CN116039849B - Water quality analysis and treatment integrated unmanned ship and control system thereof - Google Patents
Water quality analysis and treatment integrated unmanned ship and control system thereof Download PDFInfo
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- CN116039849B CN116039849B CN202310053365.XA CN202310053365A CN116039849B CN 116039849 B CN116039849 B CN 116039849B CN 202310053365 A CN202310053365 A CN 202310053365A CN 116039849 B CN116039849 B CN 116039849B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 241
- 238000004458 analytical method Methods 0.000 title claims abstract description 41
- 238000005070 sampling Methods 0.000 claims abstract description 53
- 238000003860 storage Methods 0.000 claims abstract description 46
- 238000012544 monitoring process Methods 0.000 claims abstract description 37
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Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B11/00—Interior subdivision of hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/02—Hulls assembled from prefabricated sub-units
- B63B3/08—Hulls assembled from prefabricated sub-units with detachably-connected sub-units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/90—Details of database functions independent of the retrieved data types
- G06F16/904—Browsing; Visualisation therefor
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C19/00—Electric signal transmission systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/02—Hulls assembled from prefabricated sub-units
- B63B3/08—Hulls assembled from prefabricated sub-units with detachably-connected sub-units
- B63B2003/085—Multiple hull vessels, e.g. catamarans, assembled from detachably-connected sub-units
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1031—Sampling from special places
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Mechanical Engineering (AREA)
- General Physics & Mathematics (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Combustion & Propulsion (AREA)
- Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Biochemistry (AREA)
- Databases & Information Systems (AREA)
- Theoretical Computer Science (AREA)
- Hydrology & Water Resources (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
- Data Mining & Analysis (AREA)
- General Engineering & Computer Science (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a water quality analysis and treatment integrated unmanned ship and a control system thereof, comprising a body, wherein two groups of electric push rods are symmetrically arranged on two sides of the body, and an output shaft of each electric push rod is connected with a cabin; the body is internally integrated with a monitoring unit, a water storage unit, a water taking unit and a master control box; the monitoring unit comprises a water quality sensor, the water quality monitoring cabin is connected with the electromagnetic shunt through the sampling pipe, and a water sample mixed with impurities enters the water quality sensor for analysis after being filtered by the filter screen; the water taking unit comprises a water pump cabin, a diaphragm pump is arranged in the water pump cabin, the inlet end of the diaphragm pump is connected with a sampling assembly, and the sampling assembly is immersed in water to collect a water sample; the control system can save the water quality data to the local, manually export the data for analysis and judgment, propose a treatment scheme, generate a water quality condition report sheet of the water area, and make visual display on the basis of the water quality condition report sheet of the water area, so that the condition of each parameter in the water area and a pollutant distribution map can be visually seen.
Description
Technical Field
The invention belongs to the technical field of remote control equipment, relates to an unmanned ship integrating water quality analysis and treatment, and further relates to a control system carried by the unmanned ship.
Background
In the environment monitoring work, in order to obtain representative, accurate and complete water sample monitoring data, a real and effective water quality sample should be obtained first. The water sample collection is an important link and is not simply collected, because the water sample for analysis is representative and can accurately reflect the concentration of the pollution factors contained in the water to be measured. There are many factors that affect water sample collection, such as sampling points, sampling instruments and methods, sampling frequencies, sampling volumes, and methods of preserving water samples. Variations in either factor may result in changes in the analysis results. Therefore, how to make the collected water sample truly and accurately reflect the water quality condition is the first problem to be solved in monitoring and analyzing work. In addition, a small unmanned ship gradually enters the field of vision of people, and the unmanned ship has great advantages in the field of water area measurement, and can monitor water quality and detect hydrology very flexibly.
The existing unmanned ship takes a simple remote control ship as a main body, sampling equipment is arranged on the remote control ship, but the remote control ship has single function, is a product of the type of 'one ship', and can be split and recombined to realize multiple purposes, so that the unmanned ship cannot be suitable for a wider market.
