CN112124113A - Rail mounted water quality monitoring robot - Google Patents
Rail mounted water quality monitoring robot Download PDFInfo
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- CN112124113A CN112124113A CN202010894287.2A CN202010894287A CN112124113A CN 112124113 A CN112124113 A CN 112124113A CN 202010894287 A CN202010894287 A CN 202010894287A CN 112124113 A CN112124113 A CN 112124113A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 160
- 238000012544 monitoring process Methods 0.000 title claims abstract description 56
- 238000004891 communication Methods 0.000 claims abstract description 101
- 230000000712 assembly Effects 0.000 claims abstract description 12
- 238000000429 assembly Methods 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims description 31
- 230000006835 compression Effects 0.000 claims description 20
- 238000007906 compression Methods 0.000 claims description 20
- 238000009434 installation Methods 0.000 claims description 17
- 230000001681 protective effect Effects 0.000 claims description 12
- 239000011810 insulating material Substances 0.000 claims description 9
- 210000001503 joint Anatomy 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 239000002861 polymer material Substances 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 9
- 239000004020 conductor Substances 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 4
- 239000003643 water by type Substances 0.000 claims description 4
- 238000007689 inspection Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 4
- 238000009360 aquaculture Methods 0.000 description 3
- 244000144974 aquaculture Species 0.000 description 3
- 230000001934 delay Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000006185 dispersion Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012806 monitoring device Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/31—Charging columns specially adapted for electric vehicles
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
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Abstract
The invention discloses a rail type water quality monitoring robot, which comprises an underwater rail assembly, a sensor cabin assembly, a machine body assembly, a charging communication assembly, n charging piles, n power supply devices, n locking assemblies, n first ZigBee modules and a land power supply communication assembly, wherein n is an integer greater than or equal to 2; the water quality monitoring system has the advantages of low cost, capability of realizing automatic water quality monitoring, no need of manual operation, high real-time performance of water quality monitoring and high precision of water quality monitoring.
Description
Technical Field
The invention relates to a water quality monitoring robot, in particular to a rail type water quality monitoring robot.
Background
China is a world large country for aquaculture, and real-time water quality monitoring plays an important role in the development of aquaculture industry. The existing water quality monitoring modes mainly comprise two modes: an artificial sampling and testing mode and a fixed-point water quality monitoring system building mode. The manual sampling mode is used for collecting water samples in all places of a water area by workers and then bringing the water samples back to a laboratory for laboratory analysis and monitoring, the real-time performance is poor, and the water samples are possibly changed due to the fact that environmental change nonreactive factors and time influence exist in the transportation process, and finally the water quality false detection monitoring precision is not high. A fixed-point water quality monitoring system mode is set up, a water area is divided into a plurality of monitoring areas generally, a water quality sensor is arranged in each monitoring area, water quality data corresponding to the monitoring areas are collected in real time through the water quality sensors and transmitted to an upper computer, and real-time water quality monitoring is achieved. Although the fixed-point water quality monitoring system is built in a mode with higher real-time performance on water quality monitoring, the quantity of the water quality sensors is increased along with the increase of the area of a monitored water area, and finally the cost is very high, so that the fixed-point water quality monitoring system is mainly used for monitoring the water quality of the water area with smaller area at present.
With the development of unmanned detection technology, underwater unmanned aerial vehicles have been applied in various civil fields, for example, low-cost civil small-sized underwater robots are currently and widely applied in the fields of hydrological detection, underwater exploration, underwater rescue and the like. The civil small-sized underwater robot has two main types: the cable remote control underwater robot and the cable-free autonomous unmanned underwater robot. There is cable remote control underwater robot, needs special technical staff to carry out remote control operation, when being used for the water quality monitoring of aquaculture farm, long-term real-time supervision intensity of labour can be very big, is difficult to be suitable for. The cable-free autonomous unmanned underwater robot has expensive underwater acoustic communication equipment and high difficulty in realizing reliable motion control, finally has high overall cost, has limited application field and is mainly applied to the fields of scientific research, marine resource detection and the like at present.
Disclosure of Invention
The invention aims to solve the technical problem of providing a track type water quality monitoring robot which is low in cost, free of manual operation, high in real-time performance of water quality monitoring and high in water quality monitoring precision.
The technical scheme adopted by the invention for solving the technical problems is as follows: the utility model provides a rail mounted water quality monitoring robot, includes track subassembly, sensor cabin subassembly, organism subassembly, the communication subassembly that charges, n fill electric pile, n power supply unit, n dead-lock subassembly, n first zigBee module, land power supply communication subassembly, n is more than or equal to 2's integer, track subassembly include track and dolly under water, track mounting under water in the monitoring waters, the dolly be located the track under water on and the atress can be followed the track under water march, sensor cabin subassembly include water quality sensor module and first frame, first frame install the dolly on, water quality sensor module install first frame on, water quality sensor module be used for gathering quality of water data in the monitoring waters, the organism subassembly include power module, The power module is used for driving the trolley to move on the underwater track, the first control module is used for controlling the running state of the power module, the power management module is respectively connected with the power module and the first control module, the power management module is internally provided with minimum electric quantity and maximum electric quantity, and the first control module is connected with the water quality sensor module, the water quality sensor module is used for acquiring water quality data, the n charging piles are arranged on one side of the underwater track in an interval distribution mode, 2 charging piles in the n charging piles are respectively arranged on one sides of a starting point and a terminal point of the underwater track, the n locking assemblies are correspondingly arranged on the n charging piles one by one, each locking assembly is used for locking the trolley, the n first ZigBee modules are correspondingly arranged on the n locking assemblies one by one, each charging communication assembly comprises an automatic telescopic power receiving device, a GNSS positioning module, an airborne wireless communication module and a supporting rod, the automatic telescopic power receiving device, the GNSS positioning module and the airborne wireless communication module are all arranged on the second rack through the supporting rod, and the GNSS positioning module is connected with the first control module, the automatic telescopic power receiving device, the GNSS positioning module and the airborne wireless communication module are respectively positioned above the water surface of a monitoring water area, n power supply devices are correspondingly arranged on n charging piles one by one and used for leading out the power ends of the n charging piles one by one, the automatic telescopic power receiving device is connected with the power supply module to lead out the charging end of the power supply module, the first control module is respectively connected with the airborne wireless communication module and the automatic telescopic power receiving device, the automatic telescopic power receiving device is in a contraction state when in a non-charging state, the automatic telescopic power receiving device is in an extension state when in a charging state, the land power supply communication component comprises an intelligent terminal, a land power supply module, a second ZigBee module, a land wireless communication module and a second control module, the land power supply module is respectively connected with the n charging piles and used for supplying power to the n charging piles, the intelligent terminal is respectively connected with the land wireless communication module and the second control module, the land wireless communication module is communicated with the airborne wireless communication module through a wireless network, the second control module is respectively connected with the second ZigBee module and the land power supply module, the second ZigBee module and the n first ZigBee modules are respectively connected through a wireless network, the second control module is communicated with the n locking assemblies through the second ZigBee module and the n first ZigBee modules, the GNSS positioning module is used for positioning the position of the GNSS trolley and generating position signals, and the first control module can acquire the position information of the trolley from the GNSS positioning module and obtain the position information of the trolley through the airborne wireless communication module and the airborne wireless communication module The land wireless communication module sends the position information to the intelligent terminal; when the trolley executes a cruising task, a user sets a cruising task comprising cruising intervals and cruising running speeds at the intelligent terminal, and sends the cruising task to the first control module through the land wireless communication module and the airborne wireless communication module, the first control module converts the cruising task into a driving signal for driving the power module to control the running state of the power module, the power module drives the trolley to advance along the underwater track, the water quality sensor module acquires water quality data in real time in the advancing process of the trolley, the first controller acquires the water quality data from the water quality sensor module in real time and stores the water quality data to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, in the process of executing the inspection task by the trolley, the power management module detects the electric quantity of the power module in real time, when the electric quantity of the power module is smaller than the minimum electric quantity, the power management module generates a low-electric-quantity signal and feeds the low-electric-quantity signal back to the first control module, the first control module sends the low-electric-quantity signal to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, at the moment, the first control module acquires the current position information of the trolley from the GNSS positioning module, takes the charging pile closest to the trolley in the advancing direction of the trolley as the charging pile, and uploads the current position information of the trolley to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, then the first control module stores the current cruise task backup, namely, the cruise interval and the cruise running speed are stored, the position information tables and the charging running speed data of the n charging piles are prestored in the first control module, the first control module selects the position information of the charging pile and reads the charging running speed data from the position information tables of the n charging piles, the first control module drives the power module to navigate the trolley to the charging pile to stop according to the charging running speed data, when the trolley reaches the charging pile, the intelligent terminal sends a power-on command to the second control module, the second control module controls the land power supply module to supply power to the n charging piles, and the intelligent terminal generates a locking command to send the locking command to the second control module, the second control module sends a locking instruction to the locking assembly through the second ZigBee module and the first ZigBee module arranged at the locking assembly at the current charging pile to control the locking assembly at the current charging pile to lock the trolley, then the first control module controls the automatic telescopic power receiving device to stretch out to be in butt joint with the power feeding device at the current charging pile to charge the power module, when the power management module detects that the electric quantity of the power module is larger than or equal to the maximum electric quantity, the first control module controls the automatic telescopic power receiving device to retract, meanwhile, the charging completion feedback information is sent to the intelligent terminal, the intelligent terminal sends an unlocking instruction to the second control module, and the second control module sends unlocking instructions to the intelligent terminal through the second ZigBee module and the first ZigBee module arranged at the locking assembly at the current charging pile Sending a release instruction to a locking assembly to control the locking assembly at the current charging pile to release the trolley, then reading the backed-up cruise task by the first control module, controlling the power module to drive the trolley to continue to perform subsequent cruise tasks, delaying for 5 minutes after receiving charging completion information by the intelligent terminal, sending a power-off instruction to the second control module, controlling the land power supply module to stop supplying power to the n charging piles by the second control module, completing one cruise when the trolley runs from the starting point of the underwater track to the end point of the underwater track, returning the trolley to the starting point of the underwater track from the end point of the underwater track after waiting for one cruise interval, then waiting for one cruise interval, and continuing to run from the starting point of the underwater track to the end point of the underwater track, the cruise task is executed in this cycle.
The underwater track is realized by a C-shaped track, the trolley comprises a frame, a front wheel frame, a rear wheel frame, two front wheels, two rear wheels and a dumping protection mechanism for preventing dumping when turning or receiving transverse force, the two front wheels are installed on the front wheel frame at left and right parallel intervals, the two rear wheels are installed on the rear wheel frame at left and right parallel intervals, the frame comprises a first bottom plate, a first top plate and a plurality of supporting plates, the plurality of supporting plates are arranged at intervals along a circle, each supporting plate is fixed on the first bottom plate, the first top plate is fixed on the plurality of supporting plates and supported, the front wheel frame and the rear wheel frame are installed at the bottom of the first bottom plate respectively, the dumping protection mechanism comprises an installation frame and two T-shaped groove wheel sets, The clamping device comprises a compression spring, a mounting guide post, a first adjusting nut and a second adjusting nut, wherein each T-shaped grooved wheel set comprises two T-shaped grooved wheels which are arranged at intervals in the front and at the back, the two T-shaped grooved wheel sets are symmetrically arranged on the left side and the right side of the mounting frame, a first through hole is formed in the middle of a first base plate, the mounting guide post vertically penetrates through the first through hole, the compression spring is sleeved on the mounting guide post, the first adjusting nut is mounted on the mounting guide post and positioned above the compression spring, the bottom end of the compression spring is fixed on the first base plate, the upper end of the compression spring is fixed on the first adjusting nut, the second adjusting nut is mounted on the mounting guide post, the bottom of the mounting guide post is fixedly connected with the mounting frame, and the second adjusting nut is positioned between the first base plate and the connecting frame, in an initial state, the compression spring is in a compressed state, the top of each T-shaped grooved wheel is tangent to the lower end face of the top of the C-shaped track, no contact force exists between the top of each T-shaped grooved wheel and the lower end face of the top of the C-shaped track, each front wheel and each rear wheel are respectively realized by adopting a steering wheel, and the first machine frame is installed on the first top plate.
