CN109270233A - It is a kind of for searching the unmanned boat system of pollution entering the water - Google Patents
It is a kind of for searching the unmanned boat system of pollution entering the water Download PDFInfo
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- CN109270233A CN109270233A CN201810982626.5A CN201810982626A CN109270233A CN 109270233 A CN109270233 A CN 109270233A CN 201810982626 A CN201810982626 A CN 201810982626A CN 109270233 A CN109270233 A CN 109270233A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M3/00—Investigating fluid-tightness of structures
- G01M3/02—Investigating fluid-tightness of structures by using fluid or vacuum
- G01M3/26—Investigating fluid-tightness of structures by using fluid or vacuum by measuring rate of loss or gain of fluid, e.g. by pressure-responsive devices, by flow detectors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
- G01R19/165—Indicating that current or voltage is either above or below a predetermined value or within or outside a predetermined range of values
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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
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Computer Networks & Wireless Communication (AREA)
- Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Automation & Control Theory (AREA)
- Food Science & Technology (AREA)
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- Acoustics & Sound (AREA)
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- Immunology (AREA)
- Pathology (AREA)
- Combustion & Propulsion (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a kind of for searching the unmanned boat system of pollution entering the water, which includes processor module, power module, power drive module, sensor module, positioning navigation module, operator's control module.Wherein operator's control module carries out information exchange by infrared signal and unmanned boat, and main body is also a piece of CPU, and main composition has signal processing module, keyboard and state display module, program and data storage.Sensor module is mainly responsible for the hydrographic informations such as measurement water velocity, water (flow) direction, pollutant relative concentration, provides it to processor module, so that processor plans reasonable traveling scheme.Wherein pollution this hydrologic parameter of relative concentration can change according to different types of pollutant, so that the present invention is adapted to various types of pollution sources and searches task.The present invention solves many deficiencies of current fixed point monitoring system and artificial water quality monitoring, improves the efficiency and precision for searching pollution entering the water.
Description
Technical field
The present invention relates to a kind of for searching the unmanned boat system of pollution entering the water, belongs to unmanned boat control technology field.
Background technique
At this stage, China's water pollution detection system is mainly made of fixed point monitoring station and artificial water quality monitoring.
Fixed point monitoring system is to carry out the monitoring of water quality parameter to waters such as river, river, lakes by Hydrology department.System master
It to be made of Hydrologic monitoring station and overall control center, Hydrologic monitoring station is throughout entire urban waters, and by sensing equipment, timing is received
Collect waters water quality information, overall control center handles these information by analysis, carries out integral monitoring to Urban Hydrologic system.It is this
Traditional method is no doubt that brilliant contribution was made in the water pollution detection in China, but its still have detection range it is smaller,
Many deficiencies such as maintenance cost is higher.
Artificial water quality monitoring is usually driven in waters scene by staff and samples, later using special in laboratory
Industry instrument carries out water analysis.This method overcomes the lesser limitation of monitoring range relative to fixed point monitoring system, but still
So there is a problem of measurement period length, especially it has rollover when measuring heavy polluted water, maloperation causes poisoning etc. can
The hidden danger of operator's personal safety can be threatened.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of for searching the unmanned boat system of pollution entering the water, is to mention
It is realized simply for a kind of, and the unmanned boat of energy automatic searching pollution entering the water.People's ship can be by long-range in pollution entering the water search
Remote control, and default, contexture by self route are searched.Both the scope limitation for having breached fixed point monitoring station in turn avoids artificial
Water quality monitoring is uninteresting, duplicate labour, substantially increases the efficiency of pollution entering the water search, has ensured the person peace of operator
Entirely.
The present invention uses following technical scheme to solve above-mentioned technical problem:
The present invention provides a kind of for searching the unmanned boat system of pollution entering the water, which includes processor module, is used for
The power module of power supply, power drive module, sensor module, positioning navigation module, operator's control module；
Processor module receives and stores the hydrologic parameter from sensor module, calculates the opposite of the pollutant in water outlet
Traveling scheme is sent to power drive module according to concentration gradient information planning traveling scheme by concentration gradient；To operator
Control module real-time Transmission detection data, and receive the data from console；
Positioning navigation module obtains the latitude and longitude information of unmanned boat in real time, and is sent to operator's control module.
As further technical solution of the present invention, operator's control module is carried out by infrared signal and processor module
Information exchange.
