CN205193057U - Unmanned pollutant traceability system - Google Patents
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- CN205193057U CN205193057U CN201520738919.0U CN201520738919U CN205193057U CN 205193057 U CN205193057 U CN 205193057U CN 201520738919 U CN201520738919 U CN 201520738919U CN 205193057 U CN205193057 U CN 205193057U
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- 239000003344 environmental pollutant Substances 0.000 title claims abstract description 79
- 231100000719 pollutant Toxicity 0.000 title claims abstract description 79
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 50
- 238000005070 sampling Methods 0.000 claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 17
- 238000004891 communication Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims abstract description 7
- 239000000203 mixture Substances 0.000 claims description 7
- 230000002572 peristaltic effect Effects 0.000 claims description 5
- 238000007654 immersion Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 20
- 230000008569 process Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 230000033228 biological regulation Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 239000008186 active pharmaceutical agent Substances 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000012795 verification Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 239000002440 industrial waste Substances 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004457 water analysis Methods 0.000 description 1
- 238000003911 water pollution Methods 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
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- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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Abstract
The utility model discloses an unmanned pollutant traceability system. It includes unmanned pollutant trace to the source ship, hand -held remote controller and remote monitoring basic station, and unmanned pollutant is traced to the source the ship and is passed through GPRS and the communication of remote monitoring basic station, and unmanned pollutant is traced to the source the ship and is passed through RF communications's mode and hand -held remote controller radio communication. The utility model discloses an embedded microsystem and pollutant concentration detection device, position appearance sensor, GPS module etc. Has realized the search and has polluted the function of the fixed drain in basin, for having improved mill's speed of row's time emergence after stain source location steathily, has saved manpower and fund input, embedded system has so also made things convenient for the sampling work of pollution water for also can realize the fixing a point sampling of depthkeeping degree of the three -dimensional sampling device of the with a system of core for the water sample of back water quality analysis department has had the source, also makes the government department have the foundation to the punishment of blowdown enterprise.
Description
Technical field
The utility model relates to pollutant and to trace to the source field, particularly relates to a kind of unmanned pollutant traceability system.
Background technology
Water is the blood of the ecosystem, and sufficient, water resource that is high-quality is the material base of ecosystem health development.China is the country of a resource-type lack of water, and according to statistics: the first half of the year in 2013, China ten large watershed I ~ III class water quality section accounts for 69.3%, and IV ~ V class accounts for 19.9%, and bad V class accounts for 10.8%.The important basin of the whole nation more than 30% is subject to pollution in various degree.The one side the most outstanding causing this situation is that discharge of industrial wastes does not standardize, rationalizes, and row's phenomenon is comparatively serious steathily in enterprise.Improve enterprise and steal the regulation effect of row's problem, need to strengthen local environment supervision, administrative law enforcement, the linkage of criminal justice and hitting dynamics on the one hand; Need on the other hand to promote environment monitoring capability: can pinpoint the problems as early as possible before seriously polluted, after pinpointing the problems, find out root in time, obtain evidence, fulfill one's duties.But the row's of stealing mouth of enterprise pollution is often very hidden, after discovery pollution problem, relevant department usually needs to spend a lot of time and determines pollution source and delay best improvement opportunity; Sometimes even abandon because position, source cannot be confirmed unit of calling to account.
Be in the Chinese invention patent of 201410216892.9 at application number, described movable type water contamination data acquisition system can monitor basin water quality comparison, only need this device a small amount of on basin, detect water pollutions index, but this system only has and gathers river water quality data and the function of the water quality situation in visual basin in GIS platform, do not have the function that pollutant is traced to the source, cannot follow the trail of automatically and locate pollution source.In the Chinese invention patent of the application number number of being 201410390303.9, the described industrial pollution source of water body detection method based on unmanned plane, it carries out image monitoring by unmanned plane to enterprise's draining and spot-check with sampling, complete the analysis of enterprise to influence on water body, but when pollutant does not cause water body color to change, this summary of the invention cannot realize the requirement of pollutant tracing and positioning.
Row steals in higher for pollutional load, can to promote regulation space larger enterprise, design and develop mobile a kind of unmanned pollutant traceability system, the fixing sewage draining exit polluting basin can be searched for, provide strong help for relevant department carries out regulation to contaminated basin and surrounding enviroment; Pop-up threat can also be tackled flexibly simultaneously, follow the tracks of the spread condition of pollution source fast, the urgent improvement of assistance accident.