The automatic telescopic power receiving device comprises a shell with an upper end opening and a lower end opening, a cover plate, a second bottom plate, two guide cylinders, two guide columns, two power receiving contact heads, a lifting and contracting assembly, a rotating mechanism, a support, a first rotating shaft, a connecting rod, a first gear and a second gear; the second bottom plate is arranged on the supporting rod, the two power receiving contact heads are made of conductive materials, the two guide cylinders and the two guide pillars are made of insulating materials respectively, the cover plate is arranged at the upper end opening of the shell to seal the upper end opening, the two guide cylinders are arranged in the shell and are arranged on the cover plate at intervals, the cover plate is provided with two second through holes which penetrate through the cover plate from top to bottom, the two second through holes are in one-to-one correspondence and coaxial communication with the two guide cylinders, the two guide pillars penetrate through the two guide cylinders one-to-one and then enter the two second through holes, the two power receiving contact heads are arranged at the top ends of the two guide pillars one-to-one correspondence, each guide cylinder is in clearance fit with the guide pillars penetrating through the guide cylinder, the connecting rod is transversely arranged, and the lower parts of the two guide pillars are connected through the connecting rod, the second bottom plate is arranged at the lower end opening of the shell to seal the lower end opening, the rotating mechanism is positioned in the shell, the rotating mechanism is arranged on the second bottom plate and connected with the first control module, the first gear is arranged on the rotating mechanism, the bracket is fixed on the second bottom plate, the first rotating shaft is transversely arranged and rotatably arranged on the bracket, the second gear is fixedly arranged on the first rotating shaft and meshed with the first gear, the telescopic assembly comprises a first connecting plate and a second connecting plate, one end of the first connecting plate is circumferentially fixed on the first rotating shaft, and the other end of the first connecting plate is riveted with one end of the second connecting plate, the other end of the second connecting plate is sleeved on the connecting rod, the connecting rod can rotate relative to the connecting rod under stress, the connecting rod is positioned right above the first rotating shaft, the central axes of the two guide pillars, the central axis of the connecting rod and the central axis of the first rotating shaft are positioned on the same plane, the two power receiving contact heads are respectively connected with the charging end of the power module through an electric wire, the two electric wires penetrate out of the two guide pillars from the inside of the two guide pillars in a default state in a one-to-one correspondence manner, the two power receiving contact heads are positioned in the two second through holes in a one-to-one correspondence manner, when the power module is charged, the first control module controls the rotating mechanism to start, the rotating mechanism rotates a preset number of revolutions, and at the moment, the first gear synchronously rotates to drive the second gear to rotate, the second gear drives the first rotating shaft to rotate, the first rotating shaft drives the first connecting plate to rotate, at the moment, the second connecting plate drives the two guide posts to move upwards through the connecting rods so that the two power receiving contact heads extend out of the two second through holes to be connected with the power supply device, after charging is completed, the rotating mechanism resets, the two guide posts move downwards to reset, and the two power receiving contact heads are disconnected with the power supply device; the rotating mechanism is realized by adopting a micro stepping motor.
Every the power supply unit respectively including install on the electric pile on mounting panel, first removal subassembly, second removal subassembly, two removal posts, two give electric contact head and two cover shape and burst, two the removal post adopt insulating material respectively, two give electric contact head and two the cover shape burst be conducting material, first removal subassembly include first mount pad, second mount pad, first sliding block, first guide post, second guide post, first reset spring, second reset spring, third reset spring and fourth reset spring, first mount pad with the second mount pad be located mounting panel below, first mount pad with the second mount pad around the interval install on the mounting panel, first sliding block be located first mount pad with between the second mount pad, the first sliding block is fixed with a first baffle, a second baffle, a third baffle and a fourth baffle, the first baffle and the second baffle are arranged at intervals from front to back, the third baffle and the fourth baffle are arranged at intervals from front to back, the first baffle and the third baffle are arranged at intervals from left to right, the second baffle and the fourth baffle are arranged at intervals from left to right, the first guide post is arranged on the first mounting seat and the second mounting seat and penetrates through the first baffle and the second baffle, the second guide post is arranged on the first mounting seat and the second mounting seat and penetrates through the third baffle and the fourth baffle, the first return spring and the second return spring are respectively sleeved on the first guide post, and the front end of the first return spring abuts against the first mounting seat, the rear end of the first reset spring abuts against the first baffle plate, the front end of the second reset spring abuts against the second baffle plate, the rear end of the second reset spring abuts against the second mounting seat, the third reset spring and the fourth reset spring are respectively sleeved on the second guide post, the front end of the third reset spring abuts against the first mounting seat, the rear end of the third reset spring abuts against the third baffle plate, the front end of the fourth reset spring abuts against the fourth baffle plate, the rear end of the fourth reset spring abuts against the second mounting seat, the second moving assembly comprises a third mounting seat, a fourth mounting seat, a second sliding block, a third guide post, a fourth guide post, a fifth reset spring, a sixth reset spring, a second guide post, a third reset spring, a fourth reset spring, a second reset spring, A seventh reset spring and an eighth reset spring, wherein the third mounting seat and the fourth mounting seat are located below the first sliding block, the third mounting seat and the fourth mounting seat are installed on the first sliding block at left-right intervals, the second sliding block is located between the third mounting seat and the fourth mounting seat, the third guide post is installed on the third mounting seat and the fourth mounting seat and penetrates through the second sliding block, the fourth guide post is installed on the third mounting seat and the fourth mounting seat and penetrates through the second sliding block, the fifth reset spring and the sixth reset spring are respectively sleeved on the third guide post, the left end of the fifth reset spring abuts against the third mounting seat, and the right end of the fifth reset spring abuts against the second sliding block, the left end of the sixth reset spring abuts against the second sliding block, the right end of the sixth reset spring abuts against the fourth mounting seat, the seventh reset spring and the eighth reset spring are respectively sleeved on the fourth guide post, the left end of the seventh reset spring abuts against the third mounting seat, the right end of the seventh reset spring abuts against the second sliding block, the left end of the eighth reset spring abuts against the second sliding block, the right end of the eighth reset spring abuts against the fourth mounting seat, the first sliding block is provided with a sliding groove extending along the left-right direction, and the two moving posts sequentially penetrate through the sliding grooves on the second sliding block and the first sliding block from the lower part of the second sliding block and are respectively mounted at the sliding grooves through nuts, a ninth reset spring is sleeved on each moving column respectively, the upper end of the ninth reset spring abuts against the second sliding block, the lower end of the ninth reset spring is fixed on the moving columns, one to one of the two power supply contact heads is correspondingly installed at the bottom ends of the two moving columns, the positive electrode and the negative electrode of a charging power supply provided by the charging pile are respectively led out through a lead, one to one of the two leads penetrates out of the two moving columns from top to bottom and then is correspondingly connected with one to one of the two power supply contact heads, the two cover caps are correspondingly installed at the bottoms of the two moving columns one to one, the outer side walls of the two cover caps are coated with insulating materials respectively, and the inner sides of the two cover caps are correspondingly contacted with the upper ends of the two power supply contact heads one to one; when the automatic telescopic power receiving device extends to be connected with the power feeding device, two power receiving contact heads in the automatic telescopic power receiving device correspondingly enter the two hood-shaped caps one by one, if the trolley is accurately parked, the two power receiving contact heads and the two power feeding contact heads are in contact and correspondingly butted one by one to establish connection, if the trolley is not accurately parked, the position of the automatic telescopic power receiving device is shown to have certain deviation, the two power receiving contact heads are in contact with the two hood-shaped caps, if the trolley is deviated in the left-right direction, the second sliding block moves leftwards and rightwards along the third guide column and the fourth guide column to carry out position calibration so that the two power receiving contact heads are in one-to-one corresponding butted with the two power feeding contact heads, and if the trolley is deviated in the front-back direction, the first sliding block moves back and forth along the first guide post and the second guide post to calibrate the position, so that the two power receiving contact heads are in one-to-one corresponding butt joint with the two power feeding contact heads.
Each locking assembly comprises an overwater telescopic assembly and an underwater linkage assembly, the overwater telescopic assembly comprises a linear telescopic driving unit, a third control module, a fixed guide rod and a connecting rod, the linear telescopic driving unit is arranged on the charging pile, the fixed guide rod is arranged at the top of the charging pile, a round sleeve is sleeved on the fixed guide rod, the round sleeve can axially move along the fixed guide rod under stress, the upper end of the connecting rod is fixedly connected with the round sleeve, the linear telescopic driving unit is arranged on the charging pile, the third control module is arranged on the linear telescopic driving unit, the third control module is respectively connected with the linear telescopic driving unit and a first ZigBee module arranged at the locking assembly, the linear telescopic driving unit penetrates through the charging pile and then is connected with the connecting rod, the third control module is used for controlling the linear telescopic driving unit to extend or contract, the connecting rod can be driven to axially move along the fixed guide rod when the linear telescopic driving unit extends or contracts, and the circular sleeve slides on the fixed guide rod under the driving of the connecting rod; the underwater linkage component comprises a base support, a second rotating shaft, a push rod, a first clamping plate, a second clamping plate, a first sliding seat, a second sliding seat, a first connecting rod, a second connecting rod, a first sliding column, a second sliding column, a third sliding column and a fourth sliding column, wherein the base support is installed on the charging pile and is positioned below the underwater track, the second rotating shaft is arranged in the base support, the first connecting rod and the second connecting rod are installed on the second rotating shaft in a crossed manner, the first sliding column is installed at one end, close to the charging pile, of the first connecting rod, the second sliding column is installed at one end, far away from the charging pile, of the first connecting rod, the third sliding column is installed at one end, close to the charging pile, of the second connecting rod, and the fourth sliding column is installed at one end, far away from the charging pile, of the second connecting rod, the first sliding seat is arranged on the first sliding column and the third sliding column, the second sliding seat is arranged on the second sliding column and the fourth sliding column, the first clamping plate is arranged on the first sliding seat, the second clamping plate is arranged on the second sliding seat, the first clamping plate and the second clamping plate are positioned on two sides of the underwater track, concave clamping grooves are respectively arranged on the first clamping plate and the second clamping plate, one end of the push rod is arranged in the middle of the first sliding seat, the other end of the push rod penetrates through the charging pile and then is fixedly connected with the lower end of the connecting rod, when the locking assembly is in an initial state, the linear telescopic driving unit is in an extending state, the underwater linkage assembly is in a releasing state, when the trolley runs to the charging pile for charging, the third control module controls the linear telescopic driving unit to contract under the control of the second control module, the connecting rod drives the circular sleeve to move towards the direction close to the charging pile along the fixed guide rod at the moment, the connecting rod drives the push rod, the push rod changes the distance between the first connecting rod and the second connecting rod through the first sliding seat, and the first clamping plate and the second clamping plate move together to enable the trolley to enter the concave clamping grooves of the first clamping plate and the second clamping plate to be clamped.
