CN208060220U - A kind of unmanned boat sampling system - Google Patents
A kind of unmanned boat sampling system Download PDFInfo
- Publication number
- CN208060220U CN208060220U CN201820570288.XU CN201820570288U CN208060220U CN 208060220 U CN208060220 U CN 208060220U CN 201820570288 U CN201820570288 U CN 201820570288U CN 208060220 U CN208060220 U CN 208060220U
- Authority
- CN
- China
- Prior art keywords
- sampling
- stepper motor
- drive module
- water
- water pump
- 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.)
- Active
Links
Landscapes
- Sampling And Sample Adjustment (AREA)
Abstract
The utility model discloses a kind of unmanned boat sampling systems,Including hull,Sampling system is installed on hull,Sampling system includes sampling bottle,Water pump,Capstan winch,Draught line,Position stepper motor,Lead screw,Sample stepper motor,Z-type fixing bracket,Elastic water pipe and plummet,Hull is equipped with sampling sink,Several sampling bottles are distributed in sampling sink,Lead screw is located at the surface of the sampling bottle in sampling sink,Lead screw is connect with position stepper motor,Lead screw is connected on feed screw nut and feed screw nut and is fixed with sliding block,The water outlet of water pump is fixed on by outlet pipe on the sliding block,Left end in sampling sink is equipped with sampling discharge outlet,The water inlet of water pump connects flexible water pipe,Sampling stepper motor is connected with capstan winch,Draught line is wound on capstan winch,Draught line is connect with the water inlet end of elastic water pipe and plummet,The utility model will not cause water-pipe blockage,The problems such as water pipe knots,Depth selection can be specified,Avoid the sample contamination between repeatedly sampling.
Description
Technical field
The utility model is related to unmanned boat technical fields, and in particular to a kind of unmanned boat sampling system.
Background technology
Currently, environmentally friendly inspection department is the water quality situation for grasping administrative waters, typically water quality is carried out regular or indefinite
The sample detection of phase is analyzed, and corresponding environmental protection measure is determined according to every quality index of water quality.However, existing automatic water quality monitoring
It stands to fix due to position and is difficult to find pollution sources in time, and mobile monitoring means are mostly manned water quality monitoring vehicle or monitoring
Ship, it is not only of high cost, but also influenced by the complicated landform of urban water-body, part waters personal monitoring's ship or monitoring car at all can not
Drive into, cause current water quality monitoring system exist response not in time, the problems such as time and space resolution ratio is relatively low, therefore occur
Unmanned boat samples.Unmanned boat sampling mode is unable to designated depth sampling, sampling structure complexity, easily blocks water pipe currently on the market.
Such as：It is wrapped on capstan winch using water pipe, allows motor that capstan winch is driven to carry out downward discharge tube sampling after allowing, which, which has, takes
Sampling device heaviness is dumb, complicated, foldable blocks, and depth selection is calculated due to being be easy to cause when water pipe more slightly samples
Inaccurately, it and be easy to cause water-pipe blockage in sampling, withdrawal water pipe and depth selection and repeatedly sampling cannot be specified.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of unmanned boat in view of the above shortcomings of the prior art to take
Sample system, this unmanned boat sampling system is at low cost, simple in structure, water-pipe blockage, water pipe will not be caused to beat during sampling
The problems such as knot, it is possible to specify depth selection can be sampled repeatedly, while can also avoid the sample contamination between repeatedly sampling.
To realize the above-mentioned technical purpose, the technical solution that the utility model is taken is：
A kind of unmanned boat sampling system, including hull, the power plant for driving hull to move and supply unit, it is described
Sampling system is installed, the sampling system includes sampling bottle, water pump, capstan winch, draught line, position stepper motor, silk on hull
Bar, sampling stepper motor, Z-type fixing bracket, elastic water pipe and plummet, the hull are equipped with sampling sink, the sampling water
Be evenly distributed with several sampling bottles from left end to right end in slot, the lead screw be fixed on the hull by bearing spider and
Lead screw is located at the surface of the sampling bottle in sampling sink, and the lead screw is connect by shaft coupling with position stepper motor, described
Lead screw, which is connected on feed screw nut and feed screw nut, is fixed with sliding block, and the water outlet of the water pump is fixed on described by outlet pipe
On sliding block, the left end in the sampling sink is equipped with sampling discharge outlet, and the sampling discharge outlet extends to hull by drainpipe
Outside, the water inlet of the water pump connects the water outlet of flexible water pipe, and the sampling stepper motor is mounted on the hull
Right end, the sampling stepper motor is connected with capstan winch, draught line, the Z-type support bracket fastened one is wound on the capstan winch
End is fixed on the right end of the hull, and the elasticity water pipe is fixed on the Z-type fixing bracket, and the Z-type is support bracket fastened
The draught line that the surface of the other end is equipped on threading hole and capstan winch is located at the surface of threading hole, and the other end of the draught line is worn
It crosses threading hole and is connect with the water inlet end of elastic water pipe and plummet, the power plant, position stepper motor, sampling stepper motor
It is electrically connected with supply unit with water pump.