Summary of the invention
The purpose of this utility model overcomes the deficiencies in the prior art, provides a kind of unmanned pollutant traceability system.
A kind of unmanned pollutant traceability system comprises unmanned pollutant and to trace to the source ship, hand-held remote controller and long-distance monitoring base station, unmanned pollutant ship of tracing to the source is communicated with long-distance monitoring base station by GPRS, and unmanned pollutant traces to the source ship by the mode of radio communication and hand-held remote controller radio communication; Unmanned pollutant ship of tracing to the source comprises hull, main control unit, water body sampling device and water quality on-line measuring device, described hull is by ship outer casing, propulsion system and power module composition, adopt twin-hull ship type, described main control unit is made up of main control chip, GPRS module, RF wireless module, GPS module, electronic compass, servo driving DC motor Driver, driving stepper motor and jtag interface, wherein, described GPRS module, RF wireless module, GPS module are connected with RS232 interface with main control chip, and described electronic compass and main control chip use I
2c interface connects; Described water body sampling device is made up of jacking gear, sampling apparatus and part flow arrangement, jacking gear is made up of flexible pipe of sampling, stepper motor, reel, gearing, sampling apparatus is made up of to joint peristaltic pump, two, and part flow arrangement is made up of steering wheel, shunting disk and water tank.Described water quality on-line measuring device is primarily of immersion lance and signal acquisition circuit composition, and on-line measuring device is connected with main control unit by RS485 interface, sends Detection Information to main control unit; Described hand-held remote controller is made up of main control chip, RF wireless module, rocking bar able to programme, programmable key, LCDs, RS232 interface circuit, jtag interface and power module, described RF wireless module is connected with main control chip by RS232 interface circuit, and rocking bar able to programme, programmable key, LCDs are all connected with main control chip.Described long-distance monitoring base station can be made up of the ordinary PC and monitoring center software with fixing outer net IP.
The utility model adopts embedded pc system and pollutant levels pick-up unit, position Position and attitude sensor, GPS module etc. achieve the function that the fixing sewage draining exit in basin is polluted in search, stealing the speed that row's time, after stain source electricity occurred, saving manpower and fund input for improve factory; Embedded system is that the system of core coordinates three-dimensional sampling apparatus also can realize the sampling of fixed point depthkeeping degree, so also facilitate the sampling work of polluted-water, make the water sample of rear water analysis department have source, also make the punishment of government department to blowdown enterprise have foundation.
Accompanying drawing explanation
Fig. 1 is unmanned pollutant traceability system structured flowchart;
Fig. 2 is the circuit theory diagrams of main control unit of the present utility model;
Fig. 3 is three-dimensional sampling apparatus schematic diagram of the present utility model;
Fig. 4 is hand-held remote controller schematic diagram of the present utility model;
Fig. 5 is the monitoring center software schematic diagram of long-distance monitoring base station of the present utility model;
Fig. 6 is pollution source source tracing method workflow diagram of the present utility model;
Fig. 7 is setting up procedure process flow diagram in pollution source source tracing method;
Fig. 8 is pollution source trace flow figure in pollution source source tracing method.
Embodiment
As shown in Figure 1, 2, a kind of unmanned pollutant traceability system comprises unmanned pollutant and to trace to the source ship 7, hand-held remote controller 5 and long-distance monitoring base station 6, unmanned pollutant ship 7 of tracing to the source is communicated with long-distance monitoring base station 6 by GPRS, and unmanned pollutant traces to the source ship 7 by the mode of radio communication and hand-held remote controller 5 radio communication; Unmanned pollutant ship of tracing to the source comprises hull 4, main control unit 1, water body sampling device 2 and water quality on-line measuring device 3, described hull 4 is by ship outer casing, propulsion system and power module composition, adopt twin-hull ship type, described main control unit 1 is made up of main control chip, GPRS module, RF wireless module, GPS module, electronic compass, servo driving DC motor Driver, driving stepper motor and jtag interface, wherein, described GPRS module, RF wireless module, GPS module are connected with RS232 interface with main control chip, and described electronic compass and main control chip use I
2c interface connects; Described water body sampling device 2 is made up of jacking gear, sampling apparatus and part flow arrangement, jacking gear is made up of flexible pipe of sampling, stepper motor, reel, gearing, sampling apparatus is made up of to joint peristaltic pump, two, and part flow arrangement is made up of steering wheel, shunting disk and water tank; Described water quality on-line measuring device 3 is primarily of immersion lance and signal acquisition circuit composition, and on-line measuring device 3 is connected with main control unit 1 by RS485 interface, Detection Information is sent to main control unit 1; Described hand-held remote controller is made up of main control chip, RF wireless module, rocking bar able to programme, programmable key, LCDs, RS232 interface circuit, jtag interface and power module, described RF wireless module is connected with main control chip by RS232 interface circuit, and rocking bar able to programme, programmable key, LCDs are all connected with main control chip.Described long-distance monitoring base station can be made up of the ordinary PC and monitoring center software with fixing outer net IP.
