CN111086613A - Unmanned underwater vehicle and method for monitoring river water quality - Google Patents
Unmanned underwater vehicle and method for monitoring river water quality Download PDFInfo
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- CN111086613A CN111086613A CN201911357433.1A CN201911357433A CN111086613A CN 111086613 A CN111086613 A CN 111086613A CN 201911357433 A CN201911357433 A CN 201911357433A CN 111086613 A CN111086613 A CN 111086613A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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Abstract
The invention discloses an unmanned underwater vehicle for monitoring river water quality and a method thereof, wherein the unmanned underwater vehicle comprises an underwater vehicle body, tail flank structures are symmetrically arranged at one end of the underwater vehicle body close to the tail part, and a spiral pushing mechanism for pushing the whole unmanned underwater vehicle is arranged at the tail part of the underwater vehicle body; head mechanical arm structures are symmetrically arranged at one end, close to the head, of the underwater vehicle body; a water filling system for controlling the diving and pitching of the diving device body is arranged in the cavity at the front end of the diving device body; the inside of ware body of diving under water is provided with withstand voltage storehouse, withstand voltage storehouse is provided with main control unit, the last receiver that is provided with of main control unit, main control unit is provided with analysis detection module, main control unit is provided with the information acquisition module, main control unit is provided with the memory module, main control unit is provided with the remote information processing module. It can be used for automatic monitoring of river water.
Description
Technical Field
The invention relates to the technical field of unmanned underwater vehicles, in particular to an unmanned underwater vehicle and a method for monitoring river water quality.
Background
The physical and chemical properties of river water and its dynamic characteristics, the physical properties of river water mainly refer to water temperature, color, transparency, smell and taste, the chemical properties are determined by gas, ions, molecules, colloidal substances and suspended solids, microorganisms and the contents of the substances dissolved and dispersed in the river water, and the water quality detector can measure the ph value, the conductivity, the dissolved oxygen, the salinity, the dissolved substances (tds), the seawater specific gravity, the temperature, the turbidity, the depth and the oxidation-reduction potential (orp) in situ. The underwater unmanned underwater vehicle can meet the measurement requirements of various surface water, underground water, industrial and domestic sewage, culture and reclaimed water, can be widely applied to the fields of environmental protection, scientific research monitoring, production control and the like, is one of ideal special instruments for environmental monitoring and management in the industrial automation era, is only used in the civil field, and can replace divers to carry out operations and constructions such as sunken ship salvaging, deep water exploration, underwater cable laying and the like. Until the 90 s of the last century, the related technology development of unmanned undersea vehicles is relatively mature, the important value of the unmanned undersea vehicles in the military field is gradually emphasized by people, and UUV equipped with a large number of sensors is used by American naval hydrology and oceanic units to draw seabed maps, so that necessary data is provided for submarine and amphibious battle plans.
The unmanned underwater vehicle is also used for search and rescue, information, monitoring and reconnaissance tasks, meanwhile, a novel deep sea UUV has been tested in the United states and is used for tracking enemy submarines, the striking capability with strict development time sequence requirements also becomes a practical possibility, the unmanned underwater vehicle can attack through remote operation, namely tasks such as ship action, sea rejection, sea blocking and the like can be supported, an important marine route is controlled, the unmanned underwater vehicle can be used as bait to lure enemy submarines to leave ships for formation, and containment is carried out under the cooperation of other weapons; the system can perform reconnaissance or enemy reconnaissance on water surface and underwater targets, or can be used as an external acoustic sensor platform of a submarine to enlarge the search and reconnaissance range of the submarine or form an anti-submarine warning line; the method can draw a mine area map deep into a mine area where enemies are laid, guide own naval vessels to safely pass through the mine area or provide support for own mine scanning/hunting vessels; can lay mine and distribute mine area to own side. Experts believe that the system can reconnaissance various kinds of information in water for a long time and in high security without fear of severe hydrological environment and extremely high danger degree of the sea bottom, and is a credible 'sea bottom reconnaissance soldier' in future war.
Disclosure of Invention
The invention mainly aims to solve the defects in the prior art and provides an unmanned underwater vehicle and a method for monitoring the quality of river water, which can be used for automatically monitoring the river water.