The first frame comprises a first side plate, a second side plate and a first bearing plate, the first side plate, the second side plate and the first bearing plate are all made of high polymer materials, the first bearing plate is arranged on the trolley, the lower end of the first side plate is arranged on the left side of the first bearing plate, the lower end of the second side plate is arranged on the right side of the first bearing plate, the sensor cabin assembly further comprises a cabin body assembly, the cabin body assembly comprises a first sensor cabin, a second sensor cabin, a first end cover, a second end cover, a third end cover, a fourth end cover, a first U-shaped frame, a second U-shaped frame, a third U-shaped frame, a fourth U-shaped frame, a fifth U-shaped frame, a sixth U-shaped frame, a seventh U-shaped frame and an eighth U-shaped frame, the opening of the first U-shaped frame is upwards arranged at the front end of the first bearing plate, the third U-shaped frame is installed at the rear end of the first bearing plate with an opening facing upwards, the first sensor cabin is installed on the first U-shaped frame and the third U-shaped frame, the second U-shaped frame is installed on the first U-shaped frame after being butted with the first U-shaped frame with an opening facing downwards, the fourth U-shaped frame is installed on the third U-shaped frame after being butted with the third U-shaped frame with an opening facing downwards, the first U-shaped frame, the second U-shaped frame, the third U-shaped frame and the fourth U-shaped frame fix the first sensor cabin, the fifth U-shaped frame is installed at the front end of the first bearing plate with an opening facing upwards, the seventh U-shaped frame is installed at the rear end of the first bearing plate with an opening facing upwards, the second sensor cabin is installed on the fifth U-shaped frame and the seventh U-shaped frame with an opening facing downwards, the sixth U-shaped frame is installed at the rear end of the fifth U-shaped frame with an opening facing downwards The water quality sensor module comprises a plurality of water quality sensors, the types of the water quality sensors are different, the water quality sensors are dispersedly arranged in the first sensor cabin and the second sensor cabin, each water quality sensor is respectively connected with the first control module, and each water quality sensor is powered by the power module.
The machine body assembly further comprises a high-definition camera, an electronic equipment cabin assembly, a battery cabin assembly and an LED spotlight assembly, the second rack comprises a third side plate, a fourth side plate, a second bearing plate, a first clamping plate and a second clamping plate, the third side plate, the fourth side plate, the second bearing plate, the first clamping plate and the second clamping plate are made of high polymer materials, the lower end of the third side plate is installed at the upper end of the first side plate, the lower end of the fourth side plate is installed at the upper end of the second side plate, the second bearing plate is installed between the third side plate and the lower portion of the fourth side plate, the first clamping plate is installed on the inner side of the third side plate, the second clamping plate is installed on the inner side of the fourth side plate, and the LED spotlight assembly comprises a first LED spotlight, a second LED spotlight, The first LED spotlight and the second LED spotlight are respectively arranged on the outer side of the front part of the third side plate and are distributed at intervals up and down, and the third LED spotlight and the fourth LED spotlight are respectively arranged on the outer side of the front part of the fourth side plate and are distributed at intervals up and down; the first control module is respectively connected with the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight, when the cruise task is executed at night, the first control module controls the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight to be turned on, when the cruise task is executed at daytime, the first control module controls the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight to be turned off, and the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight are powered by the power supply module; the electronic equipment cabin component comprises an arc clamping seat component, a transparent protective cover, an equipment cabin body, a sealing end cover, a humidity sensor and a data acquisition module, wherein the arc clamping seat component comprises a first arc clamping seat, a first arc clamping cover, a second arc clamping seat and a second arc clamping cover, the opening of the first arc clamping seat faces upwards, the two ends of the first arc clamping seat are respectively installed on the first clamping plate and the rear part of the bottom end of the second clamping plate, the opening of the second arc clamping seat faces upwards, the two ends of the second arc clamping seat are respectively installed on the front part of the bottom end of the first clamping plate and the front part of the bottom end of the second clamping plate, the equipment cabin body is installed on the first arc clamping seat and the second arc clamping seat, the opening of the first arc clamping cover faces downwards, the two ends of the first arc clamping cover are respectively installed on the rear part of the top end of the first clamping plate and the top end of the second clamping plate, and the opening of the second arc clamping cover is respectively installed on the first clamping plate and the top end of the The front part of the equipment cabin body, the first arc-shaped clamping seat, the second arc-shaped clamping seat and the second arc-shaped clamping seat fix the equipment cabin body, the transparent protective cover is arranged at the front end of the equipment cabin body, the transparent protective cover is made of transparent high polymer materials, the sealing end cover is arranged at the rear end of the equipment cabin body, the humidity sensor is connected with the first control module and used for collecting humidity information in the equipment cabin body and transmitting the humidity information to the first control module, the data acquisition module connects the water quality sensor module with the first control module, the data acquisition module transmits the water quality data acquired by the water quality sensor module to the first control module, and the first control module, The high-definition camera, the humidity sensor and the data acquisition module are respectively installed inside the equipment cabin body, the high-definition camera is connected with the first control module, the high-definition camera is located behind the transparent protective cover and used for acquiring underwater video data, and the first control module transmits the water quality data and the underwater video data to the intelligent terminal through the airborne wireless communication module and the land wireless communication module; the power module comprises a first propeller, a second propeller, a third propeller, a fourth propeller and a motor driving module, the first propeller, the second propeller, the third propeller and the fourth propeller are four direct current motors with the same model, the first propeller and the second propeller are respectively arranged below the first clamping plate and distributed at intervals front and back, the third propeller and the fourth propeller are respectively arranged below the second clamping plate and distributed at intervals front and back, the first propeller and the third propeller are reversely rotating propellers, the second propeller and the fourth propeller are normally rotating propellers, the motor driving module is arranged in the equipment cabin body, and the motor driving module is respectively connected with the first control module, The first propeller, the second propeller, the third propeller and the fourth propeller are connected, the first control module sends a motion instruction to the motor driving module to drive the four propellers to operate, the first propeller, the second propeller, the third propeller and the fourth propeller are respectively connected with the trolley, the second propeller and the fourth propeller are used for pushing the lower vehicle to move forwards, and the first propeller and the third propeller are used for pushing the trolley to move backwards; the battery compartment assembly comprises a battery compartment body, a first U-shaped clamping plate and a second U-shaped clamping plate, wherein an opening of the first U-shaped clamping plate is upwards installed on the second bearing plate, the battery compartment body is installed in the first U-shaped clamping plate, an opening of the second U-shaped clamping plate is downwards butted with the first U-shaped clamping plate and then installed on the first U-shaped clamping plate, the first U-shaped clamping plate and the second U-shaped clamping plate fix the battery compartment body, a power supply module is installed in the battery compartment body, and a power supply management module is installed in the equipment compartment body.
Compared with the prior art, the invention has the advantages that the track type water quality monitoring robot is constructed by the underwater track component, the sensor cabin component, the machine body component, the charging communication component, n charging piles, n power supply devices, n locking components, n first ZigBee modules and the land power supply communication component, the underwater track component comprises an underwater track and a trolley, the sensor cabin component comprises a water quality sensor module and a first machine frame, the water quality sensor module is used for collecting water quality data in a monitoring water area, the machine body component comprises a power module, a first control module, a power supply management module and a second machine frame, the power supply module provides working power for the power module, the water quality sensor module and the first control module, the power module is used for driving the trolley to move on the underwater track, the first control module is used for controlling the running state of the power module, the power management module is respectively connected with the power module and the first control module, the power management module is internally provided with minimum electric quantity and maximum electric quantity, the first control module is connected with the water quality sensor module, water quality data are obtained from the water quality sensor module, n charging piles are arranged on one side of an underwater track in a spaced manner, 2 charging piles in the n charging piles are respectively arranged on one sides of a starting point and an end point of the underwater track, n locking assemblies are correspondingly arranged on the n charging piles one by one, each locking assembly is used for locking a trolley, n first ZigBee modules are correspondingly arranged on the n locking assemblies one by one, each charging communication assembly comprises an automatic telescopic power receiving device, a GNSS positioning module, an airborne wireless communication module and a supporting rod, and the automatic telescopic power receiving device, the GNSS positioning module and the airborne wireless communication module are all arranged on a second rack through the supporting rod, the GNSS positioning module is connected with the first control module, the automatic telescopic power receiving device, the GNSS positioning module and the airborne wireless communication module are respectively positioned above the water surface of a monitoring water area, the n power supply devices are correspondingly arranged on the n charging piles one by one and used for leading out the power ends of the n charging piles one by one, the automatic telescopic power receiving device is connected with the power supply module to lead out the charging end of the power supply module, the first control module is respectively connected with the airborne wireless communication module and the automatic telescopic power receiving device, when the power supply device is not in a charging state, the automatic telescopic power receiving device is in a contraction state, when the power supply device is in a charging state, the automatic telescopic power receiving device is in an extension state, the land power supply communication assembly comprises an intelligent terminal, a land power supply module, a second ZigBee module, a land wireless communication module and a second control module, the land power supply module, the intelligent terminal is respectively connected with the land wireless communication module and the second control module, the land wireless communication module is communicated with the airborne wireless communication module through a wireless network, the second control module is respectively connected with the second ZigBee module and the land power supply module, the second ZigBee module and the n first ZigBee modules are respectively connected through a wireless network, the second control module is communicated with the n locking assemblies through the second ZigBee module and the n first ZigBee modules, the GNSS positioning module is used for positioning the position of the trolley and generating position signals, and the first control module can acquire the position information of the trolley from the GNSS positioning module and send the position information to the intelligent terminal through the airborne wireless communication module and the land wireless communication module; when the trolley executes a cruise task, a user sets a cruise task comprising a cruise interval and a cruise running speed at an intelligent terminal, the cruise task is sent to a first control module through a land wireless communication module and an airborne wireless communication module, the first control module converts the cruise task into a driving signal for driving a power module to control the running state of the power module, the power module drives the trolley to travel along an underwater track, a water quality sensor module acquires water quality data in real time in the traveling process of the trolley, a first controller acquires the water quality data from the water quality sensor module in real time and sends the water quality data to the intelligent terminal through the airborne wireless communication module and the land wireless communication module to be stored, a power management module detects the electric quantity of a power module in real time in the process of executing a patrol task by the trolley, and when the electric quantity of the power module is less than the minimum electric quantity, the power management module generates a low-power signal and feeds the low-power signal back to the first control module, the first control module sends the low-power signal to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, at the moment, the first control module acquires current position information of the trolley from the GNSS positioning module, a charging pile closest to the trolley in the advancing direction of the trolley is taken as the charging pile, the current position information of the trolley is uploaded to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, then the first control module stores a current cruise task backup, namely, a cruise interval and a cruise running speed, position information tables and charging running speed data of n charging piles are prestored in the first control module, and the first control module selects the charging pile position information from the position information tables of the n charging piles and reads the charging running speed data, the first control module drives the power module to navigate the trolley to the charging pile to stop according to the charging operation speed data, when the trolley reaches the charging pile, the intelligent terminal sends a power-on command to the second control module, the second control module controls the land power supply module to supply power to the n charging piles, the intelligent terminal generates a locking command to send to the second control module, the second control module sends a locking command to the locking component through the second ZigBee module and the first ZigBee module arranged at the locking component of the charging pile to control the locking component of the charging pile to lock the trolley, then the first control module controls the automatic telescopic power receiving device to extend out to be in butt joint with a power supply device of the charging pile to charge the power module, and when the power management module detects that the electric quantity of the power module is larger than or equal to the maximum electric quantity of power, the first control module sends feedback information to the first control module, the first control module controls the automatic telescopic power receiving device to retract, simultaneously sends charging completion feedback information to the intelligent terminal, the intelligent terminal sends an unlocking instruction to the second control module, the second control module sends a releasing instruction to the locking component through the second ZigBee module and the first ZigBee module arranged at the locking component of the charging pile to control the locking component of the charging pile to release the trolley, then the first control module reads the backup cruising task and controls the power module to drive the trolley to continue to carry out the subsequent cruising task, the intelligent terminal delays 5 minutes after receiving the charging completion information and sends a power-off instruction to the second control module, the second control module controls the land power supply module to stop supplying power to the n charging piles, when the trolley runs from the starting point of the underwater track to the terminal point of the underwater track, one cruising is completed, and at the moment, the trolley returns to the starting point of the underwater track from the terminal point of the underwater track after waiting for one cruising interval, and then waiting for a cruising interval, and continuously running from the starting point of the underwater track to the end point of the underwater track to circularly execute the cruising task.