As the further improved technical solution of the utility model, the power plant includes propeller and driving motor,
The driving motor is fixed on the hull, and the driving motor is connect with the propeller.
As the further improved technical solution of the utility model, the unmanned boat be equipped with master controller, positioning system,
Wireless communication system, power motor drive module, water pump drive module, position stepper motor drive module and sampling stepper motor
Drive module, the positioning system, wireless communication system, power motor drive module, water pump drive module, position stepper motor
Drive module and sampling stepper motor drive module are electrically connected with master controller, and the wireless communication system is remotely connected with
Position machine, the power motor drive module are electrically connected with the driving motor, and the water pump drive module is electrically connected with the water pump
It connects, the position stepper motor drive module is electrically connected with the position stepper motor, the sampling stepper motor drive module
Be electrically connected with the sampling stepper motor, the master controller, positioning system, wireless communication system, power motor drive module,
Water pump drive module, position stepper motor drive module and sampling stepper motor drive module are electrically connected with supply unit.
As the further improved technical solution of the utility model, the master controller uses microcontroller
STM32F103ZET6, the positioning system use Big Dipper RTK positioning systems, the wireless communication system to use GPRS channel radios
Letter system, the driving circuit in the power motor drive module use L298N chips, the driving in the water pump drive module
Circuit uses L298N chips, the position stepper motor drive module to use TB6600 stepper motor drivers, the sampling step
Stepper motor drive module uses TB6600 stepper motor drivers.
As the further improved technical solution of the utility model, the position stepper motor and sampling stepper motor are adopted
With four line composite stepper motor of 42BYGH47-401A two-phases.
As the further improved technical solution of the utility model, the bottom of the sampling bottle is fixed on the sampling sink
Bottom wall on.
The beneficial effects of the utility model are：
（1）The utility model is simple in structure, can be different to replace according to different waters situations and depth selection
Elastic water pipe and sampling bottle are replaced simple easily operated.
（2）The utility model is in such a way that the master controller on host computer and unmanned boat interacts, it is only necessary to upper
Sampling parameters are arranged in position machine, you can realize full-automatic sampling.
（3）The utility model uses wireless communication system, uploads the location information of this sub-sampling of unmanned boat in real time（Coordinate
Point）, depth selection, preserve sampling sample sampling bottle number and sample time, it is ensured that unmanned boat in sampling process can
By property.
（4）The utility model can be arranged depth selection position according to actual needs on host computer and preserve sample
The number of sampling bottle is in order to adapting to different waters situations.
（5）The utility model is ingenious in design, and it is more smart to realize stepper motor can be sampled by main controller controls
The water quality sample of designated depth position acquisition is really reached, separately the structure setting of elasticity water pipe, capstan winch, draught line and plummet ensures
The situation of water-pipe blockage, water pipe knotting etc. will not be caused in sampling process.
（6）Multiple sampling bottles are arranged in the utility model, can repeatedly sample, while can be asked to avoid sampling sample contamination etc.
Topic, it is ensured that the diversity of sampling.I.e. before sampling, position stepper motor drives the water outlet of water pump to be moved to sampling by sliding block
Discharge outlet prevents unmanned boat sub-sampling under water pump or the elastic remaining water pollution of water pipe in the process of moving.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model.
Fig. 2 is the structural schematic diagram of the sampling sink of the utility model.
Fig. 3 is the circuit theory schematic diagram of the utility model.
Fig. 4 is the flow chart of the utility model.
Specific implementation mode
Specific embodiment of the present utility model is further illustrated below according to Fig. 1 to Fig. 4：
It refer in view of the above-mentioned problems, the utility model has been designed and developed a kind of unmanned boat sampling system and can have been obtained in specified waters
The water quality sample of depthkeeping degree, the unmanned boat sampling system will not cause water-pipe blockage, water pipe knotting etc. to ask during sampling
Topic, and can repeatedly sample, while also taking measure and avoiding sample contamination between repeatedly sampling.
