CN108748142A - A kind of water quality sniffing robot regulator control system based on sonar sensing analysis - Google Patents
A kind of water quality sniffing robot regulator control system based on sonar sensing analysis Download PDFInfo
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- CN108748142A CN108748142A CN201810422021.0A CN201810422021A CN108748142A CN 108748142 A CN108748142 A CN 108748142A CN 201810422021 A CN201810422021 A CN 201810422021A CN 108748142 A CN108748142 A CN 108748142A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
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- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- General Physics & Mathematics (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Acoustics & Sound (AREA)
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Abstract
The invention discloses a kind of water quality sniffing robot regulator control system based on sonar sensing analysis, is related to water quality monitoring apparatus control system field.In the present invention：Main process task control unit is by information/signal transmission module by corresponding activation bit/signal transmission to buoyancy adjustment control unit；Water level depth monitoring unit is by data information/signal transmission module by corresponding information/signal transmission to main process task control unit；Image Acquisition control unit is by data information transfer module by corresponding data information transfer to main process task control unit.The present invention is adjusted the buoyancy of water quality sniffing robot by buoyancy adjustment control unit, and the operation of different water levels is carried out convenient for water quality sniffing robot；It is controlled by horizontal and vertical detection, convenient for carrying out convenient effective sonar surveillance to each orientation of different water levels；And pass through Image Acquisition mode so that water monitoring data information is more comprehensively true；It avoids the artificial water quality that carries out and detects operation.
Description
Technical field
The present invention relates to water quality monitoring apparatus control system field more particularly to a kind of water quality based on sonar sensing analysis
Sniffing robot regulator control system.
Background technology
Water pollution is to cause the use value of water to reduce or lose by harmful chemical, pollutes the water of environment.In sewage
Acid, alkali, oxidant, the compounds such as Yi Jitong, cadmium, mercury, arsenic, the organic poisons such as benzene, dichloroethanes, ethylene glycol can poison water with poison
Biology, influences drinking water source, scenic spot landscape.The oxygen in water is consumed when organic matter in sewage is decomposed by the microorganisms, and is influenced
The life of aquatile, after oxygen in water exhausts, organic matter carries out anaerobic digestion, generates the offensive gases such as hydrogen sulfide, mercaptan,
Water quality is set further to deteriorate.
The management and control of water pollution administer be a very spacing task, supervision improvement personnel need to carry out long-term to water source
Monitoring management, improvement.And when being monitored to the water source polluted, due to containing a large amount of poisonous and harmful substances in water body,
Manually health can be damaged by being acquired monitoring.How management and control safely and effectively to be monitored to polluted source, becomes needs
It solves the problems, such as.
Invention content
The water quality sniffing robot regulation and control based on sonar sensing analysis that the technical problem to be solved in the present invention is to provide a kind of
System is controlled by horizontal and vertical detection, convenient for carrying out convenient effective sonar surveillance to each orientation of different water levels；
And pass through Image Acquisition mode so that water monitoring data information is more comprehensively true；It avoids the artificial water quality that carries out and detects behaviour
Make, reduces the working strength of water quality supervisor.
In order to solve the above technical problems, the present invention is achieved by the following technical solutions：
The present invention provides a kind of water quality sniffing robot regulator control system based on sonar sensing analysis, including water quality explorer
Device people and sensor measuring regulator control system；Main process task control unit is equipped in sensor measuring regulator control system；Sensor measuring regulator control system
It is interior to be equipped with buoyancy adjustment control unit；Main process task control unit is by information/signal transmission module by corresponding activation bit/letter
Number it is transmitted to buoyancy adjustment control unit；Water level depth monitoring unit is equipped in sensor measuring regulator control system；Water level depth monitors
Unit is by data information/signal transmission module by corresponding information/signal transmission to main process task control unit；Sensor measuring tune
Horizontal detection control unit and longitudinal probing control unit are equipped in control system；Main process task control unit is passed by information/signal
Defeated module is by corresponding activation bit/signal transmission to horizontal detection control unit；Main process task control unit passes through information/signal
Transmission module is by corresponding activation bit/signal transmission to longitudinal probing control unit；Figure is equipped in sensor measuring regulator control system
As acquisition control unit；Image Acquisition control unit is by data information transfer module by corresponding data information transfer to main place
Manage control unit；Information feedback control unit is equipped in sensor measuring regulator control system；Main process task control unit by data information/
Signal transmission module is by corresponding data information/signal transmission to information feedback control unit.