Described main control chip is realized by the single-chip microcomputer of the STM32F103RBT6P model of ST Microelectronics (ST), the advantages such as it has, and volume is little, computing velocity is fast, modular capability is good, high reliability.Trace to the source control program that ship independently navigates by water and pollutant source tracing method program of sensing data reading process routine analyzer, wireless telecommunications, various driver and unmanned pollutant is all stored in the Flash of main control chip, it is responsible for setting basic parameter, control program flow process and and carry out the functions such as conventional communications between each module and unit.Described GPRS module, RF wireless module, GPS module are connected with RS232 interface with main control chip, and described electronic compass and main control chip use I
2c interface connects, and water quality sensor is connected by RS485 communication interface with main control unit, and motor drive module is connected with main control unit by PWM ripple signaling conversion circuit.Electronic compass passes through I
2c interface is connected with main control chip.
Shown in Fig. 3 is that unmanned pollutant is traced to the source ship water sample acquisition device, the key of water body sampling is to gather the water sample of different depth and is stored in corresponding water tank, unmanned pollutant ship of tracing to the source carries three water tanks altogether, each capacity 4L, namely once go on a journey, three water samples can be taked at most.This device by jacking gear, sampling apparatus and part flow arrangement three part form, jacking gear comprises sampling flexible pipe, stepper motor, reel and gearing, sampling apparatus is made up of to joint Ru Dongben and two, and youngster's part flow arrangement is made up of steering wheel, shunting disk and water tank.Its principle of work is that reel drives the lifting of sampling flexible pipe water intake end, ensures that reel endpiece maintains static, and connects peristaltic pump simultaneously, and by different water sample by shunting disk, is stored into corresponding water tank.Specific implementation is that the water intake end of sampling flexible pipe puts screen pack and 250g weight immerses in waters to be measured, and is wound in reel.Whole reel rotates under the effect of stepper motor and gearing, realizes the lifting of sampling flexible pipe water end (W.E.).Connect two after peristaltic pump water outlet to joint, it rotates under steering wheel effect, is introduced by water sample in the different drainage troughs of shunting disk, injects corresponding water tank.
As shown in Figure 4, hand-held remote controller is made up of main control chip, RF wireless module, rocking bar able to programme, programmable key, LCDs, RS232 interface circuit, jtag interface and power module; Described RF wireless module is connected with main control chip by RS232 interface circuit, and rocking bar able to programme, programmable key, LCDs are all connected with main control chip, and power module is each module for power supply.
Long-distance monitoring base station can be made up of the ordinary PC and monitoring center software with fixing outer net IP, monitoring center software is shown in Fig. 5, it is formed primarily of menu bar, map, parameter configuration, duty, Real-time Monitoring Data 5 part, and map uses the API of Baidu's map to realize.
