CN113556631A - Semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water - Google Patents
Semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water Download PDFInfo
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- CN113556631A CN113556631A CN202110959867.XA CN202110959867A CN113556631A CN 113556631 A CN113556631 A CN 113556631A CN 202110959867 A CN202110959867 A CN 202110959867A CN 113556631 A CN113556631 A CN 113556631A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q9/00—Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/40—Arrangements in telecontrol or telemetry systems using a wireless architecture
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/70—Arrangements in the main station, i.e. central controller
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/80—Arrangements in the sub-station, i.e. sensing device
- H04Q2209/82—Arrangements in the sub-station, i.e. sensing device where the sensing device takes the initiative of sending data
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04Q—SELECTING
- H04Q2209/00—Arrangements in telecontrol or telemetry systems
- H04Q2209/80—Arrangements in the sub-station, i.e. sensing device
- H04Q2209/84—Measuring functions
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Abstract
The invention discloses a semi-submersible type water bionic robot for monitoring and early warning of urban ornamental surface water, which comprises a robot main body, a vision part, a main control part, a steering part, a power protection part, a detection part and a data transmission part, wherein the vision part is arranged on the robot main body; wherein: the vision part sets up the head at the robot main part, and main control unit sets up the inside at the robot main part, turns to the head that the part set up at the robot main part, and power protection part sets up the bottom at the robot main part, and the bottom of robot main part is equipped with stores the storehouse, stores the storehouse and is formed by the splice plate concatenation, stores the inside detection part that is equipped with in storehouse, and data transmission part sets up in the inside of robot main part, is connected with detection part. According to the invention, each component is optimally matched, so that various indexes such as dissolved pollutants, chromaticity, particle pollutants and the like in the urban ornamental surface water body can be rapidly detected, the consumption of a large amount of manpower and material resources is reduced, the water quality detection efficiency is improved, and the urban ornamental surface water quality is greatly improved.
Description
Technical Field
The invention belongs to the technical field of water quality monitoring, and particularly relates to a semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water.
Background
With the development of human activities and industrial production, the water consumption is increasing. In recent years, the utilization and protection of water resources are also receiving social attention, and the water quality problem is an indispensable part of the water quality problem, but a lot of problems still cannot be solved for monitoring the water quality. The water quality detection refers to the operations of carrying out unified timing or non-timing detection on the chemical substance suspended matter bottom sediment and the water ecosystem in water, measuring the type, concentration and variation trend of pollutants in the water, evaluating the water quality condition and the like. At present, the comprehensive indexes (dissolved oxygen DO, pH value, oxidation-reduction potential ORP, suspended particulate matter SS and the like) and related toxic and harmful substances (such as phenol, cyanogen, arsenic, lead, chromium, cadmium, mercury, organic pesticides and the like) for representing the water quality condition are mainly monitored. For traditional water quality monitoring, manual field sampling is usually carried out, and then the water quality is sent to a laboratory for detection, a fixed water quality detector and the like for monitoring. The former consumes a lot of time, and is with high costs, if meet bad weather occasionally, monitoring personnel sample difficulty and data accuracy is relatively poor. The latter is relatively poor in flexibility and large in detection limitation, and regional water quality cannot represent the overall water quality condition. The limitation of the detection method causes that the urban surface water has some problems which are difficult to solve. Therefore, a water quality detection machine which can adapt to real-time monitoring, full-field monitoring and fixed-point sampling is urgently needed.
Disclosure of Invention
Aiming at the problems and defects of the waste of human resources and technical methods for surface water detection, the invention provides a semi-submersible water bionic robot for monitoring and early warning of urban ornamental surface water.
In order to achieve the purpose, the invention adopts the following technical scheme:
a semi-submersible type water bionic robot for monitoring and early warning of urban ornamental surface water comprises a robot main body, a vision component, a main control component, a steering component, a power protection component, a detection component and a data transmission component;
the visual component is arranged at the head of the robot main body and used for observing and recording the pollution condition of a river area and the ecological conditions of the coastal area and the water surface;
the main control part is arranged in the robot main body, connected with the vision part and the steering part and used for controlling the operation of the bionic robot;
the steering component is arranged at the head of the robot main body and used for controlling the steering motion of the head of the bionic robot;
the power protection component is arranged at the bottom of the robot main body and used for providing buoyancy and advancing power for the robot main body;
the bottom of the robot main body is provided with a storage bin which is formed by splicing splice plates, and a detection component is arranged in the storage bin and used for detecting water quality parameters in a water body;
the data transmission component is arranged in the robot main body, is connected with the detection component and is used for transmitting the water quality parameters detected by the detection component to the cloud platform.