As further technical solution of the present invention, processor module is according to the step of concentration gradient information planning traveling scheme
Suddenly are as follows:
A) according to the current vector data detected, current course angle is adjusted with pid control algorithm, so that unmanned boat is inverse
Water (flow) direction exercise；
B) according to the water velocity adjustment onward impulse detected, keep ship with respect to the speed of water with pid control algorithm
It is constant；
C primary pollution relative concentration information, and BDS by each metrical information and at that time) are detected at regular intervals
Location information, which transmits, gives operator's control module, and the gradient information of pollutant relative concentration can be obtained；
D) if ultrasonic sensor, which detects in the certain distance of front, barrier, the distance returned according to sensor module
Suitable course angle and speed are calculated with width information, to evade front obstacle；
E) if gyroscope detects that the inclination angle of hull is more than a threshold value, the onward impulse of ship is reduced, with PID control
Algorithm keeps ship static with respect to water；
F) pollutant relative concentration that unmanned boat test constantly is measured until this is lower than the value of preceding one-shot measurement, then cuts
MANUAL CONTROL mode is changed, and opens asdic, the information detected is transmitted to operator's control module to seek
Look for pollution sources.
As further technical solution of the present invention, power drive module is wind power propulsion device, including installation is on the quarter
Propeller on deck.
As further technical solution of the present invention, sensor module includes the ultrasonic distance measurement sensing of installation on the bow
Water flow sensing unit, the pollutant of device, the gyroscope being mounted on inside hull and baroceptor and installation alow sense
Device, ultrasonic listening sensor.
As further technical solution of the present invention, positioning navigation module is DBS navigation system.
As further technical solution of the present invention, power module includes the independent current source of processor module, location navigation
The independent current source and backup power source of module.
As further technical solution of the present invention, operator's control module includes CPU and difference letter connected to it
Number processing module, keyboard and display module, program and data storage.
The invention adopts the above technical scheme compared with prior art, has following technical effect that unmanned boat system of the present invention
The design scheme of system uses remote control mode, and the personal safety of operator is protected when searching pollution sources, improves and searches
Seek the efficiency of pollution sources；Wind power propulsion device in the unmanned boat system of the present invention avoids underwater propeller to sensor module
The influence of neighbouring water pollution concentration, improves measurement accuracy；Automatic obstacle-avoiding, hull posture in the unmanned boat system of the present invention
Detection, leak water detdction and low battery alarm device have ensured the safety and stability when operation of unmanned boat, rise to unmanned boat
Protective effect is arrived.
Detailed description of the invention
Fig. 1 is each module connection diagram of the unmanned boat system of the present invention
Fig. 2 is the connection schematic diagram of operator's control module in the unmanned boat system of the present invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by
The embodiment being described with reference to the drawings is exemplary, and for explaining only the invention, and cannot be construed to limit of the invention
System.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have and the context of the prior art
In the consistent meaning of meaning will not be solved and unless defined as here with idealization or meaning too formal
It releases.
Technical solution of the present invention is described in further detail with reference to the accompanying drawing:
Embodiment one
As shown in Figure 1, each module connection signal for the unmanned boat system of the present invention when searching for radioactive material contamination source
Figure.Unmanned boat system comprises the following modules in the example:
1, processor module
Processor module receives and stores the hydrologic parameter from sensor module, calculates waterborne radioactivity particle intensity
Gradient information reasonably advances scheme according to radioactive particle intensity gradient information planning, and traveling scheme is sent to power
Drive module.It is connected simultaneously with operator's console by infrared signal, real-time Transmission detection data, and receive from control
The data of platform.
2, power drive module
Influence in view of underwater propeller to parameters such as water (flow) direction, pollutant concentrations, this patent take Wind power propelling
Device reequips the unmanned boat of traditional underwater propeller, propeller is on the quarter installed on deck as pushing meanss,
And it is controlled together by processor module with stern rudder.
3, sensor module
Sensor module install alow, inside fore and hull, hull bottom includes that a water flow sensing unit, a particle are strong
Instrument is spent, is responsible for measurement hydrologic parameter, comprising: current vector data, radion intensity.Hull bottom further includes that a ultrasonic wave is visited
Device is surveyed, is opened near pollution sources, by the ultrasonic listening image transmission of water-bed environment to processor module.Fore installation
One camera and a ultrasonic sensor, ultrasonic sensor detect the distance of ship and front obstacle, and camera is visited
The width for surveying front obstacle, is sent to processor module for distance and width information to calculate suitable course angle and speed
To evade front obstacle.Further, a gyroscope is installed additional inside hull to detect hull posture, so as in hull
The speed of a ship or plane is reduced when inclination angle is excessive to hold position.Further, baroceptor is installed additional inside hull for detecting unmanned boat
Air pressure inside information, for sending leak alarm to console.
