CN109931985A - A kind of self-propulsion type anchoring water quality monitoring system - Google Patents
A kind of self-propulsion type anchoring water quality monitoring system Download PDFInfo
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- CN109931985A CN109931985A CN201910260967.6A CN201910260967A CN109931985A CN 109931985 A CN109931985 A CN 109931985A CN 201910260967 A CN201910260967 A CN 201910260967A CN 109931985 A CN109931985 A CN 109931985A
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- 238000004873 anchoring Methods 0.000 title claims abstract description 30
- 238000012544 monitoring process Methods 0.000 title claims abstract description 30
- 239000000523 sample Substances 0.000 claims abstract description 48
- 238000012545 processing Methods 0.000 claims abstract description 39
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Abstract
The invention discloses a kind of self-propulsion types to be anchored water quality monitoring system, including data processing and control module, driving boat trip module, anchoring folding and unfolding module, probe and folding and unfolding module and buoy ontology, data processing and control module drive boat trip module, anchoring folding and unfolding module and probe and folding and unfolding module to be both secured to buoy ontology, and data processing and control module are electrically connected with driving boat trip module, anchoring folding and unfolding module and probe and folding and unfolding module respectively.Monitoring device is positioned and controlled using data processing and control module, device can be allowed to navigate automatically by driving boat trip module and swim over to designated position, then anchoring fixation is carried out to device by being anchored folding and unfolding module.Probe placement can be monitored by probe and folding and unfolding module to different water depth, solve buoy in the prior art and fixed target disadvantage, automatic deploying and retracting control, automatic boat trip and long-range control can be carried out, environmental suitability is strong, has a wide range of application.
Description
Technical field
The present invention relates to water quality monitoring equipment, in particular to a kind of self-propulsion type is anchored water quality monitoring system.
Background technique
Existing water quality indicator buoy is primarily present the problem for launching inconvenient and fixed trouble, especially for large area water
Domain needs to be launched by auxiliary machine tools such as ships.Traditional buoy is generally fixed using mooring line after dispensing, in little Shui
Domain can still be dealt with reluctantly, but arrive larger waters, then can not be implemented.Buoy such as cannot be fixed preferably after water field of big area is launched, and float
Mark is easy to drift about with water flow or wind, influences monitoring result.Existing water quality indicator buoy is being needed because its probe is fixed
In the case where monitoring different layers deep water matter, preferably it cannot adapt to and implement.
Summary of the invention
In view of this, the purpose of the present invention is to provide one kind can be carried out autonomous navigation, positioning, anchoring and and long-range control
The self-propulsion type of system is anchored water quality monitoring system.
According to an aspect of the invention, there is provided a kind of self-propulsion type is anchored water quality monitoring system, including data processing and
Control module, driving boat trip module, anchoring folding and unfolding module, probe and folding and unfolding module and buoy ontology, the data processing and control
Molding block, driving boat trip module, anchoring folding and unfolding module and probe and folding and unfolding module are both secured to buoy ontology, the data processing
And control module is electrically connected with driving boat trip module, anchoring folding and unfolding module and probe and folding and unfolding module respectively and controls driving boat
Swim module, anchoring folding and unfolding module and probe and the work of folding and unfolding module.
In some embodiments, the data processing and control module include control device, GPS positioning device, GSM logical
Device and battery are interrogated, the control device and GPS positioning device are electrically connected and can receive the positioning letter of GPS positioning device
Breath, the control device and GSM communication device are electrically connected and can send data to GSM communication device or receive GSM communication and fill
The data of transmission are set, the battery and control device are electrically connected.
In some embodiments, the buoy ontology includes cylinder on buoy ontology, cylinder and guard ring under buoy ontology, institute
The downside that cylinder under buoy ontology is fixed on cylinder on buoy ontology is stated, the guard ring, which is surround, to be fixed on buoy ontology outside cylinder, institute
It states data processing and control module is fixed on buoy ontology in cylinder, the driving boat trip module is fixed on cylinder under buoy ontology.