Disclosure of Invention
The invention aims to provide a water quality analysis and treatment integrated unmanned ship and a control system thereof, which take modularized assembly research and development as a design concept, explore a new path for the assembled research and development of a tiger shark unmanned ship, avoid 'one ship' and build up experience for the rapid iteration and rapid research and development of the unmanned ship for subsequent research and development, namely, a plurality of cabins/hulls can be split and recombined to realize multiple purposes, and reduce research and development and manufacturing cost.
The first technical scheme adopted by the invention is that the water quality analysis and treatment integrated unmanned ship comprises a body, wherein two groups of electric push rods are symmetrically arranged on two sides of the body, each group of two electric push rods are obliquely arranged, and the output shaft of each electric push rod is connected with a cabin;
the body is internally integrated with a monitoring unit, a water storage unit, a water taking unit and a master control box;
The monitoring unit comprises a water quality monitoring cabin, a filter screen and a water quality sensor are arranged in the water quality monitoring cabin, the water quality monitoring cabin is connected with the electromagnetic shunt through a sampling tube, the sampling tube is connected to a position close to the inlet end of the electromagnetic shunt, and a water sample mixed with impurities enters the water quality sensor for analysis after being filtered by the filter screen;
the water taking unit comprises a water pump cabin, a diaphragm pump is arranged in the water pump cabin, the outlet end of the diaphragm pump is connected with an electromagnetic shunt, the inlet end of the diaphragm pump is connected with a sampling assembly, and the sampling assembly is immersed in water to collect a water sample;
The water storage unit comprises a water storage cabin, the water storage cabin is provided with a plurality of water storage kettles and an electromagnetic shunt, the electromagnetic shunt is provided with a plurality of shunt ports, and each shunt port is correspondingly connected with one water storage kettle through a sample feeding pipe; each water storage kettle is provided with a reference numeral.
The invention adopts another technical scheme that a control system of a water quality analysis and treatment integrated unmanned ship is carried on the water quality analysis and treatment integrated unmanned ship as claimed and comprises the following components:
The control platform can save the water quality data to the local, manually export the data for analysis and judgment, put forward a treatment scheme, finally generate a water quality condition report sheet of the water area, make visual display on the basis of the water quality condition report sheet of the water area, develop a visual interface while saving the water quality data, and can intuitively see the conditions of all parameters in the water area and a pollutant distribution map;
The communication unit is used for receiving signals sent by the control platform, the communication unit is connected with the cabin body, pluggable interfaces are respectively arranged on two sides of the cabin body, power supply and communication connection between the cabin body and the cabin body are realized through the pluggable interfaces, and after the cabin body is connected with the cabin body, the cabin body firstly sends signals to the cabin body, and the working mode of the cabin body is switched.
The invention is also characterized in that:
The body carries three functional modules of water taking unit, water storage unit and monitoring unit, and water taking unit, water storage unit and monitoring unit are all electrically connected with independent miniature control module and power to use standardized interface to be connected with total accuse box, realize that the module replacement does not influence the effect of total accuse box, total accuse box can pass through standard interface connection with the functional modules at most, and the interface sequence of functional modules does not have specific requirement, but automatic identification.
The sampling assembly comprises a sampling tube, the outlet end of the sampling tube is connected with the inlet end of the diaphragm pump, the inlet end of the sampling tube is provided with a filter cover, the bottom of the filter cover is connected with a weight, the inner bottom wall of the body is fixedly connected with a tube coiling device, the sampling tube is wound on the tube coiling device, and the outlet end of the sampling tube is immersed into water to collect a water sample.
The inside of the cabin body is provided with a battery cabin 3-6 and a control cabin, a power supply is arranged in the battery cabin 3-6, an independent main control box and a control receiver are arranged in the control cabin, the tail end of the cabin body is provided with a propeller and a steering engine, the independent main control box is electrically connected with the control receiver, the propeller and the steering engine, and an anti-collision strip is arranged on the outer wall of the cabin body along the edge.
