CN111289712A - Water quality in-situ monitoring device based on unmanned ship - Google Patents
Water quality in-situ monitoring device based on unmanned ship Download PDFInfo
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- CN111289712A CN111289712A CN202010146374.XA CN202010146374A CN111289712A CN 111289712 A CN111289712 A CN 111289712A CN 202010146374 A CN202010146374 A CN 202010146374A CN 111289712 A CN111289712 A CN 111289712A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01K—MEASURING TEMPERATURE; MEASURING QUANTITY OF HEAT; THERMALLY-SENSITIVE ELEMENTS NOT OTHERWISE PROVIDED FOR
- G01K13/00—Thermometers specially adapted for specific purposes
- G01K13/02—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow
- G01K13/026—Thermometers specially adapted for specific purposes for measuring temperature of moving fluids or granular materials capable of flow of moving liquids
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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Abstract
The invention discloses a water quality in-situ monitoring device based on an unmanned ship, which comprises: an unmanned ship; the driving mechanism is arranged on the unmanned ship and at least partially extends out of the unmanned ship so as to contact with a water body and drive the unmanned ship to move; the detection mechanism is arranged on the unmanned ship, and at least part of the detection mechanism extends out of the unmanned ship so as to enter water and detect the turbidity of the water quality; and the control terminal is arranged in the unmanned ship and is electrically connected with the detection mechanism and the driving mechanism respectively. The water quality in-situ monitoring device aims to improve the accuracy of in-situ water quality detection.
Description
Technical Field
The invention relates to the technical field of water quality detection, in particular to a water quality in-situ monitoring device based on an unmanned ship.
Background
With the progress of human science and the improvement of living standard, the problem of water quality pollution is more serious, so that the real-time monitoring of water quality is more important. At present, the water quality of a river channel is mainly monitored by adopting a sampling mode, and water in the river channel is pumped to an analytical instrument on the bank through a water pump to obtain the parameter information of the water quality. However, the monitoring method has obvious disadvantages, because water at other positions may be mixed in the sampling process, parameters of the sample may change, the same effect as the in-situ water quality parameters cannot be achieved, and deviation of detection data is caused.
The above is only for the purpose of assisting understanding of the technical solutions of the present application, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide a water quality in-situ monitoring device based on an unmanned ship, aiming at improving the accuracy of in-situ water quality detection.
In order to achieve the purpose, the water quality in-situ monitoring device based on the unmanned ship comprises:
an unmanned ship;
the driving mechanism is arranged on the unmanned ship and at least partially extends out of the unmanned ship so as to contact with a water body and drive the unmanned ship to move;
the detection mechanism is arranged on the unmanned ship, and at least part of the detection mechanism extends out of the unmanned ship so as to enter water and detect the turbidity of the water quality;
and the control terminal is arranged in the unmanned ship and is electrically connected with the detection mechanism and the driving mechanism respectively.
Optionally, the detection mechanism comprises:
a turntable rotatably mounted within the unmanned ship;
the bottom surface of one end part of the unmanned ship is provided with a mounting hole penetrating through the bottom surface, the mounting hole is positioned above the water surface, one end of the connecting cable is fixed on the turntable, the other end of the connecting cable penetrates through the mounting hole and extends out of the unmanned ship, and the connecting cable is electrically connected to the control terminal;
the underwater detection assembly is connected to one end, extending out of the unmanned ship, of the connecting cable and is electrically connected with the connecting cable;
the turntable can roll up or release the connecting cable when rotating so as to change the distance between the underwater detection assembly and the unmanned ship.
Optionally, the turntable comprises a central circular rod, and a first disk and a second disk mounted on the central circular rod; first disc and second disc interval set up in order to form the spiral space, stretch out of connecting cable the one end of unmanned ship outside is coiled in the periphery wall that is located of center round bar between first disc with the second disc.
Optionally, the detection mechanism further comprises a first driving motor, the first driving motor is installed in the unmanned ship and electrically connected with the control terminal, and an output shaft of the first driving motor is in transmission connection with the central round rod to drive the central round rod to rotate.
Optionally, the underwater detection assembly comprises a liquid level sensor, and the liquid level sensor is electrically connected with the connecting cable.
Optionally, the underwater detection assembly further comprises a water quality detection module, and the water quality detection module is electrically connected with the connecting cable.
Optionally, the control terminal is provided with a communication module, a data processing module and a storage module, the data processing module is electrically connected to the water quality detection module and the communication module respectively, and the storage module is electrically connected to the data processing module.
