CN108398943A - A kind of production method of multi-functional unmanned boat - Google Patents
A kind of production method of multi-functional unmanned boat Download PDFInfo
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- CN108398943A CN108398943A CN201710082302.1A CN201710082302A CN108398943A CN 108398943 A CN108398943 A CN 108398943A CN 201710082302 A CN201710082302 A CN 201710082302A CN 108398943 A CN108398943 A CN 108398943A
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- unmanned boat
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- 238000004519 manufacturing process Methods 0.000 title claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 47
- 239000002101 nanobubble Substances 0.000 claims abstract description 22
- 239000002131 composite material Substances 0.000 claims abstract description 6
- 239000000203 mixture Substances 0.000 claims abstract description 5
- 238000005507 spraying Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 6
- 238000011065 in-situ storage Methods 0.000 claims description 5
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- 229910021389 graphene Inorganic materials 0.000 claims description 2
- 238000009413 insulation Methods 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 238000007639 printing Methods 0.000 claims description 2
- 239000007921 spray Substances 0.000 claims description 2
- 238000005183 dynamical system Methods 0.000 claims 1
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000003014 reinforcing effect Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 8
- 238000012544 monitoring process Methods 0.000 description 6
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 5
- 238000004891 communication Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 5
- 239000001301 oxygen Substances 0.000 description 5
- 229910052760 oxygen Inorganic materials 0.000 description 5
- 230000002776 aggregation Effects 0.000 description 3
- 238000004220 aggregation Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- 230000008439 repair process Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000002795 fluorescence method Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
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- 235000008434 ginseng Nutrition 0.000 description 1
- 230000002401 inhibitory effect Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000005416 organic matter Substances 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 239000002574 poison Substances 0.000 description 1
- 231100000614 poison Toxicity 0.000 description 1
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A kind of production method of multi-functional unmanned boat of the present invention,It is to use built-in propulsion system and control system,Carry multiple sensors and micro-nano bubble water treatment facilities,Have the function of that flowing hydrometric station also has the function of flowing water treatment station,Composition includes 1 hull,2 hull reinforcing portions,3 composite battery energy resource systems,4 hydrology and water quality measurement sensing system,5 hull propulsion systems,6 tele-control systems,7 micro-nano bubble water treatment facilities water inlets,8 micro-nano bubble water treatment facilities steam mixed exports,9 camera holders,10 obstacle avoidance apparatus,11 micro-nano bubble water treatment facilities,Control system circuit plate is made of nano spraying circuit board production method,The information that Monitor Computer Control System energy real-time reception is sent back to unmanned boat,The opening and closing that control instruction was moved and controlled micro-nano bubble water treatment facilities can be sent out,Monitor Computer Control System can also receive the data that unmanned boat is fed back to simultaneously.
Description
Technical field
The invention belongs to field of environment protection, refer in particular to a kind of production method of multi-functional unmanned boat.
Background technology
Recently as the fast development of town and country development ＆ construction, the problem of polluted-water environment, is very prominent, black smelly in China
Water body all exists in many places, this has become national Ecological Civilization Construction urgent problem.
Go deep into the application study of unmanned technology, domestic and international unmanned boat technology also obtains very fast development in recent years.Nobody
Ship technology be related to hydrodynamics, automatically control, signal processing, network communication, sensor technology etc. it is multidisciplinary, have higher
Technical difficulty.The Saildrone companies for being located at California, USA Alameda in 2012 provide sea using unmanned fleet is automated
Foreign real-time data acquisition has the sensor of customization that the data detected are passed to land on ship, and client can pass through public affairs with computer
Department's client realizes measurement in real time to operate, and can substantially control all actual motions, from harbour, make a return voyage, and busy
Independent navigation on water channel.The country has also had water surface hull to be equipped with some sensors now, such as carrying single beam echosounding instrument,
The instruments such as small-sized side scan sonar carry out hydrology flow rate information collection etc..Implement standardization sampling and the on-line monitoring of the hydrology, energy
Danger and the maloperation for avoiding traditional artificial monitoring, also solve the existing on-line monitoring erection hardly possible of buoy, Maintenance Difficulty, at
The problems such as this height, small covering surface.But existing hydrologic parameter on-line measurement function has again for polluted water body in-situ repair function
Multi-functional unmanned boat there is not yet relevant report.