The cabin body is provided with connection structure all around, including two connection ports and middle connecting piece, the cabin body all designs with the body outside has general connection port, freely connects the combination through the connecting piece.
When a plurality of cabins are combined into a whole to work, the cabins are used as a control main body to control other cabins, and the cabins are connected in series through signal lines.
The beneficial effects of the invention are as follows:
1. compared with the traditional water meter water quality monitoring, the unmanned ship designed by the invention installs the water quality sensor in the ship cabin, pumps water into the ship cabin through the pipeline with adjustable submergence depth, thereby realizing multi-depth water quality real-time monitoring, being capable of more accurately reflecting the water quality condition of the water area,
2. The unmanned ship designed by the invention adopts a mode of installing the water quality sensor in the body, and pumps water with target depth to the position of the water quality sensor in the body through the water taking device for real-time monitoring. The underwater pressure resistance requirement on the water quality sensor is reduced, the research and development cost is reduced, the damage to the water quality sensor caused by aquatic weeds, reefs, hidden pipes and the like is effectively avoided, and the water quality sensor is protected.
3. The body realizes the solutions of different application scenes by carrying sensors, mapping instruments, related equipment or module units with different functions, the schemes of carrying the module units comprise a water taking unit and a water quality sensor unit, a water taking unit and a water storage kettle unit, a medicine spraying/dumping unit, a side scan sonar unit, an acoustic Doppler flow profiler unit and a high-power lighting lamp unit, and the functions of multi-point multi-depth water quality real-time monitoring are realized; multi-point multi-depth water sampling; treating the water area with the medicine; mapping underwater topography and topography; searching and positioning an underwater target; hydrologic mapping; movable water surface lighting.
Drawings
FIG. 1 is a front view of an integrated unmanned ship for water quality analysis and treatment in accordance with the present invention;
FIG. 2 is a schematic structural view of an integrated unmanned ship for water quality analysis and treatment according to the present invention;
FIG. 3 is a schematic diagram of a sampling assembly of an integrated unmanned ship for water quality analysis and treatment according to the present invention;
FIG. 4 is a schematic diagram of the cabin structure of an integrated unmanned ship for water quality analysis and treatment;
FIG. 5 is a schematic diagram of the connection structure of an integrated unmanned ship for water quality analysis and treatment according to the present invention;
FIG. 6 is a flow chart of an independent control mode of a control system of an integrated unmanned ship for water quality analysis and treatment according to the present invention;
FIG. 7 is a flow chart of a combined control scheme of a control system of an integrated unmanned ship for water quality analysis and treatment according to the present invention;
FIG. 8 is a schematic diagram of a tank body joint of a control system of an unmanned ship with integrated water quality analysis and treatment according to the present invention;
FIG. 9 is a block diagram of a control system of an integrated unmanned ship for water quality analysis and remediation according to the present invention;
In the figure, 1, a body, 2, an electric push rod, 3, a cabin, 3-1, a control receiver, 3-2, a crash bar, 3-4, a video recorder, 3-5, a connecting structure, 3-5-1, a connecting port, 3-5-2 and a connecting piece,
3-6 Parts of battery compartment, 3-7 parts of double positioning antennas, 4 parts of water storage units, 4-1 parts of water storage kettles, 4-2 parts of electromagnetic current splitters, 4-3 parts of sample feeding pipes, 5 parts of water taking units, 5-1 parts of diaphragm pumps, 5-2 parts of sampling components, 5-2-1 parts of sampling pipes, 5-2-2 parts of filter covers, 5-2-3 parts of weights, 5-2-4 parts of pipe winding devices, 6 parts of monitoring units, 6-1 parts of water quality sensors, 6-2 parts of filter screens, 6-3 parts of sampling pipes.
Detailed Description
The invention will be described in detail below with reference to the drawings and the detailed description.
The invention relates to a water quality analysis and treatment integrated unmanned ship, which is shown in figure 1, and comprises a body 1, wherein two groups of electric push rods 2 are symmetrically arranged on two sides of the body 1, each group of two electric push rods 2 is obliquely arranged, an output shaft of each electric push rod 2 is connected with a cabin body 3, and the body is stable and has high anti-wind and wave grade.
