CN202120123U - Automatic wireless remote-control sampling monitoring boat - Google Patents
Automatic wireless remote-control sampling monitoring boat Download PDFInfo
- Publication number
- CN202120123U CN202120123U CN2011202177351U CN201120217735U CN202120123U CN 202120123 U CN202120123 U CN 202120123U CN 2011202177351 U CN2011202177351 U CN 2011202177351U CN 201120217735 U CN201120217735 U CN 201120217735U CN 202120123 U CN202120123 U CN 202120123U
- Authority
- CN
- China
- Prior art keywords
- module
- singlechip
- wireless remote
- subsystem
- sampling monitoring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Sampling And Sample Adjustment (AREA)
Abstract
The utility model discloses an automatic wireless remote-control sampling monitoring boat, which comprises a boat body, an actuating subsystem and a master control subsystem, wherein the actuating subsystem is arranged on the boat body and the master control subsystem is arranged in a base station and is in wireless communication with the actuating subsystem. The master control subsystem comprises a computer, a first single-chip microcomputer and a GPRS (general packet radio service) module, wherein the computer is provided with a MAPINFO map system. The actuating subsystem comprises a second single-chip microcomputer, a water sample sampling module, a navigation module, an ultrasonic distance measuring module, a driving module, a camera shooting module and a GPRS module. By the aid of the automatic wireless remote-control sampling monitoring boat, relative work of water sample sampling and video monitoring of sewage and waste water discharge points can be completed automatically.
Description
Technical field
The utility model relates to a kind of automatic sampling monitoring ship of wireless remote control, is used for the sampling of the shoal water zone that naval vessel inconvenience such as supervisory sampling of environmental protection or wetland reach.
Background technology
At present the supervisory department of environmental protection etc. for grasp the water quality situation in linchpin waters, normally it is carried out regular or irregular sample detecting analysis.Sample mode in the past; Be to sample in this waters different loci through manual work; This traditional sample mode efficient is low; Particularly centering, serious pollution water body, also there are the danger that jeopardizes the healthy or life security of sample collector in perhaps wetland, shoal water zone or complicated foul water during sampling.Naked eyes and object of reference location is only leaned in each monitoring, and accuracy is very poor.
For addressing the above problem; A kind of unwatched sample mode has appearred in recent years; Like application number is that 200710158240.4 Chinese patent discloses a kind of unmanned controlled waterborne environment-protective inspect sampling boat; Its hull inner controller simple in structure can't be accomplished the sampling work in complex water areas.Application number is that 201010168446.7 Chinese patent discloses a kind of water quality sampling robot for full-automatic surface water, and it comprises hull, drive unit, control device and sampling apparatus, and control device comprises guider, CPU and communication module; Sampling apparatus comprises meteorological and water quality monitoring sensor, underwater sensor and sampling pipe retractable device; Guider comprises gps satellite alignment sensor, electronic compass and acceleration transducer; Guider is electrically connected with central processing unit and communication module, and communication module is connected with the base station through wireless signal.The above-mentioned full-automatic surface water matter sampling robot volume of sampling is little, in light weight; Improved the accuracy of sampling position and sampling depth; But the base station personnel can't see the residing environment of sampling robot in real time; When in case of emergency, the instruction that sampling robot is sent has lacked certain basis, and has limited the range of application of robot.
The utility model content
The technical matters that the utility model will solve provides and a kind ofly can show the no worker monitor ship position coordinate and the automatic sampling monitoring ship of the wireless remote control of image on every side in real time, is used for fields such as water quality sampling, waters surface monitoring and object search.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is following:
A kind of automatic sampling monitoring ship of wireless remote control comprises hull, is arranged on the executive subsystem on the said hull and is arranged on the base station and the master control subsystem of said executive subsystem wireless telecommunications;
Said master control subsystem comprises computing machine, first single-chip microcomputer the one GPRS module that MAP INFO map system is housed; A said GPRS module is connected with first single-chip microcomputer is two-way, and the corresponding output end of said first single-chip microcomputer connects the respective input of main frame;
Said executive subsystem comprises hull second singlechip, water sample sampling module, navigation module, ultrasonic distance measuring module, driver module, photographing module and the 2nd GPRS module, the corresponding output end difference water receiving appearance sampling module of said second singlechip and the input end of driver module; The respective input of the said second singlechip of output termination of said navigation module; Said second singlechip respectively with ultrasonic distance measuring module, the 2nd the GPRS module is two-way is connected; Said photographing module comprises the underwater camera head and is made up of the camera waterborne of cradle head control that the corresponding output end of said second singlechip connects the input end of The Cloud Terrace, and said underwater camera head is connected with second singlechip is two-way respectively with camera waterborne.