Optionally, the water quality in-situ monitoring device further comprises a sampling mechanism, wherein the sampling mechanism is arranged on the unmanned ship and electrically connected with the control terminal to collect the water sample.
Optionally, the sampling mechanism comprises:
the water suction pump is arranged in the unmanned ship and is electrically connected to the control terminal;
the water taking pipe is provided with a first water inlet end and a first water outlet end, the first water inlet end is arranged in water, and the first water outlet end is communicated with a water inlet of the water suction pump;
the water intake pipe is provided with a second water inlet end and a second water outlet end, and the second water inlet end is communicated with the water outlet of the water suction pump;
the water storage tank, the water storage tank is located unmanned ship, just the water storage tank has the water sample water inlet, the second go out water end intercommunication with the water sample water inlet.
Optionally, the inner surface of the bottom wall of the water storage tank is provided with a pressure sensor, and the pressure sensor is electrically connected with the control terminal and used for controlling the water quantity in the water outlet tank.
The invention realizes the in-situ detection function of water quality through the unmanned ship, the driving mechanism, the detection mechanism and the control terminal, and has simple and convenient operation and accurate data. Specifically, the driving mechanism is used for driving the unmanned ship to run in water, the detection mechanism is used for detecting the water quality condition in water, at least part of the detection mechanism extends out of the unmanned ship to enter the water and detect the turbidity of the water quality, when the detection mechanism detects a water sample, the control terminal sends a detection command to the detection mechanism, meanwhile, the control terminal sends a command to the driving mechanism, the driving mechanism is commanded to stop running, and at the moment, data detected by the detection mechanism is transmitted to the control terminal; when detection mechanism does not examine time measuring, control terminal will give the instruction and give actuating mechanism, and actuating mechanism will incessantly send corotation or reversal, provides power for unmanned ship's operation to supplementary unmanned ship drags detection mechanism to carry out water quality testing in different fields, with this detection that realizes the normal position quality of water of different positions, need not to take out the water that will detect to the bank and detect again, has not only improved normal position water quality testing's precision but also improved the convenience that detects.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the turntable in FIG. 1;
fig. 3 is an exploded view of fig. 2.
The reference numbers illustrate:
the implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, and rear … …) in the embodiment of the present invention are only used to explain the relative position relationship between the components, the movement situation, etc. in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indicator is changed accordingly.
In the present invention, unless otherwise expressly stated or limited, the terms "connected," "secured," and the like are to be construed broadly, and for example, "secured" may be a fixed connection, a removable connection, or an integral part; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In addition, the descriptions related to "first", "second", etc. in the present invention are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B," including either the A or B arrangement, or both A and B satisfied arrangement. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a water quality in-situ monitoring device 100 based on an unmanned ship.
As shown in fig. 1 to 3, in an embodiment of the present invention, the unmanned ship-based water quality in-situ monitoring apparatus 100 includes:
an unmanned ship 10;
the driving mechanism 20 is arranged on the unmanned ship 10, and at least part of the driving mechanism 20 extends out of the unmanned ship 10 so as to contact with a water body and drive the unmanned ship 10 to move;
the detection mechanism 30 is arranged on the unmanned ship 10, and at least part of the detection mechanism 30 extends out of the unmanned ship 10 so as to enter water and detect the turbidity of the water quality;
and the control terminal 40 is arranged in the unmanned ship 10, and is electrically connected with the detection mechanism 30 and the driving mechanism 20 respectively.
The unmanned ship 10 means that the automatic navigation of the ship can be realized without a special sailor for controlling the navigation of the ship on the ship. Certainly, will realize the automatic navigation of unmanned ship 10, need set up corresponding positioning system and control system, can understand ground, be provided with actuating mechanism 20 in this embodiment in order to drive the navigation of unmanned ship 10, specifically, actuating mechanism 20 transmission connect in unmanned ship 10, in order to drive unmanned ship 10 removes, and it includes power component, positioning system and control system etc. unmanned ship 10 is provided with control center, and positioning system and control system all are connected with control center communication, and power component installs in unmanned aerial vehicle's afterbody to be connected with control system, with the operation of control unmanned ship 10. The unmanned ship 10 is placed in a lake or river to be detected, the control center controls the motion track of the unmanned ship 10 and detects a point to be detected in the lake to be detected, the unmanned ship 10 gives out the corresponding point to be detected through a positioning system in the running process, the unmanned ship 10 is driven to the point to be detected through a power assembly, and when the unmanned ship 10 is placed at the point to be detected, the detection mechanism 30 detects the water quality of the point to be detected.