Referring to Fig. 1 and Fig. 2, a kind of unmanned boat sampling system, including hull 1, the power plant for driving hull 1 to move
3 and supply unit 2, sampling system is installed on the hull 1, the sampling system include sampling bottle 5, water pump 10, capstan winch 14,
Draught line 15, position stepper motor 7, lead screw 6, sampling stepper motor 13, Z-type fixing bracket 16, elastic water pipe 17 and plummet 18,
The hull 1 is equipped with sampling sink 4, and the sampling sink 4 is interior to be evenly distributed with several sampling bottles 5 from left end to right end,
The distance between each sampling bottle 5 is 8 cm, and the lead screw 6 is fixed on the hull 1 by bearing spider 8 and lead screw 6
In the surface of the sampling bottle 5 in sampling sink 4, the lead screw 6 is connect by shaft coupling with position stepper motor 7, the silk
Bar 6, which is connected on feed screw nut and feed screw nut, is fixed with sliding block 9, and the water outlet of the water pump 10 is fixed on by outlet pipe 11
On the sliding block 9, the left end in the sampling sink 4 is equipped with sampling discharge outlet 12, and sampling discharge outlet 12 is located at a left side for sampling bottle 5
Side, sampling discharge outlet 12 are 8 cm at a distance from leftmost sampling bottle 5, and the sampling discharge outlet 12 is extended through drainpipe 19
To the outside of hull 1, the water inlet of the water pump 10 connects the water outlet of flexible water pipe 17, sampling stepper motor 13 peace
Mounted in the right end of the hull 1, the sampling stepper motor 13 is connected with capstan winch 14, and draught line is wound on the capstan winch 14
15, one end of the Z-type fixing bracket 16 is fixed on the right end of the hull 1, and it is solid that the elasticity water pipe 17 is fixed on the Z-type
On fixed rack 16, the draught line 15 that the surface of the other end of the Z-type fixing bracket 16 is equipped on threading hole and capstan winch 14 is located at
The other end of the surface of threading hole, the draught line 15 passes through threading hole and connects with the water inlet end of elastic water pipe 17 and plummet 18
It connects, the power plant 3, position stepper motor 7, sampling stepper motor 13 and water pump 10 are electrically connected with supply unit 2.It is described
Elastic water pipe 17 is the water pipe of resilientiy stretchable.
Since elastic water pipe 17 has certain buoyancy in water, so plummet 18 is mainly used for drawing elastic water pipe 17,
Plumbness is kept when elastic water pipe 17 being made to sink.Z-type fixing bracket 16 act as fixed elastic water pipe 17 and will be elastic
The water outlet of water pipe 17 is connected with water pump 10, and on the other hand for fixed traction line 15, draught line 15 is from the Z-type fixing bracket 16
Intermediate round hole（Threading hole）In pass through, can ensure block when withdrawing draught line 15 in this way, knot.Draught line
15, effect is the decentralization and withdrawal of traction elasticity water pipe 17, and one end of draught line 15 is fixed on capstan winch 14, is in addition consolidated for one section
It is scheduled on the water inlet and plummet 18 of elastic water pipe 17, since the gravity of plummet 18 can drive when draught line 15 is transferred
The sinking of elastic water pipe 17.The effect of capstan winch 14 is wound around draught line 15.Elastic water pipe 17 uses flexible flexible water pipe, should
Water pipe has light weight, will not cause to fold blocking with elasticity, automatic contraction, with certain toughness.So as to avoid
Water pipe folds when water pipe is withdrawn, capstan winch blocks the fortuitous events such as water pipe.
Referring to Fig. 3, master controller 20, positioning system 24, wireless communication system 23, power electric are additionally provided on the unmanned boat
Machine drive module, water pump drive module, position stepper motor drive module and sampling stepper motor drive module, the positioning system
System 24, wireless communication system 23, power motor drive module, water pump drive module, position stepper motor drive module and sampling
Stepper motor drive module is electrically connected with master controller 20, and the wireless communication system 23 is remotely connected with host computer, described
Power motor drive module is electrically connected with the driving motor 21, and the water pump drive module is electrically connected with the water pump 10, institute
Rheme is set stepper motor drive module and is electrically connected with the position stepper motor 7, the sampling stepper motor drive module and institute
It states sampling stepper motor 13 to be electrically connected, the master controller 20, positioning system 24, wireless communication system 23, power motor driving
Module, water pump drive module, position stepper motor drive module and sampling stepper motor drive module are electrically connected with supply unit 2
It connects.
Currently, water surface autonomous navigation device in the market mostly uses GPS One-Point Locations, but positioning accuracy is not high, and
It subregion cannot be without acquisition location information.The positioning system 24 of the present embodiment uses Big Dipper RTK positioning systems（Big Dipper RTK is fixed
Position technology）, several meters of position error is narrowed down into Centimeter Level, effectively increases the accuracy of sample position.
