CN202783712U - Intelligent water surface survey robot - Google Patents
Intelligent water surface survey robot Download PDFInfo
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- CN202783712U CN202783712U CN201220449865.2U CN201220449865U CN202783712U CN 202783712 U CN202783712 U CN 202783712U CN 201220449865 U CN201220449865 U CN 201220449865U CN 202783712 U CN202783712 U CN 202783712U
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Abstract
The utility model provides an intelligent surface survey robot which mainly comprises a ship body, a control and navigation device, a communication module, a driving device, an obstacle avoidance device and a data acquisition device, wherein the control and navigation device mainly comprises a central controller, an auxiliary voyage sensor and the communication module; the communication module is in signal connection with a ground terminal by a wireless signal and in circuit connection with the control and navigation device; the driving device is in circuit connection with the control and navigation device; the obstacle avoidance device is in circuit connection with the control and navigation device; and the data acquisition device acquires water quality or hydrographic survey data by a central processing unit and the communication module, transmits the data to the ground terminal in real time, and is in circuit connection with the central controller. As the intelligent water surface survey robot is equipped with relevant water quality and hydrographic survey equipment, functions such as unmanned survey, independent satellite positioning and navigation work, data survey and one-to-one corresponding satellite coordinate storage can be achieved, and the safety, efficiency and accuracy of the survey work can be improved greatly.
Description
Technical field
The utility model relates to water surface robot device, and is especially a kind of with small-size water surface robot measurement automatic control device and data acquisition unit, multi-functional.
Background technology
At present surface water quality, hydrological survey work mainly leans against line and measures and the manual measurement dual mode.Traditional on-line measurement is that measuring equipment is fixed in a bit, regularly measures, and take off data is transmitted go back to ground by wired or wireless form.Do like this that to exist the survey scope little, input cost is large, the problems such as difficult maintenance.
And traditional manual measurement method is artificial by ship to specified measurement waters or measurement point, adopts module related measurement devices and mobile satellite location equipment to carry out manual measurement and record, gets back to office and finishes data preparation and report again.Do like this and exist that efficient is low, the shortcomings such as accuracy of poor stability, interference from human factor observed reading.
Summary of the invention
In view of the above problems, the utility model provides a kind of intelligence water planar survey robot.
In order to achieve the above object, the utility model has adopted following technical scheme: a kind of intelligence water planar survey robot, wherein, it mainly comprises hull, this intelligence water planar survey robot also comprises: control and homing advice, it mainly comprises central controller and supplementary navigation sensor, communication module, this central controller and supplementary navigation sensor comprise central processing unit, PMU, electronic compass, angular velocity sensor, acceleration pick-up and gps satellite alignment sensor, wherein, electronic compass, angular velocity sensor, acceleration pick-up and gps satellite alignment sensor are connected with the central processing unit circuit respectively; By the communication module that wireless signal and ground based terminal carry out that signal is connected and be connected with this control and homing advice circuit, this communication module mainly comprises GPRS communication module and the wireless radiofrequency transport module that is connected with central controller respectively; With the actuating device that this control and homing advice circuit are connected, it mainly comprises battery pack and the propelling unit that is connected with central controller respectively; The obstacle avoidance apparatus that is connected with this control and homing advice circuit mainly comprises distance measuring sensor, radar, alarm module and real-time video transmission module; And be connected water quality or hydrological survey data and real-time Transmission with communication module to ground based terminal and the data acquisition unit that is connected with the central controller circuit by central processing unit.
Better, the utility model provides a kind of intelligence water planar survey robot, and wherein, described ground based terminal is ground base station or hand-held base station.
Better, the utility model provides a kind of intelligence water planar survey robot, wherein, described distance measuring sensor mainly comprises ultrasonic distance-measuring sensor, laser range sensor, described alarm module mainly comprises Warning light, caution loudspeaker, and described real-time video transmission module is the real-time video transmission camera.
Better, the utility model provides a kind of intelligence water planar survey robot, and wherein, described central processing unit is micro controller system, and described electronic compass, angular velocity sensor, acceleration pick-up are connected with single chip circuit by the SPI interface of micro controller system respectively; Described gps satellite alignment sensor, GPRS module and wireless radiofrequency transport module are connected with single chip circuit by serial interface respectively.
Better, the utility model provides a kind of intelligence water planar survey robot, and wherein, described propelling unit comprises propulsion electric machine and the steering hardware that is connected with feed circuit respectively, described steering hardware is steering wheel, and this propulsion electric machine and this steering wheel utilize rigid rod to be rigidly connected.
Better, the utility model provides a kind of intelligence water planar survey robot, wherein, this intelligence water planar survey robot comprises also water constantly is evacuated to the water circle device of adopting in the flow cell in the cabin that the described water circle device of adopting comprises the water gathering tube jack, adopts water pump and water pipe.