The monitoring unit 6, the water storage unit 4, the water taking unit 5 and the master control box are integrated in the body 1;
The monitoring unit comprises a water quality monitoring cabin, a filter screen 6-2 and a water quality sensor 6-1 are arranged in the water quality monitoring cabin, the model of the water quality sensor 6-1 is HS-VN1000WQ, the water quality monitoring cabin is connected with an electromagnetic shunt 4-2 through a sampling tube 6-3, the sampling tube 6-3 is connected at a position close to the inlet end of the electromagnetic shunt 4-2, a water sample mixed with impurities enters the water quality sensor 6-1 for analysis after being filtered by the filter screen 6-2, when the monitoring unit works, firstly, an unmanned ship is stopped in a certain water area, a water taking device is slowly lowered to a target depth, a diaphragm pump 5-1 and the water quality sensor 6-1 are started, at the moment, the water quality sensor 6-1 can enter into initialization calibration, data can be stirred to be larger, waiting for 1-2 minutes, sensor data can be observed to approach a stable value, the sensor calibration is successful, and the unmanned ship can be controlled to perform monitoring operation
The water quality sensor 6-1 monitors 17 items of water quality data in real time, and the water quality monitoring base 5 parameters are as follows: turbidity, PH, dissolved oxygen, temperature, conductivity, extension 12 parameters: chemical oxygen demand, ammonia nitrogen, total phosphorus, total nitrogen, permanganate index, chlorophyll, suspended matter, total organic carbon, chromaticity, nitrite, biochemical oxygen demand, and comprehensive nutritional index.
As shown in fig. 2 and 3, the water taking unit 5 comprises a water pump cabin, a diaphragm pump 5-1 is arranged in the water pump cabin, an outlet end of the diaphragm pump 5-1 is connected with an electromagnetic shunt 4-2, an inlet end of the diaphragm pump 5-1 is connected with a sampling component 5-2, the sampling component 5-2 comprises a sampling pipe 5-2-1, an outlet end of the sampling pipe 5-2-1 is connected with an inlet end of the diaphragm pump 5-1, a filter cover 5-2-2 is arranged at the inlet end of the sampling pipe 5-2-1, a weight 5-2-3 is connected to the bottom of the filter cover 5-2-3, a pipe coiling device 5-2-4 is fixedly connected to the inner bottom of the body 1, the sampling pipe 5-2-1 is wound on the pipe coiling device 5-2-4, and an outlet end of the sampling pipe 11-1 is immersed in water to collect a water sample.
The sampling tube 5-2-1 is retracted and released by the tube coiling device 5-2-4, the submergence depth of the sampling tube 5-2-1 is adjusted, multi-depth water taking is achieved, the sampling assembly 5-2 not only can guide a water sample into the water quality sensor cabin for real-time monitoring, but also can guide the water sample into the water storage kettle 4-1 for storage, multi-depth and multi-point water quality sampling is achieved, the water taking time of the diaphragm pump 5-1 is longer than the time required for actually filling the water storage kettle 4-1, and the kettle can be ensured to be filled.
The water storage unit 4 comprises a water storage cabin, the water storage cabin is provided with a plurality of water storage kettles 4-1 and an electromagnetic shunt 4-2, the electromagnetic shunt 4-2 is provided with a plurality of shunt ports, and each shunt port is correspondingly connected with one water storage kettle 4-1 through a delivery pipe 4-3; each water storage kettle 4-1 is provided with a reference numeral.
The water storage kettle 4-1 and the water storage cabin are both provided with overflow holes, the overflow holes of the water storage cabin are connected with the outside of the overflow pipe straight-through body 1, the overflow holes of the water storage kettle can discharge internal air when taking water, water storage is convenient, and the water can overflow after being filled with water, and impurities in the pipeline and the water kettle, which possibly affect water quality, are washed out.