Further, the vision part is composed of a wireless camera and an infrared sensor.
Further, the main control unit comprises Arduino main control board and GPS positioning system.
Further, the power protection component comprises a water jet propeller, a wooden raft and a buoyancy protection tube, the buoyancy protection tube is used for wrapping the detection component, and an air bag filler is filled in the buoyancy protection tube.
Further, the airbag filler is selected from nylon 66 resin FYR32K, polyamide and polyester fibers, fabric nylon, 5-aminotetrazole or epoxy resin.
Further, the detection member is an electrode.
Further, the data transmission component is composed of a data receiver and a data 5G module.
The semi-submersible water bionic robot is placed in a city ornamental water body, the pollution condition of a river region, the biological ecological conditions of coasts, water plants and the like can be observed and recorded through a wireless camera and an infrared sensor of a visual part, a main control part converts an analog signal into a digital signal for positioning treatment, the steering part controls the steering motion of the head of the robot, the water surface condition can be observed in an all-directional rotating mode, a water pump power water spraying forward device of a power protection part takes a water pump as power to suck water from a bottom hole, and the water pump is discharged from the rear through an outboard circulation pipeline and is pushed forward by the reaction force of the water. In order to protect the monitoring bionic robot, an air bag filler is arranged on the robot body so as to further protect the bionic robot. The splice plate is installed beside the air bag filler, and the joint of the splice plate material is preferably freely replaceable to deal with different measurements. When the living beings are observed, the water quality detection is carried out, water quality parameters such as dissolved oxygen, pH, oxidation-reduction potential and suspended particulate matters in water are detected through an electrode tip in a detection part (including sensors such as a DO meter, a pH meter, an ORP meter and an SS analyzer), and then detection data are transmitted to a cloud platform through a data transmission part to form visual data for monitoring at any time. And then obtaining detection data, and carrying out water body pollution analysis on the detection data. The process technology device optimizes and cooperates each component, can quickly detect various indexes such as dissolved pollutants, chroma, particle pollutants and the like in the urban ornamental surface water body, reduces the consumption of a large amount of manpower and material resources, improves the water quality detection efficiency, and greatly improves the urban ornamental surface water quality.
Drawings
Fig. 1 is a structural diagram of a bionic robot of the present invention, wherein: the device comprises a visual part 1, a main control part 2, a steering part 3, a power protection part 4, an air bag filling splicing part 5, a detection part 6 and a data transmission part 7.
Fig. 2 is a comparison diagram before and after sealing of the finished bionic robot.
Detailed Description
Example 1
As shown in figure 1, the semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water is selected according to the defects of the traditional urban river water monitoring technology. According to different types of the sensor probe; preferentially selecting splicing plates with freely replaceable interfaces to change a fixed type into a movable type; and then, data combination and modular design are carried out by utilizing a fixed-point platform, and urban ornamental surface water is efficiently monitored.
The invention provides a semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water, which comprises a robot main body, a vision part 1, a main control part 2, a steering part 3, a power protection part 4, a detection part 6 and a data transmission part 7.
The vision part is as the eyes of bionic robot, and main control unit, data transmission part are placed in the belly of bionic robot, add the storage storehouse in the below of bionic robot, place devices such as power protection part, detection part, but the storage storehouse periphery is equipped with the formula interface of freely splicing for the survey of the different indexes of city sight water. The detection part that is being wrapped up by the buoyancy protection tube is being connected to concatenation formula interface, and has the gasbag to fill in the pipe, realizes the effect of secondary protection bionic robot.