As shown in Figure 5, a kind of step of unmanned pollutant source tracing method is as follows:
1) start: unmanned pollutant is traced to the source after ship startup, when user knows position, damage zone roughly, the mode manually controlled or independently navigate by water makes it reach damage zone fast, reduce hunting zone, accelerate pollution source location progress, if user does not know the position at pollution source place, then nobody trace to the source ship can adverse current or oblique stem number meter, be used as the starting point that pollutant is traced to the source;
2) damage zone search: unmanned pollutant trace to the source ship start after through initial step length finds pollutant not yet when, now unmanned pollutant ship of tracing to the source can be sailed against the current and to be searched for whole river cross-section, the on-line measuring device that ship carries until unmanned pollutant is traced to the source detects pollutant, then enters " pollution source tracking " pattern;
3) pollution source are followed the tracks of: unmanned pollutant ship of tracing to the source utilizes Historical Pollution substrate concentration data, history directional data, history step length data and the current pollutant levels data be kept in main control chip to formulate current direction strategy and step-length strategy, if tracing process does not depart from damage zone, the current contamination substrate concentration that on-line measuring device detects, direction and step length data are stored in main control chip, become historical data, and enter next pollutant tracking circulation, if deviate from damage zone, then enter " damage zone is departed from " pattern;
4) damage zone is departed from: prevent following the trail of path and disperse, after entering this pattern, unmanned pollutant bow of tracing to the source first will carry out pollution source confirmation, if ineligible, then again searches damage zone, again enters " pollution source tracking " pattern;
5) pollution source confirm: make pollutant levels value, foundation that distance threshold between change rate of concentration value and the point finally detecting pollutant before departing from damage zone confirms as pollution source, judge whether this position is pollution source, if not again enter " damage zone search ", if pollution source, the coordinate of this position of then being located by GPS is sent to remote monitoring center, and the pollutant process of tracing to the source terminates.
Described step 1) be: start and have two kinds of control models, that is: remote manual control and autonomous navigation two kinds of motion control patterns, two kinds of control modes switch by the hand automatic switchover button on hand-held remote controller 5, and when manual mode, unmanned pollutant is traced to the source the communication verification that ship 7 can regularly carry out, control signal is not received for a long time if find, unmanned pollutant ship of tracing to the source is switched to autonomous sail mode, meeting basis is recorded in the approach point coordinate of the track of the traveling in main control module Flash before, turns back to the waters that can receive hand-held remote controller 5 signal.The GPS localization method used in autonomous navigation motion control pattern, for improving the precision of GPS location, location algorithm also there is innovation: use differential GPS positioning method, differentiated GPS locator data, decreases the common error because solar activity, Changes in weather, surrounding enviroment impact etc. bring.
Embodiment:
Above-mentioned unmanned pollutant source tracing method step 1) start, there are two kinds of control programs: the Position Approximate of the known pollution source of (1) user, then can be traced to the source ship sending destination latitude and longitude coordinates to nobody by Surveillance center, carry out independent navigation to destination by nobody ship of tracing to the source, then start the step of pollution source tracing and positioning.(2) user also carries out manual remote control by handheld terminal to nobody ship of tracing to the source, and remote control is to destination.The time of lower damage zone search can be saved like this, accelerate the process of pollutant tracing and positioning.As shown in Figure 7, the implication of each concrete step is as described below for concrete workflow:
1. unmanned pollutant is traced to the source ship power-up initializing, is configured, if not configuration, then uses the default parameters preset in main control chip by long-distance monitoring base station to the trace to the source parameters of ship of unmanned pollutant.
2. wait for steering order, the steering order sent by receiving handheld terminal judges it is manual or autonomous sail mode (acquiescence is manual mode).If autonomous sail mode, just perform step 3., if manual mode, perform step 4..
3. main control chip passes through I
2c bus reads the three-axle magnetic field intensity of electronic compass, with this calculate current unmanned pollutant trace to the source ship towards, the current location longitude and latitude that the impact point longitude and latitude sent when then reading Surveillance center's parameter configuration and GPS module record, using the input parameter of these parameters as autonomous navigation, control unmanned pollutant trace to the source ship power system export, obtain program the next one circulation before ship trajectory.In the process travelled, the moment reads nobody from electronic compass and to trace to the source ship current kinetic direction and obtain current GPS coordinate, and constantly revise nobody and to trace to the source the direction of motion of ship, until nobody traces to the source, ship arrives destination.After arriving destination, stop power motor, start pollutant tracing step.
4. if Non-follow control, user can operate the rocking bar of hand-held remote controller, operate unmanned pollutant very intuitively to trace to the source the navigation direction of ship and speed, the instruction that the RF wireless module that unmanned pollutant traces to the source ship sends by receiving parsing hand-held remote controller, export corresponding control signal to power system by main control chip, thus complete nobody and to trace to the source the advance of ship, retrogressing, left-hand rotation, right-hand rotation, acceleration and deceleration.Unmanned pollutant is traced to the source the communication verification that ship can regularly carry out, control signal is not received for a long time if find, then represent that unmanned pollutant shipping agency of tracing to the source has rolled the remote range of hand-held remote controller away from, the signal lamp of hand-held remote controller can redden look, unmanned pollutant ship of tracing to the source is switched to pattern of independently making a return voyage, meeting basis is recorded in the approach point coordinate of the track of the traveling in main control module Flash before, turn back to the waters that can receive hand-held remote controller signal, now the signal lamp of hand-held remote controller can become green flash signal, represents that ship again can Non-follow control.