In some embodiments, the driving boat trip module includes driving motor and propeller, and the driving motor is solid
Due in cylinder, the driving motor is fixedly connected with propeller under buoy ontology, the propeller is located under buoy ontology outside cylinder,
The driving motor and propeller are arranged in a one-to-one correspondence into multiple, and the driving motor electrically connects with data processing and control module
It connects, multiple propellers are installed on same level and are surrounded under buoy ontology outside cylinder.
In some embodiments, the anchoring folding and unfolding module includes worm speed-down motor, cable holder, anchor chain, anchor, anchor
Chain tension sensor and windlass controller, the worm speed-down motor are fixedly connected with cable holder and cable holder can be driven to turn
Dynamic, one end of the anchor chain is fixedly connected with cable holder, and the worm speed-down motor and anchorage tension sensor are both secured to
On buoy ontology in cylinder, anchor chain cylinder under the bottom of cylinder on buoy ontology and buoy ontology, the anchorage tension sensing
Device connect with anchor chain and can real-time monitoring anchor chain tension, the worm speed-down motor and anchorage tension sensor respectively with anchor
Machine controller is electrically connected, and the windlass controller and data processing and control module are electrically connected.
In some embodiments, the other end of the anchor chain is fixedly connected with anchor, the bottom of cylinder under the buoy ontology
Equipped with anchor chain standby position, anchor chain end sensor is installed in anchor chain standby position.
In some embodiments, the probe and folding and unfolding module include stepper motor, cable reel, cable hawser, visit
Stepper motor described in head and probe controller is fixedly connected with cable reel and cable reel can be driven to rotate, the cable hawser
One end be fixedly connected with cable reel, the other end of the cable hawser is fixedly connected with probe, the probe controller with
Stepper motor is electrically connected and can send control signal, the probe controller and data processing and control module to stepper motor
It is electrically connected.
In some embodiments, self-propulsion type anchoring water quality monitoring system further includes solar panel and bracket, described
Bracket is fixed on the upside of buoy ontology, and the solar panel is fixed on the upper end of bracket, the solar panel with
Data processing and control module are electrically connected.
In some embodiments, self-propulsion type anchoring water quality monitoring system further includes remote server and reception terminal, institute
State data processing and control module and remote server and receive terminal wireless and connect, the remote server and reception terminal without
Line connection.
The beneficial effects of the present invention are: using control device, GPS positioning device and GSM communication device composition data at
Reason and control module are positioned and are controlled to monitoring device.Device can be allowed to navigate automatically by driving boat trip module and swim over to specific bit
It sets, then anchoring fixation is carried out to device by being anchored folding and unfolding module.It can be by probe placement to difference by probe and folding and unfolding module
The depth of water is monitored, and solves buoy in the prior art and fixed target disadvantage, can carry out automatic deploying and retracting control, automatic boat trip and
Long-range control, environmental suitability is strong, has a wide range of application.
Detailed description of the invention
Fig. 1 is that a kind of self-propulsion type of an embodiment of the present invention is anchored the structural schematic diagram of water quality monitoring system；
Fig. 2 is a kind of control system figure of self-propulsion type anchoring water quality monitoring system shown in Fig. 1；
Fig. 3 is the control that a kind of self-propulsion type of another embodiment of the present invention is anchored the anchoring folding and unfolding module of water quality monitoring system
System diagram processed.
Specific embodiment
Invention is described in further detail with reference to the accompanying drawing.
FIG. 1 to FIG. 3 schematically shows a kind of a kind of self-propulsion type anchoring water quality prison of embodiment according to the present invention
Examining system.
Referring to Fig.1~Fig. 3, self-propulsion type anchoring water quality monitoring system include data processing and control module 1, driving boat You Mo
Block 2, anchoring folding and unfolding module 3, probe and folding and unfolding module 4 and buoy ontology 5, solar panel 6, bracket 7, remote server and
Receive terminal.
