampling system, including：
（1）System sends initializing signal to master controller to host computer by radio communication, and master controller passes through position stepping electricity
Machine drive module controls position stepper motor, and position stepper motor drives the water outlet of water pump to be moved to sampling draining by sliding block
Mouthful；
（2）System sends sampling instruction to master controller to host computer by radio communication, master controller analytical sampling instruction so as to
Sampling parameters are obtained, the sampling parameters include the coordinate points of depth selection, the number of sampling bottle and sampling spot；
（3）Master controller controls power plant, power according to the coordinate points that the coordinate points and alignment system of sampling spot position
Device drives hull to cruise to the coordinate points of sampling spot；
（4）Master controller calculates the angle for sampling stepper motor rotation according to depth selection so as to control sampling stepper motor,
Sampling stepper motor drives capstan winch rotation so as to which the water inlet end of elastic water pipe to be transferred to the position consistent with depth selection；
（5）Master controller controls water pump by water pump drive module, and water pump draws water in the first preset time period, and water pump reaches
It stops pumping after to the first preset time period, master controller controls position stepper motor, position stepping according to the number of sampling bottle
Motor drives the water outlet of water pump to be moved to the water inlet of the sampling bottle identical with the number by sliding block；
（6）Master controller controls water pump again by water pump drive module, and water pump draws water in the second preset time period, water
Pump stops pumping after reaching the second preset time period；
（7）Master controller by radio communication system by the coordinate points of the sampling spot of this sub-sampling, depth selection, sampling bottle
Number and the second preset time period are sent to host computer；
（8）Master controller controls position stepper motor by position stepper motor drive module, and position stepper motor passes through sliding block
The water outlet of water pump is driven to be moved to sampling discharge outlet；
（9）Master controller is according to step（4）The angle control sampling stepper motor of the sampling stepper motor rotation calculated, sampling
Stepper motor drives capstan winch rotation, and so as to withdraw draught line, elastic water pipe is withdrawn so as to keep nature shape.
Beneficial effects of the present invention are：
（1）The configuration of the present invention is simple can replace different elastic water pipes according to different waters situation and depth selection
And sampling bottle, it replaces simple easily operated.
（2）The present invention is in a manner that the master controller on host computer and unmanned boat interacts, it is only necessary in host computer
Sampling parameters are set, you can realize full-automatic sampling.
（3）The present invention uploads the location information of this sub-sampling of unmanned boat in real time using wireless communication system（Coordinate points）, take
Sample depth, the number for preserving the sampling bottle for sampling sample and sample time, it is ensured that reliability of the unmanned boat in sampling process.
（4）The present invention can set depth selection position according to actual needs on host computer and preserve the sampling of sample
The number of bottle is in order to adapting to different waters situations.
（5）The present invention is ingenious in design, and stepper motor can be sampled by main controller controls so as to fulfill being more accurate to
Up to the water quality sample of designated depth position acquisition, another elasticity water pipe, capstan winch, draught line and plummet structure setting ensure sampling
The situation of water-pipe blockage, water pipe knotting etc. will not be caused in the process.
（6）The present invention sets multiple sampling bottles, can repeatedly sample, at the same can be to avoid sampling sample contamination the problems such as,
Ensure the diversity of sampling.I.e. before sampling, position stepper motor drives the water outlet of water pump to be moved to sampling row by sliding block
The mouth of a river prevents unmanned boat sub-sampling under water pump or the elastic remaining water pollution of water pipe in the process of moving.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structure diagram of the sampling sink of the present invention.
Fig. 3 is the circuit theory schematic diagram of the present invention.
Fig. 4 is the flow chart of the present invention.
Specific embodiment
The specific embodiment of the present invention is further illustrated below according to Fig. 1 to Fig. 4：
In view of the above-mentioned problems, the present invention, which has designed and developed a kind of unmanned boat sampling system, to obtain designated depth in specified waters
Water quality sample, the unmanned boat sampling system, and can water-pipe blockage, water pipe will not be caused to knot during sampling the problems such as
Repeatedly to sample, at the same also take measure avoid repeatedly sample between sample contamination.
