CN109541609A - Rivers and lakes sniffing robot and its operational method - Google Patents
Rivers and lakes sniffing robot and its operational method Download PDFInfo
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- CN109541609A CN109541609A CN201811504964.4A CN201811504964A CN109541609A CN 109541609 A CN109541609 A CN 109541609A CN 201811504964 A CN201811504964 A CN 201811504964A CN 109541609 A CN109541609 A CN 109541609A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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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- 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
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Computer Networks & Wireless Communication (AREA)
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- Robotics (AREA)
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Abstract
The present invention provides a kind of rivers and lakes sniffing robot and its operational method, robot is connect with client communication, including car body (3), drive the front-end driven mechanism (1) of the car body, rear end driving mechanism (2), and it is mounted on the swimmer propulsion unit (7) of the lower car body, anticollision mould group (5) on the car body is set, anterior optic navigates mould group (12), after-vision navigates mould group (13), sonar scanning imagery mould group (6), it fetches water mould group (14), hydromining collection and sludge acquisition mould group (15), sensor module (17), radio station coordinate information scanning module (10), signal of communication arranges mould group (11) and is arranged in the intracorporal central processing module of the vehicle and solid state battery.The robot and operational method are suitable for the detection of rivers and lakes water quality, monitoring water environment and the detection of rivers and lakes bank environment complex water areas.
Description
Technical field
The invention belongs to rivers bank lake robot fields, more particularly, to a kind of rivers and lakes sniffing robot and its work
Industry method.
Background technique
It is at present by underwater robot reality to rivers and lakes biotic environment, aquatic environment, sludge sampling, benthon detection
Existing, the underwater robot system of the prior art is complicated, has a single function, can only use under water, cannot walk in land, cannot
Realize that land and water two is used, and the underwater robot having is deep restricted to relating to.
Summary of the invention
The present invention provides a kind of rivers and lakes sniffing robot and its operational method to solve the deficiencies in the prior art,
The robot and operational method be suitable for the rivers and lakes water quality detection of rivers and lakes bank environment complex water areas, monitoring water environment and
Detection.
What technological means of the invention was realized in.
A kind of rivers and lakes sniffing robot, robot are connect with client communication, it is characterised in that: including car body (3),
Drive the front-end driven mechanism (1), rear end driving mechanism (2) and the marine propulsion for being mounted on the lower car body of the car body
The anticollision mould group (5) on the car body is arranged in device (7), and anterior optic is navigated mould group (12), and after-vision navigates mould group (13),
Sonar scanning imagery mould group (6) is fetched water mould group (14), hydromining collection and sludge acquisition mould group (15), sensor module (17), radio station
Coordinate information scanning module (10), signal of communication arrange mould group (11) and setting in the intracorporal central processing module of the vehicle and
Solid state battery；The front-end driven mechanism (1), rear end driving mechanism (2), swimmer propulsion unit (7), anticollision mould group (5), forward sight
Feel navigation mould group (12), after-vision navigates mould group (13), and sonar scanning imagery mould group (6) is fetched water mould group (14), hydromining collection and dirt
Mud acquires mould group (15), and sensor module (17) is electrically connected with the central processing module.Robot is driven by the front end
Motivation structure (1), rear end driving mechanism (2) are walked in land, are walked in water by the swimmer propulsion unit (7)；Robot
By the front and back vision guided navigation mould group, captured information is scanned, with preset environmental information comparative analysis either by being provided as in advance
Industry route, by the radio station coordinate information scanning module (10) (GPS), signal of communication arranges mould group (11) (robot and control
The module of center communication processed, is responsible for the transmitting-receiving of data), anticollision mould group (5), sonar scanning imagery mould group (6), automatic identification land
Ground road conditions and underwater roadblock, ecological environment, selection optimization route walking, and mould group is acquired by the hydromining collection and sludge
(15) (underwater HD video camera lens, bio-identification mould group are had) and determines that underwater standard adopts waters；Robot starts the water intaking
Mould group (14) leads the hydromining collection and sludge to acquire mould group (15) decline；Water sample or mud sample are through the water intaking mould group
(14) be transmitted to sample memory, through the water quality monitoring sensor module (17) carry out when actual measured amount, transmit information back to control
Center processed；All systems use solid state battery low-voltage power as the energy, and not only safety did not polluted the environment again, and robot is out
It will carry out disinfection at (Special sterilizing station) when hair or return, be equipped with dedicated charging corollary equipment.In this way, robot is in centre
It manages under module intelligent control commander, current place fact is monitored and is detected on the way, to underwater water environment information and biology
Activity condition is monitored and detects, and water sample and mud sample are monitored and are detected, and the information detected is sent back to control
On center processed or specific communication equipment.