Wireless communication system 23 uses GPRS wireless communication systems, and real-time this sub-sampling of upload unmanned boat is instructed by AT
Between location information, depth selection, the number for preserving the sampling bottle 5 for sampling sample, sample time and unmanned boat and host computer
Control instruction, it is ensured that reliability of the unmanned boat in sampling process.
The power plant 3 includes propeller 22 and driving motor 21, and the driving motor 21 is fixed on the hull 1
On, the driving motor 21 is connect with the propeller 22.The driving motor 21 of the unmanned boat sampling system of the present embodiment uses
Two direct current generators provide power for unmanned boat, since the power of motor is larger, so power motor drive module uses L298N
Chip devises motor-drive circuit.
The operating voltage of the water pump 10 of the present embodiment is 12V, and maximum stream flow is：3.5L/min, water pump 10 use L298N
Controller, the main startup and stopping for controlling water pump 10.（Driving circuit in the i.e. described water pump drive module uses L298N cores
Piece）.
The decentralization of elastic water pipe 17 and pack up that the effect of sampling stepper motor 13 samples in order to control.Sample stepper motor 13
Using 42 stepper motors（Four line of 42BYGH47-401A two-phases is hybrid）, sampling stepper motor drive module is using TB6600 steps
Stepper motor driver, the maximum static moment of the stepper motor：0.55N.m, step angle are 1.8 °.In order to make depth selection position more
Add accurately, so it is 1.8/4=0.45 °, i.e. the sampling stepper motor 13 that stepper motor driver, which is set as step angle under 4 subdivisions,
Rotation needs 800 steps in one week.The Zhou Changwei 12cm of 14 roll of capstan winch can be obtained by measurement, furtherly sample stepper motor 13
The every turn of 0.015cm that moves a step, and the frequency of pulse use 600Hz, that is, sample stepper motor 13 rotating speed be：45 revs/min.Example
Such as：When staff by host computer set depth selection position as 3 meters when, master controller 20 is according to the depth selection received
It is rotated sampling stepper motor 13 is arranged（300/12）* 800=20000 steps can be only achieved designated depth, that is, need 34s
Water pipe can be transferred to 3 meters of positions of designated depth.20000 steps are rotated backward at the end of sampling to receive elastic water pipe 17
It returns.
The position for acting on 10 water outlet of water pump in order to control of position stepper motor 7, position stepper motor 7 also use 42 steppings
Motor（Four line of 42BYGH47-401A two-phases is hybrid）, position stepper motor drive module is also using the drive of TB6600 stepper motors
Dynamic device, and lead screw 6 uses CBX1605 ball-screws, i.e. one circle sliding block 9 of the rotation of position stepper motor 7 walk 5mm, and pulse
Frequency uses 500Hz, i.e. the rotating speed of position stepper motor 7 is：150 revs/min.Stepper motor driver is set as segmenting lower step pitch
Angle is 1.8/1=1.8 °, i.e., the position stepper motor 7, which rotates one week, needs 200 steps.Such as it needs to preserve sample to number to be No. 1
Sampling bottle 5 furtherly first initialize sampling system when unmanned boat starts, position stepper motor 7 is by 10 water outlet of water pump
It moves left to sampling discharge outlet 12.When it is 1 to obtain the number of sampling bottle 5, i.e., water sample is stored in the 1st sampling bottle 5,
It is at this time 8cm according to the distance of the discharge outlet of water pump 10, i.e., position stepper motor 7 needs rotation 16 weeks, 3200 steps i.e. the reachable 1st
At a sampling bottle 5, and so on, it reaches and position stepper motor 7 is needed to rotate at the 2nd sampling bottle 5 32 weeks, i.e. 6400 steps.This
Number 1 in embodiment is the 1st sampling bottle 5 of left end, and number is from left to right.
The master controller 20 uses STM32 core control panels, specially microcontroller STM32F103ZET6, the sampling
The bottom of bottle 5 is fixed on the bottom wall of the sampling sink 4.