Data processing and control module 1, driving boat trip module 2, anchoring folding and unfolding module 3, probe and folding and unfolding module 4, the sun
Energy solar panel 6, bracket 7 are both secured to buoy ontology 5, form the buoy detection device that can freely float on the water surface, long-range to take
Business device and reception terminal are by being wirelessly connected with data processing and control module 1 to realize the long-range control to buoy detection device
System.Data processing and control module 1 are navigated with driving respectively swims module 2, anchoring folding and unfolding module 3 and probe and folding and unfolding module 4 electrically
It connects and controls and drive boat trip module 2, anchoring folding and unfolding module 3 and probe and the work of folding and unfolding module 4.Bracket 7 is fixed on buoy sheet
The upside of body 5, solar panel 6 are fixed on the upper end of bracket 7, solar panel 6 and data processing and 1 electricity of control module
Property connection.
Data processing and control module 1 are connect with remote server and reception terminal wireless, data processing and control module 1
Data can be transmitted to remote server and receive the control instruction of remote server.Remote server is connect with terminal wireless is received
And data can be transmitted to terminal is received, receiving terminal can be mobile phone terminal APP.
Data processing and control module 1 include control device 11, GPS positioning device 12, GSM communication device 13 and battery
14.Control device 11 can use STC89C52 type single-chip microcontroller.Control device 11 and GPS positioning device 12 are electrically connected, and GPS is fixed
Location information simultaneously is transmitted to control device 11 in the position of 12 energy real-time monitoring device of position device.Control device 11 and GSM communication fill
It sets 13 electric connections and data can be sent to GSM communication device 13 or receive the data that GSM communication device 13 transmits, GSM communication
Device 13 can be communicated with remote server and transmit data.Battery 14 and control device 11 are electrically connected, battery 14
It can be that each component is powered, and can receive the electric energy that solar panel 6 is absorbed and converted.
Buoy ontology 5 includes cylinder 52 and guard ring 53 under cylinder 51, buoy ontology on buoy ontology.51 He of cylinder on buoy ontology
Cylinder 52 is in hollow sealing shape under buoy ontology, whole device can be made to swim on the water surface.Cylinder 52 is fixed on floating under buoy ontology
The downside of cylinder 51 on sample body, for guard ring 53 around being fixed on buoy ontology outside cylinder 51, data processing and control module 1 are fixed
In in cylinder 51, driving boat trip module 2 is fixed on cylinder 52 under buoy ontology on buoy ontology.Cylinder 51 and buoy ontology on buoy ontology
Lower cylinder 52 can be made of stainless steel material, and guard ring 53 can be made of flexible rubber or plastic material, can be to entire
Device plays the role of Anti-bumping protection.
Driving boat trip module 2 includes driving motor 21 and propeller 22, and driving motor 21 is fixed on cylinder 52 under buoy ontology
It is interior.Driving motor 21 is fixedly connected with propeller 22 and propeller 22 can be driven to rotate, and propeller 22 is located at cylinder under buoy ontology
Outside 52, the rotation of propeller 3 can push buoy ontology 1 to navigate by water in water.Driving motor 21 and propeller 22 are arranged in a one-to-one correspondence into
It is multiple, preferably three.Driving motor 21 and data processing and control module 1 are electrically connected, and multiple propellers 22 are installed on together
One horizontal plane is simultaneously uniformly surrounded under buoy ontology outside cylinder 52, and three propellers 22 are then mutually 120 degree.Three driving motors 21 divide
It is not electrically connected and can be respectively controlled with control device 11, by controlling three groups of 21 revolving speeds of driving motor, generate three not
It is exported with size and the driving force of different directions.Driving motor 21 uses ratio control mode, according to required direction of advance, floats
Mark power drill/driver calculates and generates suitable PWM drive signal, so that three driving motors 21 is generated size and Orientation different
Driving force, to realize correctly driving resultant direction.Three groups of driving motors 21 and ratio driving method can be in same levels
Face generates any direction driving resultant force, to realize 360 degree of omnidirectional's drivings.