A kind of operational method of rivers and lakes sniffing robot, suitable for rivers and lakes explorer as claimed in claim
Device people, it is characterised in that: following steps are executed,
S1, rivers and lakes sniffing robot plan work route and setting in advance, plan detection operations plan；
S2, rivers and lakes sniffing robot are according to work route, the guide through vision guided navigation and Unmanned Systems, vision
Grow directly from seeds into currently practical three dimensional spatial map when navigation when reality mirror image, generate exclusive space coordinate, robot is excellent in system
It walks on route after change, the environmental data on automatic measurement track route；
After S3, rivers and lakes sniffing robot to the predetermined water surface in coastline, start sonar scanning imagery mould group (6) to sea bed
Three-dimensional live detection scanning is carried out, when confirmation suitable water sampling under water or sludge acquire, starting water intaking mould group (14) is led
Hydromining collection and sludge acquisition mould group (15) are begun to decline by preset requirement, after reaching predetermined altitude, are pinpointed, is fixed
When, it is quantitative water sample and mud sample are pumped up water mechanism by the negative pressure of independent research, be sent to from special flexible duct sample
In robot sample mould group (16), actual measured amount when being carried out through water quality monitoring sensor module (17)；By the various particular detections of water quality
After data filtering, data information is sent back into control centre, then analysis is carried out to water quality situation by water quality information analysis system and is sentenced
It is disconnected, finally obtain water quality indicator data；
During executing step S2 and S3, robot using it is described water intaking mould group (14) stretch front end hydromining collection and
Sludge acquires mould group (15) (have underwater HD video camera lens, bio-identification mould group), when obtain underwater water environment information in fact
And biological activity situation, the information of acquisition is sent back to control centre, the software analysis through independent research, to regional wildlife
And water environment early warning.Control centre carries out separate unit or more robots after presetting the planning of work route and setting,
Robot is under central processing module intelligent control commander, through vision guided navigation and unpiloted guide, the road of measurement walking on the way
Environmental data on line, after arriving the predetermined water surface in coastline, robot, which starts the sonar scanning imagery mould group, carries out sea bed
Three-dimensional live detection scanning, when confirmation suitable water sampling under water or sludge acquire, the water intaking mould group starting, the hydromining
Collection is begun to decline (at this time with sludge acquisition mould group 15 (with underwater HD video camera lens and gravity anchor) by preset requirement
It can be manually controlled with far field vision).After hydromining collection when 14 front end of mould group of fetching water reaches predetermined altitude with sludge acquisition mould group 15,
Pinpointed, timing, it is quantitative sample is pumped up water mechanism by the negative pressure of independent research, be sent to machine from special flexible duct sample
In device human sample's memory, actual measured amount when being carried out by the water quality monitoring sensor module (17).Pass through various electronic valves simultaneously
Sample water can be sent in different containers by the switching of door to be saved, and is used as artificial precisely assay.In operation
In the process, water quality monitoring sensor module 17 passes data information for after the various particular detection data filterings of the water quality in the region
It sends control centre back to, then water quality situation is analyzed and determined by water quality information analysis system, finally obtain water quality indicator data.