The sampling tube 6-3 is provided with an electromagnetic valve, corresponding sampling information is stored during sampling, the sampling information comprises depth, longitude and latitude, time information and the like, the sampling information corresponds to the position number of the water storage kettle one by one, and the sampling information is displayed on the remote controller; one end of the electromagnetic shunt 4-2 is provided with an overflow port, the overflow port is connected with the outside of the conduit straight-through body 1, and the electromagnetic valve is arranged on the sample feeding tube 4-3 and the overflow pipe.
The body 1 carries three functional modules of the water taking unit 5, the water storage unit 4 and the monitoring unit 6, the water taking unit 5, the water storage unit 4 and the monitoring unit 6 are electrically connected with independent small control modules and power supplies, and a standardized interface is used for being connected with a total control box, so that the module replacement is realized without affecting the effect of the total control box, the total control box can be connected with 4 functional modules through standard interfaces at most, the interface sequence of the 4 functional modules has no specific requirement, and the automatic identification can be realized.
The body 1 realizes solutions of different application scenarios by carrying sensors, mapping instruments, related devices or module units with different functions, as shown in table 1:
TABLE 1
| Carrying module unit | Realize the functions of |
| Water intake unit and water quality sensor unit | Multi-point multi-depth real-time water quality monitoring |
| Water taking unit and water storage kettle unit | Multi-point multi-depth water sampling |
| Medicine spraying/pouring unit | Water area medicine treatment |
| Side-scan sonar unit | Underwater target searching and positioning for underwater topography and topography mapping |
| Acoustic Doppler flow profiler unit | Hydrologic mapping |
| High-power lighting lamp unit | Movable water surface illumination |
Specifically, when the body is provided with the side-scan sonar, extremely high requirements are imposed on the running speed and the track of the ship body, so that an IMU inertial navigation unit and a double-positioning antenna 3-7 are required to be simultaneously provided, accurate course control is realized, and the functions of the two are shown in a functional table 2:
TABLE 2
| Class of | IMU inertial navigation unit | Dual positioning antenna |
| Course calibration principle | The slight deviation angle of the ship body is obtained through the gyroscope and the accelerometer, and the heading is corrected through controlling the propeller or the steering engine. | And acquiring coordinates of two positioning points at the bow and the stern, and calculating the difference value to obtain heading data. |
| Frequency of calculation of positioning result | 100Hz | 1Hz |
| Accuracy of | The accuracy is higher, and the method is not influenced by the environment | Is easily influenced by shielding objects |
As shown in fig. 4, a battery cabin 3-6 and a control cabin are arranged in the cabin body 3, a power supply is arranged in the battery cabin 3-6, an independent main control box and a control receiver 3-1 are arranged in the control cabin, a propeller and a steering engine are arranged at the tail end of the cabin body 3, the independent main control box is electrically connected with the control receiver, the propeller and the steering engine, and an anti-collision strip 3-2 is arranged on the outer wall of the cabin body 3 along the edge.
The core functions of the cabin body are power supply and power, and the independent operation of a single cabin body can be realized, and the cabin body can also be matched with the cabin body. As shown in FIG. 5, the periphery of the cabin body 3 is provided with a connecting structure 3-5, which comprises two connecting ports 3-5-1 and a connecting piece 3-5-2 in the middle, the cabin body 3 and the outside of the body 11 are respectively provided with a universal connecting port 3-5-1, and the cabin body 3 and the body 11 are freely connected and combined through the connecting piece 3-5-2.