In order to achieve the technical features, the invention is realized as follows: an unmanned underwater vehicle for monitoring the quality of river water comprises an underwater vehicle body, wherein tail flank structures are symmetrically arranged at one end, close to the tail, of the underwater vehicle body, and a spiral pushing mechanism for pushing the whole unmanned underwater vehicle is mounted at the tail of the underwater vehicle body; head mechanical arm structures are symmetrically arranged at one end, close to the head, of the underwater vehicle body; a water filling system for controlling the diving and pitching of the diving device body is arranged in the cavity at the front end of the diving device body; the inside of ware body of diving under water is provided with withstand voltage storehouse, withstand voltage storehouse is provided with main control unit, the last receiver that is provided with of main control unit, main control unit is provided with analysis detection module, main control unit is provided with the information acquisition module, main control unit is provided with the memory module, main control unit is provided with the remote information processing module.
The utility model discloses a submarine vehicle, including first fixed plate, first fin, tail flank structure, one end fixedly connected with second fixed plate, first fixed plate and second fixed plate symmetry set up, first fixed plate set up threaded hole, second fixed plate set up threaded hole, first fixed plate has first fin through threaded connection, the second fixed plate has the second fin through threaded connection, first fin sets up with second fin symmetry.
The screw pushing mechanism comprises a rotating shaft arranged at the tail part of the underwater vehicle body, a propeller is arranged on the rotating shaft, and a propeller protecting shell for protecting the propeller is arranged outside the propeller; the rotating shaft is connected with the driving motor and drives the driving motor to rotate.
The head mechanical arm structure comprises a first driving shaft fixed at one end, far away from a first fixing plate, of the outer wall of the underwater vehicle body, a clamping seat is arranged on the first driving shaft, and a deformable mechanical arm is clamped in the clamping seat; the end, far away from the second fixed plate, of the outer wall of the underwater vehicle body is provided with a second driving shaft, the second driving shaft is provided with a clamping seat, the clamping seat is clamped with a deformable mechanical arm, and the first driving shaft, the second driving shaft, the first fixed plate and the second fixed plate are horizontally arranged.
One end of the underwater vehicle body, which is far away from the propeller, is provided with a high-pressure-resistant waterproof probe, and searchlights are symmetrically arranged at two ends of the high-pressure-resistant waterproof probe.
The water filling system comprises a water carrying bin arranged inside the head of the underwater vehicle body, a water filling port is arranged at the side end of the water carrying bin, and a high-pressure water outlet is formed in one end, far away from the water filling port, of the water carrying bin.
The end that the ware body of diving is close to water-carrying storehouse is provided with the driver, the both ends of driver cup joint with first drive shaft and second drive shaft screw respectively.
The energy module is arranged at one end, away from the main controller, of the pressure-resistant bin, the water temperature sensor is arranged at the side end of the outer wall of the underwater vehicle body, the water quality detector is arranged at one end, away from the water temperature sensor, of the side end of the outer wall of the underwater vehicle body, and the water temperature sensor and the water quality detector are symmetrically arranged.
The monitoring method of the unmanned underwater vehicle for monitoring the river water quality comprises the following steps:
s1: by controlling a water filling system for lifting and diving, river water is injected into the water carrying bin, so that the underwater vehicle body is controlled to enter a deeper position;
s2: the submergence of the underwater vehicle is accelerated by controlling the deformable mechanical arm and the deformable mechanical arm;
s3: the detected information is transmitted to a receiver through a water temperature sensor and a water quality detector, then an analysis detection module analyzes and detects the water quality, an information acquisition module acquires the information, a memory module memorizes and stores the information, and a remote information processing module transmits the information;
s4: in the working process, energy which is used by each party is provided through the energy module, and the propeller can be protected through the propeller protection shell, so that damage caused by collision with hard objects is avoided;
s5: the underwater condition is transmitted to the receiver through the high-pressure-resistant waterproof probe and the searchlight, and information is processed.
The invention has the following beneficial effects:
1. be provided with first fixed plate and second fixed plate through the ware body that stealthily navigates, first fixed plate, second fixed plate set up threaded hole, can fix first fin and second fin, can conveniently change the fin when first fin, second fin break down through threaded connection, can river water pour into through carrying the sump into, make things convenient for the ware body that stealthily navigates to get into more depths, can effectually accelerate the ware that stealthily navigates to submerge submarine through flexible arm.
2. The condition of detection can be transmitted to the receiver through the water temperature sensor and the water quality detector, then the analysis detection module analyzes and detects water quality, the information acquisition module acquires information, the memory module memorizes and stores the information, and the remote information processing module transmits the information.
3. Can provide the energy that each side used through the energy module, can protect the screw through the screw protective housing, can avoid colliding hard thing and take place to damage.
4. The underwater condition can be transmitted to the receiver through the high-pressure-resistant waterproof probe and the searchlight, and information is processed.
