CN209673780U - A kind of water pollution detection positioning device - Google Patents

Abstract

The utility model discloses a kind of water pollution detection positioning device, including hull, the motor for being installed on the hull and driving the ship motion and the attitude transducer for being installed on the hull and detecting the Attitude, it further include detection positioning circuit, the detection positioning circuit includes controller, PH detection circuit and communication positioning circuit；The attitude transducer is electrically connected with the controller, the controller is electrically connected with the motor, the PH detection circuit is electrically connected with the controller, and the controller is electrically connected with communication positioning circuit, and positions circuit and remote terminal wireless connection by the communication.The utility model helps to reduce the workload of water pollution detection, and detection efficiency is high.

Description

A kind of water pollution detection positioning device

Technical field

The utility model relates to water pollution detection technique fields, and in particular to a kind of water pollution detection positioning device.

Background technique

Increasingly the water pollution aggravated constitutes significant threat to the living safety of the mankind, becomes human health, economy and society The major obstacles of meeting sustainable development.Water pollution is mainly caused by the pollutant that mankind's activity generates, it includes industrial pollution, agriculture Industry pollution and domestic pollution three parts, the prevention and treatment of water pollution is also unfolded in China in terms of these three at present, but due to citizen Water conservation consciousness is strong, water pollution discovery not in time, administer the reasons effect such as later and be not obvious, water pollution situation is not Obtain too big improvement.Therefore, the improvement of water pollution needs staff to find pollution sources in time, realizes that early discovery is early and administers, from And maximumlly reduce water pollution.However if rely on manpower water pollution situation is detected, undoubtedly can to staff with Carry out huge operating pressure, and detection efficiency is very low.

Utility model content

The purpose of the utility model is to overcome above-mentioned technical deficiencies, provide a kind of water pollution detection positioning device, solve In the prior art the technical issues of water pollution detection heavy workload, low efficiency.

To reach above-mentioned technical purpose, the technical solution of the utility model provides a kind of water pollution detection positioning device, packet It includes hull, the motor that is installed on the hull and drives the ship motion and be installed on the hull and described in detecting The attitude transducer of Attitude further includes detection positioning circuit, and the detection positioning circuit includes controller, pH detection circuit And communication positioning circuit；

The attitude transducer is electrically connected with the controller, and the controller is electrically connected with the motor, the pH inspection Slowdown monitoring circuit is electrically connected with the controller, and the controller is electrically connected with communication positioning circuit, and fixed by the communication Position circuit and remote terminal are wirelessly connected.

Compared with prior art, the beneficial effects of the utility model include: by hull as detection carrier, and it is fixed to will test Position circuit is set on hull, by motor driven ship motion, to realize the automatic detection and location information of water pollution Passback reduces the workload of water pollution detection, improves detection efficiency.

Detailed description of the invention

Fig. 1 is the circuit diagram of water pollution detection positioning device provided by the utility model；

Fig. 2 is the circuit diagram of the pH detection circuit of water pollution detection positioning device provided by the utility model；

Fig. 3 is the circuit diagram of the communication positioning circuit of water pollution detection positioning device provided by the utility model.

Appended drawing reference:

1, motor, 2, attitude transducer, 3, controller, 4, pH detection circuit, 41, pH electrode, 5, communication positioning circuit, 51, GSM antenna, 52, GPS antenna, 10, remote terminal.

Specific embodiment

In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this Utility model is not used to limit the utility model.

Embodiment 1:

As shown in Figure 1, the embodiments of the present invention 1 provide a kind of water pollution detection positioning device, including hull, peace Loaded on the hull and driving the motor 1 of the ship motion and be installed on the hull and detect the Attitude Attitude transducer 2, further include detection positioning circuit, the detection position circuit include controller 3, pH detection circuit 4 and Communication positioning circuit 5；

The attitude transducer 2 is electrically connected with the controller 3, and the controller 3 is electrically connected with the motor 1, described PH detection circuit 4 is electrically connected with the controller 3, and the controller 3 is electrically connected with communication positioning circuit 5, and passes through institute It states communication positioning circuit 5 and remote terminal 10 is wirelessly connected.