As shown in fig. 8, the plurality of cabins 3 are fixedly connected into a whole through the connection structure 3-5, when the plurality of cabins 3 are combined into a whole to work, wherein the cabins 3 are used as a control main body to control other cabins 3, and the cabins 3 are connected in series through signal lines, as shown in table 3:
TABLE 3 Table 3
| Combination mode | Realize the functions of |
| Single cabin body | Narrow water area search+video return |
| N cabin combinations | Cargo transportation |
| N cabin clusters | Cluster combat or surface performance |
The unmanned ship is 'deformed' into a multi-model unmanned ship meeting other application scene solutions by connecting and assembling N cabins with any body, as shown in Table 4:
TABLE 4 Table 4
| Combination mode | Unmanned ship model |
| Two cabins and one body (carrying water pumping unit, water quality sensor unit and water storage kettle unit) | Environment-friendly monitoring unmanned ship |
| Two cabins and one body (carrying medicine spraying/pouring unit) | Unmanned ship for water area treatment |
| Two cabins and one body (carrying side scan sonar unit) | Unmanned ship for underwater emergency rescue search for unmanned ship for underwater topography and topography mapping |
| Two cabins and one body (carrying acoustic Doppler flow profiler unit) | Unmanned ship for hydrologic mapping |
| Four cabins and one body (carrying lighting lamp unit) | Movable unmanned ship for water surface illumination |
Specifically, since the tanks 3 can operate independently, when combined with the body 1, the electric quantities of the two tanks may not be equal, and the battery performance may be seriously affected when the tanks are directly connected in parallel. Therefore, in terms of power distribution, the process is divided into two steps, namely, the first step: the manual switching is carried out by judging the voltage of the cabin body and connecting one side with high voltage to the body for power supply; and a second step of: and (3) intelligent equalization, a 48V direct current intelligent battery equalizer is developed, and each group of batteries is utilized in an equalizing way by intelligently controlling the discharging speeds of the plurality of groups of batteries.
The control system of the water quality analysis and treatment integrated unmanned ship is carried on the water quality analysis and treatment integrated unmanned ship and comprises the following components:
The control platform can save the water quality data to the local, manually export the data for analysis and judgment, put forward a treatment scheme, finally generate a water quality condition report sheet of the water area, make visual display on the basis of the water quality condition report sheet of the water area, develop a visual interface while saving the water quality data, and can intuitively see the conditions of all parameters in the water area and a pollutant distribution map;
The communication unit is used for receiving signals sent by the control platform, the communication unit is connected with the cabin body 3, pluggable interfaces are respectively arranged on two sides of the cabin body 1, power supply and communication connection between the cabin body and the cabin body 3 are realized through the pluggable interfaces, after the cabin body is connected with the cabin body 1, the cabin body 1 firstly sends signals to the cabin body, and the working mode of the cabin body is switched.
When the control platform detects that the value of the water quality parameter of a certain point exceeds a threshold value, marking early warning is carried out on a map, and after the fact that the marked point is polluted is determined manually, the system directly provides a treatment scheme for the abnormal point by analyzing relevant factors of water quality data, flow velocity, diffusion speed and pollution degree.
After the unmanned ship finishes the operation, a complete water quality report can be quickly generated through a button generation report button on the control platform, the time, place, water quality information, water quality problems, recommended treatment schemes and the like of the operation are recorded, and meanwhile, the water quality report is sent to a mobile phone of a worker through one button.
Specifically, the recording is performed by using a video storage function in two steps, namely: and (5) externally storing, and recording by using an external video recording 3-4 instrument. And a second step of: and the system is integrated, the data storage module is integrated into the control platform, and the video data and the water quality data are stored together.
The two working modes of the cabin 3 are an independent control mode and a combined control mode.
As shown in fig. 6, the independent control mode is that the control receiver 3-1 directly acquires a signal sent by the control platform, transmits the signal to the independent main control box, and the independent main control box controls the propeller to advance and retreat and controls the steering engine to steer;
As shown in fig. 7, the combined control mode is that the body receives signals sent by the control platform and then controls the propeller of the corresponding cabin to work without using a steering engine.
The invention relates to a control system of an integrated unmanned ship for water quality analysis and treatment, which comprises the following working processes:
In the first stage, the unmanned ship can save the water quality data to the local, can manually export the data for analysis and judgment, and put forward a treatment scheme to finally generate a water quality condition report sheet of a water area.
The second stage is to make visual display on the basis of the previous stage, develop the visual interface while preserving the water quality data, can intuitively see the condition of each parameter in the water and the pollutant distribution map.