Being anchored folding and unfolding module 3 includes worm speed-down motor 31, cable holder 32, anchor chain 33, anchor 34, anchorage tension sensor
35, anchor chain end sensor 36 and windlass controller 37.Worm speed-down motor 31 is fixedly connected with cable holder 32 and can drive
Cable holder 32 rotates, and one end of anchor chain 33 is fixedly connected with cable holder 32, and the other end of anchor chain 33 is fixedly connected with anchor 34.Worm screw
Decelerator 31 and anchorage tension sensor 35 are both secured on buoy ontology in cylinder 51, and anchor chain 33 is through cylinder on buoy ontology
Cylinder 52 under 51 bottom and buoy ontology.Anchorage tension sensor 35 connects with anchor chain 33, and anchorage tension sensor 35 can be in real time
It perceives the tension of anchor chain 33 and transmits tension signal to windlass controller 37.Worm speed-down motor 31, anchorage tension sensor
35 and anchor chain end sensor 36 respectively with windlass controller 37 be electrically connected.Windlass controller 37 and data processing and control mould
Block 1 is electrically connected and can receive the control instruction of data processing and control module 1.
The bottom of cylinder 52 is equipped with anchor chain standby position 521 under buoy ontology, and it is standby that anchor chain end sensor 36 is installed on anchor chain
In position 521.
Probe and folding and unfolding module 4 include stepper motor 41, cable reel 42, cable hawser 43, probe 44 and probe control
Device 45, stepper motor 41 use strap brake stepper motor.Stepper motor 41 is fixedly connected with cable reel 42 and can drive cable
Spool 42 rotates, and one end of cable hawser 43 is fixedly connected with cable reel 42, and the other end and probe 44 of cable hawser 43 are solid
Fixed connection, probe controller 45 and stepper motor 41 are electrically connected and can send control signal, probe control to stepper motor 41
Device 45 and data processing and control module 1 are electrically connected.
PH sensor, liquid turbidity sensor, temperature sensor, dissolved oxygen sensor, conductance can be set on probe 44
Sensor, ORP sensor, salinity sensor etc., each sensor can need any collocation according to detection.Such as: scheme one
Use pH sensor, temperature sensor, dissolved oxygen sensor, conductivity sensor, ORP sensor, salinity sensor combination can be with
Monitor pH value, dissolved oxygen, conductance, salinity, ORP, the temperature of water body；Scheme two uses pH sensor, liquid turbidity sensor, temperature
Degree sensor, dissolved oxygen sensor, conductivity sensor, salinity sensor combine pH value, the dissolved oxygen, electricity that can monitor water body
It leads, salinity, turbidity, temperature.
The course of work of self-propulsion type anchoring water quality monitoring system of the invention is as follows:
Buoy detection device is put on the water body water surface for needing to monitor, with remote server or cell phone application to water body
Monitoring path carries out planning or manual intervention control and sends relevant information to data processing and control module 1, data processing and
The GSM communication device 13 of control module 1 communicates information to control device 11 after receiving.GPS positioning device 12 is by real-time monitoring
The position transmission location information of device is to control device 11, and control device 11 is according to GPS positioning information and planning path or root
Information is controlled according to manual intervention, driving boat trip module 2 is controlled.By controlling the revolving speed of multiple driving motors 21, generate
Multiple and different sizes and the output of the driving force of different directions can push buoy detection device to reach predetermined position.Reach pre-determined bit
It postpones, control device 11 sends the signal that casts anchor to windlass controller 37, and windlass controller 37 issues driving signal, worm speed-down electricity
Machine 31 starts turning, and drives cable holder 32 to rotate, starts movement of casting anchor.35 real-time monitoring anchor chain 32 of anchorage tension sensor simultaneously
Tension, when anchor 34 bottoms out, the tension of anchor chain 32 can be mutated reduction, and anchorage tension sensor sense 35 is known tension variation and passed
Send tension variation signal to windlass controller 37, windlass controller 37 cuts off motor drive signal.Due to worm speed-down motor
Latching characteristics makes anchor chain 33 realize automatic locking.