Water pollution provided by the utility model detects positioning device, the course of work are as follows: controller 3 passes through control motor 1 The movement of hull is controlled, at the same time, the pH value in waters where detecting hull by pH detection circuit 4 is set when this value is greater than When definite value, controller 3 passes through the pH value that the location information that communication positioning circuit 5 navigates to and pH detection circuit 4 detect Communication positioning circuit 5 is sent to remote terminal 10, realizes the one-time detection position fixing process of water pollution.After the completion of detection positioning, control Device 3 processed continues to control hull movement, carries out the detection in next waters.

Water pollution provided by the utility model detects positioning device, by hull as detection carrier, will test positioning electricity Road is set on hull, drives ship motion by motor 1, to realize the automatic detection of water pollution, passes through communication positioning electricity The acquisition of water pollution position location information and the passback of location information are realized in road 5, reduce the workload of water pollution detection, mention High detection efficiency.

Preferably, the motor 1 is non-brush permanent-magnet DC motor 1.

The characteristics of non-brush permanent-magnet DC motor 1 is that controllability is good, speed-regulating range width, good reliability, long working life.Permanent magnetism DC brushless motor 1 generates air-gap field using permanent magnet, and power factor is high, and rotor loss is small, and efficiency is higher, has electronics control System part and Electric multi-phase inverter.To the performance requirement of motor 1 when these features are just met for underwater operation, thus it is very suitable For the utility model.Specifically, the present embodiment select be rare-earth permanent magnet direct current brushless 1, i.e., BLDC Permanent magnet DC without Brush motor 1, this motor 1 have structure it is simple, it is reliable for operation small in size, it is light-weight, be lost it is small, it is high-efficient, 1 shape of motor and The advantages that size is versatile and flexible, application are extremely wide.

Preferably, the attitude transducer 2 is nine axle sensors of model MPU9250, and nine axle sensor passes through IIC interface is electrically connected with the controller 3.

Nine axle sensor of MPU9250 is the nine axis motion process component of conformability that InvenSense company releases, compared to Multicomponent scheme, nine axle sensor of MPU9250 eliminate the problem of combination gyroscope between centers difference when accelerator, reduce body Long-pending and power consumption.MPU9250 has been internally integrated three-axis gyroscope, three axis accelerometer and three axle magnetometer, and output signal is 16 Digital quantity, IC bus interface can be passed through, i.e. IIC interface and single-chip microcontroller carries out data interaction.Gyro built in it The angular velocity measurement range of instrument is up to ± 2000 °/s, has good dynamic response characteristic；The measurement range of accelerometer is most Greatly ± 16g, g are acceleration of gravity, and static measurement precision is high；Magnetometer carries out data using high sensibility Hall type sensor and adopts Collection, magnetic flux density measurement range are ± 4800 μ T, can be used for the subsidiary to yaw angle.

Due to the digital moving processor hardware accelerating engine that nine axle sensor of MPU9250 carries, nine axis biography can be integrated Sensor data export complete nine axis fusion calculation data to application end.Therefore nine axle sensor of MPU9250, Wo Menke are used Very easily to realize attitude algorithm, the load of controller 3 is reduced.Controller 3 need to read nine axis of MPU9250 sensing The attitude data that device is handled well, that is, Eulerian angles, Eulerian angles include course angle, roll angle and pitch angle.There are these three angles, We can be obtained by the posture of current four axis, and the rotation of motor 1 is then controlled by existing pid algorithm, realizes hull Motion control.

Preferably, as shown in Fig. 2, the pH detection circuit 4 includes pH electrode 41, operational amplifier U1, operational amplifier U2A, operational amplifier U2B, capacitor C1, capacitor C2, capacitor C3, potentiometer R1, resistance R2, resistance R3, resistance R4, resistance R5, Resistance R6, resistance R7, resistance R8, resistance R9 and resistance R10；