4, positioning navigation module
Positioning navigation module is obtained the latitude and longitude information of unmanned ship position in real time, is transmitted directly to by DBS navigation system
Operator's console.Equipped with independent current source module, to help operator manual when unmanned boat processor module stops working
Recover unmanned boat.
5, power module
The module includes processor power supply module, the independent current source module of positioning navigation module and backup power source, Ke Yi
When unmanned boat remaining capacity deficiency, start backup power source, while sending the alarm of not enough power supply to operator's control module.
6, operator's control module
As shown in Fig. 2, the module carries out remote interaction by infrared signal and unmanned boat processor module.Its main body is also
A piece of CPU, main composition have signal processing module, keyboard and state display module, program and data storage.
Embodiment two:
As shown in Figure 1, each module connection diagram for the unmanned boat system of the present invention when searching for water surface oil leaking pollution source.
Unmanned boat system comprises the following modules in the example:
1, processor module
Processor module receives and stores the hydrologic parameter from sensor module, calculates greasy dirt thickness gradient letter in water outlet
Breath reasonably advances scheme according to water oil stain thickness gradient information planning, and traveling scheme is sent to power drive mould
Block.It is connected simultaneously with operator's console by infrared signal, real-time Transmission detection data, and receive the number from console
According to.
2, power drive module
Influence in view of underwater propeller to parameters such as water (flow) direction, pollutant concentrations, this patent take Wind power propelling
Device reequips the unmanned boat of traditional underwater propeller, propeller is on the quarter installed on deck as pushing meanss,
And it is controlled together by processor module with stern rudder.
3, sensor module
Sensor module install alow, inside fore and hull, hull bottom includes a water flow sensing unit, a greasy dirt thickness
Detector is spent, is responsible for measurement hydrologic parameter, comprising: current vector data, greasy dirt thickness.Hull bottom further includes that a ultrasonic wave is visited
Device is surveyed, is opened near pollution sources, by the ultrasonic listening image transmission of water-bed environment to processor module.Fore installation
One camera and a ultrasonic sensor, ultrasonic sensor detect the distance of ship and front obstacle, and camera is visited
The width for surveying front obstacle, is sent to processor module for distance and width information to calculate suitable course angle and speed
To evade front obstacle.Further, a gyroscope is installed additional inside hull to detect hull posture, so as in hull
The speed of a ship or plane is reduced when inclination angle is excessive to hold position.Further, baroceptor is installed additional inside hull for detecting unmanned boat
Air pressure inside information, for sending leak alarm to console.
4, positioning navigation module
Positioning navigation module is obtained the latitude and longitude information of unmanned ship position in real time, is transmitted directly to by DBS navigation system
Operator's console.Equipped with independent current source module, to help operator manual when unmanned boat processor module stops working
Recover unmanned boat.
5, power module
The module includes processor power supply module, the independent current source module of positioning navigation module and backup power source, Ke Yi
When unmanned boat remaining capacity deficiency, start backup power source, while sending the alarm of not enough power supply to operator's control module.
6, operator's control module
As shown in Fig. 2, the module carries out remote interaction by infrared signal and unmanned boat processor module.Its main body is also
A piece of CPU, main composition have signal processing module, keyboard and state display module, program and data storage.
Embodiment three:
As shown in Figure 1, each module connection diagram for the unmanned boat system of the present invention when searching for acidic materials pollution sources.
Unmanned boat system comprises the following modules in the example:
1, processor module
Processor module receives and stores the hydrologic parameter from sensor module, calculates pH value gradient information in water outlet,
Reasonable traveling scheme is planned according to pH value gradient information, and traveling scheme is sent to power drive module.Simultaneously with operation
Member's console is connected by infrared signal, real-time Transmission detection data, and receives the data from console.
2, power drive module
Influence in view of underwater propeller to parameters such as water (flow) direction, pollutant concentrations, this patent take Wind power propelling
Device reequips the unmanned boat of traditional underwater propeller, propeller is on the quarter installed on deck as pushing meanss,
And it is controlled together by processor module with stern rudder.
3, sensor module
Sensor module install alow, inside fore and hull, hull bottom includes a water flow sensing unit, a pH value inspection
Instrument is surveyed, is responsible for measurement hydrologic parameter, comprising: current vector data, pH value.Hull bottom further includes a supersonic sounding device,
Pollution sources are nearby opened, by the ultrasonic listening image transmission of water-bed environment to processor module.Fore installs a camera
With a ultrasonic sensor, ultrasonic sensor detects the distance of ship and front obstacle, and camera detects preceding object
Distance and width information are sent to processor module to calculate suitable course angle and speed and evade front by the width of object
Barrier.Further, a gyroscope is installed additional inside hull to detect hull posture, so as to when hull inclination angle is excessive
The speed of a ship or plane is reduced to hold position.Further, baroceptor is installed additional inside hull for detecting unmanned boat air pressure inside letter
Breath, for sending leak alarm to console.
