CN110435829A - A kind of river water quality monitoring unmanned boat - Google Patents
A kind of river water quality monitoring unmanned boat Download PDFInfo
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- CN110435829A CN110435829A CN201910883241.8A CN201910883241A CN110435829A CN 110435829 A CN110435829 A CN 110435829A CN 201910883241 A CN201910883241 A CN 201910883241A CN 110435829 A CN110435829 A CN 110435829A
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- hull
- unmanned boat
- cpu control
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 83
- 238000012544 monitoring process Methods 0.000 title claims abstract description 19
- 238000004891 communication Methods 0.000 claims abstract description 27
- 238000012806 monitoring device Methods 0.000 claims abstract description 12
- 238000005183 dynamical system Methods 0.000 claims description 9
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 3
- 238000013461 design Methods 0.000 claims description 3
- 229910052744 lithium Inorganic materials 0.000 claims description 3
- 229920000642 polymer Polymers 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 2
- 230000007774 longterm Effects 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 abstract 1
- 239000012535 impurity Substances 0.000 abstract 1
- 239000003643 water by type Substances 0.000 abstract 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 4
- 229910052760 oxygen Inorganic materials 0.000 description 4
- 239000001301 oxygen Substances 0.000 description 4
- 238000007654 immersion Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N27/00—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means
- G01N27/02—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance
- G01N27/04—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance
- G01N27/06—Investigating or analysing materials by the use of electric, electrochemical, or magnetic means by investigating impedance by investigating resistance of a liquid
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
-
- 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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Pathology (AREA)
- Immunology (AREA)
- General Health & Medical Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Electrochemistry (AREA)
- Automation & Control Theory (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Food Science & Technology (AREA)
- Medicinal Chemistry (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The present invention discloses a kind of river water quality monitoring unmanned boat, including hull, it further include the intelligent monitoring device being arranged on hull, battery, the intelligent monitoring device includes CPU control module, drive module, memory module, GPS positioning module, wireless communication module, video acquisition module, water quality sensor, the CPU control module is separately connected drive module, memory module, GPS positioning module, wireless communication module, video acquisition module, water quality sensor by communication interface, and the battery and the intelligent monitoring device are electrically connected.The present invention uses swing mechanism on hull, make water quality sensor make to leave water body, avoid long-term submerged in water, the impurity contained in water is more, it is easily destroyed the structure and performance of sensor body, is able to achieve more convenient, raising river waters environmental monitoring efficiency.
Description
Technical field
The present invention relates to a kind of unmanned boat, specifically a kind of river water quality monitors unmanned boat.
Background technique
Water pollution problems drastically influences the production and living safety of people, to lake, water quality of river carry out comprehensively, it is accurate,
Monitoring in real time, is of great significance for water environment treatment and water quality safety guarantee.Existing Water Automatic Monitoring System due to
Position fixation is difficult to find pollution sources in time；In the long-term immersion water of water quality sensor, sensor structure and performance are easily damaged.
Summary of the invention
The purpose of the present invention is to provide a kind of river water qualities to monitor unmanned boat, mentioned above in the background art to solve
Problem.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is that:
A kind of river water quality monitoring unmanned boat, including hull, further include the intelligent monitoring device being arranged on hull, electric power storage
Pond, the intelligent monitoring device include CPU control module, drive module, memory module, GPS positioning module, radio communication mold
Block, video acquisition module, water quality sensor, wherein the advance on hull is arranged in by swing mechanism for the water quality sensor
End, the CPU control module are separately connected drive module, memory module, GPS positioning module, wireless communication by communication interface
Module, video acquisition module, water quality sensor, the CPU control module are upper by the wireless communication module and monitoring station
Position machine monitoring Platform communication connection, the CPU control module is for receiving water quality sensor, GPS positioning module, video acquisition mould
The information that block transmits respectively, and the information that water quality sensor transmits is transferred in memory module and is stored, and CPU control module will
When the information data stored in the information and memory module of secondary storage is compared in the past, the battery and the intellectual monitoring
Device is electrically connected, and the drive module is separately connected the forward dynamical system and swing mechanism of driving hull.
Preferably, the GPS positioning module is used to obtain the location information of hull, and passes to CPU control module；It is described
GPS positioning module is using the double positioning S1216 modules of Beidou.
Preferably, the video acquisition module is used to take the ambient enviroment of hull current location, and passes to CPU control
Module；The video acquisition module is IP Camera.
Preferably, the drive module uses the driving circuit of L298N chip design.