The acquisition module of water quality described in the executive subsystem is made up of peristaltic pump and peristaltic pump control module, and the corresponding output end of said second singlechip connects the input end of peristaltic pump control module, the input end of the output termination peristaltic pump of said peristaltic pump control module.
Ultrasonic distance measuring module described in the executive subsystem is made up of ultrasonic transmitting element and ultrasound wave receiving element; The corresponding output end of said second singlechip connects the input end of ultrasonic transmitting element, and said ultrasound wave receiving element connects the respective input of second singlechip.Said ultrasonic distance measuring module is provided with two at least, and the different parts of said hull is set respectively; Said navigation module adopts GPS, GLONESS, Galileo or the Big Dipper.
Said driver module comprises that direct current generator, direct current generator driver module and start and stop turn to control module; The corresponding output end of said second singlechip connects the input end that direct current generator driver module and start and stop turn to control module respectively, and said direct current generator driver module and start and stop turn to the output terminal of control module to connect the respective input of direct current generator respectively.
Said executive subsystem also comprises electronic compass, the respective input of the output termination second singlechip of said electronic compass.
Said executive subsystem also comprises speed measuring module and tachogenerator, the input end of the output termination speed measuring module of said tachogenerator, the respective input of the output termination second singlechip of said speed measuring module.
Said executive subsystem also comprises water temperature testing sensor, pH testing sensor, dissolved oxygen DO testing sensor, water turbidity testing sensor and water electric conductivity sensor, and the output terminal of said sensor connects the respective input of second singlechip respectively.
The model of said first single-chip microcomputer and second singlechip is TMS320VC33; It is TB6612FNG that said start and stop turn to the model of control module; The model of said peristaltic pump control module is L298N; The model of said ultrasonic transmitting element is TCT40-2F, and the model of said ultrasound wave receiving element is TCT40-2S, and the model of said electronic compass is MCA201.
Said master control subsystem responsible receives the positional information of executive subsystem image transmitted information, drone, and sends relevant control command.The course line coordinate that said executive subsystem sends according to the master control subsystem navigate by water automatically the sampling of control, water quality, on-the-spot shooting, keep away barrier, headway control and course line Correction and Control, and can carry out image and transmit and the channel span bathymetric survey.
The beneficial effect that adopts technique scheme to produce is: (1) adopts the utility model can accomplish the water quality sampling work of rivers, lake, reservoir, wetland, pool, river with complicated relevant regulations water-quality sampling point by the relevant criterion of national water quality sampling automatically; (2) accomplish relevant sewage, the work of discharge of wastewater point video monitoring automatically; Relevant control point real-time video is real-time transmitted to Surveillance center; Image carries out real-time play to be preserved simultaneously, and the position coordinates of sampling monitoring ship shows in map manage system in real time; (3) can accomplish the hazard operation, as carry out search, the search-and-rescue work of object in the foul water; (4) can carry out investigations in complicated navigation channel and measure; (5) in real time water temperature, pH value, dissolved oxygen DO, turbidity, the conductivity of water sample sampled point are measured, in real time measurement data is transferred to Surveillance center and carries out this locality preservation simultaneously; (6) through the underwater camera head can accomplish underwater topography observation, accomplish important objects under water search for salvage provide accurately according to, through the underwater camera head can Real Time Observation water in water flea quantity, translational speed, the height that moves about, tour around frequency through the analysis of water flea image being confirmed the power of water quality toxicity.
Description of drawings
Fig. 1 is the theory diagram of the utility model;
Fig. 2 is that the hardware of the utility model embodiment connects synoptic diagram;
Fig. 3 is the workflow diagram of the utility model;
Fig. 4 be the utility model ultrasonic distance measuring module keep away the barrier process flow diagram.