Primary operation process, be the water-bed 3D vision scanning for being sequentially completed each predeterminable area, benthon environment detection, sampling,
After water quality measurement operation, robot is under the instruction of central processing module intelligent control command system by the road planned in advance
It returns.In this way, robot is by vision guided navigation mould group, when obtain load conditions in fact, pass through the sonar scanning imagery that bottom is installed
Mould group (6), when obtain water-bed topographic features in fact, by hydromining collection and sludge acquisition mould group (15), when obtain underwater water ring in fact
Border information and biological activity situation, to traffic information, water-bed terrain information, water environment and biological activity information early warning, robot
The information of acquisition is sent back to control centre；The sludge sample on the water sample and riverbed at underwater certain depth is adopted by robot
Collection, actual measured amount when carrying out to water and sludge, sends back to control centre for water quality sludge data information.Robot system is according to itself electricity
The case where measuring management system determines its charging or waits for job instruction next time.
Rivers and lakes sniffing robot of the invention and its operational method, water route is amphibious, and the biology for having on-line checking is known
Not, the multiple functions such as river bed landform, rivers and lakes water environment, ecological environment are, it can be achieved that land pollutant, offshore rivers and lakes
The pollution situation of waters and rivers and lakes carries out dynamic supervision, visits environment etc. to land pollution, rivers and lakes pollution, rivers and lakes
Real-time monitoring and early warning analysis, it is more for the detection of rivers and lakes line, aquaculture, coast guard, maritime affairs, customs, aquaculture etc.
Industry has great practical value, has a wide range of application.Innovative point: amphibious driving；Vision guided navigation, AI (artificial intelligence) entangle
It is wrong；GPS, the positioning of Beidou dual system；Automatic adaptive learning and bio-identification；The monitoring of water environment online data；Rivers and lakes bed bottom
Layer visual scanning；The sampling of rivers and lakes bottom；Cloud data interaction calculating etc..
Detailed description of the invention
Fig. 1 rivers and lakes sniffing robot structural schematic diagram
Wherein: 1, front-end driven mechanism；2, rear end driving mechanism；3, car body；4, laser scanning mould group；5, anticollision belt
Radar mould group；6, sonar scanning imagery mould group；7, swimmer propulsion unit；8, preceding HD video monitoring and illumination module；9, rear high definition
Video surveillance and illumination module；10, radio station coordinate information scanning module；11, signal of communication arranges mould group；12, anterior optic is navigated
Mould group；13, after-vision navigation mould group；14, water intaking mould group；15, hydromining collection and sludge acquire mould group；16, sample mould group；17, it passes
Sensor mould group；
Specific embodiment
By specific embodiment, the present invention will be described in detail with reference to the accompanying drawing, and the description of this part is only demonstration
Property and explanatory, should not there is any restriction effect to protection scope of the present invention.In addition, those skilled in the art are according to herein
The description of part can carry out the corresponding combination to the feature in the embodiment of this document and in different embodiments.