When the system detects that the value of the water quality parameter of a certain point exceeds a threshold value, marking early warning is carried out on a map, after the fact that the marked point has pollution is determined manually, the system directly proposes a treatment scheme aiming at the abnormal point by analyzing various factors such as water quality data, flow rate, diffusion speed, pollution degree and the like,
After the unmanned ship finishes the operation, a complete water quality report can be quickly generated through a button generation report button on the control platform, the time, place, water quality information, water quality problems, recommended treatment schemes and the like of the operation are recorded, and meanwhile, the water quality report is sent to a mobile phone of a worker through one button.
The invention relates to a water quality analysis and treatment integrated unmanned ship, which has the advantages that:
as shown in fig. 9, the body carries modules such as a water taking unit and a water storage unit, which all comprise independent small control systems, and are connected with the master control box by using standardized interfaces, so that the replacement of the modules is realized without affecting the effect of the master control box. For example, the water storage unit is added with the number of water storage kettles or the capacity of the water storage kettles is changed in the later period, the modification of core communication is not required, the main board in the main control box is not required to be changed, and the need of redesigning and testing the main control box after each function upgrading or improving is avoided.
Each functional module comprises an independent miniature control system and a power supply system. The total control system can be connected with 4 functional modules through standard interfaces at most, the interface sequence of the 4 functional modules has no specific requirement, can be automatically identified,
The interface uniformly adopts 48V power supply, the functional module performs buck or boost treatment on the power supply according to the equipment requirement, the communication protocol uniformly adopts CAN bus protocol, and the functional requirement is met on the premise of using a small amount of cables as much as possible.
Claims (7)
1. The integrated unmanned ship for water quality analysis and treatment is characterized by comprising a body (1), wherein two groups of electric push rods (2) are symmetrically arranged on two sides of the body (1), each group of two electric push rods (2) is obliquely arranged, and an output shaft of each electric push rod (2) is connected with a cabin (3);
the monitoring unit (6), the water storage unit (4), the water taking unit (5) and the master control box are integrated in the body (1);
The monitoring unit comprises a water quality monitoring cabin, a filter screen (6-2) and a water quality sensor (6-1) are arranged in the water quality monitoring cabin, the water quality monitoring cabin is connected with the electromagnetic shunt (4-2) through a sampling tube (6-3), the sampling tube (6-3) is connected to a position close to the inlet end of the electromagnetic shunt (4-2), and a water sample mixed with impurities enters the water quality sensor (6-1) for analysis after being filtered by the filter screen (6-2);
The water taking unit (5) comprises a water pump cabin, a diaphragm pump (5-1) is arranged in the water pump cabin, an outlet end of the diaphragm pump (5-1) is connected with an electromagnetic shunt (4-2), an inlet end of the diaphragm pump (5-1) is connected with a sampling assembly (5-2), and the sampling assembly (5-2) sinks into water to collect a water sample;
The water storage unit (4) comprises a water storage cabin, the water storage cabin is provided with a plurality of water storage kettles (4-1) and an electromagnetic shunt (4-2), the electromagnetic shunt (4-2) is provided with a plurality of shunt ports, and each shunt port is correspondingly connected with one water storage kettle (4-1) through a delivery pipe (4-3); each water storage kettle (4-1) is provided with a label; the water taking unit (5), the water storage unit (4) and the monitoring unit (6) are electrically connected with an independent small control module and a power supply, and are connected with a main control box by using a standardized interface, so that the module replacement is realized without influencing the effect of the main control box, the main control box is connected with 4 functional modules through standard interfaces at most, and the interface sequence of the 4 functional modules has no specific requirement; the anti-collision device is characterized in that a battery cabin (3-6) and a control cabin are arranged in the cabin body (3), a power supply is arranged in the battery cabin (3-6), an independent main control box and a control receiver (3-1) are arranged in the control cabin, a propeller and a steering engine are arranged at the tail end of the cabin body (3), the independent main control box is electrically connected with the control receiver, the propeller and the steering engine, and an anti-collision strip (3-2) is arranged on the outer wall of the cabin body (3) along the edge.