Embodiment
Referring to Fig. 1 and Fig. 2, the automatic sampling monitoring ship of a kind of wireless remote control of present embodiment comprises hull, is arranged on the executive subsystem on the said hull and is arranged on the base station and the master control subsystem of said executive subsystem wireless telecommunications;
Said master control subsystem comprises computing machine, first single-chip microcomputer the one GPRS module that MAP INFO map system is housed; A said GPRS module is connected with first single-chip microcomputer is two-way, and the corresponding output end of said first single-chip microcomputer connects the respective input of main frame;
Said executive subsystem comprises hull second singlechip, water sample sampling module, navigation module, ultrasonic distance measuring module, driver module, photographing module and the 2nd GPRS module, the corresponding output end difference water receiving appearance sampling module of said second singlechip and the input end of driver module; The respective input of the said second singlechip of output termination of said navigation module; Said second singlechip respectively with ultrasonic distance measuring module, the 2nd the GPRS module is two-way is connected; Said photographing module comprises the underwater camera head and is made up of the camera waterborne of cradle head control that the corresponding output end of said second singlechip connects the input end of The Cloud Terrace, and said underwater camera head is connected with second singlechip is two-way respectively with camera waterborne.The model of said first single-chip microcomputer and second singlechip is TMS320VC33.Relevant waters, the camera waterborne scene of being responsible for, correlation water sampled point, relevant discharge of wastewater dot image are shot with video-corder; The Cloud Terrace is responsible for 360 ° of rotations of camera, accomplishes live video monitoring and seawater search shooting.
The acquisition module of water quality described in the executive subsystem is made up of peristaltic pump and peristaltic pump control module, and the corresponding output end of said second singlechip connects the input end of peristaltic pump control module, the input end of the output termination peristaltic pump of said peristaltic pump control module.The model of said peristaltic pump control module is L298N.Peristaltic pump is responsible for the sampling of water sample; The peristaltic pump control module is responsible for the start and stop of peristaltic pump and the control of water quality sampling sample size.
Said ultrasonic distance measuring module is made up of ultrasonic transmitting element and ultrasound wave receiving element, and the corresponding output end of said second singlechip connects the input end of ultrasonic transmitting element, and said ultrasound wave receiving element connects the respective input of second singlechip.In the present embodiment; Said ultrasonic distance measuring module is provided with 5; The front, rear, left and right and the bottom of said hull are set respectively; Be used to detect the hull detection of barrier and relevant water depth all around, for the automatic obstacle-avoiding of hull in underway provides the data of obstacle distance accurately.The model of ultrasonic transmitting element described in the present embodiment is TCT40-2F, and the model of said ultrasound wave receiving element is TCT40-2S.
Navigation module described in the present embodiment is the GPS module, and said navigation module can also be GLONESS, Galileo or the Big Dipper.
Present embodiment also comprises electronic compass, speed measuring module and tachogenerator; The respective input of the output termination second singlechip of said electronic compass, electronic compass is monitored the position angle that drone is gone in real time, for the automatic navigation of drone provides directional data.The input end of the output termination speed measuring module of said tachogenerator, the respective input of the output termination second singlechip of said speed measuring module; Tachogenerator is monitored the rotating speed of drone drive motor in real time, for navigating by water automatically the data of distance to go is provided.Electronic compass and speed measuring module are replenishing of GPS navigation location.The model of said electronic compass is MCA201.
Said driver module comprises that direct current generator, direct current generator driver module and start and stop turn to control module; The corresponding output end of said second singlechip connects the input end that direct current generator driver module and start and stop turn to control module respectively, and said direct current generator driver module and start and stop turn to the output terminal of control module to connect the respective input of direct current generator respectively.It is TB6612FNG that said start and stop turn to the model of control module.Direct current generator is supplied power by power module; Said power module comprises 48V lithium ion battery and voltage transformation module; Said change in voltage module is 12V, 5V, 3.3V with the 48V voltage transformation; Being respectively second singlechip, ultrasonic distance measuring module, electronic compass, speed measuring module, GPRS module, peristaltic pump, camera, cradle head control partly provides voltage, but also the dc-isolation function is provided.
It is as shown in Figure 3 to adopt the present invention to carry out the course of work of water quality sampling and monitoring:
1) at first hull is placed on waters to be measured, initialization GPS and GPRS.
2) the master control subsystem starts thereby control hull through a GPRS module and the 2nd GPRS communication, and said hull goes according to design route.
3) said second singlechip has judged whether external interrupt signal
When external interrupt signal, executive subsystem is carried out corresponding interrupt handling routine, and accordingly result is uploaded to the master control subsystem; The master control subsystem sends further control command to executive subsystem; Remove to external interrupt signal;
When not having external interrupt signal, hull continues navigation to the sampled point of setting, and stops to go, and carries out water sampling, and in the hull driving process or when berthing, camera can be taken according to the instruction of master control subsystem at any time; Executive subsystem reaches the master control subsystem with place, sampled data and the captured image data of sampling;
4) judge whether finishing collecting of sampled point, when finishing collecting, finish that hull makes a return voyage and pulls in to shore; When finishing collecting not, get into step 3).