Referring to Fig. 1 and Fig. 2, a kind of unmanned boat sampling system, the power plant including hull 1, for hull 1 to be driven to move
3 and supply unit 2, sampling system is installed on the hull 1, the sampling system include sampling bottle 5, water pump 10, capstan winch 14,
Draught line 15, position stepper motor 7, screw 6, sampling stepper motor 13, Z-type fixing bracket 16, elastic water pipe 17 and plummet 18,
The hull 1 is equipped with sampling sink 4, and the sampling sink 4 is interior to be evenly distributed with several sampling bottles 5 from left end to right end,
The distance between each sampling bottle 5 is 8 cm, and the screw 6 is fixed on the hull 1 by bearing spider 8 and screw 6
In the surface of the sampling bottle 5 in sampling sink 4, the screw 6 is connect by shaft coupling with position stepper motor 7, the silk
Bar 6, which is connected on feed screw nut and feed screw nut, is fixed with sliding block 9, and the water outlet of the water pump 10 is fixed on by outlet pipe 11
On the sliding block 9, the left end in the sampling sink 4 is equipped with sampling discharge outlet 12, and sampling discharge outlet 12 is located at a left side for sampling bottle 5
The distance of side, sampling discharge outlet 12 and leftmost sampling bottle 5 is 8 cm, and the sampling discharge outlet 12 is extended through drainpipe 19
To the outside of hull 1, the water inlet of the water pump 10 connects the water outlet of flexible water pipe 17, and the sampling stepper motor 13 is pacified
Mounted in the right end of the hull 1, the sampling stepper motor 13 is connected with capstan winch 14, and draught line is wound on the capstan winch 14
15, one end of the Z-type fixing bracket 16 is fixed on the right end of the hull 1, and the elasticity water pipe 17 is fixed on the Z-type and consolidates
On fixed rack 16, the draught line 15 that the surface of the other end of the Z-type fixing bracket 16 is equipped on threading hole and capstan winch 14 is located at
The surface of threading hole, the other end of the draught line 15 pass through threading hole and connect with the water inlet end of elastic water pipe 17 and plummet 18
It connects, the power plant 3, position stepper motor 7, sampling stepper motor 13 and water pump 10 are electrically connected with supply unit 2.It is described
Elastic water pipe 17 is the water pipe of resilientiy stretchable.
Since elastic water pipe 17 has certain buoyancy in water, so plummet 18 is mainly used for drawing elastic water pipe 17,
Plumbness is kept when elastic water pipe 17 being made to sink.Z-type fixing bracket 16 act as fixed elastic water pipe 17 and will be elastic
The water outlet of water pipe 17 is connected with water pump 10, and on the other hand for fixed traction line 15, draught line 15 is from the Z-type fixing bracket 16
Intermediate round hole（Threading hole）In pass through, can ensure block when withdrawing draught line 15 in this way, knot.Draught line
15, effect is the decentralization and withdrawal of the elastic water pipe 17 of traction, and one end of draught line 15 is fixed on capstan winch 14, is in addition consolidated for one section
It is scheduled on the water inlet and plummet 18 of elastic water pipe 17, due to the gravity of plummet 18, when draught line 15 is transferred, can drive
The sinking of elastic water pipe 17.The effect of capstan winch 14 is wound around draught line 15.Elastic water pipe 17 uses flexible flexible water pipe, should
Water pipe has light weight, will not cause to fold blocking with elasticity, automatic contraction, with certain toughness.So as to avoid
Water pipe folds when water pipe is withdrawn, capstan winch blocks the fortuitous events such as water pipe.
Referring to Fig. 3, master controller 20, alignment system 24, wireless communication system 23, power electric are additionally provided on the unmanned boat
Machine drive module, water pump drive module, position stepper motor drive module and sampling stepper motor drive module, the positioning system
System 24, wireless communication system 23, power motor drive module, water pump drive module, position stepper motor drive module and sampling
Stepper motor drive module is electrically connected with master controller 20, and the wireless communication system 23 is remotely connected with host computer, described
Power motor drive module is electrically connected with the driving motor 21, and the water pump drive module is electrically connected with the water pump 10, institute
Rheme is put stepper motor drive module and is electrically connected with the position stepper motor 7, the sampling stepper motor drive module and institute
It states sampling stepper motor 13 to be electrically connected, the master controller 20, alignment system 24, wireless communication system 23, power motor driving
Module, water pump drive module, position stepper motor drive module and sampling stepper motor drive module are electrically connected with supply unit 2
It connects.
At present, water surface autonomous navigation device in the market is mostly using GPS One-Point Locations, but positioning accuracy is not high, and
It subregion cannot be without acquisition location information.The alignment system 24 of the present embodiment uses Big Dipper RTK alignment systems（Big Dipper RTK determines
Position technology）, several meters of position error is narrowed down into Centimeter Level, effectively increases the accuracy of sample position.
Wireless communication system 23 uses GPRS wireless communication systems, and real-time this sub-sampling of upload unmanned boat is instructed by AT
Between location information, depth selection, the number for preserving the sampling bottle 5 for sampling sample, sample time and unmanned boat and host computer
Control instruction, it is ensured that reliability of the unmanned boat in sampling process.
The power plant 3 includes propeller 22 and driving motor 21, and the driving motor 21 is fixed on the hull 1
On, the driving motor 21 is connect with the propeller 22.The driving motor 21 of the unmanned boat sampling system of the present embodiment uses
Two direct current generators provide power for unmanned boat, since the power of motor is larger, so power motor drive module uses L298N
Chip devises motor-drive circuit.
The operating voltage of the water pump 10 of the present embodiment is 12V, and maximum stream flow is：3.5L/min, water pump 10 use L298N
Controller, the main startup and stopping for controlling water pump 10.（Driving circuit in i.e. described water pump drive module uses L298N cores
Piece）.