The pH electrode 41 is grounded by the capacitor C2, and passes through the same of the resistance R6 and operational amplifier U1 The non-inverting input terminal of the electrical connection of phase input terminal, the operational amplifier U1 is grounded by the capacitor C1, the operational amplifier The inverting input terminal of U1 is electrically connected with the output end of the operational amplifier U1, and the output end of the operational amplifier U1 passes through The resistance R8 is electrically connected with the inverting input terminal of the operational amplifier U2A, the inverting input terminal of the operational amplifier U2A It is electrically connected by the resistance R10 with the output end of the operational amplifier U2A, the homophase input of the operational amplifier U2A End connects power supply by the resistance R2, and the non-inverting input terminal of the operational amplifier U2A passes sequentially through the resistance R3 and institute Potentiometer R1 ground connection is stated, the output end of the operational amplifier U2A passes through the resistance R7's and operational amplifier U2B The inverting input terminal of inverting input terminal electrical connection, the operational amplifier U2B passes through the resistance R9 and the operational amplifier The output end of U2B is electrically connected, and the non-inverting input terminal of the operational amplifier U2B is grounded by the resistance R4, and the operation is put The output end of big device U2B passes sequentially through the resistance R5 and capacitor C3 ground connection, the resistance R5 and capacitor C3's Common end is electrically connected with the controller 3.

What pH electrode 41 exported is voltage signal, using operational amplifier U1 as front end Amplification and insulation circuit, this implementation The model AD8663, AD8663 of operational amplifier U1 is the special for pH or ORP sensor input of ADI company production in example The high input impedance operational amplifier used, with high input impedance.Furthermore what it is due to the output of pH electrode 41 is positive and negative Voltage signal, and the converter inside single-chip microcontroller can only sample the positive voltage of 0-3.3V.Therefore, using operational amplifier U2A An adder is devised, the voltage signal that pH electrode 41 exports is lifted to positive level, is devised using operational amplifier U2B Sign-changing amplifier realizes the reversal of voltage signal.Analog channel does not do voltage gain design in the present embodiment, amplification Multiple is essentially 1.Capacitor C1 uses the ceramic disc capacitor of high input impedance, for eliminating input disturbance.PH detection circuit 4 and control Converter electrical connection built in device 3 processed, realizes analog-to-digital conversion.

Preferably, the pH electrode 41 is the pH combination electrode of model thunder magnetic E-201-C.

Preferably, as shown in figure 3, the SIM control chip U1 of the communication positioning circuit 5 including model SIM868, The Strobe Controller 3U3 of SIM card U2 and model SMF05C；

The TXD1 pin and RXD1 pin of SIM control chip U1 pass through respectively serial port level chance-over circuit with it is described Controller 3 is electrically connected, and the serial port level chance-over circuit is electrically connected with the VDD_EXT pin of SIM control chip U1, described The GSM pin of SIM control chip U1 is electrically connected with GSM antenna 51, the GPS pin and GPS antenna 52 of the SIM control chip U1 Electrical connection, and pass sequentially through inductance L1 and resistance R11 and connect power supply, the VRTC pin and battery BT1 of the SIM control chip U1 Anode electrical connection, the PWRKEY pin of the cathode ground connection of the battery BT1, SIM control chip U1 passes through resistance R19 Ground connection；The VBAT pin of the SIM control chip U1 connects power supply, the GND pin ground connection of the SIM control chip U1；

The SIM_VCC pin of the SIM card U2 is grounded by capacitor C4, the SIM_VCC pin of the SIM card U2 and institute State the SIM_VDD pin electrical connection of SIM control chip U1, the SIM_VCC pin and the Strobe Controller of the SIM card U2 The K3 pin of 3U3 is electrically connected；The SIM_RST of the SIM card U2 passes sequentially through resistance R12 and capacitor C5 ground connection, the resistance R12 is electrically connected with the common end of the capacitor C5 with the SIM_RST pin of SIM control chip U1, the SIM card U2's SIM_RST pin is electrically connected with the K4 pin of the Strobe Controller 3U3；The SIM_CLK of the SIM card U2 passes sequentially through electricity Hinder R13 and capacitor C6 ground connection, the SIM_ of the common end and SIM control chip U1 of the resistance R13 and the capacitor C6 CLK pin electrical connection, the SIM_CLK pin of the SIM card U2 are electrically connected with the K5 pin of the Strobe Controller 3U3；It is described The SIM_IO pin of SIM card U2 passes sequentially through resistance R14 and capacitor C7 ground connection, the public affairs of the resistance R14 and the capacitor C7 End is electrically connected with the SIM_DATA pin of SIM control chip U1 altogether, the SIM_IO pin and the gating of the SIM card U2 The K2 pin of controller 3U3 is electrically connected, the SIM_GND pin ground connection of the SIM control chip U1；The Strobe Controller 3U3 A pin ground connection.