Drawings
FIG. 1 is a partial perspective view of a rail-mounted water quality monitoring robot according to the present invention;
FIG. 2 is a frame diagram of the track-type water quality monitoring robot according to the present invention;
FIG. 3 is an exploded view of the cart of the rail-mounted water quality monitoring robot of the present invention;
FIG. 4 is a matching diagram of a trolley of the rail-mounted water quality monitoring robot and an underwater rail;
FIG. 5 is an exploded view of the power supply device and the automatic retractable power receiving device of the rail-mounted water quality monitoring robot according to the present invention;
FIG. 6 is an exploded view of the power feeding device of the rail-mounted water quality monitoring robot of the present invention;
FIG. 7 is a perspective view of a locking assembly of the rail-mounted water quality monitoring robot of the present invention;
FIG. 8 is an exploded view of the locking assembly of the rail-mounted water quality monitoring robot of the present invention;
fig. 9 is an exploded view of a first housing and sensor pod assembly of the rail-mounted water quality monitoring robot of the present invention;
FIG. 10 is a perspective view of the body assembly, the electronic device compartment assembly, the power module and the battery compartment assembly of the rail-mounted water quality monitoring robot of the present invention;
fig. 11 is an exploded view of the body assembly, the electronic device compartment assembly, the power module and the battery compartment assembly of the rail-mounted water quality monitoring robot of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying examples.
Example (b): as shown in figures 1 and 2, the rail type water quality monitoring robot comprises an underwater rail 3 component, a sensor cabin component 5, a machine body component 6, a charging communication component, n charging piles 11, n power supply devices 2, n locking components, n first ZigBee modules and a land power supply communication component, wherein n is an integer greater than or equal to 2, the underwater rail 3 component comprises an underwater rail 3 and a trolley 4, the underwater rail 3 is installed in a monitored water area, the trolley 4 is located on the underwater rail 3 and can move along the underwater rail 3 under stress, the sensor cabin component 5 comprises a water quality sensor module and a first machine frame, the first machine frame is installed on the trolley 4, the water quality sensor module is installed on the first machine frame and used for collecting water quality data in the monitored water area, the machine body component 6 comprises a power module, a first control module, a power supply module, The water quality monitoring device comprises a power supply management module and a second rack, wherein the second rack is arranged on the first rack, the power supply module, a first control module, a power supply module and the power supply management module are respectively arranged on the second rack, the power supply module provides working power supply for the power supply module, a water quality sensor module and the first control module, the power supply module is used for driving a trolley 4 to move on an underwater track 3, the first control module is used for controlling the running state of the power supply module, the power supply management module is respectively connected with the power supply module and the first control module, the power supply management module is internally provided with minimum electric quantity and maximum electric quantity, the first control module is connected with the water quality sensor module and is used for acquiring water quality data from the water quality sensor module, n charging piles 1 are arranged on one side of the underwater track 3 at intervals, and 2 charging piles 1 in the n charging piles are respectively arranged on one side of a, the n locking assemblies are correspondingly arranged on the n charging piles 1 one by one, each locking assembly is used for locking the trolley 4, the n first ZigBee modules are correspondingly arranged on the n locking assemblies one by one, the charging communication assembly comprises an automatic telescopic current-receiving device 7, a GNSS positioning module, an onboard wireless communication module and a supporting rod 8, the automatic telescopic current-receiving device 7, the GNSS positioning module and the onboard wireless communication module are all arranged on a second frame through the supporting rod 8, the GNSS positioning module is connected with a first control module, the automatic telescopic current-receiving device 7, the GNSS positioning module and the onboard wireless communication module are respectively positioned above the water surface of a monitored water area, the n power supply devices 2 are correspondingly arranged on the n charging piles 1 one by one, the power supply ends of the n charging piles 1 are correspondingly led out one by one, and the automatic telescopic current-receiving device 7 is connected with the power supply module to lead out the charging ends of the, the first control module is respectively connected with the airborne wireless communication module and the automatic telescopic power receiving device 7, when the power receiving device is not in a charging state, the automatic telescopic power receiving device 7 is in a contraction state, when the power receiving device is in a charging state, the automatic telescopic power receiving device 7 is in an extension state, the land power supply communication component comprises an intelligent terminal, a land power supply module, a second ZigBee module, a land wireless communication module and a second control module, the land power supply module is respectively connected with the n charging piles 1 and used for supplying power to the n charging piles 1, the intelligent terminal is respectively connected with the land wireless communication module and the second control module, the land wireless communication module is communicated with the airborne wireless communication module through a wireless network, the second control module is respectively connected with the second ZigBee module and the land power supply module, the second ZigBee module is respectively connected with the n first ZigBee modules through the wireless network, the second control module is communicated with the n locking components through the second ZigBee module and the n first ZigBee modules, the first control module can acquire the position information of the trolley 4 from the GNSS positioning module and send the position information to the intelligent terminal through the airborne wireless communication module and the land wireless communication module; when the trolley 4 executes a cruise task, a user sets a cruise task comprising a cruise interval and a cruise running speed at the intelligent terminal, the cruise task is sent to the first control module through the land wireless communication module and the airborne wireless communication module, the first control module converts the cruise task into a driving signal for driving the power module to control the running state of the power module, the power module drives the trolley 4 to run along the underwater track 3, the water quality sensor module acquires water quality data in real time in the running process of the trolley 4, the first controller acquires the water quality data from the water quality sensor module in real time and sends the water quality data to the intelligent terminal through the airborne wireless communication module and the land wireless communication module to be stored, the power management module detects the electric quantity of the power module in real time in the process of executing the patrol task by the trolley 4, when the electric quantity of the power module is less than the minimum electric quantity, the power management module generates a low-power signal and feeds the low-power signal back to the first control module, the first control module sends the low-power signal to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, at the moment, the first control module acquires the current position information of the trolley 4 from the GNSS positioning module, the charging pile 1 closest to the trolley 4 in the advancing direction of the trolley 4 is used as the charging pile, the current position information of the trolley 4 is uploaded to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, then the first control module backups the current cruise task, namely stores the cruise interval and the cruise running speed, the position information tables and the charging running speed data of n charging piles 1 are prestored in the first control module, the first control module selects the position information of the charging pile and reads the charging running speed data from the position information tables of the n charging piles 1, the first control module drives the power module to navigate the trolley 4 to the charging pile to stop according to the charging operation speed data, when the trolley 4 reaches the charging pile, the intelligent terminal sends a power-on command to the second control module, the second control module controls the land power supply module to supply power to the n charging piles 1, the intelligent terminal generates a locking command to send to the second control module, the second control module sends a locking command to the locking component to control the locking component at the charging pile to lock the trolley 4 through the second ZigBee module and the first ZigBee module arranged at the locking component at the charging pile, then the first control module controls the automatic telescopic power receiving device 7 to stretch out to be in butt joint with the power supply device 2 at the charging pile to charge the power supply module, and when the power management module detects that the electric quantity of the power supply module is larger than or equal to the maximum electric quantity, the first control module sends feedback information, the first control module controls the automatic telescopic power receiving device 7 to retract, simultaneously sends charging completion feedback information to the intelligent terminal, the intelligent terminal sends an unlocking instruction to the second control module, the second control module sends a releasing instruction to the locking component through the second ZigBee module and the first ZigBee module arranged at the locking component of the charging pile to control the locking component of the charging pile to release the trolley 4, then the first control module reads a backup cruise task, controls the power module to drive the trolley 4 to continue a subsequent cruise task, the intelligent terminal delays for 5 minutes after receiving the charging completion information and sends a power-off instruction to the second control module, the second control module controls the land power supply module to stop supplying power to the n charging piles 1, and when the trolley 4 runs from the starting point of the underwater track 3 to the end point of the underwater track 3, one-time cruise is completed, at the moment, the trolley 4 waits for a cruise interval and then returns to the starting point of the underwater track 3 from the end point of the underwater track 3, then waits for a cruise interval again and continues to run to the end point of the underwater track 3 from the starting point of the underwater track 3, and accordingly the cruise task is executed circularly.
As shown in fig. 3 and 4, in the embodiment, the underwater track 3 is implemented by a C-shaped track, the trolley 4 includes a frame, a front wheel frame 10, a rear wheel frame 11, two front wheels 12, two rear wheels 13 and a dumping protection mechanism for preventing overturning during turning or lateral force, the two front wheels 12 are installed on the front wheel frame 10 in parallel at intervals from left to right, the two rear wheels 13 are installed on the rear wheel frame 11 in parallel at intervals from left to right, the frame includes a first bottom plate 14, a first top plate 15 and a plurality of supporting plates 16, the plurality of supporting plates 16 are arranged along a circle at intervals, each supporting plate 16 is respectively fixed on the first bottom plate 14, the first top plate 15 is fixed on the plurality of supporting plates 16 to be supported, the front wheel frame 10 and the rear wheel frame 11 are respectively installed at the bottom of the first bottom plate 14, the dumping protection mechanism includes an installation frame 17, two T-shaped wheel sets, a compression spring 18 and an, A first adjusting nut 20 and a second adjusting nut 21, each T-shaped grooved pulley set respectively comprises two T-shaped grooved pulleys 22 arranged at intervals from front to back, the two T-shaped grooved pulley sets are symmetrically arranged at the left side and the right side of the mounting frame 17, the middle part of the first bottom plate 14 is provided with a first through hole, the mounting guide pillar 19 penetrates through the first through hole from top to bottom, the compression spring 18 is sleeved on the mounting guide pillar 19, the first adjusting nut 20 is mounted on the mounting guide pillar 19 and is positioned above the compression spring 18, the bottom end of the compression spring 18 is fixed on the first bottom plate 14, the upper end of the compression spring 18 is fixed on the first adjusting nut 20, the second adjusting nut 21 is mounted on the mounting guide pillar 19, the bottom of the mounting guide pillar 19 is fixedly connected with the mounting frame 17, the second adjusting nut 21 is positioned between the first bottom plate 14 and the mounting frame 17, in an initial state, the compression spring 18 is in a compression state, the top of each T, each front wheel 12 and each rear wheel 13 is implemented as a steering wheel, respectively, and the first frame is mounted on a first top plate 15.