Better, the utility model provides a kind of intelligence water planar survey robot, wherein, described water gathering tube jack comprises the electric pushrod that is connected with feed circuit, the first drive link that one end and electric pushrod are hinged, be articulated in respectively two firm bankings of electric pushrod tail end and the first drive link, be connected with spring with the first drive link respectively and second drive link hinged with firm banking, with the rigidly connected attaching parts of the second drive link, with the rigidly connected thief rod of attaching parts, this electric pushrod thief rod scalable and that two firm bankings are fixed on the hull is connected with sampling line, described the first drive link be connected the drive link spring and connect.
Better, the utility model provides a kind of intelligence water planar survey robot, wherein, described intelligence water planar survey robot respectively with water quality monitoring system, Water depth measuring instrument, side-scan sonar and acoustic Doppler fluid velocity profile instrument are electrically connected, so that the take off data Real-time Collection is sent it back ground base station.
Compared to prior art, the utility model provides a kind of intelligence water planar survey robot, adopt intelligence water planar survey robot to carry relevant water quality, hydrological survey equipment, can realize the one by one function such as corresponding stored of unmanned measurement, the work of autonomous satellite location navigation, take off data and co-ordinates of satellite, greatly improve safety, efficient and the accuracy of surveying work.
Description of drawings
Fig. 1 is the hull structure scheme drawing
Fig. 2 is water gathering tube jack scheme drawing
The specific embodiment
Extremely shown in Figure 2 such as Fig. 1, the utility model provides a kind of intelligence water planar survey robot, adopt intelligence water planar survey robot to carry relevant water quality, hydrological survey equipment, can realize the one by one function such as corresponding stored of unmanned measurement, the work of autonomous satellite location navigation, take off data and co-ordinates of satellite, greatly improve safety, efficient and the accuracy of surveying work.
Wherein, described intelligence water planar survey robot mainly comprises hull 10, control and homing advice, it mainly comprises central controller 1 and supplementary navigation sensor, communication module 3, this central controller 1 and supplementary navigation sensor comprise central processing unit, PMU, electronic compass, angular velocity sensor, acceleration pick-up and gps satellite alignment sensor, wherein, electronic compass, angular velocity sensor, acceleration pick-up and gps satellite alignment sensor are connected with the central processing unit circuit respectively; Communication module 3, this communication module 3 mainly comprise GPRS communication module and the wireless radiofrequency transport module that is connected with central controller 1 respectively, are undertaken that signal is connected and are connected with this control and homing advice circuit by wireless signal and ground based terminal; With the actuating device that this control and homing advice circuit are connected, it mainly comprises battery pack 6 and the propelling unit 7 that is connected with central controller 1 respectively; The obstacle avoidance apparatus 4 that is connected with this control and homing advice circuit mainly comprises distance measuring sensor, radar, alarm module and real-time video transmission module; And data acquisition unit 5, this data acquisition unit 5 is connected with communication module by central processing unit and is gathered water quality or hydrological survey data and real-time Transmission and be connected to ground based terminal and with central controller 1 circuit.
Again, described ground based terminal can be ground base station or hand-held base station in present embodiment, described distance measuring sensor mainly comprises ultrasonic distance-measuring sensor, laser range sensor, described alarm module mainly comprises Warning light, caution loudspeaker, described real-time video transmission module is the real-time video transmission camera, described central processing unit is micro controller system, and described electronic compass, angular velocity sensor, acceleration pick-up are connected with single chip circuit by the SPI interface of micro controller system respectively; Described gps satellite alignment sensor, GPRS module and wireless radiofrequency transport module are connected with single chip circuit by serial interface respectively, described propelling unit 7 comprises propulsion electric machine and the steering hardware that is connected with feed circuit respectively, described steering hardware is steering wheel, and this propulsion electric machine and this steering wheel utilize rigid rod to be rigidly connected.
Moreover, this intelligence water planar survey robot also comprises water constantly is evacuated to adopts water circle device 9 in the flow cell in the cabin, the described water circle device 9 of adopting comprises the water gathering tube jack, adopt water pump and water pipe, wherein, described water gathering tube jack comprises the electric pushrod 12 that is connected with feed circuit, the first drive link 14 that one end and electric pushrod 12 are hinged, be articulated in respectively two firm bankings 11 of electric pushrod 12 tail ends and the first drive link 14, be connected with spring with the first drive link 14 respectively and second drive link 15 hinged with firm banking 11, with the second drive link 15 rigidly connected attaching partss 16, with attaching parts 16 rigidly connected thief rods 17, these electric pushrod 12 thief rods 17 scalable and that two firm bankings 11 are fixed on the hull 10 are connected with sampling line, described the first drive link 14 be connected drive link 15 springs and connect, so that the folding and unfolding bar runs into sunken danger when opening being in, can elasticity pack up, avoid thief rod 17 and water-bed obstacle rigidity to bump against.