Wherein, water quality sniffing robot is equipped with buoyancy regulation device, the buoyancy adjustment control in sensor measuring regulator control system
Unit processed is connected by information/signal transmission drive control mode with buoyancy regulation device.
Wherein, water quality sniffing robot is equipped with Level monitor, and Level monitor is turned by data information/signal
It changes and transmission mode is connected with the water level depth monitoring unit in sensor measuring regulator control system.
Wherein, water quality sniffing robot is equipped with sonar detection device, the horizontal detection control in sensor measuring regulator control system
Unit processed is connected by information/signal transmission drive control mode with sonar detection device, vertical in sensor measuring regulator control system
It is connected to detection control unit with sonar detection device by information/signal transmission drive control mode.
Wherein, on water quality sniffing robot include camera shooting harvester, camera shooting harvester by data information convert and
Transmission mode is connected with the Image Acquisition control unit in sensor measuring regulator control system.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is adjusted the buoyancy of water quality sniffing robot by buoyancy adjustment control unit, is visited convenient for water quality
Survey the operation that robot carries out different water levels；By water level depth monitoring mode, to the present position of water quality sniffing robot into
Row monitoring analysis；It is controlled by horizontal and vertical detection, convenient for carrying out convenient effective sound to each orientation of different water levels
Receive monitoring；And pass through Image Acquisition mode so that water monitoring data information is more comprehensively true；Avoid artificial progress water quality
Detection operation, reduces the working strength of water quality supervisor.
Description of the drawings
Fig. 1 is the structural schematic diagram of the water quality sniffing robot regulator control system based on sonar sensing analysis of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention is a kind of water quality sniffing robot regulator control system based on sonar sensing analysis, including water quality detection machine
People and sensor measuring regulator control system；Main process task control unit is equipped in sensor measuring regulator control system；In sensor measuring regulator control system
Equipped with buoyancy adjustment control unit；Main process task control unit is by information/signal transmission module by corresponding activation bit/signal
It is transmitted to buoyancy adjustment control unit；Water level depth monitoring unit is equipped in sensor measuring regulator control system；Water level depth monitoring is single
Member is by data information/signal transmission module by corresponding information/signal transmission to main process task control unit；Sensor measuring regulates and controls
Horizontal detection control unit and longitudinal probing control unit are equipped in system；Main process task control unit passes through information/signal transmission
Module is by corresponding activation bit/signal transmission to horizontal detection control unit；Main process task control unit is passed by information/signal
Defeated module is by corresponding activation bit/signal transmission to longitudinal probing control unit；Image is equipped in sensor measuring regulator control system
Acquisition control unit；Image Acquisition control unit is by data information transfer module by corresponding data information transfer to main process task
Control unit；Information feedback control unit is equipped in sensor measuring regulator control system；Main process task control unit passes through data information/letter
Number transmission module is by corresponding data information/signal transmission to information feedback control unit.
Further, water quality sniffing robot is equipped with buoyancy regulation device, the buoyancy tune in sensor measuring regulator control system
Section control unit is connected by information/signal transmission drive control mode with buoyancy regulation device.
Further, water quality sniffing robot is equipped with Level monitor, and Level monitor passes through data information/letter
Number conversion and transmission mode be connected with the water level depth monitoring unit in sensor measuring regulator control system.
Further, water quality sniffing robot is equipped with sonar detection device, the lateral spy in sensor measuring regulator control system
It surveys control unit to be connected with sonar detection device by information/signal transmission drive control mode, in sensor measuring regulator control system
Longitudinal probing control unit be connected with sonar detection device by information/signal transmission drive control mode.
Further, include camera shooting harvester on water quality sniffing robot, image harvester and pass through data information turn
It changes and transmission mode is connected with the Image Acquisition control unit in sensor measuring regulator control system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (5)
1. a kind of water quality sniffing robot regulator control system based on sonar sensing analysis, it is characterised in that：
Including water quality sniffing robot and sensor measuring regulator control system；
Main process task control unit is equipped in the sensor measuring regulator control system；
Buoyancy adjustment control unit is equipped in the sensor measuring regulator control system；
The main process task control unit is by information/signal transmission module by corresponding activation bit/signal transmission to buoyancy tune
Save control unit；
Water level depth monitoring unit is equipped in the sensor measuring regulator control system；
The water level depth monitoring unit is by data information/signal transmission module by corresponding information/signal transmission to main place
Manage control unit；
Horizontal detection control unit and longitudinal probing control unit are equipped in the sensor measuring regulator control system；
The main process task control unit is by information/signal transmission module by corresponding activation bit/signal transmission to lateral spy
Survey control unit；
The main process task control unit is by information/signal transmission module by corresponding activation bit/signal transmission to longitudinal spy
Survey control unit；
Image Acquisition control unit is equipped in the sensor measuring regulator control system；
Described image acquisition control unit is controlled corresponding data information transfer to main process task by data information transfer module
Unit；
Information feedback control unit is equipped in the sensor measuring regulator control system；
The main process task control unit is extremely believed corresponding data information/signal transmission by data information/signal transmission module
Cease feedback control unit.