Drawings
The invention is further illustrated by the following figures and examples.
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the internal structure of the present invention.
Fig. 3 is a schematic view of the internal structure of the present invention.
Fig. 4 is a partial structural schematic diagram of the present invention.
Fig. 5 is a partial structural schematic diagram of the present invention.
Fig. 6 is a partial structural schematic diagram of the present invention.
In the figure: the submersible vehicle comprises a submersible vehicle body 1, a first fixing plate 2, a second fixing plate 3, a threaded hole 4, a first tail wing 5, a second tail wing 6, a first driving shaft 7, a clamping seat 8, a deformable mechanical arm 9, a second driving shaft 10, a rotating shaft 11, a propeller 12, a propeller protective shell 13, a high-pressure-resistant waterproof probe 14, a searchlight 15, a water carrying bin 16, a water filling port 17, a high-pressure water outlet 18, a driver 19, a pressure-resistant bin 20, a main controller 21, a receiver 22, an analysis detection module 23, an information acquisition module 24, a memory module 25, a remote information processing module 26, an energy module 27, a water temperature sensor 28, a water quality detector 29 and a driving motor 30.
Detailed Description
Embodiments of the present invention will be further described with reference to the accompanying drawings.
Example 1:
referring to fig. 1-6, an unmanned underwater vehicle for monitoring river water quality comprises an underwater vehicle body 1, wherein tail flank structures are symmetrically arranged at one end, close to the tail, of the underwater vehicle body 1, and a spiral pushing mechanism for pushing the whole unmanned underwater vehicle is mounted at the tail of the underwater vehicle body 1; head mechanical arm structures are symmetrically arranged at one end, close to the head, of the underwater vehicle body 1; a water filling system for controlling the diving and pitching of the diving device body 1 is arranged in the cavity at the front end of the diving device body; the inside of ware body 1 that stealthily navigates is provided with withstand voltage storehouse 20, withstand voltage storehouse 20 is provided with main control unit 21, be provided with receiver 22 on the main control unit 21, main control unit 21 is provided with analysis and detection module 23, main control unit 21 is provided with information acquisition module 24, main control unit 21 is provided with memory module 25, main control unit 21 is provided with remote information processing module 26. The unmanned underwater vehicle with the structure can be used for monitoring the water quality of river water, collects water quality information in real time, and transmits the collected water quality information to the controller for data analysis and processing. In specific working process, realize the removal of ware body 1 through spiral pushing mechanism, realize its lift in the water inside through filling the water system, and then reach different depth of water, can be used for the signal that water gathered to carry out effectual analysis and processing through main control unit 21. Finally, the purpose of monitoring the water quality is achieved.
Further, first fixed plate 2 on 1 lateral wall of ware body is fixed to afterbody flank structure, the one end fixedly connected with second fixed plate 3 of first fixed plate 2 is kept away from to 1 outer wall of ware body, first fixed plate 2 sets up with 3 symmetries of second fixed plate, threaded hole 4 is seted up to first fixed plate 2, threaded hole 4 is seted up to second fixed plate 3, first fixed plate 2 has first fin 5 through threaded connection, second fixed plate 3 has second fin 6 through threaded connection, first fin 5 sets up with 6 symmetries of second fin. The tail flank structure can be used for controlling the traveling and moving of the underwater vehicle body 1 in the water body.
Further, the spiral pushing mechanism comprises a rotating shaft 11 arranged at the tail part of the underwater vehicle body 1, a propeller 12 is installed on the rotating shaft 11, and a propeller protecting shell 13 used for protecting the propeller 12 is arranged outside the propeller 12; the rotating shaft 11 is connected to a driving motor 30 and drives it to rotate. The screw pushing mechanism is mainly used for providing propelling power, in the working process, the driving motor 30 drives the rotating shaft 11, the rotating shaft 11 drives the propeller 12, and finally the whole submersible vehicle body 1 is pushed to move forwards through the propeller 12.
Further, the head mechanical arm structure comprises a first driving shaft 7 fixed at one end, far away from the first fixing plate 2, of the outer wall of the underwater vehicle body 1, a clamping seat 8 is arranged on the first driving shaft 7, and a deformable mechanical arm 9 is clamped in the clamping seat 8; one end, far away from second fixed plate 3, of the outer wall of ware body 1 is provided with second drive shaft 10, second drive shaft 10 is provided with cassette 8, cassette 8 joint has flexible arm 9, first drive shaft 7, second drive shaft 10 and first fixed plate 2, the horizontal setting of second fixed plate 3. Through foretell head arm structure mainly used assist the dive action of ware body 1 that dives, in the course of the work, drive deformable arm 9 through corresponding drive shaft, and then make things convenient for its dive.