This is adopted water circle device 9 water constantly is evacuated in the flow cell in the cabin, and flow cell has a water outlet to be connected to outboard simultaneously; The water quality measurement probe also is connected in the flow cell, and the water sample of realizing upgrading constantly circulating in the flow cell is to carry out water quality measurement.
In addition, intelligence water planar survey robot also respectively with water quality monitoring system, Water depth measuring instrument, side-scan sonar and acoustic Doppler fluid velocity profile instrument are electrically connected, so that the take off data Real-time Collection is sent it back ground base station; Described hull 10 can be single hull, catamaran or trimaran.
Described intelligence water planar survey robot is a water quality, hydrologic parameter measuring table, by carrying the probe of measuring water quality, can become and carry out the smart water quality robot measurement that water quality data patrols survey; By carrying Water depth measuring instrument, can carry out the auto-mapping that patrols survey and water-bed landforms of bathymetric data; By carrying side-scan sonar, can carry out the collection of water-bed sonar image; By carrying the ADCP(acoustic Doppler fluid velocity profile instrument of measuring water flow velocity or flow), can carry out the autonomous navigation of the flow rate of rivers section and measure.Because this measuring table has that surveying work is unmanned, the work of autonomous satellite location navigation, take off data and the co-ordinates of satellite advantage such as corresponding one by one, its application can improve safety, efficient and the accuracy of surveying work greatly.
The above is preferred embodiment of the present utility model only, is not to limit practical range of the present utility model; Every equivalence of doing according to the utility model changes and revises, and is all covered by the scope of the utility model claims.
Claims (10)
1. an intelligence water planar survey robot is characterized in that it mainly comprises hull, and this intelligence water planar survey robot also comprises:
Control and homing advice, it mainly comprises central controller and supplementary navigation sensor, communication module, this central controller and supplementary navigation sensor comprise central processing unit, PMU, electronic compass, angular velocity sensor, acceleration pick-up and gps satellite alignment sensor, wherein, electronic compass, angular velocity sensor, acceleration pick-up and gps satellite alignment sensor are connected with the central processing unit circuit respectively;
By the communication module that wireless signal and ground based terminal carry out that signal is connected and be connected with this control and homing advice circuit, this communication module mainly comprises GPRS communication module and the wireless radiofrequency transport module that is connected with central controller respectively;
With the actuating device that this control and homing advice circuit are connected, it mainly comprises battery pack and the propelling unit that is connected with central controller respectively;
The obstacle avoidance apparatus that is connected with this control and homing advice circuit mainly comprises distance measuring sensor, radar, alarm module and real-time video transmission module; And
Be connected water quality or hydrological survey data and real-time Transmission with communication module to ground based terminal and the data acquisition unit that is connected with the central controller circuit by central processing unit.
2. intelligence water planar survey robot according to claim 1 is characterized in that, described ground based terminal is ground base station or hand-held base station.
3. intelligence water planar survey robot according to claim 1, it is characterized in that, described distance measuring sensor mainly comprises ultrasonic distance-measuring sensor, laser range sensor, described alarm module mainly comprises Warning light, caution loudspeaker, and described real-time video transmission module is the real-time video transmission camera.
4. intelligence water planar survey robot according to claim 1 is characterized in that, described central processing unit is micro controller system, and described electronic compass, angular velocity sensor, acceleration pick-up are connected with single chip circuit by the SPI interface of micro controller system respectively; Described gps satellite alignment sensor, GPRS module and wireless radiofrequency transport module are connected with single chip circuit by serial interface respectively.
5. intelligence water planar survey robot according to claim 1, it is characterized in that, described propelling unit comprises propulsion electric machine and the steering hardware that is connected with feed circuit respectively, and described steering hardware is steering wheel, and this propulsion electric machine and this steering wheel utilize rigid rod to be rigidly connected.
6. intelligence water planar survey robot according to claim 1 is characterized in that, this intelligence water planar survey robot also comprises water constantly is evacuated to the water circle device of adopting in the flow cell in the cabin.
7. intelligence water planar survey robot according to claim 6 is characterized in that, the described water circle device of adopting comprises the water gathering tube jack, adopts water pump and water pipe.
8. intelligence water planar survey robot according to claim 7, it is characterized in that, described water gathering tube jack comprises the electric pushrod that is connected with feed circuit, the first drive link that one end and electric pushrod are hinged, be articulated in respectively two firm bankings of electric pushrod tail end and the first drive link, be connected with spring with the first drive link respectively and second drive link hinged with firm banking, with the rigidly connected attaching parts of the second drive link, with the rigidly connected thief rod of attaching parts, this electric pushrod thief rod scalable and that two firm bankings are fixed on the hull is connected with sampling line.