Preferably, the CPU control module uses STM32F103ZET6 microprocessor chip.
Preferably, module receives the information that CPU control module issues to the ipc monitor platform by wireless communication, and
Module issues control instruction by wireless communication.
Preferably, the battery uses large capacity 12V lithium polymer battery.
Preferably, the swing mechanism includes hoist engine, free bearing, hinge bar, swing rod, and the hoist engine, free bearing setting exist
On hull, the lower end of the swing rod is equipped with the water quality sensor protruded into water, is equipped at the swing rod upper end described
Hinge bar, the hinge bar and the free bearing are hinged, and the elevator machine travel connects the upper end of the swing rod, the hoist engine with
The drive module connection.
Preferably, the dynamical system for driving the hull forward is using motor.
Preferably, the ipc monitor platform is computer.
The beneficial effects of the present invention are:
The present invention provides a kind of river water quality monitoring unmanned boat, and water quality sensor can be driven by the hoist engine of swing mechanism
Under, it realizes and swings, when needing to be monitored water quality, swing rod is swung by swing pivot of the hinge joint of free bearing and hinge bar,
Protrude into the water quality sensor of swing rod lower end in water, when not needing monitoring, hoist engine is driven in the reverse direction, and increases water quality sensor
To more than the water surface, can reduce in the long-term immersion water of water quality sensor, the probability of sensor structure and performance losses.Water quality sensor
When monitoring water quality information, passing the information on to CPU control module, CPU control module stores information into memory module,
And CPU control module will be compared when the information data stored in time information and memory module of storage in the past, if comparing knot
Fruit are as follows: current information data (PH, dissolved oxygen, conductivity, turbidity, temperature that information data includes water quality) and the letter that stores in the past
Breath data are more than that (any item data of the PH of water quality, dissolved oxygen, conductivity, turbidity, temperature is in the presence of being more than for 10% water quality error
10% error is all determined to have the water quality error more than 10%), then CPU control module is controlled by drive module drive first
The forward dynamical system of hull stops driving, reduces ship motion speed, meanwhile, CPU control module passes through control GPS positioning mould
Block, video acquisition module obtain the ambient enviroment of the current location information of hull, hull current location respectively, and pass through channel radio
Believe that the current location information of hull, the ambient enviroment of hull current location and comparison result are transferred to ipc monitor by module
Platform, after the completion, CPU control module control the forward dynamical system of driving hull by drive module and restore driving.If comparing
As a result are as follows: the water quality error of current information data and the information data stored in the past is no more than 10%, and hull then continues to keep equal
Speed moves ahead.User module can also issue control instruction to CPU control module by wireless communication at ipc monitor platform end.
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is schematic structural view of the invention.
Fig. 2 is water quality monitoring system figure of the invention.
In figure: 1, hull, 2, intelligent monitoring device, 2-1, CPU control module, 2-2, drive module, 2-3, memory module,
2-4, GPS positioning module, 2-5, wireless communication module, 2-6, video acquisition module, 2-7, water quality sensor, 3, battery, 4,
Swing mechanism, 4-1, hoist engine, 4-2, free bearing, 4-3, hinge bar, 4-4, swing rod, 5, ipc monitor platform, 6, dynamical system.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Fig. 1~2, the present invention provides a kind of river water quality monitoring unmanned boat, including hull 1, further includes that setting exists
Intelligent monitoring device 2, battery 3 on hull 1, the intelligent monitoring device 2 include CPU control module 2-1, drive module 2-
2, memory module 2-3, GPS positioning module 2-4, wireless communication module 2-5, video acquisition module 2-6, water quality sensor 2-7,
In, the preceding inlet side on hull 1 is arranged in by swing mechanism 4 in the water quality sensor 2-7, and the CPU control module 2-1 passes through
Communication interface is separately connected drive module 2-2, memory module 2-3, GPS positioning module 2-4, wireless communication module 2-5, video and adopts
Collect module 2-6, water quality sensor 2-7, the CPU control module 2-1 uses STM32F103ZET6 microprocessor chip, described