Pin of the same name expression is electrically connected to each other in Fig. 3.Specifically, the TXD pin of controller 3 and SIM control chip U1's The RXD pin of the electrical connection of RXD1 pin, controller 3 is electrically connected with the TXD1 pin of SIM control chip U1, realizes serial communication. When the detection voltage of the circuit of pH detection is higher than given threshold, controller 3 sends instructions to SIM by serial ports and controls chip U1, control SIM control chip U1 acquire location information, and after the completion of locating information acquisition, controller 3 reads location information, and deposits Position fixing process is completed in storage.Controller 3 sends a command to SIM control chip U1 again, and control SIM control chip U1 believes positioning Breath is sent to remote terminal 10, completes the transmission process of location information.Mobile phone realization can be used in remote terminal 10.

Preferably, as shown in figure 3, the serial port level chance-over circuit includes resistance R15, resistance R16, resistance R17, resistance R18, triode Q1 and triode Q2；

The TXD pin of the controller 3 is electrically connected with the collector of the triode Q1, the emitter of the triode Q1 It is electrically connected with the TXD1 pin of SIM control chip U1, the emitter of the triode Q1 passes through the resistance R17 and institute The base stage electrical connection of triode Q1 is stated, the base stage of the triode Q1 controls chip U1 by the resistance R15 and SIM VDD_EXT pin electrical connection；The RXD pin of the controller 3 is electrically connected with the emitter of the triode Q2, three pole The collector of pipe Q2 is electrically connected with the RXD1 pin of SIM control chip U1, and the collector of the triode Q2 passes sequentially through The resistance R18 and the resistance R16 are electrically connected with the base stage of the triode Q2, the resistance R18 and the resistance R16 The VDD_EXT pin of common end and the SIM control chip U1 be electrically connected.

Preferably, the controller 3 is STM32 series monolithic.

Specific embodiment of the present utility model described above does not constitute the restriction to scope of protection of the utility model. Any other various changes and modifications that any technical concept according to the present utility model is made should be included in practical In novel scope of protection of the claims.

Claims (8)

1. a kind of water pollution detects positioning device, which is characterized in that including hull, be installed on the hull and drive the ship The motor of body movement and the attitude transducer for being installed on the hull and detecting the Attitude further include detection positioning Circuit, the detection positioning circuit include controller, PH detection circuit and communication positioning circuit；

The attitude transducer is electrically connected with the controller, and the controller is electrically connected with the motor, the PH detection electricity Road is electrically connected with the controller, and the controller is electrically connected with communication positioning circuit, and passes through communication positioning electricity Road and remote terminal are wirelessly connected.

2. water pollution according to claim 1 detects positioning device, which is characterized in that the motor is permanent-magnet DC brushless Motor.

3. water pollution according to claim 1 detects positioning device, which is characterized in that the attitude transducer is model Nine axle sensors of MPU9250, nine axle sensor are electrically connected by IIC interface with the controller.

4. water pollution according to claim 1 detects positioning device, which is characterized in that the PH detection circuit includes PH electricity Pole, operational amplifier U1, operational amplifier U2A, operational amplifier U2B, capacitor C1, capacitor C2, capacitor C3, potentiometer R1, electricity Hinder R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, resistance R8, resistance R9 and resistance R10；

The PH electrode is grounded by the capacitor C2, and passes through the homophase input of the resistance R6 and the operational amplifier U1 The non-inverting input terminal of end electrical connection, the operational amplifier U1 is grounded by the capacitor C1, and the operational amplifier U1's is anti- Phase input terminal is electrically connected with the output end of the operational amplifier U1, and the output end of the operational amplifier U1 passes through the resistance R8 is electrically connected with the inverting input terminal of the operational amplifier U2A, and the inverting input terminal of the operational amplifier U2A passes through described Resistance R10 is electrically connected with the output end of the operational amplifier U2A, and the non-inverting input terminal of the operational amplifier U2A passes through institute It states resistance R2 and connects power supply, the non-inverting input terminal of the operational amplifier U2A passes sequentially through the resistance R3 and the potentiometer R1 ground connection, the inverting input terminal that the output end of the operational amplifier U2A passes through the resistance R7 and the operational amplifier U2B Electrical connection, the inverting input terminal of the operational amplifier U2B pass through the output end of the resistance R9 and the operational amplifier U2B The non-inverting input terminal of electrical connection, the operational amplifier U2B is grounded by the resistance R4, and the operational amplifier U2B's is defeated Outlet pass sequentially through the resistance R5 and the capacitor C3 ground connection, the common end of the resistance R5 and capacitor C3 with it is described Controller electrical connection.