The final purpose of the unmanned ship 10 is to realize in-situ detection of water quality and ensure the accuracy of in-situ water quality detection. Therefore, the detection mechanism 30 and the control terminal 40 are connected with the unmanned ship 10, the control terminal 40 is electrically connected with the detection mechanism 30 and the driving mechanism 20 respectively, and the detection mechanism 30 is mainly used for detecting the turbidity of the water quality so as to confirm the application range of the lake water. Specifically, the detection mechanism 30 transmits the detected lake water condition to the control terminal 40, and the control terminal 40 transmits the data to the base station, so that the technician performs comparative analysis on the detected data. A KY02S controller employed by control terminal 40.
The unmanned ship 10, the driving mechanism 20, the detection mechanism 30 and the control terminal 40 are used for realizing the in-situ detection function of the water quality, and the unmanned ship is simple and convenient to operate and accurate in data. Specifically, the driving mechanism 20 is used for driving the unmanned ship 10 to operate in water, the detection mechanism 30 is used for detecting the water quality condition in water, and at least part of the detection mechanism extends out of the unmanned ship 10 to enter the water and detect the turbidity of the water quality, when the detection mechanism 30 detects a water sample, the control terminal 40 sends a detection command to the detection mechanism 30, meanwhile, the control terminal 40 sends a command to the driving mechanism 20 to command the driving mechanism 20 to stop operating, and at the moment, data detected by the detection mechanism 30 are transmitted to the control terminal 40; when detection mechanism 30 does not examine time measuring, control terminal 40 will assign the instruction and give actuating mechanism 20, and actuating mechanism 20 will incessantly send corotation or reversal, provides power for unmanned ship 10's operation to supplementary unmanned ship 10 pulls detection mechanism 30 and carries out water quality testing to different fields, realizes the detection of the normal position quality of water of different positions with this, need not to take out the water that needs to detect to the bank and detect again, has not only improved normal position water quality testing's precision but also improved the convenience that detects.
In this embodiment, the detection mechanism 30 includes:
a turntable 31, wherein the turntable 31 is rotatably mounted in the unmanned ship 10;
a connecting cable 32, a mounting hole penetrating through the bottom surface is formed in the bottom surface of one end of the unmanned ship 10, the mounting hole is located above the water surface, one end of the connecting cable 32 is fixed to the turntable 31, the other end of the connecting cable penetrates through the mounting hole and extends out of the unmanned ship 10, and the connecting cable 32 is electrically connected to the control terminal 40;
the underwater detection component 33 is connected to one end of the connecting cable 32, which extends out of the unmanned ship 10, and is electrically connected with the connecting cable 32;
the turntable, when rotated, can wind up or release the connection cable 32 to change the distance of the underwater detection assembly 33 from the unmanned vessel 10.
The detection mechanism 30 further comprises a mounting seat 314, the mounting seat 314 is mounted on the unmanned ship 10 so as to fix the detection mechanism 30 on the unmanned ship 10, the turntable 31 is rotatably mounted at one end of the unmanned ship 10, the end of the unmanned ship 10 can be understood to tilt upwards, and when the detection mechanism 30 does not need to be detected, the detection mechanism 30 can be controlled to be separated from the water surface. Specifically, the turntable 31 is driven to rotate by a driving part, the driving part is arranged in the mounting seat and drives the turntable 31 to rotate, one end of the connecting cable 32 is electrically connected to the control terminal 40 and used for transmitting detection data, and the other end of the connecting cable is wound around the turntable 31 and connected with the underwater detection assembly 33; the turntable 31 can wind or release the connection cable 32 when rotated to change the distance between the underwater detection assembly 33 and the unmanned ship 10. When water quality needs to be sampled, the unmanned ship 10 drives the detection mechanism 30 to operate to a specified water area and then to be positioned, then the driving piece drives the rotation to carry out the paying off of the rotating disc, the underwater detection assembly 33 can be hung in the water area through the connecting cable 32 after the connecting cable is released, the water quality is directly monitored in situ, and parameters of the water quality cannot be changed. Meanwhile, an operator can operate the unmanned ship 10 at a place far away from the water area without walking to a monitoring point, so that the efficiency is greatly improved, and the manpower is saved.