The volume of hull is little in the present embodiment, and light weight is adapted at going in shallow water or the wetland, can guarantee hull going in complex water areas through ultrasonic ranging and photographing module.Simultaneously the underwater camera head can accomplish underwater topography observation, accomplish the search of important objects under water, for salvaging provides foundation accurately; And through the underwater camera head can Real Time Observation water in water flea quantity, translational speed, the height that moves about, tour around frequency through the analysis of water flea image being confirmed the power of water quality toxicity, expanded the application of the utility model.
Claims (9)
1. the automatic sampling monitoring ship of a wireless remote control is characterized in that comprising hull, is arranged on the executive subsystem on the said hull and is arranged on the base station and the master control subsystem of said executive subsystem wireless telecommunications;
Said master control subsystem comprises computing machine, first single-chip microcomputer the one GPRS module that MAP INFO map system is housed; A said GPRS module is connected with first single-chip microcomputer is two-way, and the corresponding output end of said first single-chip microcomputer connects the respective input of main frame;
Said executive subsystem comprises hull second singlechip, water sample sampling module, navigation module, ultrasonic distance measuring module, driver module, photographing module and the 2nd GPRS module, the corresponding output end difference water receiving appearance sampling module of said second singlechip and the input end of driver module; The respective input of the said second singlechip of output termination of said navigation module; Said second singlechip respectively with ultrasonic distance measuring module, the 2nd the GPRS module is two-way is connected; Said photographing module comprises the underwater camera head and is made up of the camera waterborne of cradle head control that the corresponding output end of said second singlechip connects the input end of The Cloud Terrace, and said underwater camera head is connected with second singlechip is two-way respectively with camera waterborne.
2. the automatic sampling monitoring ship of wireless remote control according to claim 1; It is characterized in that the acquisition module of water quality described in the executive subsystem is made up of peristaltic pump and peristaltic pump control module; The corresponding output end of said second singlechip connects the input end of peristaltic pump control module, the input end of the output termination peristaltic pump of said peristaltic pump control module.
3. the automatic sampling monitoring ship of wireless remote control according to claim 2; It is characterized in that ultrasonic distance measuring module described in the executive subsystem is made up of ultrasonic transmitting element and ultrasound wave receiving element; The corresponding output end of said second singlechip connects the input end of ultrasonic transmitting element, and said ultrasound wave receiving element connects the respective input of second singlechip.
4. the automatic sampling monitoring ship of wireless remote control according to claim 3 is characterized in that being provided with at least two ultrasonic distance measuring modules, and the different parts of said hull is set respectively; Said navigation module adopts GPS, GLONESS, Galileo or the Big Dipper.
5. the automatic sampling monitoring ship of wireless remote control according to claim 3; It is characterized in that said driver module comprises that direct current generator, direct current generator driver module and start and stop turn to control module; The corresponding output end of said second singlechip connects the input end that direct current generator driver module and start and stop turn to control module respectively, and said direct current generator driver module and start and stop turn to the output terminal of control module to connect the respective input of direct current generator respectively.
6. the automatic sampling monitoring ship of wireless remote control according to claim 5 is characterized in that said executive subsystem also comprises electronic compass, the respective input of the output termination second singlechip of said electronic compass.
7. the automatic sampling monitoring ship of wireless remote control according to claim 6; It is characterized in that said executive subsystem also comprises speed measuring module and tachogenerator; The input end of the output termination speed measuring module of said tachogenerator, the respective input of the output termination second singlechip of said speed measuring module.
8. the automatic sampling monitoring ship of wireless remote control according to claim 7; It is characterized in that said executive subsystem also comprises water temperature testing sensor, pH testing sensor, dissolved oxygen DO testing sensor, water turbidity testing sensor and water electric conductivity sensor, the output terminal of said sensor connects the respective input of second singlechip respectively.