5. water pollution according to claim 4 detects positioning device, which is characterized in that the PH electrode is model thunder magnetic The PH combination electrode of E-201-C.

6. water pollution according to claim 1 detects positioning device, which is characterized in that the communication positioning circuit includes type Number for SIM868 SIM control chip U1, SIM card U2 and model SMF05C Strobe Controller U3；

The TXD1 pin and RXD1 pin of the SIM control chip U1 passes through serial port level chance-over circuit and the control respectively Device electrical connection, the serial port level chance-over circuit are electrically connected with the VDD_EXT pin of SIM control chip U1, the SIM control The GSM pin of coremaking piece U1 is electrically connected with GSM antenna, and the GPS pin of the SIM control chip U1 is electrically connected with GPS antenna, and It passes sequentially through inductance L1 and resistance R11 and connects power supply, the VRTC pin of the SIM control chip U1 and the anode electricity of battery BT1 The PWRKEY pin of connection, the cathode ground connection of the battery BT1, the SIM control chip U1 is grounded by resistance R19；It is described The VBAT pin of SIM control chip U1 connects power supply, the GND pin ground connection of the SIM control chip U1；

The SIM_VCC pin of the SIM card U2 is grounded by capacitor C4, the SIM_VCC pin and the SIM of the SIM card U2 Control the SIM_VDD pin electrical connection of chip U1, the K3 of the SIM_VCC pin of the SIM card U2 and the Strobe Controller U3 Pin electrical connection；The SIM_RST of the SIM card U2 passes sequentially through resistance R12 and capacitor C5 ground connection, the resistance R12 and institute The common end for stating capacitor C5 is electrically connected with the SIM_RST pin of SIM control chip U1, and the SIM_RST of the SIM card U2 draws Foot is electrically connected with the K4 pin of the Strobe Controller U3；The SIM_CLK of the SIM card U2 passes sequentially through resistance R13 and electricity Hold C6 ground connection, the common end of the resistance R13 and capacitor C6 and the SIM_CLK pin of SIM control chip U1 are electrically connected It connects, the SIM_CLK pin of the SIM card U2 is electrically connected with the K5 pin of the Strobe Controller U3；The SIM_ of the SIM card U2 I/O pin passes sequentially through resistance R14 and capacitor C7 ground connection, the common end and the SIM of the resistance R14 and the capacitor C7 Control the SIM_DATA pin electrical connection of chip U1, the K2 of the SIM_IO pin of the SIM card U2 and the Strobe Controller U3 Pin electrical connection, the SIM_GND pin ground connection of the SIM control chip U1；The A pin of the Strobe Controller U3 is grounded.

7. water pollution according to claim 6 detects positioning device, which is characterized in that the serial port level chance-over circuit packet Include resistance R15, resistance R16, resistance R17, resistance R18, triode Q1 and triode Q2；

The TXD pin of the controller is electrically connected with the collector of the triode Q1, the emitter of the triode Q1 and institute The TXD1 pin electrical connection of SIM control chip U1 is stated, the emitter of the triode Q1 passes through the resistance R17 and three pole The base stage of pipe Q1 is electrically connected, and the base stage of the triode Q1 controls the VDD_ of chip U1 by the resistance R15 and SIM The electrical connection of EXT pin；The RXD pin of the controller is electrically connected with the emitter of the triode Q2, the triode Q2's Collector is electrically connected with the RXD1 pin of SIM control chip U1, and the collector of the triode Q2 passes sequentially through the electricity The resistance R18 and resistance R16 is electrically connected with the base stage of the triode Q2, and the resistance R18 is public with the resistance R16's It holds and is electrically connected with the VDD_EXT pin of SIM control chip U1.

8. water pollution according to claim 1 detects positioning device, which is characterized in that the controller is STM32 series Single-chip microcontroller.