After anchoring, control device 11 sends release probe and release depth instruction, probe controller to probe controller 45
Rotating cycle needed for 45 calculating cable reels simultaneously drives strap brake stepper motor gradually to rotate, and drives cable reel 42 to rotate, slowly
Slowly in place by 44 release of probe, when the depth of water needed for reaching, the stopping output drive signal of probe controller 45, stepper motor
Self-actuating brake keeps depth of probe.
After detection, control device 11 is sent to probe controller 45 by automatic control or manual intervention control and is visited
After head recycling signal, the data stored when being popped one's head according to release are compared, and calculate what strap brake stepper motor reversely rotated
Number is enclosed, drives cable reel to reversely rotate by stepper motor, withdraws probe 44.Cable reel 42 is provided with wire-arranging mechanism, prevents
Only cable is on cable reel around unrest.
After probe 44 recycles, control device 11 sends anchor signal, windlass controller hair to windlass controller 37
Driving signal out, worm speed-down motor start turning, and drive cable holder rotation, start to tighten anchor chain, anchor is received out the water surface.Work as anchor
When chain receives position of readiness, anchor chain end sensor monitors that anchor chain is whole immediately and harvests complete signal, and controller cuts off motor
Driving signal is completed to receive anchor movement.
Above-described is only some embodiments of the present invention.For those of ordinary skill in the art, not
Under the premise of being detached from the invention design, various modifications and improvements can be made, these belong to the protection scope of invention.
Claims (9)
1. a kind of self-propulsion type is anchored water quality monitoring system, it is characterised in that: including data processing and control module (1), driving boat
Swim module (2), anchoring folding and unfolding module (3), probe and folding and unfolding module (4) and buoy ontology (5), the data processing and control mould
Block (1), driving boat trip module (2), anchoring folding and unfolding module (3) and probe and folding and unfolding module (4) are both secured to buoy ontology (5),
The data processing and control module (1) are navigated with driving respectively swims module (2), anchoring folding and unfolding module (3) and probe and folding and unfolding mould
Block (4) is electrically connected and controls driving boat trip module (2), anchoring folding and unfolding module (3) and probe and folding and unfolding module (4) work.
2. self-propulsion type according to claim 1 is anchored water quality monitoring system, it is characterised in that: the data processing and control
Module (1) includes control device (11), GPS positioning device (12), GSM communication device (13) and battery (14), the control
Device (11) and GPS positioning device (12) are electrically connected and can receive the location information of GPS positioning device (12), the control dress
(11) and GSM communication device (13) are set to be electrically connected and data can be sent to GSM communication device (13) or receive GSM communication device
(13) data transmitted, the battery (14) and control device (11) are electrically connected.
3. self-propulsion type according to claim 2 is anchored water quality monitoring system, it is characterised in that: buoy ontology (5) packet
Cylinder (52) and guard ring (53) under cylinder (51), buoy ontology are included on buoy ontology, cylinder (52) is fixed on floating under the buoy ontology
The downside of cylinder (51) on sample body, the guard ring (53) is around being fixed on buoy ontology cylinder (51) outside, the data processing
And control module (1) is fixed on buoy ontology in cylinder (51), driving boat trip module (2) is fixed on cylinder under buoy ontology
(52)。
4. self-propulsion type according to claim 3 is anchored water quality monitoring system, it is characterised in that: the driving boat trip module
It (2) include driving motor (21) and propeller (22), the driving motor (21) is fixed under buoy ontology in cylinder (52), described
Driving motor (21) is fixedly connected with propeller (22), and the propeller (22) is located under buoy ontology cylinder (52) outside, the drive
Dynamic motor (21) and propeller (22) are arranged in a one-to-one correspondence into multiple, the driving motor (21) and data processing and control module
(1) it is electrically connected, multiple propellers (22) are installed on same level and are surrounded under buoy ontology cylinder (52) outside.