The decentralization of elastic water pipe 17 and pack up that the effect of sampling stepper motor 13 samples in order to control.Sample stepper motor 13
Using 42 stepper motors（Four line of 42BYGH47-401A two-phases is hybrid）, sampling stepper motor drive module is using TB6600 steps
Stepper motor driver, the maximum static moment of the stepper motor：0.55N.m, step angle are 1.8 °.In order to make depth selection position more
Add accurately, so it is 1.8/4=0.45 °, i.e. the sampling stepper motor 13 that stepper motor driver, which is set as step angle under 4 subdivisions,
Rotation needs 800 steps in one week.The Zhou Changwei 12cm of 14 roll of capstan winch can be obtained by measurement, furtherly sample stepper motor 13
The every turn of 0.015cm that moves a step, and the frequency of pulse uses 600Hz, that is, the rotating speed for sampling stepper motor 13 is：45 revs/min.Example
Such as：When staff by host computer set depth selection position as 3 meters when, master controller 20 is according to the depth selection received
It is rotated to set sampling stepper motor 13（300/12）* 800=20000 steps can be only achieved designated depth, that is, need 34s
Water pipe can be transferred to 3 meters of positions of designated depth.20000 steps are rotated backward at the end of sampling to receive elastic water pipe 17
It returns.
The position for acting on 10 water outlet of water pump in order to control of position stepper motor 7, position stepper motor 7 also use 42 steppings
Motor（Four line of 42BYGH47-401A two-phases is hybrid）, position stepper motor drive module is also using the drive of TB6600 stepper motors
Dynamic device, and screw 6 uses CBX1605 ball-screws, i.e. one circle sliding block 9 of the rotation of position stepper motor 7 walk 5mm, and pulse
Frequency uses 500Hz, i.e. the rotating speed of position stepper motor 7 is：150 revs/min.Stepper motor driver is set as segmenting lower step pitch
Angle is 1.8/1=1.8 °, i.e., the position stepper motor 7, which rotates one week, needs 200 steps.Such as it is No. 1 to need to preserve sample to number
Sampling bottle 5, furtherly, first initialize sampling system when unmanned boat starts, position stepper motor 7 is by 10 water outlet of water pump
It moves left to sampling discharge outlet 12.When it is 1 to obtain the number of sampling bottle 5, i.e., water sample is stored in the 1st sampling bottle 5,
It is at this time 8cm according to the distance of the discharge outlet of water pump 10, i.e., position stepper motor 7 needs rotation 16 weeks, 3200 steps i.e. the reachable 1st
At a sampling bottle 5, and so on, reaching needs position stepper motor 7 to rotate 32 weeks at the 2nd sampling bottle 5, i.e. 6400 steps.This
Number 1 in embodiment is the 1st sampling bottle 5 of left end, and number is from left to right.
The master controller 20 uses STM32 core control panels, specially microcontroller STM32F103ZET6, the sampling
The bottom of bottle 5 is fixed on the bottom wall of the sampling sink 4.
The operation principle of unmanned boat sampling system is：First, sampling system, position step are first initialized when hull 1 starts
Stepper motor 7 moves left 10 water outlet of water pump to sampling discharge outlet 12, prevents hull 1 water pump 10 or elastic water in the process of moving
Sub-sampling under 17 remaining water pollution of pipe.Then when hull 1 is needed to be sampled, user can set on host computer and take
Sample parameter, such as：Water quality sampling depth（Depth selection）Number for 3 meters, sampling bottle 5 is the 3rd, the coordinate points of sampling spot
For (118.716231,32.207317).After sampling parameters are provided with, ACK button is clicked, sampling is instructed into long-range send
Master controller 20 on to unmanned boat.After master controller 20 receives sampling instruction, water quality sampling depth location is extracted（It takes
Sample depth）Number for 3 meters, sampling bottle 5 is the coordinate points of the 3rd and sampling spot.Master controller 20 passes through 3 He of power plant
Alignment system 24 is first by 1 autonomous cruise of hull to the coordinate points（The coordinate points of sampling spot）, subsequently 20 basis of master controller
The depth selection of acquisition calculates the angle that sampling stepper motor 13 rotates, and then controls sampling stepper motor 13 by elastic water pipe
17 decentralizations to the position of depth selection, subsequent master controller 20 controls the number of sampling bottle in the sampling parameters according to acquisition 5
Position stepper motor 7 slides into 10 water outlet of water pump at the 3rd sampling bottle 5（The sampling bottle identical with the number of the sampling bottle 5
5 water inlet）.Subsequently master controller 20 starts water pump 10 and is put into the water quality sample of acquisition in sampling bottle 5, while master control
Device 20 processed starts timing, and after reaching 10 seconds the time, switch off the pump 10 stopping sampling of water qualities.When stopping sampling, master controller
20 by the location information of this sub-sampling（The coordinate points of sampling spot）, depth selection, preserve sampling sample sampling bottle 5 number
And sample time（10 seconds）Host computer is sent to be preserved.Finally control position stepper motor 7 is left by the water outlet of water pump 10
It moves at sampling discharge outlet 12, prevents during recycling elastic water pipe 17, the water in water pump 10 flows into sampling bottle 5.Main control
Device 20 controls sampling stepper motor 13 that the rotation of capstan winch 14 is driven to withdraw draught line 15 again, and then withdraws elastic water pipe 17, works as bullet
Property water pipe 17 still maintain original shape when withdrawing completely and be ready for lower sub-sampling.