9. intelligence water planar survey robot according to claim 8 is characterized in that, described the first drive link be connected the drive link spring and connect.
10. intelligence water planar survey robot according to claim 1, it is characterized in that, described intelligence water planar survey robot respectively with water quality monitoring system, Water depth measuring instrument, side-scan sonar and acoustic Doppler fluid velocity profile instrument are electrically connected, so that the take off data Real-time Collection is sent it back ground base station.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201220449865.2U CN202783712U (en) | 2012-09-06 | 2012-09-06 | Intelligent water surface survey robot |
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| CN201220449865.2U CN202783712U (en) | 2012-09-06 | 2012-09-06 | Intelligent water surface survey robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645139A (en) * | 2013-11-25 | 2014-03-19 | 银川博聚工业产品设计有限公司 | Water quality detection and examination device |
| CN104914226A (en) * | 2015-06-07 | 2015-09-16 | 电子科技大学 | Waterborne intelligent robot based on DSP |
| CN105242022A (en) * | 2015-11-02 | 2016-01-13 | 北斗天汇（上海）科技有限公司 | Beidou navigation twin-hull boat for intelligent water quality monitoring |
| CN105784958A (en) * | 2016-05-09 | 2016-07-20 | 广东交通职业技术学院 | Remote-control sea-surface oil stain concentration monitoring device |
| CN106002925A (en) * | 2016-08-04 | 2016-10-12 | 西安科技大学 | Dual-track intelligent patrol robot |
| CN106032164A (en) * | 2016-07-20 | 2016-10-19 | 珠海科微智能科技有限公司 | Multifunctional high-speed intelligent modularized platform system surveying and mapping robot |
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN108045510A (en) * | 2017-10-11 | 2018-05-18 | 中国船舶重工集团公司第七〇五研究所 | A kind of unmanned hull of uninterrupted sampled measurements based on interior flow field design |
| CN108279292A (en) * | 2018-04-12 | 2018-07-13 | 澳门培正中学 | A kind of underwater detectoscope |
| CN111516808B (en) * | 2020-05-07 | 2021-04-06 | 中国水利水电科学研究院 | Environment monitoring river patrol robot system and method |
-
2012
- 2012-09-06 CN CN201220449865.2U patent/CN202783712U/en not_active Expired - Lifetime
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103645139A (en) * | 2013-11-25 | 2014-03-19 | 银川博聚工业产品设计有限公司 | Water quality detection and examination device |
| CN104914226A (en) * | 2015-06-07 | 2015-09-16 | 电子科技大学 | Waterborne intelligent robot based on DSP |
| CN105242022A (en) * | 2015-11-02 | 2016-01-13 | 北斗天汇（上海）科技有限公司 | Beidou navigation twin-hull boat for intelligent water quality monitoring |
| CN105784958A (en) * | 2016-05-09 | 2016-07-20 | 广东交通职业技术学院 | Remote-control sea-surface oil stain concentration monitoring device |
| CN106032164A (en) * | 2016-07-20 | 2016-10-19 | 珠海科微智能科技有限公司 | Multifunctional high-speed intelligent modularized platform system surveying and mapping robot |
| CN106032164B (en) * | 2016-07-20 | 2018-02-23 | 珠海科微智能科技有限公司 | A kind of intelligent modularized plateform system Robot of multifunctional high speed type |
| CN106002925A (en) * | 2016-08-04 | 2016-10-12 | 西安科技大学 | Dual-track intelligent patrol robot |
| CN106002925B (en) * | 2016-08-04 | 2018-02-02 | 西安科技大学 | Double crawler belt intelligent inspection robots |
| CN106873578A (en) * | 2017-04-27 | 2017-06-20 | 南通大学 | Unmanned operation intelligence boat equipment and control system |
| CN108045510A (en) * | 2017-10-11 | 2018-05-18 | 中国船舶重工集团公司第七〇五研究所 | A kind of unmanned hull of uninterrupted sampled measurements based on interior flow field design |
| CN108279292A (en) * | 2018-04-12 | 2018-07-13 | 澳门培正中学 | A kind of underwater detectoscope |
| CN111516808B (en) * | 2020-05-07 | 2021-04-06 | 中国水利水电科学研究院 | Environment monitoring river patrol robot system and method |
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Address after: Room 311 and 312A, 3 / F, Xiangshan ocean science and technology port, 3888 North Lovers Road, Tangjiawan Town, high tech Zone, Zhuhai, Guangdong 519000 Patentee after: Zhuhai Yunzhou Intelligent Technology Co.,Ltd. Address before: 519080 room 214, area D2, No.1, software garden road, Xiangzhou District, Zhuhai City, Guangdong Province Patentee before: ZHUHAI YUNZHOU INTELLIGENCE TECHNOLOGY Ltd. |
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Granted publication date: 20130313 |
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