2. The integrated unmanned ship for water quality analysis and treatment according to claim 1, wherein the sampling assembly (5-2) comprises a sampling tube (5-2-1), an outlet end of the sampling tube (5-2-1) is connected with an inlet end of a diaphragm pump (5-1), a filter cover (5-2-2) is arranged at the inlet end of the sampling tube (5-2-1), a weight (5-2-3) is connected to the bottom of the filter cover (5-2-2), a tube coiling device (5-2-4) is fixedly connected to the inner bottom of the body (1), the sampling tube (5-2-1) is wound on the tube coiling device (5-2-4), and an outlet end of the sampling tube (5-2-1) is immersed in water to collect a water sample.
3. The integrated unmanned ship for water quality analysis and treatment according to claim 1, wherein the cabin body (3) is provided with a connecting structure (3-5) at the periphery, the unmanned ship comprises two connecting ports (3-5-1) and a connecting piece (3-5-2) in the middle, the cabin body (3) and the outside of the body (1) are respectively provided with a universal connecting port (3-5-1) and are freely connected and combined through the connecting piece (3-5-2).
4. An integrated unmanned ship for water quality analysis and treatment according to claim 3, wherein a plurality of tanks (3) are combined to work together, one of the tanks is used as a control main body for controlling the other tanks, and the tanks are connected in series through signal lines.
5. A control system for an integrated water quality analysis and treatment unmanned ship, which is characterized by being mounted on the integrated water quality analysis and treatment unmanned ship according to any one of claims 1 to 4, comprising:
The control platform can save the water quality data to the local, manually export the data for analysis and judgment, put forward a treatment scheme, finally generate a water quality condition report sheet of the water area, and make visual display on the basis of the water quality condition report sheet of the water area, so that the condition of each parameter in the water area and a pollutant distribution map can be intuitively seen;
The communication unit is used for receiving signals sent by the control platform, the communication unit is connected with the cabin body (3), pluggable interfaces are respectively arranged on two sides of the cabin body (1), power supply and communication connection between the cabin body and the cabin body (3) are realized through the pluggable interfaces, after the cabin body is connected with the cabin body (1), the cabin body (1) firstly sends signals to the cabin body, and the working mode of the cabin body is switched.
6. The control system of the integrated unmanned ship for water quality analysis and treatment according to claim 5, wherein the control platform detects that the value of the water quality parameter of a certain point exceeds a threshold value, marking early warning is carried out on a map, and after the fact that the marked point is polluted is determined manually, the system directly proposes a treatment scheme for an abnormal point by analyzing relevant factors of water quality data, flow rate, diffusion speed and pollution degree.
7. The control system of the integrated unmanned ship for water quality analysis and treatment according to claim 6, wherein the two working modes of the cabin (3) are an independent control mode and a combined control mode;
The independent control mode is that a control receiver (3-1) directly acquires signals sent by a control platform, the signals are transmitted to an independent main control box, and the independent main control box controls a propeller to advance and retreat and controls a steering engine to steer;
the combined control mode is that the body receives signals sent by the control platform and then controls the propeller corresponding to the cabin to work without using a steering engine.
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| CN113063911A (en) * | 2021-03-19 | 2021-07-02 | 中国船舶科学研究中心 | Unmanned ship system for monitoring water quality of lakes and watersheds |
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| KR101184590B1 (en) * | 2011-12-28 | 2012-09-21 | 한국과학기술연구원 | Unmanned boat for monitoring of water resources |
| CN207964362U (en) * | 2017-09-29 | 2018-10-12 | 北京东方园林环境股份有限公司 | A kind of unmanned boat equipment to keep sample automatically for water quality |
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| CN113063911A (en) * | 2021-03-19 | 2021-07-02 | 中国船舶科学研究中心 | Unmanned ship system for monitoring water quality of lakes and watersheds |
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