The operation principle of unmanned boat sampling system is：First, sampling system, position step are first initialized when hull 1 starts
Stepper motor 7 moves left 10 water outlet of water pump to sampling discharge outlet 12, prevents hull 1 water pump 10 or elastic water in the process of moving
Sub-sampling under 17 remaining water pollution of pipe.Then when needing hull 1 to be sampled, user can be arranged on host computer to be taken
Sample parameter, such as：Water quality sampling depth（Depth selection）Number for 3 meters, sampling bottle 5 is the 3rd, the coordinate points of sampling spot
For (118.716231,32.207317).After sampling parameters are provided with, ACK button is clicked, sampling is instructed into long-range send
Master controller 20 on to unmanned boat.After master controller 20 receives sampling instruction, water quality sampling depth location is extracted（It takes
Sample depth）Number for 3 meters, sampling bottle 5 is the coordinate points of the 3rd and sampling spot.Master controller 20 passes through 3 He of power plant
Positioning system 24 is first by 1 autonomous cruise of hull to the coordinate points（The coordinate points of sampling spot）, subsequently 20 basis of master controller
The depth selection of acquisition calculates the angle that sampling stepper motor 13 rotates, and then controls sampling stepper motor 13 by elastic water pipe
17 decentralizations to the position of depth selection, subsequent master controller 20 controls the number of sampling bottle in the sampling parameters according to acquisition 5
Position stepper motor 7 slides into 10 water outlet of water pump at the 3rd sampling bottle 5（Sampling bottle identical with the number of the sampling bottle 5
5 water inlet）.Subsequently master controller 20 starts water pump 10 and the water quality sample of acquisition is put into sampling bottle 5, while master control
Device 20 processed starts timing, and after reaching 10 seconds the time, switch off the pump 10 stopping sampling of water qualities.When stopping sampling, master controller
20 by the location information of this sub-sampling（The coordinate points of sampling spot）, depth selection, preserve sampling sample sampling bottle 5 number
And sample time（10 seconds）Host computer is sent to be preserved.Finally control position stepper motor 7 is left by the water outlet of water pump 10
It moves at sampling discharge outlet 12, prevents during recycling elastic water pipe 17, the water in water pump 10 flows into sampling bottle 5.Main control
Device 20 controls sampling stepper motor 13 and the rotation of capstan winch 14 is driven to withdraw draught line 15 again, and then withdraws elastic water pipe 17, works as bullet
Property water pipe 17 to still maintain original shape when withdrawing completely be that lower sub-sampling is ready.
In conclusion when needing entity to sample, user can set depth selection by host computer interface, so
Unmanned boat receives the host computer for executing sampling operation after sampling instruction and reporting the location information of oneself afterwards, and can be more
Sub-sampling, the diversity and reliability of the sampling sample of raising, while certain measure being taken to ensure not to be contaminated between sample.
The present embodiment also provides a kind of sampling method of unmanned boat sampling system, and user can determine this sub-sampling in advance
Waters, sampling spot coordinate points and depth selection, then unmanned boat is transported near the waters, user can be at this time
By host computer, multigroup sampling parameters are set, such as：Sampling of water quality depth is 3 meters, sampling bottle 5（For preserving water quality sample）'s
Number is the coordinate points of the 3rd and sampling spot, sends sampling instruction and is：#SAMPLE#3#3#118.716231#
32.207317, it then clicks ACK button and is remotely sent to the master controller 20 on hull 1.It is taken when master controller 20 receives
Sample instructs (such as：When #SAMPLE#3#3#118.716231#32.207317), it first is partitioned into control section SAMPLE from instruction, i.e.,：
The instruction is that sampling instructs, and the data for being then partitioned into depth selection are 3 meters, the number of sampling bottle 5 is the 3rd and sampling ground
The coordinate points (118.716231,32.207317) of point, then unmanned boat will be according to 24 autonomous cruise of Big Dipper RTK positioning systems extremely
The coordinate points are sampled.The entire workflow of sampling system is as shown in figure 4, with reference to sampling flowsheet figure and sampling mechanical
Sampling method is described in detail in structure.
The first step：Sampling system initializes, and system 23 sends initializing signal to main control to host computer by radio communication
Device 20, master controller 20 control position stepper motor 7 by position stepper motor drive module, and position stepper motor 7 passes through cunning
Block 9 drives the water outlet of water pump 10 to be moved to sampling discharge outlet 12；Prevent unmanned boat water pump 10 or elastic water in the process of moving
Sub-sampling under 17 remaining water pollution of pipe.
Second step：System 23 sends sampling instruction to master controller 20 to host computer by radio communication, and unmanned boat is sentenced in real time
It is disconnected whether to receive sampling instruction, when the sampling that unmanned boat receives instructs (such as：#SAMPLE#3#3#118.716231#
32.207317), master controller 20 is partitioned into control section SAMPLE from sampling instruction, to obtain sampling parameters, i.e.,：The instruction
It is instructed for sampling, is then partitioned into the coordinate points that depth selection is 3 meters, the number of sampling bottle 5 is the 3rd and sampling spot
(118.716231,32.207317).The sampling parameters include depth selection, the number of sampling bottle 5 and sampling spot coordinate
Point.