A kind of rivers and lakes sniffing robot, is shown in Fig. 1, and robot is connect with client communication, it is characterised in that: including vehicle
Body (3) drives the front-end driven mechanism (1), rear end driving mechanism (2) and the water for being mounted on the lower car body of the car body
The anticollision mould group (5) on the car body is arranged in upper propeller (7), and anterior optic is navigated mould group (12), after-vision navigation mould group
(13), sonar scanning imagery mould group (6) is fetched water mould group (14), hydromining collection and sludge acquisition mould group (15), sensor module
(17), radio station coordinate information scanning module (10), signal of communication arrange mould group (11) and are arranged in the intracorporal center of the vehicle
Processing module and solid state battery；The front-end driven mechanism (1), rear end driving mechanism (2), swimmer propulsion unit (7), anticollision mould
Group (5), anterior optic are navigated mould group (12), and after-vision navigates mould group (13), sonar scanning imagery mould group (6), are fetched water mould group (14),
Hydromining collection and sludge acquisition mould group (15), sensor module (17) are electrically connected with the central processing module.Robot passes through
Front-end driven mechanism (1), rear end driving mechanism (2) are walked in land, are walked in water by swimmer propulsion unit (7)；Machine
People scans captured information by front and back vision guided navigation mould group, either presses default operation with preset environmental information comparative analysis
Route, by radio station coordinate information scanning module (10) (GPS), signal of communication arranges mould group (11) (robot and control centre
The module of communication is responsible for the transmitting-receiving of data), anticollision mould group (5), sonar scanning imagery mould group (6), automatic identification land road conditions
With underwater roadblock, ecological environment, selection optimization route is walked, and (has water by hydromining collection and sludge acquisition mould group (15)
Lower HD video camera lens, bio-identification mould group) determine that underwater standard adopts waters；Robot starting water intaking mould group (14), leads water
Acquisition and sludge acquisition mould group (15) decline；Water sample or mud sample are transmitted to sample mould group (16) through water intaking mould group (14)
(sample memory), actual measured amount when carrying out through water quality monitoring sensor module (17), transmits information back to control centre；Robot is logical
Preceding HD video monitoring and illumination module (8), rear HD video monitoring and illumination module (9) are crossed, the passback of realtime graphic is carried out,
Control centre keeps a record；Robot carries out the backup of road conditions, surrounding enviroment information, log by black box；All systems
By low-voltage power as the energy (solid state battery), not only safety did not polluted the environment again, and robot fills primary electricity in full power work
It can work continuously under industry environment 5-8 hours；Robot will carry out disinfection (Special sterilizing station) when setting out or returning；Equipped with special
Charging corollary equipment；Robot car body uses the engineering material of special formulation, as carbon fibre composite, glass reinforced plastic are compound
Material etc. is corrosion-resistant and material of light weight, regardless of will not all be corroded in fresh water, seawater, while vehicle body being greatly reduced again
Weight is easy to float traveling on the water, combines other with material and sealing waterproofness；The inside and outside coating of body construction
Antirust salt-fog preventing coating.In this way, robot is under the commander of central processing module intelligent control command system, on the way to working as front court
Institute's fact is monitored and detects, in region biology be monitored and detect, water sample and mud sample are supervised
It surveys and detects, the information detected is sent back in control centre or specific communication equipment.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot,
The front-end driven mechanism (1), rear end driving mechanism (2) constitute the 4 wheel driven front and back adaptive drive system of land walking, waterborne
Propeller (7) constitutes the front and back adaptive drive system walked in water.Front and back end all bands of driving mechanism and swimmer propulsion unit (7)
Turning function, by the steering of front two, two movements below either two steerings below, the movement of front two, either
It is inconsistent by moving forward and backward speed, or pass through all around inconsistent realization pivot stud of movement velocity, 360 degree rotation
Function.In this way, rivers and lakes sniffing robot has taken into account the function of vehicle and ship, there is land and water walking performance, land driving
Walking mechanism is made of four-wheel drive system and front and back turning drive system two parts, it can be achieved that original place 360 degree rotation, and in water
Walking is completed by the propulsion and the integrated system of turning of independent research, and when in water or land is walked, encountering cannot turn around
The case where, system can automatically switch to backward going and carry out normal walking.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot,
Robot is connect using locally, remotely control mode with client communication, and the client passes through network and robot server
Connection.In this way, rivers and lakes sniffing robot is using locally, remotely control mode, whens data, acquires in fact, using independent research
Communication mode and external cloud service carry out data backup and process data extracts.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot,
The anticollision mould group (5) is the anticollision belt radar mould group being arranged on the car body periphery.Anticollision mode has very much
Kind, such as mechanical anticollision, photo-electric anticollision, ultrasonic anti-collision, microwave anticollision etc., using radar mode anticollision, and as band
Style is arranged in the car body periphery, can greatly improve unpiloted safety guarantee.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot,
The hydromining collection and sludge acquisition mould group (15) are configured with underwater HD video camera lens, bio-identification mould group and gravity anchor.Due to
The effect of gravity anchor so that hydromining collection and sludge acquisition mould group (15) sampling structure be stabilized in a certain position (position height by
The height of mould group of fetching water control determines), in this way, HD video camera lens, bio-identification mould group detect sub-marine situations and ecology comprehensively
Situation obtains underwater water environment and biological activity information, so as to which the waters place in standard collects correct water sample
Product and mud sample.