It is understood that the connection cable 32 is connected to the underwater detection assembly 33 and the control terminal 40, respectively, to transmit the detection data, and at the same time, the connection cable 32 can be lifted and lowered relative to the turntable 31 to move the underwater detection assembly 33 away from or close to the unmanned ship 10. That is, when inspection is required, the underwater detection module 33 is far from the unmanned ship 10 and enters the water for inspection, and when inspection is not required, the underwater detection module 33 is close to the unmanned ship 10, that is, far from the water surface. Since the mounting hole for mounting the connection cable 32 is provided at the end of the unmanned ship 10, and the end is far from the water surface, the underwater detection module 33 is pulled upward, so that the underwater detection module 33 can be separated from the water surface.
Further, the turntable 31 includes a central circular rod 313, and a first disk 311 and a second disk 312 mounted on the central circular rod 313; the first circular disc 311 and the second circular disc 312 are arranged at intervals to form a winding space, and one end of the connecting cable 32 extending out of the unmanned ship 10 is wound on the outer peripheral wall of the central circular rod 313 between the first circular disc 311 and the second circular disc 312.
The other end of the connection cable 32 is connected to a central circular rod 313, and the connection cable 32 can be wound or released when the central circular rod 313 rotates. Wherein, the first disk 311 and the second disk 312 are installed on the central rod 313, and the first disk 311 and the second disk 312 enclose the curled connecting cable 32. The first disk 311 and the second disk 312 may be fixedly mounted on the center rod 313, or may be detachably mounted on the center rod 313. Further, one end of the central circular rod 313 facing the driving member is provided with a sleeve which is matched with the driving end of the driving member. A spline hole can be formed in the shaft sleeve, and the driving end of the driving piece is matched with the shaft sleeve through a spline to drive the central round rod 313 to rotate.
In this embodiment, the detection mechanism 30 further includes a first driving motor 34, the first driving motor 34 is installed at the inner bottom of the unmanned ship 10 and electrically connected to the control terminal 40, and an output shaft of the first driving motor 34 is connected to the central round bar 313.
It can be understood that the first driving motor 34 is the driving member, and the first driving motor 34 is preferably a servo motor, which can control the speed, make the position precision very accurate, and convert the voltage signal into the torque and the rotating speed to drive the controlled object. The rotation speed of the rotor of the servo motor is controlled by an input signal and can quickly respond, the servo motor is used as an actuating element in an automatic control system, has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and can convert a received electric signal into angular displacement or angular speed on a motor shaft for output. The driving piece of this scheme can carry out auto-lock and just reversing, comes to connect cable 32 release to suitable length through controlling the driving piece, detects the quality of water of specific water depths.
In this embodiment, the underwater detection component 33 includes a liquid level sensor, and the liquid level sensor is electrically connected to the connection cable 32.
The control terminal 40 sets the water level measuring depth of the lake water, when the underwater detection assembly 33 enters water for measurement, the control terminal 40 sends a depth measuring signal to the liquid level sensor, namely when the underwater detection assembly 33 descends, if the water level reaches a detectable level, the liquid level sensor sends a detection signal to the control terminal 40, at the moment, the control terminal 40 sends a rotation stopping signal to the first driving motor 34, namely the rotating disc 31 stops rotating, the connecting cable 32 stops descending, so that the underwater detection assembly 33 stays at the detection position, and water quality detection is performed. Therefore, the liquid level sensor is arranged in a corresponding positioning system, and the underwater detection assembly 33 can be ensured to stay at the position to be detected, so that the accuracy of in-situ water quality detection is realized.
In this embodiment, the underwater detection assembly 33 further includes a water quality detection module, and the water quality detection module is electrically connected to the connection cable 32.
The water quality detection module is used for detecting the water quality condition in water, and the detected data comprise water temperature, pH value, solubility, turbidity, salt content and the like, namely the water quality detection module comprises a temperature sensor, a pH sensor, a dissolved oxygen concentration sensor, a turbidity sensor, a water quality ammonia nitrogen salt sensor and the like. And temperature sensor, PH sensor, dissolved oxygen concentration sensor, turbidity sensor, quality of water ammonia nitrogen salt sensor all with control terminal 40 electric connection to through connecting cable 32 with the data transmission to control terminal 40 that each sensor detected, by control terminal 40 with data transmission to control center again, so that the measurement personnel on shore carries out the analysis to the measured data.
In this embodiment, the control terminal 40 is provided with a communication module, a data processing module and a storage module, and the data processing module is electrically connected to the water quality detection module and the communication module respectively and communicates with the remote control center.