Invention content
A kind of multi-functional unmanned boat of the present invention, carries multiple sensors and micro-nano bubble water treatment facilities, using wirelessly connecting
The built-in propulsion system and control system for connecing host computer have the function of that flowing hydrometric station also has the work(of flowing water treatment station
Energy.Multi-functional unmanned boat structure is as shown in Figure of description 1 and table 1, including 1 hull, 2 hull reinforcing portions, 3 composite battery energy
Source system, 4 hydrographic survey sensing systems, 5 hull propulsion systems, 6 tele-control systems, 7 micro-nano bubble water process dress
Set water inlet, 8 micro-nano bubble water treatment facilities steam mixed exports, 9 camera holders, 10 obstacle avoidance apparatus, 11 micro-nano soaked
Processing unit.
By the integrated multi-functional unmanned boat system integration of multi-parameter hydrographic survey device and micro-nano bubble water treatment facilities
The on-line measurements sensor such as GPS navigation, camera and pH value, water temperature, dissolved oxygen has Remote Control Automatic tracing control work(
Energy.Multi-functional unmanned boat relies on sensing system, navigation system, automatic control system and the network interacted with external environment
Communication system has stable operational capabilities in marine site or poisons in freshwater environment, has the equipment operation for monitoring itself in real time
Situation perceives external information, makes correct decision and the ability of execution.
The online water body in-situ ecological restoration device of the multi-functional unmanned boat configuration of the present invention is micro-nano bubble water process profession
Equipment 11, the device can generate the micro-nano bubble in 50nm-30 μ ms, and this bobble rise velocity is traditional bubble
1/2000, existence time is long in water, mass transfer effect is good, and the polluter in water body can be made effectively to be adhered on bubble surface layer
It is floating, while inhibiting the organic matter decomposition process of polluted-water bottom anaerobic bacteria, realize separation and the water body of pollutant in water
Restoration of the ecosystem.Environment, the more work(of the present invention are polluted in view of common marine diesel or diesel generation function generate pernicious gas
The energy supplyystem of energy unmanned boat configuration is powered using composite battery energy resource system 3 free from environmental pollution, is powered for raising
Duration improves multi-functional unmanned boat cruising ability, compound using adding ultracapacitor to form by graphene-based lithium battery
Battery power supply system.The obstacle avoidance apparatus of the multi-functional unmanned boat configuration of the present invention uses laser sensor system, including avoidance obstacle
Mainboard, GPS, laser sensor, main control computer and connecting cable.Avoidance obstacle mainboard is installed on inside obstacle avoidance apparatus 10, point
It is not connected with laser sensor and GPS, GPS antenna is installed on multi-functional unmanned boat highest point, and laser sensor is mounted on more work(
In front of the unmanned boat deck of energy, avoidance obstacle mainboard determines position and the shape of barrier according to GPS data, laser data, and
Calculate accordingly can traffic areas, be transferred to main control computer, main control computer controls unmanned boat and completes avoidance.This hair
Bright multi-functional unmanned boat propulsion system 5 is respectively configured using using winding screw slurry propeller is kept away in afterbody left and right sides
One, hull gait of march and direction of travel can be adjusted by the rotating speed and direction that are remotely controlled propeller motor.The more work(of the present invention
The ship motion control system of energy unmanned boat includes host computer and slave computer, is to position Zigbee communication technology, GPS satellite
Technology and the GPRS communication technologys are combined, and realize control, navigation and the online prison to multiple hydrologic parameters to multifunctional ship
Survey and for micro-nano bubble water treatment facilities On-line Control.Control device built in this multi-functional unmanned boat is by ship motion
Control module and information collection part composition.Wherein the motion control portion acp chip of hull selects CC2530, and convergence is saved
Point is placed in hull tele-control system 6, for creating Zigbee network and controlling the spiral of hull propulsion system 5
The start and stop of paddle or so motor pass through the fortune of Zigbee network multi-functional remote-control ship using terminal node as the live remote controler of ship
It is dynamic, while CC2530 coordinators aggregation node is connected into GPRS module by 485 serial ports, receive long-range control instruction.Information
Collecting part is divided into as hydrologic parameter acquisition and geographical information collection, and wherein hydrologic parameter acquisition uses digital temperature, molten
Oxygen, pH sensor etc. are solved, geographical information collection uses GPS locating modules, sensor and GPS positioning module are passed through RS485
Bus is connected to GPRS module, then transfers data to host computer server process by GPRS module.Server records more work(
After the movement locus and all measuring target point location informations of energy ship, sends and instruct to multifunctional ship, control it by setting path
Advance and carry out hydrologic parameter acquisition；The hydrologic parameter data received are carried out parsing deposit database by server simultaneously, and
And client is sent the data to, for monitoring real-time hydrologic parameter variation and location information, and finger can be sent out as needed
Enable, open micro-nano bubble water treatment facilities carry out polluted-water ecological recovery in situ, can also remote control multifunctional ship repair
Change its moving line.The control system circuit plate of the multi-functional unmanned boat configuration of the present invention uses nano spraying circuit board production method system
Make.Nano spraying circuit board be by jet printer directly on insulation board the micro-nano conductive paste of spray printing, formed conducting wire, without covering copper
Plate does not have to water, does not have to burn into without photosensitive development, and the pollution reduced for environment is made than copper-clad plate.