On the basis of the above embodiment, in another embodiment of the present invention, the hydromining collection and sludge acquire mould group
(15) sampling structure is gripper structure.Like finger, finger tip is sharp for the front end of gripper, firm under the cooperation of gravity anchor
Be inserted into sea bed sludge heavyly, gripper be it is movable, can by water intaking mould group control tightening and unclamp, such structure can
Easily acquisition sea bed sludge.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot,
The water intaking mould group includes that hoisting mechanism, rope, negative pressure are pumped up water mechanism and flexible duct.One end of flexible duct and hydromining collection and
Sludge acquisition mould group (15) sampling structure be fixed together, the other end connection negative pressure pump up water mechanism (such as water pump), water sample and
It is sent in robot sample mould group (16) (sample memory) by negative pressure mechanism of pumping up water from flexible duct after mud sample acquisition,
In this way, realizing the transmission of acquisition sample.The water sample and sludge being transferred in robot sample mould group (16) (sample memory)
Sample, actual measured amount when carrying out through water quality monitoring sensor module (17), transmits information back to control centre；And hoisting mechanism cooperation rope
Rope determines the falling head of hydromining collection and sludge acquisition mould group (15), i.e. the acquisition height of water sample；And the acquisition of mud sample
Height can be determined with touching sea bed face.The water sample and sludge being transferred in robot sample mould group (16) (sample memory)
Sample can be sent in different containers by the switching of various electronic valves and be saved, as artificial precision by sample
Analysis is tested to use.
A kind of operational method of rivers and lakes sniffing robot, suitable for rivers and lakes explorer as claimed in claim
Device people, it is characterised in that: following steps are executed,
S1, rivers and lakes sniffing robot plan work route and setting in advance, plan detection operations plan；
S2, rivers and lakes sniffing robot are according to work route, the guide through vision guided navigation and Unmanned Systems, vision
Grow directly from seeds into currently practical three dimensional spatial map when navigation when reality mirror image, generate exclusive space coordinate, robot is excellent in system
It walks on route after change, the environmental data on automatic measurement track route；
After S3, rivers and lakes sniffing robot to the predetermined water surface in coastline, start sonar scanning imagery mould group (6) to sea bed
Three-dimensional live detection scanning is carried out, when confirmation suitable water sampling under water or sludge acquire, starting water intaking mould group (14) is led
Hydromining collection and sludge acquisition mould group (15) are begun to decline by preset requirement, after reaching predetermined altitude, are pinpointed, is fixed
When, it is quantitative water sample and mud sample are pumped up water mechanism by the negative pressure of independent research, be sent to from special flexible duct sample
In robot sample mould group (16), actual measured amount when being carried out through water quality monitoring sensor module (17)；By the various particular detections of water quality
After data filtering, data information is sent back into control centre, then analysis is carried out to water quality situation by water quality information analysis system and is sentenced
It is disconnected, finally obtain water quality indicator data；
During executing step S2 and S3, robot utilizes the hydromining collection and sludge of the flexible front end of water intaking mould group (14)
Acquire mould group (15) (have underwater HD video camera lens, bio-identification mould group), when obtain underwater water environment information and life in fact
The information of acquisition is sent back to control centre by object activity condition, the software analysis through independent research, to regional wildlife and water
Environmental warning.Control centre carries out separate unit or more robots after presetting the planning of work route and setting, machine
People, through vision guided navigation and unpiloted guide, measures on the way under the commander of central processing module intelligent control command system
Environmental data on track route, to after the predetermined water surface in coastline, robot start sonar scanning imagery mould group to sea bed into
Row three-dimensional live detection scanning, when confirmation suitable water sampling under water or sludge acquire, water intaking mould group 14 starts, and hydromining collection is same
Sludge acquisition mould group 15 (with underwater HD video camera lens and gravity anchor) is begun to decline by preset requirement (at this time can be with
Far field vision manually controls).Hydromining collection when 14 front end of mould group of fetching water (can be with after reaching predetermined altitude with sludge acquisition mould group 15
Reach underwater 20 meters of depth), pinpointed, timing, it is quantitative sample is pumped up water mechanism by the negative pressure of independent research, from special soft
Property pipeline send sample in robot sample mould group 16 (sample memory), it is real when being carried out by water quality monitoring sensor module 17