The visual component mainly comprises a wireless camera and an infrared sensor: at present, wireless camera chips on the market mainly comprise CMOS chips and CCD chips, and the CCD chips are preferably selected according to the service life of the chips. The heat productivity of the circuit of the CCD chip is much smaller than that of the CMOS chip in the work process; the working current of the CCD chip is smaller than that of the CMOS chip, so that the service life of the CCD chip is long, and the cost of the bionic robot is saved. The infrared sensor mainly comprises a photon type infrared sensor, a pyroelectric type infrared sensor and an infrared assembly according to different energy exchange modes. Preferentially selecting the infrared assembly according to the condition of considering functional diversity; the infrared assembly consists of a pyroelectric infrared sensor, a lens, a measurement conversion circuit and a sealed tube shell. The lens can enlarge the detection range and improve the sensitivity of measurement; the measurement conversion circuit can complete the signal processing processes of filtering, amplifying and the like, and the sealed tube shell prevents the false action caused by external noise.
The main control part comprises an Arduino main control board and a GPS (global positioning system) positioning part: at present, the main control boards in the market comprise raspberry pies, Jiuyangyang, Arduino and the like, and the Arduino mega 2560 main control board is preferably selected according to the cost performance considering condition, so that the performance is high. The operation of the bionic robot is controlled mainly by converting an analog signal into a digital signal. The GPS system can accurately position the pollution condition of a river area, and can carry out fixed-point directional monitoring so as to further save the cost.
③ steering parts: the replaceable rechargeable lithium battery is mainly adopted, the bionic robot is put in the upstream, and the bionic robot is recycled in the downstream. When the bionic robot runs for a long time, the bionic robot mainly moves by means of potential energy, and the battery is only used for changing the direction of the bionic robot.
Fourthly, a power protection component: comprises a water jet propeller, a wooden raft, a buoyancy protection tube and the like. The water pump is adopted to spray water for propulsion as a driving force, water is sucked from the bottom hole, is discharged from the rear through the outboard external circulation pipeline and is propelled by the counterforce of the water; and because the water jet propulsion type has better operation performance, can be steered with good maneuverability, is not influenced by draught, can sail in shallow water areas, is driven by hydrodynamic circulating power, and has small interference to the environment. A mute motor is adopted during steering, so that noise pollution is reduced. For the machine that acts on water, consider that there is buoyancy, the material is slim and light waterproof condition, to the main raft in the market by plastics or bamboo for raw and other materials constitute, the preferred bamboo preparation raft and buoyancy protection tube. Not only plays a role of buoyancy, but also can better protect the semi-submersible electrode of the bionic robot, so that the bionic robot can run more stably in water.
Air bag filler: the bionic robot mainly comprises nylon 66 resin FYR32K, polyamide and polyester fibers, fabric nylon, 5-aminotetrazole and epoxy resin on the market, wherein the epoxy resin with high bonding strength, low shrinkage and better buoyancy is preferably selected. At present, plywood, solid wood splice plates, PVC splice plates and the like can be freely spliced on the market. Considering the corrosion resistance, moisture resistance and other factors of the splice plate, the PVC splice plate is preferred because of the functions of skid resistance, moisture resistance, strong bearing capacity, corrosion resistance and wide application range.
Sixthly, a detection part: mainly including the electrode to water quality parameters such as dissolved oxygen in aquatic, pH, redox potential, suspended particles, the rethread detects and reachs the data, carries out water pollution analysis to it, considers the product property aspect simultaneously, and the detection device that the price is suitable for neutralization cost performance ratio is higher relatively is prioritized.
Data transmission means: the data receiver and the data 5G module device are included. The detection data of the data receiver real-time acquisition detection part are transmitted back to the user control center, multi-parameter integrated monitoring is formed, real-time data are provided for water quality monitoring personnel, and the data are transmitted to platforms such as a computer and a mobile phone APP through a 5G module to be displayed to form visual data.
TABLE 1 comparison of Water monitoring Performance between conventional monitoring device and semi-submersible type water bionic robot device
The bionic robot has the following advantages: (1) the high-accuracy and high-precision monitoring object is an urban water channel, programs and equipment are independently developed, the operation and maintenance cost is low, and the equipment is convenient to upgrade; (2) the bionic shape is small and flexible, the bionic shape is suitable for patrol monitoring, data collection and other work in narrow areas, the product is fully sealed, the device is carried in a modularized manner, and the performance of the product is greatly improved; (3) when the intelligent cloud-based data transmission system runs on water, the intelligent mode replaces a manual mode, so that the labor cost is reduced, the computer internet technology is fully utilized, the main operation is transferred to the network cloud server, and the timeliness and the control convenience of data transmission are realized; (4) the image recognition function of the system can borrow the existing network data gallery to establish the correlation analysis of water quality and ecology.