Description of the drawings
Fig. 1 is multi-functional unmanned boat structural schematic diagram, wherein 1 hull, 2 hull reinforcing portions, 3 composite battery energy resource systems, 4
Hydrographic survey sensing system, 5 hull propulsion systems, 6 tele-control systems, 7 micro-nano bubble water treatment facilities water inlets,
8 micro-nano bubble water treatment facilities steam mixed exports, 9 camera holders, 10 obstacle avoidance apparatus, 11 micro-nano bubble water treatment facilities；
Fig. 2 is multi-functional unmanned boat tele-control system block diagram, wherein 00 be power module, 01 be GPS positioning module, 02 be pH pass
Sensor and pH transmitters, 03 be fluorescence method dissolved oxygen sensor, 04 be motion-control module, 05 be RS485 buses, 06 be
CC2530 coordinators and terminal, 07 be ZigBee-network, 08 be GPRS-DTU modules, 09 be antenna.
Specific implementation mode
A kind of multi-functional unmanned boat, is made of 11 parts, as shown in Figure of description 1 and table 2, main composition packet
It includes including 1 hull, 2 hull reinforcing portions, 3 composite battery energy resource systems, 4 hydrographic survey sensing systems, 5 hull thrust powers
System, 6 tele-control systems, 7 micro-nano bubble water treatment facilities water inlets, 8 micro-nano bubble water treatment facilities steam mixed exports,
9 camera holders, 10 obstacle avoidance apparatus, 11 micro-nano bubble water treatment facilities.
Main performance index is as shown in table 2.Hull 1 is made of rubber material inflation, a height of 3*1.8*1.4m of length and width；It is multiple
Battery power system 3 is closed using DC power supply as 36V/750W direct current generator driving forces；Unmanned boat remote control referring to Fig. 2,
It is made of the control system built in host computer and slave computer unmanned boat, the control system built in unmanned boat is controlled by ship motion
Module and letter
Table 1
Cease collecting part composition.Wherein the motion control portion acp chip of hull selects CC2530, and aggregation node is pacified
It is placed in hull tele-control system 6, for creating Zigbee network and controlling a propeller left side for hull propulsion system 5
The start and stop of right motor and the switch of micro-nano bubble water treatment facilities 11 pass through using terminal node as the live remote controler of ship
The movement of 07 multi-functional remote-control ship of Zigbee network, while 06 component CC2530 coordinators aggregation node is passed through into 05 component 485
The wherein hydrologic parameter acquisition of serial ports connection 08 is used using dissolved oxygen sensor 03, pH sensor 02 etc., geographical information collection
Sensor and GPS positioning module are connected to GPRS module by GPS positioning module 01 by RS485 buses, then by GPRS module
Host computer server process is transferred data to, GPS positioning module selects the 6th generation GPS module NE0-6M of U-blox companies,
It possesses up to 50 receiver channels, has and quickly searches star and tracking ability, and positioning accuracy reaches 2.5m.Module supports TTL
Table 2
Serial ports exports, in order to which by 485 bus communications, the rotation that centre addition TTL turns 485 flows to conversion circuit
Plate.The Software for Design of system is designed by CC2530 chip controls driving motor programs and remote control procedure, server program,
3 parts of Android client program form.Server should record the movement locus of multifunctional ship, calculate self-navigation
Path, again timing send acquisition sensor query instruction, record the historical data of hydrologic parameter, will also be between client
Carry out data interaction.Server is development platform with Visual Studio 2010, and server records the movement of multifunctional ship
It behind track and all measuring target point location informations, sends and instructs to multifunctional ship, control it and carry out hydrology ginseng by setting path
Number acquisition, meanwhile, the hydrologic parameter data received are carried out parsing deposit database by server, and are sent the data to
Client for monitoring real-time hydrologic parameter variation and location information, and can send out instruction, open micro-nano as needed
Water treatment facilities carry out polluted-water ecological recovery in situ, can also remote control multifunctional ship change its moving line.