Further, one end of the underwater vehicle body 1, which is far away from the propeller 12, is provided with a high-pressure-resistant waterproof probe 14, and searchlights 15 are symmetrically arranged at two ends of the high-pressure-resistant waterproof probe 14. The underwater condition can be transmitted to the receiver through the high-pressure-resistant waterproof probe and the searchlight, and information is processed.
Further, the water filling system comprises a water carrying bin 16 arranged inside the head of the underwater vehicle body 1, a water injection port 17 is arranged at the side end of the water carrying bin 16, and a high-pressure water discharge port 18 is arranged at one end, far away from the water injection port 17, of the water carrying bin 16. Can pour into the river through carrying the sump 16 through foretell structure, make things convenient for the underwater vehicle body 1 to get into deeper.
Further, a driver 19 is arranged at one end, close to the water carrying bin 16, of the submersible vehicle body 1, and two ends of the driver 19 are respectively in threaded sleeve connection with the first driving shaft 7 and the second driving shaft 10. The first drive shaft 7 and the second drive shaft 10 can be moved synchronously by means of a drive 19.
Further, an energy module 27 is arranged at one end, away from the main controller 21, of the pressure-resistant bin 20, a water temperature sensor 28 is arranged at the side end of the outer wall of the underwater vehicle body 1, a water quality detector 29 is arranged at one end, away from the water temperature sensor 28, of the side end of the outer wall of the underwater vehicle body 1, and the water temperature sensor 28 and the water quality detector 29 are symmetrically arranged. The detected conditions can be transmitted to the receiver 22 through the water temperature sensor 28 and the water quality detector 29, then the analysis detection module 23 analyzes and detects the water quality, the information acquisition module 24 acquires information, the memory module 25 memorizes and stores the information, and the remote information processing module 26 transmits the information; the energy source for each party can be provided by the energy source module 27.
Example 2:
the monitoring method of the unmanned underwater vehicle for monitoring the river water quality comprises the following steps:
s1: by controlling a water filling system for lifting and diving, river water is injected into the water carrying bin 16, and the underwater vehicle body 1 is further controlled to enter a deeper position;
s2: the submergence of the underwater vehicle is accelerated by controlling the deformable mechanical arm 9 and the deformable mechanical arm 9;
s3: the detected information is transmitted to the receiver 22 through the water temperature sensor 28 and the water quality detector 29, then the analysis detection module 23 analyzes and detects the water quality, the information acquisition module 24 acquires the information, the memory module 25 memorizes and stores the information, and the remote information processing module 26 transmits the information;
s4: in the working process, energy used by each party is provided through the energy module 27, the propeller 12 can be protected through the propeller protection shell 13, and damage caused by collision with hard objects is avoided;
s5: the information is processed by transmitting the conditions of the water bottom to the receiver 22 through the high pressure resistant waterproof probe 14 and the searchlight 15.
Claims (9)
1. The utility model provides an unmanned underwater vehicle of monitoring river water quality which characterized in that: the unmanned underwater vehicle comprises an underwater vehicle body (1), wherein tail flank structures are symmetrically arranged at one end, close to the tail, of the underwater vehicle body (1), and a spiral pushing mechanism used for pushing the whole unmanned underwater vehicle is mounted at the tail of the underwater vehicle body (1); head mechanical arm structures are symmetrically arranged at one end, close to the head, of the underwater vehicle body (1); a water filling system for controlling the diving and pitching of the diving device body (1) is arranged in the cavity at the front end of the diving device body; the inside of ware body (1) is provided with withstand voltage storehouse (20), withstand voltage storehouse (20) are provided with main control unit (21), be provided with receiver (22) on main control unit (21), main control unit (21) are provided with analysis detection module (23), main control unit (21) are provided with information acquisition module (24), main control unit (21) are provided with memory module (25), main control unit (21) are provided with remote information processing module (26).
2. The unmanned underwater vehicle for monitoring the river water quality as claimed in claim 1, wherein: first fixed plate (2) on ware body (1) lateral wall is fixed to afterbody flank structure, one end fixedly connected with second fixed plate (3) of first fixed plate (2) are kept away from to ware body (1) outer wall, first fixed plate (2) and second fixed plate (3) symmetry set up, first fixed plate (2) set up threaded hole (4), second fixed plate (3) set up threaded hole (4), first fixed plate (2) have first fin (5) through threaded connection, second fixed plate (3) have second fin (6) through threaded connection, first fin (5) and second fin (6) symmetry set up.