CPU control module 2-1 is communicated to connect by the ipc monitor platform 5 of the wireless communication module 2-5 and monitoring station, it is described on
Position machine monitoring platform 4 is computer, the CPU control module 2-1 for receive water quality sensor 2-7, GPS positioning module 2-4,
The information that video acquisition module 2-6 is transmitted respectively, and the water quality sensor 2-7 information transmitted is transferred in memory module 2-3
Storage, and CPU control module 2-1 will compare when the information data stored in time information of storage and memory module 2-3 in the past
Right, the battery 3 uses large capacity 12V lithium polymer battery, and is electrically connected with the intelligent monitoring device 2, the drive
Dynamic model block 2-2 uses the driving circuit of L298N chip design, the drive module 2-2 be separately connected driving hull 1 move ahead it is dynamic
Force system 6 and swing mechanism 4, the swing mechanism 4 include hoist engine 4-1, free bearing 4-2, hinge bar 4-3, swing rod 4-4, institute
It states hoist engine 4-1, free bearing 4-2 to be arranged on hull 1, the lower end of the swing rod 4-4 is equipped with the water quality sensing protruded into water
Device 2-7, it is hinged equipped with the hinge bar 4-3, the hinge bar 4-3 and the free bearing 4-2 at the upper end the swing rod 4-4,
The hoist engine 4-1 traction connects the upper end of the swing rod 4-4, and the hoist engine 4-1 is connect with the drive module 2-2.It drives
The forward dynamical system 6 of the hull 1 is moved using motor.The GPS positioning module 2-4 is used to obtain the location information of hull 1,
And pass to CPU control module 2-1；The GPS positioning module 2-4 is using the double positioning S1216 modules of Beidou.The video acquisition
Module 2-6 is used to take the ambient enviroment of hull current location, and passes to CPU control module 2-1；The video acquisition module
2-6 is IP Camera.Module 2-5 receives CPU control module 2-1 sending to the ipc monitor platform 5 by wireless communication
Information, and by wireless communication module 2-5 issue control instruction.
Working principle is as follows: under water quality sensor 2-7 can be driven by the hoist engine 4-1 of swing mechanism 4, realizes and swings,
When needing to be monitored water quality, swing rod 4-4 is swung by swing pivot of the hinge joint of free bearing 4-2 and hinge bar 4-3, makes to put
The water quality sensor 2-7 of the lower end bar 4-4 is protruded into water, and when not needing monitoring, hoist engine 4-1 is driven in the reverse direction, and senses water quality
Device 2-7 is increased to the water surface or more, can reduce in the long-term immersion water of water quality sensor 2-7, sensor structure and performance losses it is general
Rate.Water quality sensor 2-7 is passed the information on when monitoring water quality information to CPU control module 2-1, CPU control module 2-1
Information is stored into memory module 2-3, and CPU control module 2-1 will be when previous in time information of storage and memory module 2-3
The information data of storage is compared, if comparison result are as follows: current information data (information data include the PH of water quality, dissolved oxygen,
Conductivity, turbidity, temperature) with the information data that stores in the past be more than 10% water quality error (PH of water quality, dissolved oxygen, conductance
There is the water quality error being all determined to have more than 10% error more than 10% in any item data of rate, turbidity, temperature), then CPU is controlled
Molding block 2-1 passes through the forward dynamical system 6 of drive module 2-2 control driving hull 1 first and stops driving, reduces hull 1 and transports
Dynamic speed, meanwhile, CPU control module 2-1 obtains hull 1 by control GPS positioning module 2-4, video acquisition module 2-6 respectively
The ambient enviroment of current location information, 1 current location of hull, and positioning module 2-5 that hull 1 is current by wireless communication
Information, the ambient enviroment of 1 current location of hull and comparison result are transferred to ipc monitor platform 5, after the completion, CPU control
Module 2-1 restores driving by the forward dynamical system 6 of drive module 2-2 control driving hull 1.If comparison result are as follows: current
The water quality error of information data and the information data stored in the past is no more than 10%, and hull 1 then continues that average rate is kept to move ahead.User
Control instruction can also be issued module 2-5 to CPU control module 2-1 by wireless communication at 5 end of ipc monitor platform.
The embodiments of the present invention described above are not intended to limit the scope of the present invention, any in the present invention
Spirit and principle within made modifications, equivalent substitutions and improvements etc., should be included in claim protection model of the invention
Within enclosing.