As shown in fig. 5, in the present embodiment, the automatic telescopic power receiving apparatus 7 includes a housing 23 having an upper end opening and a lower end opening, a cover plate 24, a second bottom plate 25, two guide cylinders 26, two guide posts 27, two power receiving contacts 28, a lifting and retracting assembly, a rotating mechanism 29, a bracket 30, a first rotating shaft 31-1, a connecting rod 32, a first gear 33, and a second gear 34; the second bottom plate 25 is installed on the supporting rod 8, the two power receiving contact heads 28 are made of conductive materials, the two guide cylinders 26 and the two guide pillars 27 are made of insulating materials, the cover plate 24 is installed at the upper end opening of the casing 23 to seal the upper end opening, the two guide cylinders 26 are located in the casing 23 and installed on the cover plate 24 at intervals, the cover plate 24 is provided with two second through holes which penetrate through the two guide cylinders 26 up and down, the two second through holes are coaxially communicated with the two guide cylinders 26 in a one-to-one correspondence manner, the two guide pillars 27 penetrate through the two guide cylinders 26 in a one-to-one correspondence manner and then enter the two second through holes, the two power receiving contact heads 28 are arranged at the top ends of the two guide pillars 27 in a one-to-one correspondence manner, each guide cylinder 26 is in clearance fit with the guide pillar 27 penetrating through the corresponding guide cylinder, the connecting rod 32 is transversely arranged, the, the rotating mechanism 29 is positioned in the shell 23, the rotating mechanism 29 is arranged on the second bottom plate 25, the rotating mechanism 29 is connected with the first control module, the first gear 33 is arranged on the rotating mechanism 29, the bracket 30 is fixed on the second bottom plate 25, the first rotating shaft 31-1 is transversely arranged and rotatably arranged on the bracket 30, the second gear 34 is fixedly arranged on the first rotating shaft 31-1, the second gear 34 is meshed with the first gear 33, the telescopic component comprises a first connecting plate 31-2 and a second connecting plate 31-3, one end of the first connecting plate 31-2 is circumferentially fixed on the first rotating shaft 31-1, the other end of the first connecting plate 31-2 is riveted with one end of the second connecting plate 31-3, the other end of the second connecting plate 31-3 is sleeved on the connecting rod 32 and can rotate relative to the connecting rod 32 under the action of force, the connecting rod 32 is located right above the first rotating shaft 31-1, the central axes of the two guide posts 27, the central axis of the connecting rod 32 and the central axis of the first rotating shaft 31-1 are located on the same plane, the two power receiving contact heads 28 are respectively connected with the charging end of the power module through one wire, the two wires penetrate out of the two guide posts 27 from the inside to the top in a one-to-one correspondence mode and are located in the two second through holes, when the power module is charged, the first control module controls the rotating mechanism 29 to start, the rotating mechanism 29 rotates by a preset number of revolutions, at the moment, the first gear 33 synchronously rotates to drive the second gear 34 to rotate, the second gear 34 drives the first rotating shaft 31-1 to rotate, the first rotating shaft 31-1 drives the first connecting plate to rotate, at the moment, the second connecting plate drives the two guide posts 27 to move upwards through the connecting rod 32 to enable the two power receiving contact heads 28 to pass through the two second The two contact pins extend out to be connected with the power supply device 2, when the charging is finished, the rotating mechanism 29 is reset, the two guide posts 27 move downwards to be reset, and the two power receiving contact pins 28 are disconnected with the power supply device 2; the rotating mechanism 29 is implemented by a micro stepping motor.
As shown in fig. 6, in this embodiment, each of the power feeding devices 2 includes a mounting plate 35 mounted on the charging pile 1, a first moving assembly, a second moving assembly, two moving columns 36, two power feeding contact terminals 37, and two caps 38, the two moving columns 36 are made of insulating materials, the two power feeding contact terminals 37 and the two caps 38 are made of conductive materials, the first moving assembly includes a first mounting seat 39, a second mounting seat 40, a first sliding block 41, a first guiding column 42, a second guiding column 43, a first return spring 44, a second return spring 45, a third return spring 46, and a fourth return spring 47, the first mounting seat 39 and the second mounting seat 40 are located below the mounting plate 35, the first mounting seat 39 and the second mounting seat 40 are mounted on the mounting plate 35 at intervals from front to back, the first sliding block 41 is located between the first mounting seat 39 and the second mounting seat 40, a first baffle plate 48, a second baffle plate 49, a third baffle plate 50 and a fourth baffle plate 51 are fixed on the first sliding block 41, the first baffle plate 48 and the second baffle plate 49 are arranged at intervals in the front-back direction, the third baffle plate 50 and the fourth baffle plate 51 are arranged at intervals in the front-back direction, the first baffle plate 48 and the third baffle plate 50 are arranged at intervals in the left-right direction, the second baffle plate 49 and the fourth baffle plate 51 are arranged at intervals in the left-right direction, a first guide post 42 is installed on the first installation seat 39 and the second installation seat 40 and penetrates through the first baffle plate 48 and the second baffle plate 49, a second guide post 43 is installed on the first installation seat 39 and the second installation seat 40 and penetrates through the third baffle plate 50 and the fourth baffle plate 51, a first return spring 44 and a second return spring 45 are respectively sleeved on the first guide post 42, the front end of the first return spring 44 abuts against the first installation seat 39, the rear end of the first return spring 44 abuts against the first baffle plate 48, the front end of the second return spring 45 abuts against the second baffle plate 49, the rear end of the second return spring 45 abuts against the second mounting seat 40, the third return spring 46 and the fourth return spring 47 are respectively sleeved on the second guide post 43, the front end of the third return spring 46 abuts against the first mounting seat 39, the rear end of the third return spring 46 abuts against the third baffle 50, the front end of the fourth return spring 47 abuts against the fourth baffle 51, the rear end of the fourth return spring 47 abuts against the second mounting seat 40, the second moving assembly comprises a third mounting seat 52, a fourth mounting seat 53, a second sliding block 54, a third guide post 55, a fourth guide post 56, a fifth return spring 57, a sixth return spring 58, a seventh return spring 59 and an eighth return spring 60, the third mounting seat 52 and the fourth mounting seat 53 are positioned below the first sliding block 41, the third mounting seat 52 and the fourth mounting seat 53 are installed on the first sliding block 41 at intervals from left to right, the second sliding block 54 is located between the third installation seat 52 and the fourth installation seat 53, the third guiding column 55 is installed on the third installation seat 52 and the fourth installation seat 53 and passes through the second sliding block 54, the fourth guiding column 56 is installed on the third installation seat 52 and the fourth installation seat 53 and passes through the second sliding block 54, the fifth return spring 57 and the sixth return spring 58 are respectively sleeved on the third guiding column 55, the left end of the fifth return spring 57 is abutted on the third installation seat 52, the right end of the fifth return spring 57 is abutted on the second sliding block 54, the left end of the sixth return spring 58 is abutted on the second sliding block 54, the right end of the sixth return spring 58 is abutted on the fourth installation seat 53, the seventh return spring 59 and the eighth return spring 60 are respectively sleeved on the fourth guiding column 56, the left end of the seventh return spring 59 is abutted on the third installation seat 52, the right end of the seventh return spring 59 is abutted on the second sliding block 54, the left end of the eighth return spring 60 abuts against the second sliding block 54, the right end of the eighth return spring 60 abuts against the fourth mounting seat 53, the first sliding block 41 is provided with a sliding groove extending along the left-right direction, the two moving columns 36 sequentially pass through the sliding grooves of the second sliding block 54 and the first sliding block 41 from the lower part of the second sliding block 54 and are respectively mounted at the sliding grooves through a nut, each moving column 36 is respectively sleeved with a ninth return spring 36-1, the upper end of the ninth return spring 36-1 abuts against the second sliding block 54, the lower end of the ninth return spring 36-1 is fixed on the moving column 36, the two power supply contact heads 37 are respectively mounted at the bottom ends of the two moving columns 36 in a one-to-one correspondence manner, the positive electrode and the negative electrode of the charging power supply provided by the charging pile 1 are respectively led out through a conducting wire, one pair of the two conducting wires penetrates out of the two moving columns 36 from top to bottom and then is connected with the two power supply, the two cover-shaped caps 38 are correspondingly arranged at the bottoms of the two movable columns 36 one by one, the outer side walls of the two cover-shaped caps 38 are respectively coated with insulating materials, and the inner sides of the two cover-shaped caps 38 are correspondingly contacted with the upper ends of the two electric contact heads 37 one by one; when the automatic telescopic power receiving device 7 is extended to establish connection with the power feeding device 2, the two power receiving contacts 28 in the automatic telescopic power receiving device 7 enter the two caps 38 one by one, if the trolley 4 is precisely parked, the two power receiving contacts 28 and the two power feeding contacts 37 are contacted and correspondingly butted one by one to establish connection, if the trolley 4 is not precisely parked, which indicates that there is a deviation in the position of the automatic telescopic power receiving device 7, the two power receiving contacts 28 are in contact with the two caps 38, if there is a deviation in the left-right direction, the second slider 54 moves left and right along the third guide post 55 and the fourth guide post 56 to perform position calibration so that the two power receiving contacts 28 are in one-to-one correspondence with the two power feeding contacts 37, if there is a deviation in the front-rear direction, the first slide block 41 moves back and forth along the first guide post 42 and the second guide post 43 to perform position calibration so that the two power receiving contacts 28 are in one-to-one correspondence with the two power feeding contacts 37.
As shown in fig. 7 and 8, in this embodiment, each locking assembly includes an above-water telescopic assembly and an underwater linkage assembly, the above-water telescopic assembly includes a linear telescopic driving unit 61, a third control module, a fixed guide rod 62 and a connecting rod 63, the linear telescopic driving unit 61 is disposed on the charging pile 1, the fixed guide rod 62 is mounted at the top of the charging pile 1, a circular sleeve is sleeved on the fixed guide rod 62, the circular sleeve can move axially along the fixed guide rod 62 under stress, the upper end of the connecting rod 63 is fixedly connected with the circular sleeve, the linear telescopic driving unit 61 is disposed on the charging pile 1, the third control module is disposed on the linear telescopic driving unit 61, the third control module is connected with the linear telescopic driving unit 61 and a first ZigBee module mounted at the locking assembly, the linear telescopic driving unit 61 penetrates through the charging pile 1 and then is connected with the connecting rod 63, the third control module is used for controlling the linear telescopic driving unit 61 to extend or retract, when the linear telescopic driving unit 61 extends or contracts, the connecting rod 63 can be driven to axially move along the fixed guide rod 62, and at the moment, the round sleeve slides on the fixed guide rod 62 under the driving of the connecting rod 63; the underwater linkage assembly comprises a base support 64, a second rotating shaft 65, a push rod 66, a first clamping plate 67, a second clamping plate 68, a first sliding seat 69, a second sliding seat 70, a first connecting rod 71, a second connecting rod 72, a first sliding column 73, a second sliding column 74, a third sliding column 75 and a fourth sliding column 76, wherein the base support 64 is installed on the charging pile 1 and is positioned below the underwater track 3, the second rotating shaft 65 is arranged inside the base support 64, the first connecting rod 71 and the second connecting rod 72 are installed on the second rotating shaft 65 in a crossed manner, the first sliding column 73 is installed at one end, close to the charging pile 1, of the first connecting rod 71, the second sliding column 74 is installed at one end, far away from the charging pile 1, of the first connecting rod 71, the third sliding column 75 is installed at one end, close to the charging pile 1, the fourth sliding column 76 is installed at one end, far away from the charging pile 1, of the second connecting rod 72, the first sliding column 69 is installed on the first sliding column 73, the second sliding seat 70 is arranged on a second sliding column 74 and a fourth sliding column 76, the first clamping plate 67 is arranged on the first sliding seat 69, the second clamping plate 68 is arranged on the second sliding seat 70, the first clamping plate 67 and the second clamping plate 68 are positioned at two sides of the underwater track 3, the first clamping plate 67 and the second clamping plate 68 are respectively provided with a concave clamping groove, one end of the push rod 66 is arranged in the middle of the first sliding seat 69, the other end of the push rod 66 penetrates through the charging pile 1 and is fixedly connected with the lower end of the connecting rod 63, when the locking assembly is in an initial state, the linear telescopic driving unit 61 is in an extending state, the underwater linkage assembly is in a releasing state, when the trolley 4 runs to the charging pile 1 to be charged, the third control module controls the linear telescopic driving unit 61 to contract under the control of the second control module, at the moment, the connecting rod 63 drives the circular sleeve to move towards the direction close to the charging pile, the distance between the first connecting rod 71 and the second connecting rod 72 is changed by the push rod 66 through the first sliding seat 69, and the first clamping plate 67 and the second clamping plate 68 move close to each other, so that the trolley 4 enters the concave clamping grooves of the first clamping plate 67 and the second clamping plate 68 and is clamped.