Third walks：It is fixed according to the coordinate points of sampling spot and positioning system 24 after master controller 20 obtains sampling parameters
The coordinate points of position control power plant 3, and power plant 3 drives the cruise of hull 1 to the coordinate points of sampling spot；
4th step：Master controller 20 calculates the angle that sampling stepper motor 13 rotates according to depth selection, then controls
Stepper motor 13 is sampled, sampling stepper motor 13 drives the rotation of capstan winch 14 to transfer to and take the water inlet end of elastic water pipe 17
3 meters of consistent positions of sample depth；It further illustrates, can not stop to discharge the traction on capstan winch 14 when sampling stepper motor 13 and rotating
Line 15 to which the elastic water pipe 17 for making plummet 18 drive 15 lower end of draught line can be discharged with draught line 15, however passes through control
Draught line 15 on capstan winch 14 processed reaches designated depth position to control elastic water pipe 17；
5th step：When elastic water pipe 17 reaches designated depth position（3 meters）Afterwards, in order to avoid remaining in elastic water pipe 17
Water pollution samples sample, and the water outlet of water pump 10 is located at sampling discharge outlet 12 at this time.Master controller 20 passes through water pump first
Drive module controls water pump 10, and water pump 10 is in the first preset time period（First preset time period is 20 seconds）Inside draw water, mesh
Be in order to which remaining water quality in elastic water pipe 17 is discharged, prevent pollution sampling sample.Water pump 10 stops pumping after reaching 20 seconds,
It is discharged after the completion of sewage, master controller 20 controls position stepper motor 7, position stepping according to the number of the sampling bottle 5 of acquisition
Motor 7 drives the water outlet of water pump 10 to be moved at the 3rd sampling bottle 5 by sliding block 9（Sampling bottle identical with the number 5
Water inlet）；
6th step：After above-mentioned all working is ready to complete, master controller 20 controls water again by water pump drive module
Pump 10, water pump 10 is drawn water in the second preset time period to be sampled, after water pump 10 reaches the second preset time period
It stops pumping；Further explanation samples experiment according to a large amount of different depths and obtains when startup water pump 10 draws water 10 seconds（Second is default
Period is 10 seconds）When, it so that the water sample of extraction is overflowed the 3rd sampling bottle 5 but also water sample will not be made very few.It is main
Controller 20 starts water pump 10 and the water quality sample of acquisition is put into the 3rd sampling bottle 5 first, after reaching 10 second time, closes
It closes water pump 10 and stops sampling of water quality；
7th step：When stopping sampling, master controller 20 by radio communication system 23 by the sampling spot of this sub-sampling
Coordinate points, depth selection, the number of sampling bottle 5 and the second preset time period be sent to host computer and preserved；
8th step：Master controller 20 controls position stepper motor 7, position stepping electricity by position stepper motor drive module
Machine 7 drives the water outlet of water pump 10 to be moved to sampling discharge outlet 12 by sliding block 9；It prevents during withdrawing elastic water pipe 17,
Water in water pump 10 flows into sampling bottle 5.
9th step：Master controller 20 is according to step（4）The angle control sampling that calculated sampling stepper motor 13 rotates
Stepper motor 13, sampling stepper motor 13 drive the rotation of capstan winch 14 to withdraw draught line 15, and elastic water pipe 17 withdraws to protect
Hold nature shape；
Tenth step：After the completion of this sub-sampling, the master controller 20 of unmanned boat obtains the coordinate points of next group of sampling spot, root
It is sampled when being sampled again, repeats above operation to the coordinate points according to 24 autonomous cruise of Big Dipper RTK positioning systems（I.e.
Four steps to the 9th step）, master controller 20 first controls water pump 10 and draws water 20 seconds, in order to remaining water in water pipe 11 be discharged
Matter, remaining this sub-sampling of water pollution sample when preventing previous sample.After the completion of draining, master controller 20 is set according to sampling
It sets parameter and is sampled operation.
Sampling system in the present embodiment is simple in structure, can specify depth selection and repeatedly sampling etc., can be according to reality
Border needs to set depth selection, sampling spot, the diversity that can be sampled with effective solution in this way.It is deep that sampling can be accurately calculated
The position of degree, the angle rotated according to sampling stepper motor 13 and then the accurate position for determining depth selection.In sampling process
The reliability and the stability in sampling process that may insure depth selection.It can repeatedly sample, there is 9 in sampling sink 4
Sampling bottle 5 can take the water quality sample of different depth or the water quality sample in multiple and different places in same place as needed.
The diversity of effective solution sampling.It can also solve the problems, such as to pollute between sampling sample during repeatedly sampling.Control letter
It is single, the elastic water pipe 17 of different length is conveniently replaceable to adapt to the waters of various situations.