5. in operational process, current location information is uploaded in real time to Surveillance center by GPRS wireless communication module, and call Baidu's map interface in monitoring center software, software interface shows unmanned pollutant and to trace to the source the real time position of ship, so that user knows the position that nobody traces to the source residing for ship.
In operational process, in order to improve the precision of GPS location, location algorithm there is innovation, employs differential GPS positioning method, differentiated GPS locator data, passable, reduce the common error because solar activity, Changes in weather, surrounding enviroment impact etc. bring.Its specific implementation is as follows:
Unmanned pollutant is traced to the source after ship startup, base station is set on bank, joins an equipment identical with boat-carrying GPS module model and receive GPS positioning signal continuously, obtain Measured Coordinates, inquired about the accurate coordinates of base station by Baidu map API, with this coordinates computed modified value simultaneously:
(X in formula
0, Y
0) be the accurate coordinates of base station, (X
*, Y
*) be the Measured Coordinates of base station, (Δ X, Δ Y) is coordinate modification value.Modified value to send to unmanned pollutant to trace to the source ship by wireless transmission by base station, and boat-carrying master control borad will be revised the hull GPS elements of a fix after receiving:
In formula,
for unmanned pollutant is traced to the source the Measured Coordinates of ship GPS module, (X
u, Y
u) be through revised hull coordinate.If become when modified value is, then t
0represent the moment that modified value produces, if modified value is constant, then (X in formula
u, Y
u) Section 3 be 0.
Track near position, source for fast as far as possible after making pollutant to be detected along damage zone, at the algorithm of " pollution source tracking " this module, the basis of traditional levels gradient method is carried out perfect, make full use of history Detection Information and current detection information and formulate direction strategy and step-length strategy respectively.Its algorithm flow as shown in Figure 8.Concrete steps are as follows:
1. confirm unmanned pollutant trace to the source ship take a step forward after place node can detect pollutant, to determine whether to need switch mode, if place node can not detect pollutant, enter " damage zone is departed from " pattern, record simultaneously offset direction, history Cmax value, finally detect pollutant 3 points between distance; If pollutant can be detected, carry out pitch of the laps judgement.
2. whether trace to the source ship at pitch of the laps by the known unmanned pollutant that turns to several times before record, if find pitch of the laps, now scaled advance step-length is to break pitch of the laps behavior; Now step
n=step
n-1* p, step
nrepresent current step-length, step
n-1represent the step-length of last circulation, wherein p (p < 1) is attenuation coefficient, and test shows, during value 0.9, effect is ideal.If do not have pitch of the laps to perform step 3., if 5. pitch of the laps performs step.
3. the rate of change of calculating concentration, near pollution source, by water currents, lower reaches of river is dense, and by contrast, upstream concentration can reduce rapidly, defines larger concentration change, and change rate of concentration can form a peak value at this, and judgment formula is as follows:
wherein c
nrepresent the detectable concentration of current point, c
n-1, c
n-2represent previous and pollutant monitoring concentration that is the first two state, if rate of change does not transfinite, then perform step 4., if transfinite, likely arrive pollution source, carry out pollution source and confirm step 6..
4. change rate of concentration adjustment advance step-length is pressed.Concrete strategy is as follows: if
then
Otherwise step
n=step
n-1.
5. judge that whether step-length is less than minimum step, if according to above-mentioned step-length adjustable strategies, if unmanned pollutant traces to the source ship near pollution source, step-length can sharply reduce, if so step-length is less than descend step-length most, carries out pollutant confirmation (step 6.), if be greater than minimum step, then according to direction strategic planning advance route, strategy is as follows: if n-1 place turns or c counterclockwise simultaneously
n-2< c
n-1n-1 place turns clockwise simultaneously, then n point place is rotated counterclockwise 45 °, takes a step forward, otherwise n point place turns clockwise 45 °.