The control terminal 40 is provided with a single chip microcomputer, a lithium battery and an RTC clock module which are respectively connected with the lithium battery, the RTC clock module and the data processing module besides a communication module, a data processing module and a storage module, and the data processing module is connected with a remote base station through the communication module; the data processing module is respectively connected with the storage module and the underwater detection component 33, and specifically, the data processing module adopts a single chip microcomputer for processing; the model of the single chip microcomputer is STM32F103T8U 6; the storage module is an SD card, and the type number of the SD card adopts AT24C 02; the RTC clock module adopts a DS1302 clock chip, and the communication module is an ULN2803LW integrated circuit chip.
The connecting cable 32 can effectively transmit data collected by the underwater detection component 33 to the SD card of the control terminal 40 in real time, and the unmanned ship 10 can transmit collected water quality status parameters to a remote base station in time. And the length of the cable can be artificially determined in advance, so that water quality parameters of different depths can be collected. Compared with the common water quality measuring device, the device is more flexible and wider in measuring range.
In this embodiment, the driving mechanism 20 includes a propeller 22 and a second driving motor 21, the propeller 22 is disposed at the tail of the unmanned ship 10, the second driving motor 21 is disposed in the unmanned ship 10 and electrically connected to the main board, and the second driving motor 21 is connected to the propeller 22 in a transmission manner to drive the propeller 22 to rotate. The unmanned ship 10 includes a housing and two hydrofoils, and the two hydrofoils are symmetrically disposed on both sides of the housing.
The control terminal 40 is further provided with a motor control module, the motor control module is connected with the second driving motor 21, and the model number of the motor control module is L298N. The motor control module in the control terminal 40 sends out an instruction to control the forward and reverse rotation of the motor device so as to control the forward and reverse rotation of the propeller 22, and when the underwater detection assembly 33 acquires data, the motor control module can send out a stop instruction, the second driving motor 21 can stop the forward and reverse rotation, and the propeller 22 also stops acting, so that the negative influence caused by the fact that the water flow speed is too fast to acquire data of the underwater detection assembly 33 is effectively avoided. The propeller 22 can also be used to provide power to push the detection device to assist the unmanned ship 10 to drag the detection mechanism 30 to different fields for water quality detection, so that the problem that the connection cable 32 is stressed too much due to the weight of the shell and the resistance force when the connection cable 32 is dragged in water can be solved. Meanwhile, the forward and reverse rotation of the propeller 22 promotes the speed of water flow in the casing to a certain extent, so that microorganisms attached to the surface of the underwater detection assembly 33 are reduced, and the service life of the water quality measuring device is effectively prolonged. The outer edge of the side of the shell of the detection device is provided with the hydrofoil for stabilizing the shell, so that the phenomenon of instability such as rotation of the shell caused by dragging, water waves and the like is avoided, and the detection device is more stable to a certain extent.
In this embodiment, the water quality in-situ monitoring device further includes a sampling mechanism 50, where the sampling mechanism 50 is disposed on the unmanned ship 10 and electrically connected to the control terminal 40 to collect a water sample.
In this embodiment, the sampling mechanism 50 includes:
the water pump 51 is arranged on the unmanned ship 10, and a motor of the water pump 51 is electrically connected to the control terminal 40;
a water intake pipe 52, the water intake pipe 52 having a first water inlet end and a first water outlet end, the first water inlet end being disposed in the water, the first water outlet end being communicated with the water inlet of the water pump 51;
the water outlet pipe 53, the water intake pipe 52 has a second water inlet end and a second water outlet end, and the second water inlet end is communicated with the water outlet of the water pump 51;
the water storage tank 54 is arranged on the unmanned ship 10, the water storage tank 54 is provided with a water sample inlet, and the second water outlet end is communicated with the water sample inlet.
The motor of the water pump 51 is electrically connected with the control terminal 40, the control terminal 40 controls the water pump 51 to be started and closed, and the water inlet of the water pump 51 is communicated with the first water outlet end of the water intake pipe 52. The water outlet of the water pump 51 is communicated with the second water inlet end of the water outlet pipe 53, and when sampling is needed, the control terminal 40 controls the motor to operate, so that water pumping and sampling are realized.
The water pump 51 provides power for pumping water, and water sample is pumped from the target water layer through the water sampling pipe and is discharged and collected into the water storage tank 54 through the water outlet pipe 53. The operation is simple, and the automatic sampling function is realized.