9. the automatic sampling monitoring ship of wireless remote control according to claim 6; The model that it is characterized in that said first single-chip microcomputer and second singlechip is TMS320VC33; It is TB6612FNG that said start and stop turn to the model of control module, and the model of said peristaltic pump control module is L298N, and the model of said ultrasonic transmitting element is TCT40-2F; The model of said ultrasound wave receiving element is TCT40-2S, and the model of said electronic compass is MCA201.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202177351U CN202120123U (en) | 2011-06-24 | 2011-06-24 | Automatic wireless remote-control sampling monitoring boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202177351U CN202120123U (en) | 2011-06-24 | 2011-06-24 | Automatic wireless remote-control sampling monitoring boat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202120123U true CN202120123U (en) | 2012-01-18 |
Family
ID=45461174
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202177351U Expired - Fee Related CN202120123U (en) | 2011-06-24 | 2011-06-24 | Automatic wireless remote-control sampling monitoring boat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202120123U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102306025A (en) * | 2011-06-24 | 2012-01-04 | 石家庄环祥科技有限公司 | Wireless remote-control automatic sampling monitoring ship |
| CN103018757A (en) * | 2012-12-10 | 2013-04-03 | 中山大学 | Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform |
| CN103963936A (en) * | 2013-01-31 | 2014-08-06 | 中国科学院城市环境研究所 | Wireless mobile water quality monitoring equipment |
| CN105487538A (en) * | 2015-11-21 | 2016-04-13 | 广西南宁至简至凡科技咨询有限公司 | Mobile robot navigation system based on GPS positioning |
| CN105865841A (en) * | 2016-04-27 | 2016-08-17 | 河海大学 | Remote control type bottom mud detection, mud collection and water collection system and method of polluted water body |
-
2011
- 2011-06-24 CN CN2011202177351U patent/CN202120123U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102306025A (en) * | 2011-06-24 | 2012-01-04 | 石家庄环祥科技有限公司 | Wireless remote-control automatic sampling monitoring ship |
| CN103018757A (en) * | 2012-12-10 | 2013-04-03 | 中山大学 | Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform |
| CN103018757B (en) * | 2012-12-10 | 2015-04-22 | 中山大学 | Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform |
| CN103963936A (en) * | 2013-01-31 | 2014-08-06 | 中国科学院城市环境研究所 | Wireless mobile water quality monitoring equipment |
| CN105487538A (en) * | 2015-11-21 | 2016-04-13 | 广西南宁至简至凡科技咨询有限公司 | Mobile robot navigation system based on GPS positioning |
| CN105865841A (en) * | 2016-04-27 | 2016-08-17 | 河海大学 | Remote control type bottom mud detection, mud collection and water collection system and method of polluted water body |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102306025A (en) | Wireless remote-control automatic sampling monitoring ship | |
| CN211235830U (en) | Unmanned ship water quality monitoring system | |
| CN103287549B (en) | A kind of smart water quality monitoring clears up ship with the water surface | |
| CN105242022A (en) | Beidou navigation twin-hull boat for intelligent water quality monitoring | |
| KR101706171B1 (en) | Multi-copter for water analysis having ship probulsion device and water analysis method using the same | |
| CN109515086A (en) | Hydrospace detection robot and its operational method | |
| KR101564876B1 (en) | Remote water quality measuring apparatus, remote water sampler system and method for operating thereof | |
| CN202120123U (en) | Automatic wireless remote-control sampling monitoring boat | |
| CN208110051U (en) | A kind of underwater measurement system based on unmanned boat | |
| CN108189040B (en) | Sewage pipeline detection robot system | |
| CN109285389A (en) | A kind of automatic docking system of unmanned boat and method | |
| CN209426501U (en) | Hydrospace detection robot | |
| CN104569333A (en) | Autonomous navigation type surface water quality sampling and real-time monitoring water level robot | |
| CN204937441U (en) | The water-bed sniffing robot of a kind of autonomous navigation | |
| CN108181908A (en) | A kind of unmanned boat system for inland river environmental monitoring | |
| CN202783712U (en) | Intelligent water surface survey robot | |
| CN105270583A (en) | Measuring type unmanned ship and measuring method thereof | |
| CN108535279B (en) | Detection method based on sewage pipeline detection robot | |
| CN204037874U (en) | Measurement type unmanned boat | |
| CN109835441B (en) | Automatic driving method and system for water quality monitoring intelligent boat | |
| CN105129063A (en) | Wind-energy and luminous energy complementation water surface robot | |
| CN104960651A (en) | Underwater exploring robot with function of autonomous navigation | |
| CN109631857B (en) | Multi-unmanned-boat combined island and reef surveying and mapping system and method | |
| CN112462020A (en) | Wind-solar complementary twin-hull unmanned water quality monitoring ship | |
| KR20200104436A (en) | System for colleting marine waste |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120118 Termination date: 20150624 |
|
| EXPY | Termination of patent right or utility model |