Unmanned boat is positioned in open reservoir when test, while the computer by being equipped with ipc monitor center software
Control command is sent to unmanned boat.It is turned on power supply first, master control borad is opened, then wireless module initialization is opened upper
Machine monitoring center is wirelessly connected after being provided with, finally sends the control command of startup, at this moment unmanned boat can be in water
It is moved in library.The GPS positioning and dissolved oxygen, pH value water that Monitor Computer Control System energy real-time reception is sent back to unmanned boat simultaneously
The information such as literary parameter.The control instruction that unmanned boat can be issued according to Monitor Computer Control System is moved and is controlled micro-nano
The opening and closing of the soaked processing unit of rice, while ipc monitor center can also receive the data that unmanned boat is fed back to.
Claims (4)
1. a kind of production method of multi-functional unmanned boat, technical characteristic is to use built-in propulsion system and control system, is carried
Multiple sensors and micro-nano bubble water treatment facilities have the function of that flowing hydrometric station also has the function of flowing water treatment station.
2. a kind of production method of multi-functional unmanned boat based on claim 1, technical characteristic are with graphene-based lithium battery
It is dynamical system power supply with ultracapacitor composition composite battery.
3. a kind of production method of multi-functional unmanned boat based on claim 1, technical characteristic is micro-nano bubble water process dress
Setting has the function of in-situ immobilization water ecological environment.
4. a kind of production method of multi-functional unmanned boat based on claim 1, technical characteristic is that control system circuit plate is adopted
With nano spraying circuit board production method make, by jet printer directly on insulation board the micro-nano conductive paste of spray printing, formed conducting wire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082302.1A CN108398943A (en) | 2017-02-06 | 2017-02-06 | A kind of production method of multi-functional unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710082302.1A CN108398943A (en) | 2017-02-06 | 2017-02-06 | A kind of production method of multi-functional unmanned boat |
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| Publication Number | Publication Date |
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| CN108398943A true CN108398943A (en) | 2018-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710082302.1A Pending CN108398943A (en) | 2017-02-06 | 2017-02-06 | A kind of production method of multi-functional unmanned boat |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572703A (en) * | 2019-09-30 | 2021-03-30 | 深圳市百纳生态研究院有限公司 | Brain-controlled unmanned ship with brain and muscle electricity fusion function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101083876A (en) * | 2006-06-02 | 2007-12-05 | 刘扬名 | Nano spraying circuit board producing method and equipment and material configuration |
| CN102424499A (en) * | 2011-10-12 | 2012-04-25 | 长江水利委员会长江科学院 | Large movable water purifying system for enclosed water area |
| CN105242022A (en) * | 2015-11-02 | 2016-01-13 | 北斗天汇（上海）科技有限公司 | Beidou navigation twin-hull boat for intelligent water quality monitoring |
| CN106114802A (en) * | 2016-06-24 | 2016-11-16 | 安徽中科华澄智能科技股份有限公司 | A kind of self-powered, the water surface robot of oxygen supply |
| CN106315946A (en) * | 2016-09-28 | 2017-01-11 | 金陵科技学院 | Movable type sewage treatment device |
-
2017
- 2017-02-06 CN CN201710082302.1A patent/CN108398943A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101083876A (en) * | 2006-06-02 | 2007-12-05 | 刘扬名 | Nano spraying circuit board producing method and equipment and material configuration |
| CN102424499A (en) * | 2011-10-12 | 2012-04-25 | 长江水利委员会长江科学院 | Large movable water purifying system for enclosed water area |
| CN105242022A (en) * | 2015-11-02 | 2016-01-13 | 北斗天汇（上海）科技有限公司 | Beidou navigation twin-hull boat for intelligent water quality monitoring |
| CN106114802A (en) * | 2016-06-24 | 2016-11-16 | 安徽中科华澄智能科技股份有限公司 | A kind of self-powered, the water surface robot of oxygen supply |
| CN106315946A (en) * | 2016-09-28 | 2017-01-11 | 金陵科技学院 | Movable type sewage treatment device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572703A (en) * | 2019-09-30 | 2021-03-30 | 深圳市百纳生态研究院有限公司 | Brain-controlled unmanned ship with brain and muscle electricity fusion function |
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