In this embodiment, the water pump 51 is a peristaltic pump, and has the advantages of simple maintenance, good sealing performance, low shearing force, high precision, no pollution, good self-suction capability, idling capability, backflow prevention, and the like. The water pump 51 supplies energy required for pumping water to the sampling mechanism through a battery, and the battery is an electric storage battery, so that the sampling mechanism 50 can be conveniently used in outdoor and other occasions without power supplies, and continuous pumping for a long time can be guaranteed.
In this embodiment, the inner bottom wall of the water storage tank 54 is provided with a pressure sensor, and the pressure sensor is electrically connected to the control terminal 40 for controlling the amount of water in the water outlet tank.
A pressure sensor is provided on the inner bottom wall of the reservoir 54 for controlling the amount of water in the reservoir 54 to prevent excess water from overflowing the reservoir 54.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The utility model provides a quality of water normal position monitoring devices based on unmanned ship which characterized in that includes:
an unmanned ship;
the driving mechanism is arranged on the unmanned ship and at least partially extends out of the unmanned ship so as to contact with a water body and drive the unmanned ship to move;
the detection mechanism is arranged on the unmanned ship, and at least part of the detection mechanism extends out of the unmanned ship so as to enter water and detect the turbidity of the water quality;
and the control terminal is arranged in the unmanned ship and is electrically connected with the detection mechanism and the driving mechanism respectively.
2. The unmanned-vessel-based water quality in-situ monitoring device of claim 1, wherein the detection mechanism comprises:
a turntable rotatably mounted within the unmanned ship;
the bottom surface of one end part of the unmanned ship is provided with a mounting hole penetrating through the bottom surface, the mounting hole is positioned above the water surface, one end of the connecting cable is fixed on the turntable, the other end of the connecting cable penetrates through the mounting hole and extends out of the unmanned ship, and the connecting cable is electrically connected to the control terminal;
the underwater detection assembly is connected to one end, extending out of the unmanned ship, of the connecting cable and is electrically connected with the connecting cable;
the turntable can roll up or release the connecting cable when rotating so as to change the distance between the underwater detection assembly and the unmanned ship.
3. The unmanned ship-based water quality in-situ monitoring device of claim 2, wherein the turntable comprises a central circular rod, and a first disk and a second disk mounted on the central circular rod; first disc and second disc interval set up in order to form the spiral space, stretch out of connecting cable the one end of unmanned ship outside is coiled in the periphery wall that is located of center round bar between first disc with the second disc.
4. The unmanned ship-based water quality in-situ monitoring device of claim 3, wherein the detection mechanism further comprises a first driving motor, the first driving motor is installed in the unmanned ship and electrically connected with the control terminal, and an output shaft of the first driving motor is in transmission connection with the central round rod to drive the central round rod to rotate.
5. The unmanned-vessel-based water quality in-situ monitoring device of claim 2, wherein the underwater detection assembly comprises a liquid level sensor, and the liquid level sensor is electrically connected with the connection cable.
6. The unmanned-vessel-based water quality in-situ monitoring device of claim 5, wherein the underwater detection assembly further comprises a water quality detection module, and the water quality detection module is electrically connected with the connection cable.
7. The unmanned ship-based water quality in-situ monitoring device of claim 6, wherein the control terminal is provided with a communication module, a data processing module and a storage module, the data processing module is electrically connected to the water quality detection module and the communication module respectively, and the storage module is electrically connected to the data processing module.
8. The unmanned ship-based water quality in-situ monitoring device according to any one of claims 1 to 7, further comprising a sampling mechanism, wherein the sampling mechanism is arranged on the unmanned ship and electrically connected with the control terminal to collect water samples.
9. The unmanned-vessel-based water quality in-situ monitoring device of claim 8, wherein the sampling mechanism comprises:
the water suction pump is arranged in the unmanned ship and is electrically connected to the control terminal;
the water taking pipe is provided with a first water inlet end and a first water outlet end, the first water inlet end is arranged in water, and the first water outlet end is communicated with a water inlet of the water suction pump;
the water intake pipe is provided with a second water inlet end and a second water outlet end, and the second water inlet end is communicated with the water outlet of the water suction pump;
the water storage tank, the water storage tank is located unmanned ship, just the water storage tank has the water sample water inlet, the second play water end communicate in the water sample water inlet.
10. The unmanned ship-based water quality in-situ monitoring device of claim 9, wherein a pressure sensor is disposed on an inner surface of a bottom wall of the water storage tank, and the pressure sensor is electrically connected with the control terminal for controlling the amount of water in the water storage tank.
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