In conclusion when entity is needed to sample, user can set depth selection by host computer interface, so
Unmanned boat performs sampling operation and the host computer for reporting the location information of oneself, and can be more after receiving sampling instruction afterwards
Sub-sampling, the diversity and reliability of the sampling sample of raising, while certain measure is taken to ensure not to be contaminated between sample.
The present embodiment also provides a kind of sampling method of unmanned boat sampling system, and user can determine this sub-sampling in advance
Waters, sampling spot coordinate points and depth selection, then unmanned boat is transported near the waters, user can be at this time
Multigroup sampling parameters are set by host computer, such as：Sampling of water quality depth is 3 meters, sampling bottle 5（For preserving water quality sample）'s
Number is the coordinate points of the 3rd and sampling spot, sends sampling instruction and is：#SAMPLE#3#3#118.716231#
32.207317, then click the master controller 20 that ACK button is remotely sent on hull 1.It is taken when master controller 20 receives
Sample instructs (such as：When #SAMPLE#3#3#118.716231#32.207317), control section SAMPLE first is partitioned into from instruction, i.e.,：
The instruction is instructed for sampling, and the data for being then partitioned into depth selection are 3 meters, the number of sampling bottle 5 is the 3rd and sampling ground
The coordinate points (118.716231,32.207317) of point, then unmanned boat will be according to 24 autonomous cruise of Big Dipper RTK alignment systems extremely
The coordinate points are sampled.The entire workflow of sampling system is as shown in figure 4, with reference to sampling flowsheet figure and sampling mechanical
Sampling method is described in detail in structure.
The first step：Sampling system initializes, and system 23 sends initializing signal to main control to host computer by radio communication
Device 20, master controller 20 control position stepper motor 7 by position stepper motor drive module, and position stepper motor 7 passes through cunning
Block 9 drives the water outlet of water pump 10 to be moved to sampling discharge outlet 12；Prevent unmanned boat water pump 10 or elastic water in the process of moving
Sub-sampling under 17 remaining water pollution of pipe.
Second step：System 23 sends sampling instruction to master controller 20 to host computer by radio communication, and unmanned boat is sentenced in real time
It is disconnected whether to receive sampling instruction, when the sampling that unmanned boat receives instructs (such as：#SAMPLE#3#3#118.716231#
32.207317), master controller 20 is partitioned into control section SAMPLE from sampling instruction, so as to obtain sampling parameters, i.e.,：The instruction
It is instructed for sampling, is then partitioned into the coordinate points that depth selection is 3 meters, the number of sampling bottle 5 is the 3rd and sampling spot
(118.716231,32.207317).The sampling parameters include the coordinate of depth selection, the number of sampling bottle 5 and sampling spot
Point.
Third walks：It is fixed according to the coordinate points of sampling spot and alignment system 24 after master controller 20 obtains sampling parameters
The coordinate points control power plant 3 of position, power plant 3 drive hull 1 to cruise to the coordinate points of sampling spot；
4th step：Master controller 20 calculates the angle of the sampling rotation of stepper motor 13 according to depth selection, then control sampling
Stepper motor 13, it is deep so as to transfer to and sample by the water inlet end of elastic water pipe 17 that sampling stepper motor 13 drives the rotation of capstan winch 14
Spend 3 meters of consistent positions；It further illustrates, can not stop to discharge the draught line on capstan winch 14 when sampling stepper motor 13 rotates
15, so as to which the elastic water pipe 17 that plummet 18 is made to drive 15 lower end of draught line can be discharged with draught line 15, however pass through control
Draught line 15 on capstan winch 14 controls the elastic water pipe 17 to reach designated depth position；
5th step：When elastic water pipe 17 reaches designated depth position（3 meters）Afterwards, in order to avoid remaining water quality in elastic water pipe 17
Pollution sampling sample, the water outlet of water pump 10, which is located at, at this time samples at discharge outlet 12.Master controller 20 is driven by water pump first
Module controls water pump 10, and water pump 10 is in the first preset time period（First preset time period is 20 seconds）Inside draw water, it is therefore an objective to
In order to discharge remaining water quality in elastic water pipe 17, pollution sampling sample is prevented.Water pump 10 stops pumping after reaching 20 seconds, that is, arranges
Go out after the completion of sewage, master controller 20 controls position stepper motor 7, position stepper motor 7 according to the number of the sampling bottle 5 of acquisition
The water outlet for driving water pump 10 by sliding block 9 is moved at the 3rd sampling bottle 5（The water inlet of the sampling bottle 5 identical with the number
Place）；
6th step：After above-mentioned all working is ready to complete, master controller 20 controls water pump 10 again by water pump drive module,
Water pump 10 is drawn water in the second preset time period so as to be sampled, and water pump 10 stops taking out after reaching the second preset time period
Water；Further explanation samples experiment according to a large amount of different depths and obtains when startup water pump 10 draws water 10 seconds（Second preset time period
It is 10 seconds）When, the water sample of extraction will not only be made to overflow the 3rd sampling bottle 5 but also water sample will not be made very few.Master controller
20 start water pump 10 first is put into the water quality sample of acquisition in the 3rd sampling bottle 5, after 10 second time is reached, switches off the pump
10 stop sampling of water quality；
7th step：When stopping sampling, master controller 20 by radio communication system 23 by the seat of the sampling spot of this sub-sampling
Punctuate, depth selection, the number of sampling bottle 5 and the second preset time period are sent to host computer and are preserved；
8th step：Master controller 20 controls position stepper motor 7, position stepper motor 7 by position stepper motor drive module
The water outlet of water pump 10 is driven to be moved to sampling discharge outlet 12 by sliding block 9；It prevents during withdrawing elastic water pipe 17, water pump
Water in 10 flows into sampling bottle 5.