2. a kind of water quality sniffing robot regulator control system based on sonar sensing analysis according to claim 1, feature
It is：
The water quality sniffing robot is equipped with buoyancy regulation device, the buoyancy adjustment control in the sensor measuring regulator control system
Unit is connected by information/signal transmission drive control mode with buoyancy regulation device.
3. a kind of water quality sniffing robot regulator control system based on sonar sensing analysis according to claim 1, feature
It is：
The water quality sniffing robot is equipped with Level monitor, and the Level monitor is turned by data information/signal
It changes and transmission mode is connected with the water level depth monitoring unit in sensor measuring regulator control system.
4. a kind of water quality sniffing robot regulator control system based on sonar sensing analysis according to claim 1, feature
It is：
The water quality sniffing robot is equipped with sonar detection device, the horizontal detection control in the sensor measuring regulator control system
Unit is connected by information/signal transmission drive control mode with sonar detection device, in the sensor measuring regulator control system
Longitudinal probing control unit is connected by information/signal transmission drive control mode with sonar detection device.
5. a kind of water quality sniffing robot regulator control system based on sonar sensing analysis according to claim 1, feature
It is：
Include camera shooting harvester on the water quality sniffing robot, the camera shooting harvester is converted and passed by data information
Defeated mode is connected with the Image Acquisition control unit in sensor measuring regulator control system.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810422021.0A CN108748142A (en) | 2018-05-04 | 2018-05-04 | A kind of water quality sniffing robot regulator control system based on sonar sensing analysis |
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| CN201810422021.0A CN108748142A (en) | 2018-05-04 | 2018-05-04 | A kind of water quality sniffing robot regulator control system based on sonar sensing analysis |
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| CN108748142A true CN108748142A (en) | 2018-11-06 |
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Citations (6)
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| CN103439971A (en) * | 2013-08-13 | 2013-12-11 | 北京师范大学 | Robot for detecting underwater topography and water quality index in reservoir area |
| CN203502405U (en) * | 2013-09-22 | 2014-03-26 | 山东省科学院海洋仪器仪表研究所 | Remote-control type underwater robot system for monitoring water quality |
| CN106404067A (en) * | 2016-10-14 | 2017-02-15 | 合肥工业大学 | Water quality monitoring robot based on electroactive polymer driving |
| CN106645622A (en) * | 2016-12-29 | 2017-05-10 | 天津瀚旺数据系统集成有限公司 | Operation method of water quality detection robot |
| CN107010187A (en) * | 2017-04-01 | 2017-08-04 | 郑州大学 | It is a kind of to be used for the spherical underwater robot of outdoor water quality monitoring |
| CN107271118A (en) * | 2017-07-11 | 2017-10-20 | 广州市欧树环保科技有限公司 | A kind of water quality monitoring robot |
-
2018
- 2018-05-04 CN CN201810422021.0A patent/CN108748142A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103439971A (en) * | 2013-08-13 | 2013-12-11 | 北京师范大学 | Robot for detecting underwater topography and water quality index in reservoir area |
| CN203502405U (en) * | 2013-09-22 | 2014-03-26 | 山东省科学院海洋仪器仪表研究所 | Remote-control type underwater robot system for monitoring water quality |
| CN106404067A (en) * | 2016-10-14 | 2017-02-15 | 合肥工业大学 | Water quality monitoring robot based on electroactive polymer driving |
| CN106645622A (en) * | 2016-12-29 | 2017-05-10 | 天津瀚旺数据系统集成有限公司 | Operation method of water quality detection robot |
| CN107010187A (en) * | 2017-04-01 | 2017-08-04 | 郑州大学 | It is a kind of to be used for the spherical underwater robot of outdoor water quality monitoring |
| CN107271118A (en) * | 2017-07-11 | 2017-10-20 | 广州市欧树环保科技有限公司 | A kind of water quality monitoring robot |
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