As shown in fig. 9, in this embodiment, the first frame includes a first side plate 77, a second side plate 78 and a first bearing plate 79, the first side plate 77, the second side plate 78 and the first bearing plate 79 are made of polymer materials, the first bearing plate 79 is installed on the cart 4, the lower end of the first side plate 77 is installed on the left side of the first bearing plate 79, the lower end of the second side plate 78 is installed on the right side of the first bearing plate 79, the sensor chamber assembly 5 further includes a chamber assembly, the chamber assembly includes a first sensor chamber 80, a second sensor chamber 81, a first end cap 82, a second end cap, a third end cap 83, a fourth end cap, a first U-shaped frame 84, a second U-shaped frame 85, a third U-shaped frame 86, a fourth U-shaped frame 87, a fifth U-shaped frame 88, a sixth U-shaped frame 89, a seventh U-shaped frame and an eighth U-shaped frame 90, the first U-shaped frame 84 is installed at the front end of the first bearing plate 79 with an opening facing upward, the third U-shaped frame 86 is installed at the rear, the first sensor cabin 80 is arranged on a first U-shaped frame 84 and a third U-shaped frame 86, the second U-shaped frame 85 is arranged on the first U-shaped frame 84 after being butted with the first U-shaped frame 84 with an opening facing downwards, the fourth U-shaped frame 87 is arranged on the third U-shaped frame 86 after being butted with the third U-shaped frame 86 with an opening facing downwards, the first sensor cabin 80 is fixed by the first U-shaped frame 84, the second U-shaped frame 85, the third U-shaped frame 86 and the fourth U-shaped frame 87, the fifth U-shaped frame 88 is arranged at the front end of the first bearing plate 79 with an opening facing upwards, the seventh U-shaped frame 79 is arranged at the rear end of the first bearing plate 79 with an opening facing upwards, the second sensor cabin 81 is arranged on the fifth U-shaped frame 88 and the seventh U-shaped frame, the sixth U-shaped frame 89 is arranged on the fifth U-shaped frame 88 after being butted with the fifth U-shaped frame 88 with an opening facing downwards, the eighth U-shaped frame 90 is arranged on the seventh U-shaped frame 88 with an opening facing downwards, the fifth U-shaped frame 88, Sixth U-shaped frame 89, seventh U-shaped frame and eighth U-shaped frame 90 are fixed second sensor cabin 81, first sensor cabin 80 and the parallel interval setting of second sensor cabin 81, first end cover 82 and second end cover are installed respectively at the front end and the rear end of first sensor cabin 80, third end cover 83 and fourth end cover are installed respectively at the front end and the rear end of second sensor cabin 81, the quality of water sensor module includes a plurality of quality of water sensors, a plurality of quality of water sensor types are different, a plurality of quality of water sensor dispersion sets up inside first sensor cabin 80 and second sensor cabin 81, every quality of water sensor is connected with first control module respectively, and every quality of water sensor is supplied power by power module.
As shown in fig. 10 and 11, in this embodiment, the housing assembly 6 further includes a high-definition camera, an electronic device compartment assembly, a battery compartment assembly, and an LED spotlight assembly, the second frame includes a third side plate 91, a fourth side plate 92, a second bearing plate 93, a first clamping plate 94, and a second clamping plate 95, the third side plate 91, the fourth side plate 92, the second bearing plate 93, the first clamping plate 94, and the second clamping plate 95 are made of polymer material, the lower end of the third side plate 91 is mounted on the upper end of the first side plate 77, the lower end of the fourth side plate 92 is mounted on the upper end of the second side plate 78, the second bearing plate 93 is mounted between the lower portions of the third side plate 91 and the fourth side plate 92, the first clamping plate 94 is mounted inside the third side plate 91, the second clamping plate 95 is mounted inside the fourth side plate 92, the LED spotlight assembly includes a first LED spotlight 96, a second LED spotlight 97, a third LED spotlight 98, and a fourth LED spotlight, the first LED spotlight 96 and the second LED spotlight 97 are respectively arranged on the outer side of the front part of the third side plate 91 and are distributed at intervals up and down, and the third LED spotlight 98 and the fourth LED spotlight 99 are respectively arranged on the outer side of the front part of the fourth side plate 92 and are distributed at intervals up and down; the first control module is respectively connected with the first LED spotlight 96, the second LED spotlight 97, the third LED spotlight 98 and the fourth LED spotlight 99, when the cruise task is executed at night, the first control module controls the first LED spotlight 96, the second LED spotlight 97, the third LED spotlight 98 and the fourth LED spotlight 99 to be turned on, when the cruise task is executed in daytime, the first control module controls the first LED spotlight 96, the second LED spotlight 97, the third LED spotlight 98 and the fourth LED spotlight 99 to be turned off, and the first LED spotlight 96, the second LED spotlight 97, the third LED spotlight 98 and the fourth LED spotlight 99 are powered by the power module; the electronic equipment cabin assembly comprises an arc-shaped clamping seat assembly, a transparent protective cover 100, an equipment cabin body 101, a sealing end cover 102, a humidity sensor and a data acquisition module, wherein the arc-shaped clamping seat assembly comprises a first arc-shaped clamping seat 103, a first arc-shaped clamping cover 104, a second arc-shaped clamping seat 105 and a second arc-shaped clamping cover 106, the opening of the first arc-shaped clamping seat 103 is upward, two ends of the first arc-shaped clamping seat 103 are respectively arranged at the rear parts of the bottom ends of the first clamping plate 94 and the second clamping plate 95, the opening of the second arc-shaped clamping seat 105 is upward, two ends of the second arc-shaped clamping seat 105 are respectively arranged at the front parts of the bottom ends of the first clamping plate 94 and the second clamping plate 95, the equipment cabin body 101 is arranged on the first arc-shaped clamping seat 103 and the second arc-shaped clamping seat 105, the opening of the first arc-shaped clamping cover 104 is downward, two ends of the first arc-shaped clamping seat 104 are respectively, the equipment cabin 101 is fixed by a first arc-shaped clamping seat 103, a first arc-shaped clamping cover 104, a second arc-shaped clamping seat 105 and a second arc-shaped clamping cover 106, the transparent protective cover 100 is arranged at the front end of the equipment cabin 101, the transparent protective cover 100 is made of transparent high polymer materials, the sealing end cover 102 is arranged at the rear end of the equipment cabin 101, the humidity sensor is connected with the first control module and is used for acquiring humidity information in the equipment cabin 101 and transmitting the humidity information to the first control module, the data acquisition module is used for connecting the water quality sensor module with the first control module and transmitting water quality data acquired by the data acquisition module from the water quality sensor module to the first control module, the high-definition camera, the humidity sensor and the data acquisition module are respectively arranged in the equipment cabin 101 and are connected with the first control module, the high-definition camera is positioned behind the transparent protective cover 100 and is used for acquiring underwater, the first control module transmits the water quality data and the underwater video data to the intelligent terminal through the airborne wireless communication module and the land wireless communication module; the power module comprises a first propeller 107, a second propeller 108, a third propeller 109, a fourth propeller 110 and a motor driving module, the first propeller 107, the second propeller 108, the third propeller 109 and the fourth propeller 110 are four direct current motors with the same model, the first propeller 107 and the second propeller 108 are respectively installed below the first clamping plate 94 and are distributed at intervals in the front-back direction, the third propeller 109 and the fourth propeller 110 are respectively installed below the second clamping plate 95 and are distributed at intervals in the front-back direction, the first propeller 107 and the third propeller 109 are counter-rotating propellers, the second propeller 108 and the fourth propeller 110 are forward-rotating propellers, the motor driving module is installed in the equipment cabin 101, the motor driving module is respectively connected with the first control module, the first propeller 107, the second propeller 108, the third propeller 109 and the fourth propeller 110, the first control module sends a motion instruction to the motor driving module to drive the four propellers to operate, the first propeller 107, the second propeller 108, the third propeller 109 and the fourth propeller 110 are respectively connected with the trolley 4, the second propeller 108 and the fourth propeller 110 are used for pushing the lower vehicle to move forward, and the second propeller 108 and the fourth propeller 110 are used for pushing the trolley 4 to move backward; the battery compartment assembly comprises a battery compartment body 111, a first U-shaped clamping plate 112 and a second U-shaped clamping plate 113, wherein the opening of the first U-shaped clamping plate 112 is upwards installed on the second bearing plate 93, the battery compartment body 111 is installed in the first U-shaped clamping plate 112, the opening of the second U-shaped clamping plate 113 is downwards butted with the first U-shaped clamping plate 112 and then installed on the first U-shaped clamping plate 112, the battery compartment body 111 is fixed by the first U-shaped clamping plate 112 and the second U-shaped clamping plate 113, a power supply module is installed in the battery compartment body 111, and a power supply management module is installed in the equipment compartment body 101.