5. self-propulsion type according to claim 3 is anchored water quality monitoring system, it is characterised in that: the anchoring folding and unfolding module
It (3) include worm speed-down motor (31), cable holder (32), anchor chain (33), anchor (34), anchorage tension sensor (35) and windlass
Controller (37), the worm speed-down motor (31) are fixedly connected with cable holder (32) and cable holder (32) can be driven to rotate,
One end of the anchor chain (33) is fixedly connected with cable holder (32), the worm speed-down motor (31) and anchorage tension sensor
(35) it is both secured on buoy ontology in cylinder (51), bottom and buoy sheet of the anchor chain (33) through cylinder (51) on buoy ontology
The other end of cylinder (52) under body, the anchor chain (33) is fixedly connected with anchor (34), the anchorage tension sensor (35) and anchor chain
(33) connect and can real-time monitoring anchor chain (33) tension, the worm speed-down motor (31) and anchorage tension sensor (35)
It is electrically connected respectively with windlass controller (37), the windlass controller (37) electrically connects with data processing and control module (1)
It connects.
6. self-propulsion type according to claim 5 is anchored water quality monitoring system, it is characterised in that: the anchor chain (33) it is another
End is fixedly connected with anchor (34), and the bottom of cylinder (52) is equipped with anchor chain standby position (521) under the buoy ontology, the anchor chain end
Sensor (36) is installed in anchor chain standby position (521).
7. self-propulsion type according to claim 1,2 or 3 is anchored water quality monitoring system, it is characterised in that: the probe and receipts
Amplification module (4) includes stepper motor (41), cable reel (42), cable hawser (43), probe (44) and probe controller (45),
The stepper motor (41) is fixedly connected with cable reel (42) and cable reel (42) can be driven to rotate, the cable hawser
(43) one end is fixedly connected with cable reel (42), and the other end of the cable hawser (43) is fixedly connected with probe (44),
The probe controller (45) and stepper motor (41) are electrically connected and can send control signal, the spy to stepper motor (41)
Head controller (45) and data processing and control module (1) are electrically connected.
8. self-propulsion type according to claim 1 is anchored water quality monitoring system, it is characterised in that: further include solar panel
(6) and bracket (7), the bracket (7) are fixed on the upside of buoy ontology (5), and the solar panel (6) is fixed on bracket
(7) upper end, the solar panel (6) and data processing and control module (1) are electrically connected.
9. self-propulsion type according to claim 1 is anchored water quality monitoring system, it is characterised in that: further include remote server and
It receives terminal, the data processing and control module (1) to connect with remote server and reception terminal wireless, the remote service
Device is connect with terminal wireless is received.
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| CN201910260967.6A CN109931985A (en) | 2019-04-02 | 2019-04-02 | A kind of self-propulsion type anchoring water quality monitoring system |
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| CN201910260967.6A CN109931985A (en) | 2019-04-02 | 2019-04-02 | A kind of self-propulsion type anchoring water quality monitoring system |
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Cited By (5)
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| CN111038648A (en) * | 2019-12-17 | 2020-04-21 | 马会灿 | Intelligent measuring device for hydraulic engineering management |
| CN112505283A (en) * | 2020-12-28 | 2021-03-16 | 中国农业科学院都市农业研究所 | Anchor type sensor device |
| CN112815926A (en) * | 2020-12-30 | 2021-05-18 | 广东百年基业水利水电建设有限公司 | Water conservancy river channel remote monitoring system and method based on cloud platform |
| CN113844591A (en) * | 2021-10-14 | 2021-12-28 | 山东交通学院 | Buoy for monitoring seawater quality |
| CN114954792A (en) * | 2022-04-25 | 2022-08-30 | 连云港苏海航标工程有限公司 | Automatic power navigation buoy with automatic launching function and method thereof |
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