Claims (10)
1. a kind of river water quality monitors unmanned boat, including hull, which is characterized in that further include the intellectual monitoring being arranged on hull
Device, battery, the intelligent monitoring device include CPU control module, drive module, memory module, GPS positioning module, nothing
Line communication module, video acquisition module, water quality sensor, wherein the water quality sensor is arranged by swing mechanism in hull
On preceding inlet side, the CPU control module by communication interface be separately connected drive module, memory module, GPS positioning module,
Wireless communication module, video acquisition module, water quality sensor, the CPU control module pass through the wireless communication module and prison
The ipc monitor Platform communication connection at control station, the CPU control module is for receiving water quality sensor, GPS positioning module, view
The information that frequency acquisition module transmits respectively, and the information that water quality sensor transmits is transferred in memory module and is stored, and CPU is controlled
Molding block will when in time information and memory module of storage the information data that stored in the past be compared, the battery with it is described
Intelligent monitoring device is electrically connected, and the drive module is separately connected the forward dynamical system and swing mechanism of driving hull.
2. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the GPS positioning module is for obtaining
The location information of hull is taken, and passes to CPU control module；The GPS positioning module is using the double positioning S1216 modules of Beidou.
3. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the video acquisition module is for adopting
The ambient enviroment of hull current location is taken, and passes to CPU control module；The video acquisition module is IP Camera.
4. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the drive module uses L298N
The driving circuit of chip design.
5. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the CPU control module uses
STM32F103ZET6 microprocessor chip.
6. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the ipc monitor platform passes through
Wireless communication module receives the information that CPU control module issues, and module issues control instruction by wireless communication.
7. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the battery uses large capacity
12V lithium polymer battery.
8. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the swing mechanism includes elevator
Machine, free bearing, hinge bar, swing rod, the hoist engine, free bearing are arranged on hull, and the lower end of the swing rod, which is equipped with, to be protruded into water
The water quality sensor is equipped with the hinge bar at the swing rod upper end, and the hinge bar and the free bearing are hinged, described
Elevator machine travel connects the upper end of the swing rod, and the hoist engine is connect with the drive module.
9. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the power for driving the hull forward
System uses motor.
10. river water quality according to claim 1 monitors unmanned boat, which is characterized in that the ipc monitor platform is
Computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910883241.8A CN110435829B (en) | 2019-09-18 | 2019-09-18 | Unmanned ship for monitoring water quality of river channel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910883241.8A CN110435829B (en) | 2019-09-18 | 2019-09-18 | Unmanned ship for monitoring water quality of river channel |
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| CN110435829A true CN110435829A (en) | 2019-11-12 |
| CN110435829B CN110435829B (en) | 2021-05-07 |
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| CN201910883241.8A Active CN110435829B (en) | 2019-09-18 | 2019-09-18 | Unmanned ship for monitoring water quality of river channel |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111007222A (en) * | 2019-12-24 | 2020-04-14 | 安徽大学 | Device for realizing simultaneous determination of water quality indexes by multiple samples |
| CN112213461A (en) * | 2020-10-12 | 2021-01-12 | 江苏远畅环保科技有限公司 | Special on-line monitoring appearance of unmanned ship |
| CN113148027A (en) * | 2021-04-22 | 2021-07-23 | 广州小鲇智能科技有限公司 | Unmanned ship with monitoring function |
| CN113884131A (en) * | 2021-09-22 | 2022-01-04 | 海南超船电子商务有限公司 | Intelligent ship for marine environment monitoring |
| CN113881550A (en) * | 2021-09-22 | 2022-01-04 | 海南超船电子商务有限公司 | Marine environment monitoring system based on ship and wireless sensor network |
| CN114509548A (en) * | 2022-01-20 | 2022-05-17 | 上海澄峰科技股份有限公司 | Four-dimensional integrated riverway section water quality continuous monitoring device and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111007222A (en) * | 2019-12-24 | 2020-04-14 | 安徽大学 | Device for realizing simultaneous determination of water quality indexes by multiple samples |
| CN112213461A (en) * | 2020-10-12 | 2021-01-12 | 江苏远畅环保科技有限公司 | Special on-line monitoring appearance of unmanned ship |
| CN113148027A (en) * | 2021-04-22 | 2021-07-23 | 广州小鲇智能科技有限公司 | Unmanned ship with monitoring function |
| CN113884131A (en) * | 2021-09-22 | 2022-01-04 | 海南超船电子商务有限公司 | Intelligent ship for marine environment monitoring |
| CN113881550A (en) * | 2021-09-22 | 2022-01-04 | 海南超船电子商务有限公司 | Marine environment monitoring system based on ship and wireless sensor network |
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| CN114509548A (en) * | 2022-01-20 | 2022-05-17 | 上海澄峰科技股份有限公司 | Four-dimensional integrated riverway section water quality continuous monitoring device and working method thereof |
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| Publication number | Publication date |
|---|---|
| CN110435829B (en) | 2021-05-07 |
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