Measurement.Sample can be sent in different containers and be saved by the switching of various electronic valves simultaneously, as artificial essence
Quasi- assay uses.In operation process, water quality monitoring sensor module 17 is by the various particular detection numbers of the water quality in the region
After filtering, data information is sent back into control centre, then analyzed and determined to water quality situation by water quality information analysis system,
Finally obtain water quality indicator data.Primary operation process is the water-bed 3D vision scanning for being sequentially completed each predeterminable area, water
After the detection of bottom biotic environment, sampling, water quality measurement operation, instruction of the robot in central processing module intelligent control command system
Down by being returned on the road planned in advance.After returning to control centre or designated place, the water sample and sludge of acquisition are manually taken out
Sample, robot go cleaning center to carry out itself cleaning.The sewage of cleaning is through draining drainage tube outflow.If robot is small 24
When it is interior instructed without job task, system can automate a water intaking mould group pipeline and be cleaned with fresh water, and fresh water can be used inside and deposit
Receptacle space contains, and the seawater in the sample memory container of storage water quality monitoring sensor module is changed into fresh water, because of sensing
Detector is easy to appear failure when device detector is immersed in uncleanly water for a long time.Complete cleaning after, robot system according to
Its charging is determined according to the case where self electric quantity management system or waits for job instruction next time.Robot is setting out or is returning
When will carry out disinfection at (Special sterilizing station), be equipped with dedicated charging corollary equipment.In this way, robot passes through vision guided navigation mould
Group, when obtain load conditions in fact, the sonar scanning imagery mould group (6) installed by bottom, when obtain water-bed topographic features in fact, lead to
Cross hydromining collection and sludge acquisition mould group (15), when obtain underwater water environment information and biological activity situation in fact, to traffic information,
The information of acquisition is sent back to control centre by water-bed terrain information, water environment and biological activity information early warning, robot.Robot pair
The sludge sample on water sample and riverbed at underwater certain depth is acquired, actual measured amount when carrying out to water and sludge, by water quality dirt
Mud data information sends back to control centre.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot
Operational method, during executing step S2 and S3, robot is if necessary to mating with seashore wire mounting third party monitoring
Equipment carries out data docking, then number can be docked by installing control module matched with the robot additional on third party's corollary equipment
According to progress data communication and control, abnormal conditions early warning etc. are realized and seashore wire mounting third party monitoring corollary equipment data
Seamless interfacing.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot
Operational method, during executing step S2 and S3, when vision of the system detection to vision guided navigation mould group, reality mirror image navigates
When system breaks down, the laser navigation of the laser scanning mould group (4) of the car body rear and front end+interior is arranged in automatic starting
The 4G signal set, allows robot security's to return to control centre.In this way, robot is equipped with spare laser scanning mould group (4), phase
When in route guidance redundant system, when vision guided navigation mould group breaks down, will automatic starting laser navigation+built-in 4G letter
Number, improve safety guarantee.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot
Operational method, the water intaking mould group (14) drive hydromining collection and sludge acquisition mould group (15) it is three-dimensional (vertical demixing formula, highly by
Mould group (14) control of fetching water determines) in acquisition ocean between minus 20 meters -0 meter any section water sample, sea bed can be taken out and be negative
Sludge sample on sea bed within 20 meters.Water intaking mould group (14) drives hydromining collection and sludge acquisition mould group (15) can be underwater
At the different depth of vertical direction, as similar layering, three-dimensional acquisition water sample, according to robot sample mould group (16)
The number of containers facilities that water sample is stored on (sample memory) sample in ocean any section between minus 20 meters -0 meter
Water sample, one-stop operation can acquire the water sample of 12 sampled points.During the sampling of each sampled point water intaking, through water quality
Actual measured amount when sensor module carries out is monitored, control centre is passed back after 5 seconds to current water quality detection information.Likewise, machine
Device people, which acquires mould group (15) using water intaking mould group (14) and hydromining collection and sludge, can take out the sea bed that sea bed is negative within 20 meters
On sludge, according in robot sample mould group (16) (sample memory) mud sample store number of containers facilities,
One-stop operation can acquire the mud sample of 6 sampled points.