The scope of protection of the utility model includes but not limited to embodiment of above, and the scope of protection of the utility model is to weigh
Subject to sharp claim, any replacement being readily apparent that those skilled in the art that this technology is made, deformation, improvement are each fallen within
The scope of protection of the utility model.
Claims (6)
1. a kind of unmanned boat sampling system, including hull, the power plant for driving hull to move and supply unit, feature
It is：Sampling system is installed, the sampling system includes sampling bottle, water pump, capstan winch, draught line, position step on the hull
Stepper motor, lead screw, sampling stepper motor, Z-type fixing bracket, elastic water pipe and plummet, the hull are equipped with sampling sink, institute
It states in sampling sink and is evenly distributed with several sampling bottles from left end to right end, the lead screw is fixed on described by bearing spider
On hull and lead screw is located at the surface of the sampling bottle in sampling sink, and the lead screw is connected by shaft coupling and position stepper motor
It connects, the lead screw, which is connected on feed screw nut and feed screw nut, is fixed with sliding block, and the water outlet of the water pump is solid by outlet pipe
It is scheduled on the sliding block, the left end in the sampling sink is equipped with sampling discharge outlet, and the sampling discharge outlet is prolonged by drainpipe
The outside of hull is extended to, the water inlet of the water pump connects the water outlet of flexible water pipe, and the sampling stepper motor is mounted on
The right end of the hull, the sampling stepper motor are connected with capstan winch, draught line are wound on the capstan winch, and the Z-type is fixed
One end of holder is fixed on the right end of the hull, and the elasticity water pipe is fixed on the Z-type fixing bracket, and the Z-type is solid
The draught line that the surface of the other end of fixed rack is equipped on threading hole and capstan winch is located at the surface of threading hole, the draught line
The other end passes through threading hole and is connect with the water inlet end of elastic water pipe and plummet, the power plant, position stepper motor, sampling
Stepper motor and water pump are electrically connected with supply unit.
2. unmanned boat sampling system according to claim 1, it is characterised in that：The power plant includes propeller and drive
Dynamic motor, the driving motor are fixed on the hull, and the driving motor is connect with the propeller.
3. unmanned boat sampling system according to claim 2, it is characterised in that：The unmanned boat be equipped with master controller,
It positioning system, wireless communication system, power motor drive module, water pump drive module, position stepper motor drive module and takes
Sample stepper motor drive module, the positioning system, wireless communication system, power motor drive module, water pump drive module, position
It sets stepper motor drive module and sampling stepper motor drive module is electrically connected with master controller, the wireless communication system is remote
Journey is connected with host computer, and the power motor drive module is electrically connected with the driving motor, the water pump drive module and institute
Water pump electrical connection is stated, the position stepper motor drive module is electrically connected with the position stepper motor, the sampling stepping electricity
Machine drive module is electrically connected with the sampling stepper motor, the master controller, positioning system, wireless communication system, power electric
Machine drive module, water pump drive module, position stepper motor drive module and sampling stepper motor drive module are filled with power supply
Set electrical connection.
4. unmanned boat sampling system according to claim 3, it is characterised in that：The master controller uses microcontroller
STM32F103ZET6, the positioning system use Big Dipper RTK positioning systems, the wireless communication system to use GPRS channel radios
Letter system, the driving circuit in the power motor drive module use L298N chips, the driving in the water pump drive module
Circuit uses L298N chips, the position stepper motor drive module to use TB6600 stepper motor drivers, the sampling step
Stepper motor drive module uses TB6600 stepper motor drivers.
5. unmanned boat sampling system according to claim 3, it is characterised in that：The position stepper motor and sampling stepping
Motor is all made of four line composite stepper motor of 42BYGH47-401A two-phases.