4, positioning navigation module
Positioning navigation module is obtained the latitude and longitude information of unmanned ship position in real time, is transmitted directly to by DBS navigation system
Operator's console.Equipped with independent current source module, to help operator manual when unmanned boat processor module stops working
Recover unmanned boat.
5, power module
The module includes processor power supply module, the independent current source module of positioning navigation module and backup power source, Ke Yi
When unmanned boat remaining capacity deficiency, start backup power source, while sending the alarm of not enough power supply to operator's control module.
6, operator's control module
As shown in Fig. 2, the module carries out remote interaction by infrared signal and unmanned boat processor module.Its main body is also
A piece of CPU, main composition have signal processing module, keyboard and state display module, program and data storage.
The above, the only specific embodiment in the present invention, but scope of protection of the present invention is not limited thereto, appoints
What is familiar with the people of the technology within the technical scope disclosed by the invention, it will be appreciated that expects transforms or replaces, and should all cover
Within scope of the invention, therefore, the scope of protection of the invention shall be subject to the scope of protection specified in the patent claim.
Claims (8)
1. a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that the system includes processor module, for supplying
The power module of electricity, power drive module, sensor module, positioning navigation module, operator's control module；
Processor module receives and stores the hydrologic parameter from sensor module, calculates the relative concentration of the pollutant in water outlet
Traveling scheme is sent to power drive module according to concentration gradient information planning traveling scheme by gradient；Mould is controlled to operator
Block real-time Transmission detection data, and receive the data from console；
Positioning navigation module obtains the latitude and longitude information of unmanned boat in real time, and is sent to operator's control module.
2. according to claim 1 a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that operator's control
Molding block carries out information exchange by infrared signal and processor module.
3. according to claim 1 a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that processor die
The step of root tuber is according to concentration gradient information planning traveling scheme are as follows:
A) according to the current vector data detected, current course angle is adjusted with pid control algorithm, so that unmanned boat is against water
Direction is flowed to exercise；
B) according to the water velocity adjustment onward impulse detected, keep ship with respect to the constant airspeed of water with pid control algorithm；
C primary pollution relative concentration information) is detected at regular intervals, and BDS positioning by each metrical information and at that time
Information package is sent to operator's control module, and the gradient information of pollutant relative concentration can be obtained；
D) if ultrasonic sensor, which detects in the certain distance of front, barrier, according to the distance and width of sensor module passback
It spends information and calculates suitable course angle and speed, to evade front obstacle；
E) if gyroscope detects that the inclination angle of hull is more than a threshold value, the onward impulse of ship is reduced, with pid control algorithm
Keep ship static with respect to water；
F) pollutant relative concentration that unmanned boat test constantly is measured until this is lower than the value of preceding one-shot measurement, then switches hand
Dynamic control model, and asdic is opened, the information detected is transmitted to operator's control module to find dirt
Dye source.
4. according to claim 1 a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that power drive
Module is wind power propulsion device, including the propeller being mounted on aftdeck.
5. according to claim 1 a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that sensor die
Block includes installation ultrasonic distance-measuring sensor on the bow, the gyroscope being mounted on inside hull and baroceptor and installation
Water flow sensing unit, pollutant sensor, ultrasonic listening sensor alow.
6. according to claim 1 a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that location navigation
Module is DBS navigation system.
7. according to claim 1 a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that power module
The independent current source and backup power source of independent current source, positioning navigation module including processor module.
8. according to claim 1 a kind of for searching the unmanned boat system of pollution entering the water, which is characterized in that operator's control
Molding block includes CPU and difference signal processing module, keyboard and display module connected to it, program and data storage.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810982626.5A CN109270233A (en) | 2018-08-27 | 2018-08-27 | It is a kind of for searching the unmanned boat system of pollution entering the water |
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| CN201810982626.5A CN109270233A (en) | 2018-08-27 | 2018-08-27 | It is a kind of for searching the unmanned boat system of pollution entering the water |
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| CN109270233A true CN109270233A (en) | 2019-01-25 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116794261A (en) * | 2023-07-27 | 2023-09-22 | 湖北工业大学 | Water area cultivation environment monitoring method, device, system and electronic equipment |
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