9th step：Master controller 20 is according to step（4）The angle control sampling that the sampling stepper motor 13 calculated rotates
Stepper motor 13, sampling stepper motor 13 drive capstan winch 14 to rotate so as to withdraw draught line 15, and elastic water pipe 17 withdraws to protect
Hold nature shape；
Tenth step：After the completion of this sub-sampling, the master controller 20 of unmanned boat obtains the coordinate points of next group of sampling spot, according to north
24 autonomous cruise to coordinate points of bucket RTK alignment systems are sampled when being sampled again, are repeated above operation（That is the 4th step
To the 9th step）, master controller 20 first controls water pump 10 to draw water 20 seconds, in order to discharge remaining water quality in water pipe 11, prevent
Only remaining this sub-sampling of water pollution sample during previous sample.After the completion of draining, master controller 20 is according to sampling setting ginseng
Number is sampled operation.
Sampling system in the present embodiment is simple in structure, can specify depth selection and repeatedly sampling etc., can be according to reality
Border needs to set depth selection, sampling spot, can effectively solve the diversity of sampling in this way.It is deep that sampling can accurately be calculated
The position of the position of degree, the angle rotated according to sampling stepper motor 13 and then accurate determining depth selection.In sampling process
It may insure the stability in the reliability and sampling process of depth selection.It can repeatedly sample, there is 9 in sampling sink 4
Sampling bottle 5 can take the water quality sample of different depth or the water quality sample in multiple and different places in same place as needed.
The effective diversity for solving sampling.It can also solve the problems, such as to pollute between sampling sample during repeatedly sampling.Control letter
It is single, the elastic water pipe 17 of different length is conveniently replaceable to adapt to the waters of various situations.
Protection scope of the present invention includes but not limited to embodiment of above, and protection scope of the present invention is with claims
Subject to, any replacement being readily apparent that those skilled in the art that this technology is made, deformation, improvement each fall within the present invention's
Protection domain.
Claims (7)
1. a kind of unmanned boat sampling system, power plant and supply unit including hull, for driving hull movement, feature
It is：Sampling system is installed, the sampling system includes sampling bottle, water pump, capstan winch, draught line, position step on the hull
Stepper motor, screw, sampling stepper motor, Z-type fixing bracket, elastic water pipe and plummet, the hull are equipped with sampling sink, institute
It states in sampling sink and is evenly distributed with several sampling bottles from left end to right end, the screw is fixed on described by bearing spider
On hull and screw is located at the surface of the sampling bottle in sampling sink, and the screw is connected by shaft coupling and position stepper motor
It connects, the screw, which is connected on feed screw nut and feed screw nut, is fixed with sliding block, and the water outlet of the water pump is consolidated by outlet pipe
It is scheduled on the sliding block, the left end in the sampling sink is equipped with sampling discharge outlet, and the sampling discharge outlet is prolonged by drainpipe
The outside of hull is extended to, the water inlet of the water pump connects the water outlet of flexible water pipe, and the sampling stepper motor is mounted on
The right end of the hull, the sampling stepper motor are connected with capstan winch, draught line are wound on the capstan winch, the Z-type is fixed
One end of stent is fixed on the right end of the hull, and the elasticity water pipe is fixed on the Z-type fixing bracket, and the Z-type is consolidated
The draught line that the surface of the other end of fixed rack is equipped on threading hole and capstan winch is located at the surface of threading hole, the draught line
The other end passes through threading hole and is connect with the water inlet end of elastic water pipe and plummet, the power plant, position stepper motor, sampling
Stepper motor and water pump are electrically connected with supply unit.
2. unmanned boat sampling system according to claim 1, it is characterised in that：The power plant includes propeller and drive
Dynamic motor, the driving motor are fixed on the hull, and the driving motor is connect with the propeller.
3. unmanned boat sampling system according to claim 2, it is characterised in that：The unmanned boat be equipped with master controller,
It alignment system, wireless communication system, power motor drive module, water pump drive module, position stepper motor drive module and takes
Sample stepper motor drive module, the alignment system, wireless communication system, power motor drive module, water pump drive module, position
It puts stepper motor drive module and sampling stepper motor drive module is electrically connected with master controller, the wireless communication system is remote
Journey is connected with host computer, and the power motor drive module is electrically connected with the driving motor, the water pump drive module and institute
Water pump electrical connection is stated, the position stepper motor drive module is electrically connected with the position stepper motor, the sampling stepping electricity
Machine drive module is electrically connected with the sampling stepper motor, the master controller, alignment system, wireless communication system, power electric
Machine drive module, water pump drive module, position stepper motor drive module and sampling stepper motor drive module are filled with power supply
Put electrical connection.