6. unmanned boat sampling system according to claim 1, it is characterised in that：The bottom of the sampling bottle is fixed on described
On the bottom wall of sampling sink.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820570288.XU CN208060220U (en) | 2018-04-20 | 2018-04-20 | A kind of unmanned boat sampling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820570288.XU CN208060220U (en) | 2018-04-20 | 2018-04-20 | A kind of unmanned boat sampling system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208060220U true CN208060220U (en) | 2018-11-06 |
Family
ID=63983488
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820570288.XU Active CN208060220U (en) | 2018-04-20 | 2018-04-20 | A kind of unmanned boat sampling system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208060220U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267342A (en) * | 2018-04-20 | 2018-07-10 | 南京信息工程大学 | A kind of unmanned boat sampling system and sampling method |
| CN109765080A (en) * | 2019-01-29 | 2019-05-17 | 天津海之星水下机器人有限公司 | Intelligence control system is used in unmanned boat sampling |
| CN109774867A (en) * | 2019-01-29 | 2019-05-21 | 天津海之星水下机器人有限公司 | Small-sized water quality detection unmanned boat |
| CN109883770A (en) * | 2019-03-26 | 2019-06-14 | 四方智能(武汉)控制技术有限公司 | A kind of unmanned boat water quality sampling mechanism |
| CN112504758A (en) * | 2020-12-14 | 2021-03-16 | 赣州市益信化妆品有限公司 | Be used for drinking water source area alga monitoring and early warning device |
| CN113447318A (en) * | 2021-08-19 | 2021-09-28 | 潍坊水发供水集团有限公司 | Portable water body sampler and use method thereof |
-
2018
- 2018-04-20 CN CN201820570288.XU patent/CN208060220U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108267342A (en) * | 2018-04-20 | 2018-07-10 | 南京信息工程大学 | A kind of unmanned boat sampling system and sampling method |
| CN109765080A (en) * | 2019-01-29 | 2019-05-17 | 天津海之星水下机器人有限公司 | Intelligence control system is used in unmanned boat sampling |
| CN109774867A (en) * | 2019-01-29 | 2019-05-21 | 天津海之星水下机器人有限公司 | Small-sized water quality detection unmanned boat |
| CN109883770A (en) * | 2019-03-26 | 2019-06-14 | 四方智能(武汉)控制技术有限公司 | A kind of unmanned boat water quality sampling mechanism |
| CN112504758A (en) * | 2020-12-14 | 2021-03-16 | 赣州市益信化妆品有限公司 | Be used for drinking water source area alga monitoring and early warning device |
| CN112504758B (en) * | 2020-12-14 | 2024-05-10 | 南宁绿帅水务技术研发有限责任公司 | Algae monitoring and early warning device for drinking water source area |
| CN113447318A (en) * | 2021-08-19 | 2021-09-28 | 潍坊水发供水集团有限公司 | Portable water body sampler and use method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108267342A (en) | A kind of unmanned boat sampling system and sampling method | |
| CN208060220U (en) | A kind of unmanned boat sampling system | |
| CN207133073U (en) | Carried by unmanned plane, the device of different water depth sample can be gathered | |
| CN201729262U (en) | Full-automatic surface water quality sampling robot | |
| CN101806811B (en) | Water quality sampling robot for full-automatic surface water | |
| CN205506474U (en) | Be applied to many sampling devices of water sampling unmanned aerial vehicle | |
| KR101564876B1 (en) | Remote water quality measuring apparatus, remote water sampler system and method for operating thereof | |
| CN107933832B (en) | Polar ice base sea ice monitoring buoy and polar ice base sea ice parameter monitoring method | |
| CN109178305A (en) | A kind of amphibious unmanned plane of hydrologic monitoring and hydrologic monitoring method | |
| CN205113716U (en) | Quality of water sample aircraft | |
| CN213022479U (en) | Single-point multi-depth water quality sampling system based on amphibious unmanned aerial vehicle | |
| CN106741894A (en) | A kind of UAS for clearing up garbage on water | |
| CN109580286A (en) | A kind of rivers and lakes water examination sampler based on unmanned plane | |
| CN109932210A (en) | A kind of device sampled automatically based on unmanned plane water environment | |
| CN205483662U (en) | A suspension type water sampling ware system for unmanned aerial vehicle | |
| CN111521217A (en) | Data acquisition device for hydrology and water resource investigation and evaluation | |
| CN206848258U (en) | A kind of four axle propeller river samplers | |
| CN207649951U (en) | A kind of unmanned plane device sampled automatically for water quality | |
| CN107063755A (en) | A kind of unmanned plane water sampling method | |
| CN111473999A (en) | Depthkeeping water quality sampling device based on many rotor unmanned aerial vehicle | |
| CN206171740U (en) | A intelligence ship that cruises for water quality monitoring | |
| CN202995461U (en) | Wireless remote control overhead line routing inspection aircraft | |
| CN109931985A (en) | A kind of self-propulsion type anchoring water quality monitoring system | |
| CN106568914A (en) | Water area water quality abnormal point detecting and pre-warning method | |
| CN108535061A (en) | A kind of sampler and its sampling method of multiple spot different depth unmanned boat platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200519 Address after: Xiaoshan District of Hangzhou City, Zhejiang province 311200 Qian Zhen San Quan Wang Cun Patentee after: HANGZHOU GUGA BOAT TECHNOLOGY Co.,Ltd. Address before: The Olympic Avenue in Jianye District of Nanjing city of Jiangsu Province, No. 69 210019 Patentee before: NANJING UNIVERSITY OF INFORMATION SCIENCE & TECHNOLOGY |