On the basis of the above embodiment, in another embodiment of the present invention, the rivers and lakes sniffing robot
Operational method can be carried out job site, scene and equipment by standard atlas or data pre- during executing step S1
It sets, obtains initial environmental data with this, complete navigation map or environment and target is configured, and according to presetting or divide automatically
The route obtained is analysed, the work plan of corresponding route is formulated.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (11)
1. a kind of rivers and lakes sniffing robot, robot are connect with client communication, it is characterised in that: including car body (3), drive
Move the front-end driven mechanism (1), rear end driving mechanism (2) and the swimmer propulsion unit for being mounted on the lower car body of the car body
(7), the anticollision mould group (5) on the car body, sonar scanning imagery mould group (6) are set, anterior optic is navigated mould group (12), after
Vision guided navigation mould group (13) is fetched water mould group (14), and hydromining collection and sludge acquisition mould group (15), sensor module (17), radio station is sat
It marks information scanning mould group (10), signal of communication arranges mould group (11) and setting in the intracorporal central processing module of the vehicle and consolidates
State battery；The front-end driven mechanism (1), rear end driving mechanism (2), swimmer propulsion unit (7), anticollision mould group (5), sonar is swept
It retouches imaging modules (6), anterior optic is navigated mould group (12), and after-vision navigates mould group (13), it fetches water mould group (14), hydromining collection and sludge
It acquires mould group (15), sensor module (17) is electrically connected with the central processing module.
2. rivers and lakes sniffing robot according to claim 1, the front-end driven mechanism (1), rear end driving mechanism
(2) the 4 wheel driven front and back adaptive drive system of land walking is constituted, the swimmer propulsion unit (7) constitutes the front and back walked in water certainly
Adapt to drive system.
3. rivers and lakes sniffing robot according to claim 1, robot is connect using local, remote with client communication
Process control mode, the client are connect by network with robot server.
4. rivers and lakes sniffing robot according to claim 1, the anticollision mould group (5) are arranged in the vehicle
Anticollision belt radar mould group on body periphery.
5. rivers and lakes sniffing robot according to claim 1, the hydromining collection and sludge acquisition mould group (15) configuration
There are underwater HD video camera lens, bio-identification mould group and gravity anchor.
6. rivers and lakes sniffing robot according to claim 1, the hydromining collection and sludge acquisition mould group (15) are adopted
Spline structure be gripper structure, gripper be it is movable, by the water intaking mould group (14) control tightening and release.
7. rivers and lakes sniffing robot according to claim 1, the water intaking mould group (14) includes hoisting mechanism, rope
Rope, negative pressure are pumped up water mechanism and flexible duct.