4. unmanned boat sampling system according to claim 3, it is characterised in that：The master controller uses microcontroller
STM32F103ZET6, the alignment system use Big Dipper RTK alignment systems, and the wireless communication system uses GPRS channel radios
Letter system, driving circuit in the power motor drive module is using L298N chips, the driving in the water pump drive module
Circuit uses L298N chips, and the position stepper motor drive module uses TB6600 stepper motor drivers, the sampling step
Stepper motor drive module uses TB6600 stepper motor drivers.
5. unmanned boat sampling system according to claim 3, it is characterised in that：The position stepper motor and sampling stepping
Motor uses four line composite stepper motor of 42BYGH47-401A two-phases.
6. unmanned boat sampling system according to claim 1, it is characterised in that：The bottom of the sampling bottle is fixed on described
On the bottom wall of sampling sink.
7. a kind of sampling method of unmanned boat sampling system according to claim 3, it is characterised in that：Including：
（1）System sends initializing signal to master controller to host computer by radio communication, and master controller passes through position stepping electricity
Machine drive module controls position stepper motor, and position stepper motor drives the water outlet of water pump to be moved to sampling draining by sliding block
Mouthful；
（2）System sends sampling instruction to master controller to host computer by radio communication, master controller analytical sampling instruction so as to
Sampling parameters are obtained, the sampling parameters include the coordinate points of depth selection, the number of sampling bottle and sampling spot；
（3）Master controller controls power plant, power according to the coordinate points that the coordinate points and alignment system of sampling spot position
Device drives hull to cruise to the coordinate points of sampling spot；
（4）Master controller calculates the angle for sampling stepper motor rotation according to depth selection so as to control sampling stepper motor,
Sampling stepper motor drives capstan winch rotation so as to which the water inlet end of elastic water pipe to be transferred to the position consistent with depth selection；
（5）Master controller controls water pump by water pump drive module, and water pump draws water in the first preset time period, and water pump reaches
It stops pumping after to the first preset time period, master controller controls position stepper motor, position stepping according to the number of sampling bottle
Motor drives the water outlet of water pump to be moved to the water inlet of the sampling bottle identical with the number by sliding block；
（6）Master controller controls water pump again by water pump drive module, and water pump draws water in the second preset time period, water
Pump stops pumping after reaching the second preset time period；
（7）Master controller by radio communication system by the coordinate points of the sampling spot of this sub-sampling, depth selection, sampling bottle
Number and the second preset time period are sent to host computer；
（8）Master controller controls position stepper motor by position stepper motor drive module, and position stepper motor passes through sliding block
The water outlet of water pump is driven to be moved to sampling discharge outlet；
（9）Master controller is according to step（4）The angle control sampling stepper motor of the sampling stepper motor rotation calculated, sampling
Stepper motor drives capstan winch rotation, and so as to withdraw draught line, elastic water pipe is withdrawn so as to keep nature shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810360366.8A CN108267342A (en) | 2018-04-20 | 2018-04-20 | A kind of unmanned boat sampling system and sampling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810360366.8A CN108267342A (en) | 2018-04-20 | 2018-04-20 | A kind of unmanned boat sampling system and sampling method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108267342A true CN108267342A (en) | 2018-07-10 |
Family
ID=62777693
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810360366.8A Pending CN108267342A (en) | 2018-04-20 | 2018-04-20 | A kind of unmanned boat sampling system and sampling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108267342A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108896346A (en) * | 2018-08-24 | 2018-11-27 | 邓天皓 | A kind of remote control type water sample acquisition device for polluted-water monitoring |
| CN109211321A (en) * | 2018-09-21 | 2019-01-15 | 商丘师范学院 | A kind of sewage automatic detection device |
| CN109437344A (en) * | 2019-01-07 | 2019-03-08 | 南京信息工程大学 | Unmanned boat with liquid material feeding device |
| CN110068483A (en) * | 2019-05-27 | 2019-07-30 | 邯郸百世创联电子科技有限公司 | A kind of environmental monitoring Urban Underground sewage detection sampler |