Claims (7)
1. The utility model provides a rail mounted water quality monitoring robot, its characterized in that includes track subassembly, sensor cabin subassembly, organism subassembly under water, the communication subassembly that charges, a plurality of electric pile that fills of n, a plurality of power supply unit, a plurality of dead subassembly of n lock, a plurality of zigBee module of n, land power supply communication subassembly, n is more than or equal to 2's integer, track subassembly under water include track and dolly under water, track installation under water in the monitoring waters, the dolly be located the track under water on and atress can be followed the track under water advance, sensor cabin subassembly include water quality sensor module and first frame, first frame install the dolly on, water quality sensor module install first frame on, water quality sensor module be used for gathering water quality data in the monitoring waters, organism subassembly include power module, The power module is used for driving the trolley to move on the underwater track, the first control module is used for controlling the running state of the power module, the power management module is respectively connected with the power module and the first control module, the power management module is internally provided with minimum electric quantity and maximum electric quantity, and the first control module is connected with the water quality sensor module, the water quality sensor module is used for acquiring water quality data, the n charging piles are arranged on one side of the underwater track in an interval distribution mode, 2 charging piles in the n charging piles are respectively arranged on one sides of a starting point and a terminal point of the underwater track, the n locking assemblies are correspondingly arranged on the n charging piles one by one, each locking assembly is used for locking the trolley, the n first ZigBee modules are correspondingly arranged on the n locking assemblies one by one, each charging communication assembly comprises an automatic telescopic power receiving device, a GNSS positioning module, an airborne wireless communication module and a supporting rod, the automatic telescopic power receiving device, the GNSS positioning module and the airborne wireless communication module are all arranged on the second rack through the supporting rod, and the GNSS positioning module is connected with the first control module, the automatic telescopic power receiving device, the GNSS positioning module and the airborne wireless communication module are respectively positioned above the water surface of a monitoring water area, n power supply devices are correspondingly arranged on n charging piles one by one and used for leading out the power ends of the n charging piles one by one, the automatic telescopic power receiving device is connected with the power supply module to lead out the charging end of the power supply module, the first control module is respectively connected with the airborne wireless communication module and the automatic telescopic power receiving device, the automatic telescopic power receiving device is in a contraction state when in a non-charging state, the automatic telescopic power receiving device is in an extension state when in a charging state, the land power supply communication component comprises an intelligent terminal, a land power supply module, a second ZigBee module, a land wireless communication module and a second control module, the land power supply module is respectively connected with the n charging piles and used for supplying power to the n charging piles, the intelligent terminal is respectively connected with the land wireless communication module and the second control module, the land wireless communication module is communicated with the airborne wireless communication module through a wireless network, the second control module is respectively connected with the second ZigBee module and the land power supply module, the second ZigBee module and the n first ZigBee modules are respectively connected through a wireless network, the second control module is communicated with the n locking assemblies through the second ZigBee module and the n first ZigBee modules, the GNSS positioning module is used for positioning the position of the GNSS trolley and generating position signals, and the first control module can acquire the position information of the trolley from the GNSS positioning module and obtain the position information of the trolley through the airborne wireless communication module and the airborne wireless communication module The land wireless communication module sends the position information to the intelligent terminal;
when the trolley executes the inspection task, a user sets a cruise task comprising a cruise interval and a cruise running speed at the intelligent terminal, the cruise task is sent to the first control module through the land wireless communication module and the airborne wireless communication module, the first control module converts the cruise task into a driving signal for driving the power module to control the running state of the power module, the power module drives the trolley to advance along the underwater track, the water quality sensor module acquires water quality data in real time during the advancing process of the trolley, the first controller acquires the water quality data from the water quality sensor module in real time and retains the water quality data to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, in the process of executing the inspection task by the trolley, the power management module detects the electric quantity of the power module in real time, when the electric quantity of the power module is smaller than the minimum electric quantity, the power management module generates a low-electric-quantity signal and feeds the low-electric-quantity signal back to the first control module, the first control module sends the low-electric-quantity signal to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, at the moment, the first control module acquires the current position information of the trolley from the GNSS positioning module, takes the charging pile closest to the trolley in the advancing direction of the trolley as the charging pile, and uploads the current position information of the trolley to the intelligent terminal through the airborne wireless communication module and the land wireless communication module, then the first control module stores the current cruise task backup, namely, the cruise interval and the cruise running speed are stored, the position information tables and the charging running speed data of the n charging piles are prestored in the first control module, the first control module selects the position information of the charging pile and reads the charging running speed data from the position information tables of the n charging piles, the first control module drives the power module to navigate the trolley to the charging pile to stop according to the charging running speed data, when the trolley reaches the charging pile, the intelligent terminal sends a power-on command to the second control module, the second control module controls the land power supply module to supply power to the n charging piles, and the intelligent terminal generates a locking command to send the locking command to the second control module, the second control module sends a locking instruction to the locking assembly through the second ZigBee module and the first ZigBee module arranged at the locking assembly at the current charging pile to control the locking assembly at the current charging pile to lock the trolley, then the first control module controls the automatic telescopic power receiving device to stretch out to be in butt joint with the power feeding device at the current charging pile to charge the power module, when the power management module detects that the electric quantity of the power module is larger than or equal to the maximum electric quantity, the first control module controls the automatic telescopic power receiving device to retract, meanwhile, the charging completion feedback information is sent to the intelligent terminal, the intelligent terminal sends an unlocking instruction to the second control module, and the second control module sends unlocking instructions to the intelligent terminal through the second ZigBee module and the first ZigBee module arranged at the locking assembly at the current charging pile Sending a release instruction to a locking assembly to control the locking assembly at the current charging pile to release the trolley, then reading the backed-up cruise task by the first control module, controlling the power module to drive the trolley to continue to perform subsequent cruise tasks, delaying for 5 minutes after receiving charging completion information by the intelligent terminal, sending a power-off instruction to the second control module, controlling the land power supply module to stop supplying power to the n charging piles by the second control module, completing one cruise when the trolley runs from the starting point of the underwater track to the end point of the underwater track, returning the trolley to the starting point of the underwater track from the end point of the underwater track after waiting for one cruise interval, then waiting for one cruise interval, and continuing to run from the starting point of the underwater track to the end point of the underwater track, the cruise task is executed in this cycle.
2. The track type water quality monitoring robot according to claim 1, wherein the underwater track is implemented by a C-shaped track, the trolley comprises a frame, a front wheel frame, a rear wheel frame, two front wheels, two rear wheels and a dumping protection mechanism for preventing overturning during turning or lateral force, the two front wheels are installed on the front wheel frame in a left-right parallel spaced manner, the two rear wheels are installed on the rear wheel frame in a left-right parallel spaced manner, the frame comprises a first bottom plate, a first top plate and a plurality of support plates, the plurality of support plates are arranged along a circle at intervals, each support plate is respectively fixed on the first bottom plate, the first top plate is fixed on the plurality of support plates to be supported, the front wheel frame and the rear wheel frame are respectively installed at the bottom of the first bottom plate, the toppling protection mechanism comprises a mounting frame, two T-shaped grooved wheel sets, a compression spring, a mounting guide post, a first adjusting nut and a second adjusting nut, wherein each T-shaped grooved wheel set comprises two T-shaped grooved wheels which are arranged at intervals in the front and at the back, the two T-shaped grooved wheel sets are symmetrically arranged on the left side and the right side of the mounting frame, a first through hole is formed in the middle of the first base plate, the mounting guide post vertically penetrates through the first through hole, the compression spring is sleeved on the mounting guide post, the first adjusting nut is mounted on the mounting guide post and positioned above the compression spring, the bottom end of the compression spring is fixed on the first base plate, the upper end of the compression spring is fixed on the first adjusting nut, and the second adjusting nut is mounted on the mounting guide post, the bottom of the mounting guide post is fixedly connected with the mounting frame, the second adjusting nut is positioned between the first bottom plate and the connecting frame, in an initial state, the compression spring is in a compression state, the top of each T-shaped grooved wheel is tangent to the lower end face of the top of the C-shaped track, no contact force exists between the top of each T-shaped grooved wheel and the lower end face of the top of the C-shaped track, each front wheel and each rear wheel are respectively realized by adopting a steering wheel, and the first frame is mounted on the first top plate.
3. The track-type water quality monitoring robot according to claim 1, wherein the automatic telescopic power receiving device comprises a housing having an upper end opening and a lower end opening, a cover plate, a second bottom plate, two guide cylinders, two guide columns, two power receiving contacts, a lifting assembly, a rotating mechanism, a bracket, a first rotating shaft, a connecting rod, a first gear and a second gear; the second bottom plate is arranged on the supporting rod, the two power receiving contact heads are made of conductive materials, the two guide cylinders and the two guide pillars are made of insulating materials respectively, the cover plate is arranged at the upper end opening of the shell to seal the upper end opening, the two guide cylinders are arranged in the shell and are arranged on the cover plate at intervals, the cover plate is provided with two second through holes which penetrate through the cover plate from top to bottom, the two second through holes are in one-to-one correspondence and coaxial communication with the two guide cylinders, the two guide pillars penetrate through the two guide cylinders one-to-one and then enter the two second through holes, the two power receiving contact heads are arranged at the top ends of the two guide pillars one-to-one correspondence, each guide cylinder is in clearance fit with the guide pillars penetrating through the guide cylinder, the connecting rod is transversely arranged, and the lower parts of the two guide pillars are connected through the connecting rod, the second bottom plate is arranged at the lower end opening of the shell to seal the lower end opening, the rotating mechanism is positioned in the shell, the rotating mechanism is arranged on the second bottom plate and connected with the first control module, the first gear is arranged on the rotating mechanism, the bracket is fixed on the second bottom plate, the first rotating shaft is transversely arranged and rotatably arranged on the bracket, the second gear is fixedly arranged on the first rotating shaft and meshed with the first gear, the telescopic assembly comprises a first connecting plate and a second connecting plate, one end of the first connecting plate is circumferentially fixed on the first rotating shaft, and the other end of the first connecting plate is riveted with one end of the second connecting plate, the other end of the second connecting plate is sleeved on the connecting rod, the connecting rod can rotate relative to the connecting rod under stress, the connecting rod is positioned right above the first rotating shaft, the central axes of the two guide pillars, the central axis of the connecting rod and the central axis of the first rotating shaft are positioned on the same plane, the two power receiving contact heads are respectively connected with the charging end of the power module through an electric wire, the two electric wires penetrate out of the two guide pillars from the inside of the two guide pillars in a default state in a one-to-one correspondence manner, the two power receiving contact heads are positioned in the two second through holes in a one-to-one correspondence manner, when the power module is charged, the first control module controls the rotating mechanism to start, the rotating mechanism rotates a preset number of revolutions, and at the moment, the first gear synchronously rotates to drive the second gear to rotate, the second gear drives the first rotating shaft to rotate, the first rotating shaft drives the first connecting plate to rotate, at the moment, the second connecting plate drives the two guide posts to move upwards through the connecting rods so that the two power receiving contact heads extend out of the two second through holes to be connected with the power supply device, after charging is completed, the rotating mechanism resets, the two guide posts move downwards to reset, and the two power receiving contact heads are disconnected with the power supply device; the rotating mechanism is realized by adopting a micro stepping motor.
4. The rail-mounted water quality monitoring robot as claimed in claim 3, wherein each of the power feeding devices comprises a mounting plate, a first moving assembly, a second moving assembly, two moving columns, two power feeding contact heads and two cover-shaped caps, the mounting plate, the first moving assembly, the second moving assembly, the two moving columns, the two power feeding contact heads and the two cover-shaped caps are made of insulating materials, the two power feeding contact heads and the two cover-shaped caps are made of conductive materials, the first moving assembly comprises a first mounting seat, a second mounting seat, a first sliding block, a first guide column, a second guide column, a first return spring, a second return spring, a third return spring and a fourth return spring, the first mounting seat and the second mounting seat are located below the mounting plate, and the first mounting seat and the second mounting seat are mounted on the mounting plate at intervals from front to back, the first sliding block is positioned between the first mounting seat and the second mounting seat, the first sliding block is fixedly provided with a first baffle, a second baffle, a third baffle and a fourth baffle, the first baffle and the second baffle are arranged at intervals from front to back, the third baffle and the fourth baffle are arranged at intervals from front to back, the first baffle and the third baffle are arranged at intervals from left to right, the second baffle and the fourth baffle are arranged at intervals from left to right, the first guide post is arranged on the first mounting seat and the second mounting seat and penetrates through the first baffle and the second baffle, the second guide post is arranged on the first mounting seat and the second mounting seat and penetrates through the third baffle and the fourth baffle, and the first return spring and the second return spring are respectively sleeved on the first guide post, the front end of the first reset spring abuts against the first mounting seat, the rear end of the first reset spring abuts against the first baffle plate, the front end of the second reset spring abuts against the second baffle plate, the rear end of the second reset spring abuts against the second mounting seat, the third reset spring and the fourth reset spring are respectively sleeved on the second guide column, the front end of the third reset spring abuts against the first mounting seat, the rear end of the third reset spring abuts against the third baffle plate, the front end of the fourth reset spring abuts against the fourth baffle plate, the rear end of the fourth reset spring abuts against the second mounting seat, and the second moving assembly comprises a third mounting seat, a fourth mounting seat, a second sliding block, a second guide block and a second guide block A third guide post, a fourth guide post, a fifth return spring, a sixth return spring, a seventh return spring and an eighth return spring, wherein the third mounting seat and the fourth mounting seat are positioned below the first sliding block, the third mounting seat and the fourth mounting seat are arranged on the first sliding block at left and right intervals, the second sliding block is positioned between the third mounting seat and the fourth mounting seat, the third guide post is arranged on the third mounting seat and the fourth mounting seat and penetrates through the second sliding block, the fourth guide post is arranged on the third mounting seat and the fourth mounting seat and penetrates through the second sliding block, the fifth return spring and the sixth return spring are respectively sleeved on the third guide post, and the left end of the fifth return spring abuts against the third mounting seat, the right end of the fifth reset spring is abutted against the second sliding block, the left end of the sixth reset spring is abutted against the second sliding block, the right end of the sixth reset spring is abutted against the fourth mounting seat, the seventh reset spring and the eighth reset spring are respectively sleeved on the fourth guide post, the left end of the seventh reset spring is abutted against the third mounting seat, the right end of the seventh reset spring is abutted against the second sliding block, the left end of the eighth reset spring is abutted against the second sliding block, the right end of the eighth reset spring is abutted against the fourth mounting seat, the first sliding block is provided with a sliding groove extending along the left-right direction, and the two moving posts sequentially penetrate through the second sliding block and the sliding groove on the first sliding block from the lower part of the second sliding block, and are respectively arranged at the sliding chutes through a nut, a ninth return spring is respectively sleeved on each moving column, the upper end of the ninth return spring is abutted against the second sliding block, the lower end of the ninth return spring is fixed on the moving column, the two electric contact feeding joints are correspondingly arranged at the bottom ends of the two moving columns one by one, the positive electrode and the negative electrode of a charging power supply provided by the charging pile are respectively led out through a lead, one pair of two leads penetrates out of the two moving columns from top to bottom and then is correspondingly connected with the two power supply contact heads one by one, the two cover caps are correspondingly arranged at the bottoms of the two moving columns one by one, the outer side walls of the two cover caps are respectively coated with insulating materials, and the inner sides of the two cover caps are correspondingly contacted with the upper ends of the two power supply contact heads one by one; when the automatic telescopic power receiving device extends to be connected with the power feeding device, two power receiving contact heads in the automatic telescopic power receiving device correspondingly enter the two hood-shaped caps one by one, if the trolley is accurately parked, the two power receiving contact heads and the two power feeding contact heads are in contact and correspondingly butted one by one to establish connection, if the trolley is not accurately parked, the position of the automatic telescopic power receiving device is shown to have certain deviation, the two power receiving contact heads are in contact with the two hood-shaped caps, if the trolley is deviated in the left-right direction, the second sliding block moves leftwards and rightwards along the third guide column and the fourth guide column to carry out position calibration so that the two power receiving contact heads are in one-to-one corresponding butted with the two power feeding contact heads, and if the trolley is deviated in the front-back direction, the first sliding block moves back and forth along the first guide post and the second guide post to calibrate the position, so that the two power receiving contact heads are in one-to-one corresponding butt joint with the two power feeding contact heads.