8. a kind of operational method of rivers and lakes sniffing robot, suitable for rivers and lakes explorer described in claim 1-7
Device people, it is characterised in that: following steps are executed,
S1, rivers and lakes sniffing robot plan work route and setting in advance, plan detection operations plan；
S2, rivers and lakes sniffing robot are according to work route, the guide through vision guided navigation and Unmanned Systems, vision guided navigation
When reality mirror image when grow directly from seeds into currently practical three dimensional spatial map, generate exclusive space coordinate, robot is after system optimization
Route on walk, the environmental data on automatic measurement track route；
After S3, rivers and lakes sniffing robot to the predetermined water surface in coastline, starting sonar scanning imagery mould group (6) carries out sea bed
Three-dimensional live detection scanning, when confirming that underwater environment is suitble to water sampling or sludge to acquire, starting water intaking mould group (14) is led
Hydromining collection and sludge acquisition mould group (15) are begun to decline by preset requirement, after reaching predetermined altitude, are pinpointed, is fixed
When, it is quantitative water sample and mud sample are pumped up water mechanism by the negative pressure of independent research, be sent to from special flexible duct sample
In robot sample mould group (16), actual measured amount when being carried out through water quality monitoring sensor module (17)；By the various particular detections of water quality
After data filtering, data information is sent back into control centre, then analysis is carried out to water quality situation by water quality information analysis system and is sentenced
It is disconnected, finally obtain water quality indicator data；
During executing step S2 and S3, robot is acquired using the hydromining collection and sludge of the flexible front end of water intaking mould group (14)
Mould group (15) (have underwater HD video camera lens, bio-identification mould group), when to obtain underwater water environment information and biology in fact living
The information of acquisition is sent back to control centre by emotionally condition, the software analysis through independent research, to regional wildlife and water environment
Information early warning.
9. the operational method of rivers and lakes sniffing robot according to claim 8, in the process for executing step S2 and S3
In, when reality mirror image navigation system breaks down when vision of the system detection to vision guided navigation mould group, setting will be started automatically and existed
The 4G signal of laser scanning mould group (4) laser navigation on the car body+built-in, allows robot security's to return to control centre.
10. the operational method of rivers and lakes sniffing robot according to claim 8, the water intaking mould group (14) drives water
Acquisition and sludge acquisition mould group (15) can three-dimensional (vertical demixing formula is highly controlled by water intaking mould group (14) and determined) acquisition seas
The water sample in any section between minus 20 meters -0 meter of midocean can take out the sludge sample on the sea bed that sea bed is negative within 20 meters.
11. the operational method of rivers and lakes sniffing robot according to claim 8, during executing step S1,
Can be preset by standard atlas or data progress to job site, scene and equipment, initial environmental data is obtained with this, is completed
Navigation map or environment configure target, and according to presetting or automatically analyzing the route obtained, formulate the work of corresponding route
It makes a plan.
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| CN201811504964.4A CN109541609A (en) | 2018-12-10 | 2018-12-10 | Rivers and lakes sniffing robot and its operational method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034121A (en) * | 2020-07-30 | 2020-12-04 | 中国农业大学 | Three-dimensional detection method and system for deep water net cage water quality based on underwater robot |
| CN112710799A (en) * | 2020-12-12 | 2021-04-27 | 广州市庆和源建设有限公司 | Hydraulic engineering river sludge impurity monitoring system and method |
| CN115752480A (en) * | 2022-12-09 | 2023-03-07 | 佛山市稚蒙环境科技有限公司 | Sampling device management system and method based on Internet of things |
-
2018
- 2018-12-10 CN CN201811504964.4A patent/CN109541609A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112034121A (en) * | 2020-07-30 | 2020-12-04 | 中国农业大学 | Three-dimensional detection method and system for deep water net cage water quality based on underwater robot |
| CN112710799A (en) * | 2020-12-12 | 2021-04-27 | 广州市庆和源建设有限公司 | Hydraulic engineering river sludge impurity monitoring system and method |
| CN115752480A (en) * | 2022-12-09 | 2023-03-07 | 佛山市稚蒙环境科技有限公司 | Sampling device management system and method based on Internet of things |
| CN115752480B (en) * | 2022-12-09 | 2023-11-21 | 佛山市稚蒙环境科技有限公司 | Sampling device management system and method based on Internet of things |
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