| CN110411776A (en) * | 2019-08-23 | 2019-11-05 | 沈阳航空航天大学 | A kind of portable water quality Environment features device based on Beidou positioning |
| CN110646574A (en) * | 2019-10-08 | 2020-01-03 | 张家港江苏科技大学产业技术研究院 | Unmanned ship-based water quality conductivity autonomous detection system and method |
| CN111474006A (en) * | 2020-04-23 | 2020-07-31 | 喻昕蕾 | Unmanned system for on-site water quality sampling |
| CN111474005A (en) * | 2020-04-17 | 2020-07-31 | 江苏虹湾威鹏信息技术有限公司 | Unmanned aerial vehicle robot smart ship sampling mechanism |
| CN111707796A (en) * | 2020-06-28 | 2020-09-25 | 广州形银科技有限公司 | Hydraulic engineering is collection system for sewage detection |
| CN112230582A (en) * | 2020-10-27 | 2021-01-15 | 四川摩比斯新能源水翼船有限责任公司 | Fixed-point acquisition method and device for environmental big data based on new energy hydrofoil |
| CN112240844A (en) * | 2020-10-09 | 2021-01-19 | 重庆渝久环保产业有限公司 | River environmental protection is administered and is used water quality testing device |
| CN113029685A (en) * | 2021-03-03 | 2021-06-25 | 浙江科新藻业科技有限公司 | Intelligent water sample extraction device and method with traceable sampling information |
| CN113405854A (en) * | 2021-05-07 | 2021-09-17 | 安徽省金标准检测研究院有限公司 | Water quality rapid detection device for environment detection |
| CN114088467A (en) * | 2021-11-10 | 2022-02-25 | 新疆亿亩良田农业服务有限公司 | Portable water sample collection equipment for pesticide detection and collection method thereof |
| CN114115221A (en) * | 2021-09-28 | 2022-03-01 | 中国科学院水生生物研究所 | Water ecological factor in-situ monitoring device and method based on unmanned ship |
| CN114739742A (en) * | 2022-03-31 | 2022-07-12 | 海之韵(苏州)科技有限公司 | Cross-contamination-preventing water quality sampling unmanned ship and water quality sampling method of unmanned ship |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE327097B (en) * | 1965-02-18 | 1970-08-10 | Technicon Instr | |
| GB1477457A (en) * | 1973-07-27 | 1977-06-22 | Kent Ltd G | Method and apparatus for testing the properties of liquids |
| TWI222424B (en) * | 2003-10-14 | 2004-10-21 | Chein-Hsing Lin | Hose storage device |
| RU2010120830A (en) * | 2010-05-24 | 2011-12-10 | Учреждение Российской академии наук Институт океанологии им. П.П. Ширшова РАН (RU) | DEVICE FOR STATIONARY WATER TAKE-OFF IN THE BOTTOM OF THE OCEAN |
| CN105910850A (en) * | 2016-04-25 | 2016-08-31 | 南京信息工程大学 | Aerodynamical sampling ship and sampling method thereof |
| CN205670091U (en) * | 2016-05-27 | 2016-11-02 | 河海大学 | The remote-controlled water sample collection instrument of submersible type |
| CN206327541U (en) * | 2016-12-26 | 2017-07-14 | 重庆山楂树科技有限公司 | Complex environment sampling of water quality ship |
| CN107036849A (en) * | 2017-05-03 | 2017-08-11 | 成都学院 | A kind of remote-controlled automatic data collection water sample device |
| CN107585266A (en) * | 2017-09-29 | 2018-01-16 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment sampled automatically for water quality and the method for sampling |
| CN208060220U (en) * | 2018-04-20 | 2018-11-06 | 南京信息工程大学 | A kind of unmanned boat sampling system |
-
2018
- 2018-04-20 CN CN201810360366.8A patent/CN108267342A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE327097B (en) * | 1965-02-18 | 1970-08-10 | Technicon Instr | |
| GB1477457A (en) * | 1973-07-27 | 1977-06-22 | Kent Ltd G | Method and apparatus for testing the properties of liquids |
| TWI222424B (en) * | 2003-10-14 | 2004-10-21 | Chein-Hsing Lin | Hose storage device |
| RU2010120830A (en) * | 2010-05-24 | 2011-12-10 | Учреждение Российской академии наук Институт океанологии им. П.П. Ширшова РАН (RU) | DEVICE FOR STATIONARY WATER TAKE-OFF IN THE BOTTOM OF THE OCEAN |
| CN105910850A (en) * | 2016-04-25 | 2016-08-31 | 南京信息工程大学 | Aerodynamical sampling ship and sampling method thereof |
| CN205670091U (en) * | 2016-05-27 | 2016-11-02 | 河海大学 | The remote-controlled water sample collection instrument of submersible type |
| CN206327541U (en) * | 2016-12-26 | 2017-07-14 | 重庆山楂树科技有限公司 | Complex environment sampling of water quality ship |
| CN107036849A (en) * | 2017-05-03 | 2017-08-11 | 成都学院 | A kind of remote-controlled automatic data collection water sample device |
| CN107585266A (en) * | 2017-09-29 | 2018-01-16 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment sampled automatically for water quality and the method for sampling |
| CN208060220U (en) * | 2018-04-20 | 2018-11-06 | 南京信息工程大学 | A kind of unmanned boat sampling system |
Non-Patent Citations (3)
| Title |
|---|
| JORY BELL 等: "MITESS: a moored in situ trace element serial sampler for deep-sea moorings", 《DEEP SEA RESEARCH PART I: OCEANOGRAPHIC RESEARCH PAPERS》 * |
| 孙忠明 等: "浮船取水构筑物应用在水库分层取水的工程实例", 《给水排水》 * |
| 葛化敏 等: "基于ARM9的仓储罐区参数监控系统", 《仪表技术与传感器》 * |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108896346A (en) * | 2018-08-24 | 2018-11-27 | 邓天皓 | A kind of remote control type water sample acquisition device for polluted-water monitoring |