Compared with the traditional unmanned ship/unmanned aerial vehicle monitoring scheme, the bionic robot disclosed by the invention utilizes water flow potential energy to carry out downstream delivery, is short in navigation time, saves energy, and simultaneously monitors the mechanization of the formation data of the water body of the landscape river channel quickly and with small errors. The ecological monitoring is carried out by adopting the form of the environmental aquatic animals (such as wild ducks), the observation of the biological condition of the water surface can be finished under the premise of not influencing the ecological balance, the water quality monitoring of the surface water can also be realized, and the applicability range is wide. The equipment is subjected to modular processing, the traditional device is improved, the former fixed type is changed into a movable splicing type technology, and interfaces of splicing plates can be freely changed. And according to different objects, different modules are replaced, and different water areas are detected. The water sample does not need to be collected during detection, the detection sensor is used for being connected with devices such as DO, pH and ORP and monitoring, the labor cost is greatly saved, and the monitoring process is simplified, so that the detection robot has a large effect, is wide in application market and has a good application prospect.
Claims (7)
1. The utility model provides a semi-submerged formula water bionic robot for city sight surface water monitoring early warning which characterized in that: the robot comprises a robot main body, a vision part, a main control part, a steering part, a power protection part, a detection part and a data transmission part;
the visual component is arranged at the head of the robot main body and used for observing and recording the pollution condition of a river area and the ecological conditions of the coastal area and the water surface;
the main control part is arranged in the robot main body, connected with the vision part and the steering part and used for controlling the operation of the bionic robot;
the steering component is arranged at the head of the robot main body and used for controlling the steering motion of the head of the bionic robot;
the power protection component is arranged at the bottom of the robot main body and used for providing buoyancy and advancing power for the robot main body;
the bottom of the robot main body is provided with a storage bin which is formed by splicing splice plates, and a detection component is arranged in the storage bin and used for detecting water quality parameters in a water body;
the data transmission component is arranged in the robot main body, is connected with the detection component and is used for transmitting the water quality parameters detected by the detection component to the cloud platform.
2. The semi-submersible water biomimetic robot of claim 1, wherein: the visual component consists of a wireless camera and an infrared sensor.
3. The semi-submersible water biomimetic robot of claim 1, wherein: the main control unit comprises Arduino main control board and GPS positioning system.
4. The semi-submersible water biomimetic robot of claim 1, wherein: the power protection component comprises a water jet propeller, a wooden raft and a buoyancy protection tube, the buoyancy protection tube is used for wrapping the detection component, and an air bag filler is filled in the buoyancy protection tube.
5. The semi-submersible water biomimetic robot of claim 4, wherein: the airbag filler is selected from nylon 66 resin FYR32K, polyamide and polyester fibers, fabric nylon, 5-aminotetrazole or epoxy resin.
6. The semi-submersible water biomimetic robot of claim 1, wherein: the detection component is an electrode selected from a dissolved oxygen electrode, a pH electrode, an oxidation-reduction potential electrode or a suspended particulate electrode.
7. The semi-submersible water biomimetic robot of claim 1, wherein: the data transmission component consists of a data receiver and a data 5G module.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110959867.XA CN113556631A (en) | 2021-08-20 | 2021-08-20 | Semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110959867.XA CN113556631A (en) | 2021-08-20 | 2021-08-20 | Semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water |
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| CN113556631A true CN113556631A (en) | 2021-10-26 |
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| CN202110959867.XA Withdrawn CN113556631A (en) | 2021-08-20 | 2021-08-20 | Semi-submersible type water bionic robot for monitoring and early warning urban ornamental surface water |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116260945A (en) * | 2023-05-15 | 2023-06-13 | 安徽哈斯特自动化科技有限公司 | Intelligent video monitoring method based on river partition management |
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2021
- 2021-08-20 CN CN202110959867.XA patent/CN113556631A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116260945A (en) * | 2023-05-15 | 2023-06-13 | 安徽哈斯特自动化科技有限公司 | Intelligent video monitoring method based on river partition management |
| CN116260945B (en) * | 2023-05-15 | 2023-07-25 | 安徽哈斯特自动化科技有限公司 | Intelligent video monitoring method based on river partition management |
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Application publication date: 20211026 |