5. The rail-mounted water quality monitoring robot according to claim 1, wherein each locking assembly comprises an above-water telescopic assembly and an underwater linkage assembly, the above-water telescopic assembly comprises a linear telescopic driving unit, a third control module, a fixed guide rod and a connecting rod, the linear telescopic driving unit is arranged on the charging pile, the fixed guide rod is arranged at the top of the charging pile, a circular sleeve is sleeved on the fixed guide rod, the circular sleeve can axially move along the fixed guide rod under stress, the upper end of the connecting rod is fixedly connected with the circular sleeve, the linear telescopic driving unit is arranged on the charging pile, the third control module is arranged on the linear telescopic driving unit, the third control module is respectively connected with the linear telescopic driving unit and a first ZigBee module arranged at the locking assembly, the linear telescopic driving unit penetrates through the charging pile and then is connected with the connecting rod, the third control module is used for controlling the linear telescopic driving unit to extend or retract, the connecting rod can be driven to axially move along the fixed guide rod when the linear telescopic driving unit extends or retracts, and the circular sleeve slides on the fixed guide rod under the driving of the connecting rod;
the underwater linkage component comprises a base support, a second rotating shaft, a push rod, a first clamping plate, a second clamping plate, a first sliding seat, a second sliding seat, a first connecting rod, a second connecting rod, a first sliding column, a second sliding column, a third sliding column and a fourth sliding column, wherein the base support is installed on the charging pile and is positioned below the underwater track, the second rotating shaft is arranged in the base support, the first connecting rod and the second connecting rod are installed on the second rotating shaft in a crossed manner, the first sliding column is installed at one end, close to the charging pile, of the first connecting rod, the second sliding column is installed at one end, far away from the charging pile, of the first connecting rod, the third sliding column is installed at one end, close to the charging pile, of the second connecting rod, and the fourth sliding column is installed at one end, far away from the charging pile, of the second connecting rod, the first sliding seat is arranged on the first sliding column and the third sliding column, the second sliding seat is arranged on the second sliding column and the fourth sliding column, the first clamping plate is arranged on the first sliding seat, the second clamping plate is arranged on the second sliding seat, the first clamping plate and the second clamping plate are positioned on two sides of the underwater track, concave clamping grooves are respectively arranged on the first clamping plate and the second clamping plate, one end of the push rod is arranged in the middle of the first sliding seat, the other end of the push rod penetrates through the charging pile and then is fixedly connected with the lower end of the connecting rod, when the locking assembly is in an initial state, the linear telescopic driving unit is in an extending state, the underwater linkage assembly is in a releasing state, when the trolley runs to the charging pile for charging, the third control module controls the linear telescopic driving unit to contract under the control of the second control module, the connecting rod drives the circular sleeve to move towards the direction close to the charging pile along the fixed guide rod at the moment, the connecting rod drives the push rod, the push rod changes the distance between the first connecting rod and the second connecting rod through the first sliding seat, and the first clamping plate and the second clamping plate move together to enable the trolley to enter the concave clamping grooves of the first clamping plate and the second clamping plate to be clamped.
6. The rail-mounted water quality monitoring robot according to claim 1, wherein the first frame comprises a first side plate, a second side plate and a first bearing plate, the first side plate, the second side plate and the first bearing plate are made of high polymer materials, the first bearing plate is mounted on the trolley, the lower end of the first side plate is mounted on the left side of the first bearing plate, the lower end of the second side plate is mounted on the right side of the first bearing plate, the sensor cabin assembly further comprises a cabin body assembly, the cabin body assembly comprises a first sensor cabin, a second sensor cabin, a first end cover, a second end cover, a third end cover, a fourth end cover, a first U-shaped frame, a second U-shaped frame, a third U-shaped frame, a fourth U-shaped frame, a fifth U-shaped frame, a sixth U-shaped frame, a seventh U-shaped frame and an eighth U-shaped frame, the first U-shaped frame is installed at the front end of the first bearing plate with an opening facing upwards, the third U-shaped frame is installed at the rear end of the first bearing plate with an opening facing upwards, the first sensor cabin is installed on the first U-shaped frame and the third U-shaped frame, the second U-shaped frame is installed on the first U-shaped frame with an opening facing downwards and is in butt joint with the first U-shaped frame, the fourth U-shaped frame is installed on the third U-shaped frame with an opening facing downwards and is in butt joint with the third U-shaped frame, the first U-shaped frame, the second U-shaped frame, the third U-shaped frame and the fourth U-shaped frame fix the first sensor cabin, the fifth U-shaped frame is installed at the front end of the first bearing plate with an opening facing upwards, the seventh U-shaped frame is installed at the rear end of the first bearing plate with an opening facing upwards, and the second sensor cabin is installed on the fifth U-shaped frame and the seventh U-shaped frame, the water quality sensor module comprises a plurality of water quality sensors, the types of the water quality sensors are different, and the plurality of water quality sensors are dispersedly arranged in the first sensor cabin and the second sensor cabin of the water quality, each water quality sensor is respectively connected with the first control module, and each water quality sensor is powered by the power module.
7. The track-type water quality monitoring robot according to claim 6, wherein the body assembly further comprises a high-definition camera, an electronic device compartment assembly, a battery compartment assembly and an LED spotlight assembly, the second frame comprises a third side plate, a fourth side plate, a second bearing plate, a first clamping plate and a second clamping plate, the third side plate, the fourth side plate, the second bearing plate, the first clamping plate and the second clamping plate are made of polymer materials, the lower end of the third side plate is arranged at the upper end of the first side plate, the lower end of the fourth side plate is arranged at the upper end of the second side plate, the second bearing plate is arranged between the lower parts of the third side plate and the fourth side plate, the first clamping plate is arranged at the inner side of the third side plate, and the second clamping plate is arranged at the inner side of the fourth side plate, the LED spotlight component comprises a first LED spotlight, a second LED spotlight, a third LED spotlight and a fourth LED spotlight, the first LED spotlight and the second LED spotlight are respectively arranged on the outer side of the front part of the third side plate and are distributed at intervals up and down, and the third LED spotlight and the fourth LED spotlight are respectively arranged on the outer side of the front part of the fourth side plate and are distributed at intervals up and down; the first control module is respectively connected with the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight, when the cruise task is executed at night, the first control module controls the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight to be turned on, when the cruise task is executed at daytime, the first control module controls the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight to be turned off, and the first LED spotlight, the second LED spotlight, the third LED spotlight and the fourth LED spotlight are powered by the power supply module;
the electronic equipment cabin component comprises an arc clamping seat component, a transparent protective cover, an equipment cabin body, a sealing end cover, a humidity sensor and a data acquisition module, wherein the arc clamping seat component comprises a first arc clamping seat, a first arc clamping cover, a second arc clamping seat and a second arc clamping cover, the opening of the first arc clamping seat faces upwards, the two ends of the first arc clamping seat are respectively installed on the first clamping plate and the rear part of the bottom end of the second clamping plate, the opening of the second arc clamping seat faces upwards, the two ends of the second arc clamping seat are respectively installed on the front part of the bottom end of the first clamping plate and the front part of the bottom end of the second clamping plate, the equipment cabin body is installed on the first arc clamping seat and the second arc clamping seat, the opening of the first arc clamping cover faces downwards, the two ends of the first arc clamping cover are respectively installed on the rear part of the top end of the first clamping plate and the top end of the second clamping plate, and the opening of the second arc clamping cover is respectively installed on the first clamping plate and the top end of the The front part of the equipment cabin body, the first arc-shaped clamping seat, the second arc-shaped clamping seat and the second arc-shaped clamping seat fix the equipment cabin body, the transparent protective cover is arranged at the front end of the equipment cabin body, the transparent protective cover is made of transparent high polymer materials, the sealing end cover is arranged at the rear end of the equipment cabin body, the humidity sensor is connected with the first control module and used for collecting humidity information in the equipment cabin body and transmitting the humidity information to the first control module, the data acquisition module connects the water quality sensor module with the first control module, the data acquisition module transmits the water quality data acquired by the water quality sensor module to the first control module, and the first control module, The high-definition camera, the humidity sensor and the data acquisition module are respectively installed inside the equipment cabin body, the high-definition camera is connected with the first control module, the high-definition camera is located behind the transparent protective cover and used for acquiring underwater video data, and the first control module transmits the water quality data and the underwater video data to the intelligent terminal through the airborne wireless communication module and the land wireless communication module;
the power module comprises a first propeller, a second propeller, a third propeller, a fourth propeller and a motor driving module, the first propeller, the second propeller, the third propeller and the fourth propeller are four direct current motors with the same model, the first propeller and the second propeller are respectively arranged below the first clamping plate and distributed at intervals front and back, the third propeller and the fourth propeller are respectively arranged below the second clamping plate and distributed at intervals front and back, the first propeller and the third propeller are reversely rotating propellers, the second propeller and the fourth propeller are normally rotating propellers, the motor driving module is arranged in the equipment cabin body, and the motor driving module is respectively connected with the first control module, The first propeller, the second propeller, the third propeller and the fourth propeller are connected, the first control module sends a motion instruction to the motor driving module to drive the four propellers to operate, the first propeller, the second propeller, the third propeller and the fourth propeller are respectively connected with the trolley, the second propeller and the fourth propeller are used for pushing the lower vehicle to move forwards, and the first propeller and the third propeller are used for pushing the trolley to move backwards;
the battery compartment assembly comprises a battery compartment body, a first U-shaped clamping plate and a second U-shaped clamping plate, wherein an opening of the first U-shaped clamping plate is upwards installed on the second bearing plate, the battery compartment body is installed in the first U-shaped clamping plate, an opening of the second U-shaped clamping plate is downwards butted with the first U-shaped clamping plate and then installed on the first U-shaped clamping plate, the first U-shaped clamping plate and the second U-shaped clamping plate fix the battery compartment body, a power supply module is installed in the battery compartment body, and a power supply management module is installed in the equipment compartment body.
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