| CN108896346B (en) * | 2018-08-24 | 2019-09-06 | 唐山双鼎环保科技有限公司 | A kind of remote control type water sample acquisition device for polluted-water monitoring |
| CN109211321A (en) * | 2018-09-21 | 2019-01-15 | 商丘师范学院 | A kind of sewage automatic detection device |
| CN109437344A (en) * | 2019-01-07 | 2019-03-08 | 南京信息工程大学 | Unmanned boat with liquid material feeding device |
| CN110068483A (en) * | 2019-05-27 | 2019-07-30 | 邯郸百世创联电子科技有限公司 | A kind of environmental monitoring Urban Underground sewage detection sampler |
| CN110411776A (en) * | 2019-08-23 | 2019-11-05 | 沈阳航空航天大学 | A kind of portable water quality Environment features device based on Beidou positioning |
| CN110646574A (en) * | 2019-10-08 | 2020-01-03 | 张家港江苏科技大学产业技术研究院 | Unmanned ship-based water quality conductivity autonomous detection system and method |
| CN110646574B (en) * | 2019-10-08 | 2022-02-08 | 张家港江苏科技大学产业技术研究院 | Unmanned ship-based water quality conductivity autonomous detection system and method |
| CN111474005A (en) * | 2020-04-17 | 2020-07-31 | 江苏虹湾威鹏信息技术有限公司 | Unmanned aerial vehicle robot smart ship sampling mechanism |
| CN111474006A (en) * | 2020-04-23 | 2020-07-31 | 喻昕蕾 | Unmanned system for on-site water quality sampling |
| CN111707796A (en) * | 2020-06-28 | 2020-09-25 | 广州形银科技有限公司 | Hydraulic engineering is collection system for sewage detection |
| CN112240844A (en) * | 2020-10-09 | 2021-01-19 | 重庆渝久环保产业有限公司 | River environmental protection is administered and is used water quality testing device |
| CN112230582A (en) * | 2020-10-27 | 2021-01-15 | 四川摩比斯新能源水翼船有限责任公司 | Fixed-point acquisition method and device for environmental big data based on new energy hydrofoil |
| CN113029685A (en) * | 2021-03-03 | 2021-06-25 | 浙江科新藻业科技有限公司 | Intelligent water sample extraction device and method with traceable sampling information |
| CN113405854A (en) * | 2021-05-07 | 2021-09-17 | 安徽省金标准检测研究院有限公司 | Water quality rapid detection device for environment detection |
| CN114115221A (en) * | 2021-09-28 | 2022-03-01 | 中国科学院水生生物研究所 | Water ecological factor in-situ monitoring device and method based on unmanned ship |
| CN114088467A (en) * | 2021-11-10 | 2022-02-25 | 新疆亿亩良田农业服务有限公司 | Portable water sample collection equipment for pesticide detection and collection method thereof |
| CN114739742A (en) * | 2022-03-31 | 2022-07-12 | 海之韵(苏州)科技有限公司 | Cross-contamination-preventing water quality sampling unmanned ship and water quality sampling method of unmanned ship |
| CN114739742B (en) * | 2022-03-31 | 2023-10-10 | 海之韵(苏州)科技有限公司 | Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108267342A (en) | A kind of unmanned boat sampling system and sampling method | |
| CN208060220U (en) | A kind of unmanned boat sampling system | |
| CN105466728B (en) | The multiple spot water sample automatic acquisition device of unmanned boat lift-launch and method | |
| CN108318296A (en) | A kind of unmanned boat water quality sampling device | |
| CN207133073U (en) | Carried by unmanned plane, the device of different water depth sample can be gathered | |
| CN201729262U (en) | Full-automatic surface water quality sampling robot | |
| CN101806811B (en) | Water quality sampling robot for full-automatic surface water | |
| CN103698159B (en) | Raindrop triggering type runoff automatic sampling device and method | |
| CN107585266A (en) | A kind of unmanned boat equipment sampled automatically for water quality and the method for sampling | |
| CN208060222U (en) | A kind of unmanned boat water quality sampling device | |
| CN101561367B (en) | Floating automatic water sampler | |
| CN213022479U (en) | Single-point multi-depth water quality sampling system based on amphibious unmanned aerial vehicle | |
| KR101564876B1 (en) | Remote water quality measuring apparatus, remote water sampler system and method for operating thereof | |
| CN107933832B (en) | Polar ice base sea ice monitoring buoy and polar ice base sea ice parameter monitoring method | |
| CN109178305A (en) | A kind of amphibious unmanned plane of hydrologic monitoring and hydrologic monitoring method | |
| CN109932210A (en) | A kind of device sampled automatically based on unmanned plane water environment | |
| CN206327541U (en) | Complex environment sampling of water quality ship | |
| CN109580286A (en) | A kind of rivers and lakes water examination sampler based on unmanned plane | |
| CN111473999A (en) | Depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle | |
| CN106741894A (en) | A kind of UAS for clearing up garbage on water | |
| CN206171740U (en) | A intelligence ship that cruises for water quality monitoring | |
| CN111521217A (en) | Data acquisition device for hydrology and water resource investigation and evaluation | |
| CN112722282B (en) | Large-scale water sample collection system based on unmanned aerial vehicle and body combination | |
| CN109931985A (en) | A kind of self-propulsion type anchoring water quality monitoring system | |
| CN107063755A (en) | A kind of unmanned plane water sampling method |
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 |