6. " pollution source confirmation " pattern occurs in " pollution source tracking " pattern in the process of " damage zone is departed from " patten transformation, is specifically determined by following three factors: change rate of concentration, concentration value, depart from damage zone before finally detect pollutant point between distance (step-length).
7. carry out next one circulation, perform step 1..
Embodiment recited above is only be described preferred implementation of the present utility model; not scope of the present utility model is limited; under the prerequisite not departing from the utility model design spirit; relevant technical staff in the field, to various distortion of the present utility model and improvement, all should expand in protection domain as determined in the utility model claims.
Claims (1)
1. a unmanned pollutant traceability system, it is characterized in that, it comprises unmanned pollutant and to trace to the source ship (7), hand-held remote controller (5) and long-distance monitoring base station (6), unmanned pollutant ship (7) of tracing to the source is communicated with long-distance monitoring base station (6) by GPRS, and unmanned pollutant traces to the source ship (7) by the mode of radio communication and hand-held remote controller (5) radio communication, unmanned pollutant ship of tracing to the source comprises hull (4), main control unit (1), water body sampling device (2) and water quality on-line measuring device (3), described hull (4) is by ship outer casing, propulsion system and power module composition, adopt twin-hull ship type, described main control unit (1) is by main control chip, GPRS module, RF wireless module, GPS module, electronic compass, servo driving DC motor Driver, driving stepper motor and jtag interface composition, wherein, described GPRS module, RF wireless module, GPS module is connected with RS232 interface with main control chip, described electronic compass and main control chip use I
2c interface connects, described water body sampling device (2) is made up of jacking gear, sampling apparatus and part flow arrangement, jacking gear is made up of flexible pipe of sampling, stepper motor, reel, gearing, sampling apparatus is made up of to joint peristaltic pump, two, part flow arrangement is made up of steering wheel, shunting disk and water tank, described water quality on-line measuring device (3): primarily of immersion lance and signal acquisition circuit composition, on-line measuring device (3) is connected with main control unit (1) by RS485 interface, Detection Information is sent to main control unit (1), described hand-held remote controller is made up of main control chip, RF wireless module, rocking bar able to programme, programmable key, LCDs, RS232 interface circuit, jtag interface and power module, described RF wireless module is connected with main control chip by RS232 interface circuit, and rocking bar able to programme, programmable key, LCDs are all connected with main control chip.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974075A (en) * | 2016-05-16 | 2016-09-28 | 南通大学 | Water quality monitoring system based on Beidou navigation satellite system |
| CN106596879A (en) * | 2016-11-02 | 2017-04-26 | 浙江水利水电学院 | River section water quality monitoring system and method |
| CN107246058A (en) * | 2017-06-07 | 2017-10-13 | 李红星 | A kind of intelligent city's drainage |
| CN108303508A (en) * | 2018-02-06 | 2018-07-20 | 武汉理工大学 | Ecology language system and method based on laser radar and deep learning optimum path search |
| CN109211243A (en) * | 2018-10-15 | 2019-01-15 | 佛山科学技术学院 | A kind of pollution sources localization method and device based on diamond shape network |
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2015
- 2015-09-22 CN CN201520738919.0U patent/CN205193057U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105974075A (en) * | 2016-05-16 | 2016-09-28 | 南通大学 | Water quality monitoring system based on Beidou navigation satellite system |
| CN106596879A (en) * | 2016-11-02 | 2017-04-26 | 浙江水利水电学院 | River section water quality monitoring system and method |
| CN107246058A (en) * | 2017-06-07 | 2017-10-13 | 李红星 | A kind of intelligent city's drainage |
| CN107246058B (en) * | 2017-06-07 | 2019-05-28 | 江苏苏邑设计集团有限公司 | A kind of intelligent city's drainage |
| CN108303508A (en) * | 2018-02-06 | 2018-07-20 | 武汉理工大学 | Ecology language system and method based on laser radar and deep learning optimum path search |
| CN108303508B (en) * | 2018-02-06 | 2020-01-07 | 武汉理工大学 | Ecological early warning system and method based on laser radar and deep learning path optimization |
| CN109211243A (en) * | 2018-10-15 | 2019-01-15 | 佛山科学技术学院 | A kind of pollution sources localization method and device based on diamond shape network |
| CN109211243B (en) * | 2018-10-15 | 2022-03-25 | 佛山科学技术学院 | Pollution source positioning method and device based on diamond network |
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