3. The unmanned underwater vehicle for monitoring the river water quality as claimed in claim 1, wherein: the spiral pushing mechanism comprises a rotating shaft (11) arranged at the tail part of the underwater vehicle body (1), a propeller (12) is installed on the rotating shaft (11), and a propeller protecting shell (13) used for protecting the propeller (12) is arranged outside the propeller (12); the rotating shaft (11) is connected with a driving motor (30) and drives the driving motor to rotate.
4. The unmanned underwater vehicle for monitoring the river water quality as claimed in claim 1, wherein: the head mechanical arm structure comprises a first driving shaft (7) fixed at one end, far away from the first fixing plate (2), of the outer wall of the underwater vehicle body (1), a clamping seat (8) is arranged on the first driving shaft (7), and a deformable mechanical arm (9) is clamped in the clamping seat (8); one end, far away from second fixed plate (3), of the outer wall of the underwater vehicle body (1) is provided with a second driving shaft (10), the second driving shaft (10) is provided with a clamping seat (8), the clamping seat (8) is clamped with a deformable mechanical arm (9), and the first driving shaft (7), the second driving shaft (10) are horizontally arranged with the first fixed plate (2) and the second fixed plate (3).
5. The unmanned underwater vehicle for monitoring the river water quality as claimed in claim 1, wherein: one end of the underwater vehicle body (1) far away from the propeller (12) is provided with a high-pressure-resistant waterproof probe (14), and searchlights (15) are symmetrically arranged at two ends of the high-pressure-resistant waterproof probe (14).
6. The unmanned underwater vehicle for monitoring the river water quality as claimed in claim 1, wherein: the water filling system comprises a water carrying bin (16) arranged inside the head of the underwater vehicle body (1), a water filling port (17) is formed in the side end of the water carrying bin (16), and a high-pressure water outlet (18) is formed in one end, far away from the water filling port (17), of the water carrying bin (16).
7. The unmanned underwater vehicle for monitoring the river water quality as claimed in claim 6, wherein: one end of the underwater vehicle body (1) close to the water carrying bin (16) is provided with a driver (19), and two ends of the driver (19) are respectively in threaded sleeve joint with the first driving shaft (7) and the second driving shaft (10).
8. The unmanned underwater vehicle for monitoring the river water quality as claimed in claim 1, wherein: the submersible vehicle is characterized in that an energy module (27) is arranged at one end, away from a main controller (21), of the pressure-resistant bin (20), a water temperature sensor (28) is arranged at the outer wall side end of the submersible vehicle body (1), a water quality detector (29) is arranged at one end, away from the water temperature sensor (28), of the outer wall side end of the submersible vehicle body (1), and the water temperature sensor (28) and the water quality detector (29) are symmetrically arranged.
9. The method for monitoring the unmanned underwater vehicle for monitoring the river water quality as claimed in any one of claims 1 to 8 is characterized by comprising the following steps:
s1: by controlling a water filling system for lifting and diving, river water is injected into the water carrying bin (16), and the underwater vehicle body (1) is further controlled to enter a deeper position;
s2: the submergence of the underwater vehicle is accelerated by controlling the deformable mechanical arm (9) and the deformable mechanical arm (9);
s3: detected information is transmitted to a receiver (22) through a water temperature sensor (28) and a water quality detector (29), then an analysis detection module (23) analyzes and detects water quality, an information acquisition module (24) acquires information, a memory module (25) memorizes and stores the information, and a remote information processing module (26) transmits the information;
s4: in the working process, energy used by each party is provided through the energy module (27), the propeller (12) can be protected through the propeller protection shell (13), and damage caused by collision with hard objects is avoided;
s5: the condition of the water bottom is transmitted to a receiver (22) through a high-pressure-resistant waterproof probe (14) and a searchlight (15), and information is processed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201911357433.1A CN111086613A (en) | 2019-12-25 | 2019-12-25 | Unmanned underwater vehicle and method for monitoring river water quality |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911357433.1A CN111086613A (en) | 2019-12-25 | 2019-12-25 | Unmanned underwater vehicle and method for monitoring river water quality |
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| CN111086613A true CN111086613A (en) | 2020-05-01 |
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| CN201911357433.1A Pending CN111086613A (en) | 2019-12-25 | 2019-12-25 | Unmanned underwater vehicle and method for monitoring river water quality |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114459414A (en) * | 2021-12-23 | 2022-05-10 | 宜昌测试技术研究所 | Depth detection method for semi-submersible navigation body |
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