CN210626110U - Control device for sampling water quality of unmanned ship - Google Patents
Control device for sampling water quality of unmanned ship Download PDFInfo
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- CN210626110U CN210626110U CN201921334542.7U CN201921334542U CN210626110U CN 210626110 U CN210626110 U CN 210626110U CN 201921334542 U CN201921334542 U CN 201921334542U CN 210626110 U CN210626110 U CN 210626110U
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Abstract
The utility model discloses a control device for sampling water quality of an unmanned ship, which comprises a sampling point selection module, a navigation module, a power module, a sampling module, a battery module, a labeler, a grabbing module, a yacht main body and a microprocessor, wherein the microprocessor is respectively communicated with the sampling point selection module, the navigation module, the power module, the sampling module, the battery module, the labeler and the grabbing module; the power module is used for controlling the power of the whole system, the battery module controls the power supply and provides power for the control circuit board, the sampling module is used for collecting samples, the sampling module comprises 1-10 sampling bottles, the labeling machine is used for generating labels, position coordinate information of sampling points is arranged on the labels, and the label grabbing module grabs the labels and attaches the labels to the corresponding sampling bottles. According to the demand at sampling point, the position with the sampling point is corresponding with label, sampling bottle, facilitates for later stage inspection personnel, has solved the chaotic problem of sampling point, and the management and control is convenient, can satisfy a plurality of samplings simultaneously.
Description
Technical Field
The utility model relates to a marine communication field especially relates to a controlling means for unmanned ship water sampling.
Background
At present, with the rapid development of society, people develop oceans more and more deeply, and abundant resources of oceans also bring great assistance to the aspects of transportation, energy and the like. Meanwhile, the ocean brings help and is accompanied by great risk, and the problems of sea surface storm, tsunami and ocean pollution are troubling people all the time.
Current marine water sampling generally needs the manual work to go on, also there is simple sampling yacht, but general sampling effect is not good, be CN 201810353943.0's patent like the application number, an automatic motor charging robot system of water quality testing is disclosed, including the robot body with fill electric pile, when the electric quantity that control module on the robot body received power supply unit feedback crosses the low signal, the current data information of orientation module is received to the control center, again with this data information and the position of filling electric pile carry out the comparison calculation, drive water quality testing drive module, make the robot body to the position removal of filling electric pile. Only single sampling needs to be carried out many times, and the marking measures for sampling points are not provided, so that the sampling is easy to be confused, and the management and control are inconvenient.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of prior art, one of the purposes of the utility model is to provide a controlling means for unmanned ship water sampling, it can solve the inconvenient problem of management and control.
The utility model discloses an one of the purpose adopts following technical scheme to realize:
a control device for sampling the water quality of an unmanned ship comprises a sampling point selection module, a navigation module, a power module, a sampling module, a battery module, a labeling machine, a grabbing module, a yacht main body and a microprocessor, wherein the microprocessor is respectively communicated with the sampling point selection module, the navigation module, the power module, the sampling module, the battery module, the labeling machine and the grabbing module; the sampling point selecting module is used for selecting sampling points of a sea area, the navigation module is used for carrying out circuit planning according to the selected sampling points, the power module is used for controlling the power of the whole system, the battery module controls a power supply and provides power for the control circuit board, the sampling module is used for collecting samples, the sampling module comprises 1-10 sampling bottles, the labeler is used for generating labels, position coordinate information of the sampling points is arranged on the labels, and the label grabbing and sticking module grabs the labels and sticks to the corresponding sampling bottles.
Further, the sampling module still includes slide rail, sampling pipe and scanner, the scanner install in the sampling pipe, a plurality of the sampling bottle is settled in the sampling pipe below, after being used for unmanned ship water sampling's controlling means to reach appointed sampling point, the sampling pipe slides along the slide rail, the label on the sampling bottle is scanned to the scanner, until the information of label is unanimous with the position coordinate information of current sampling point, the sampling pipe with the sea water sample flow in present the sampling bottle.
Further, the battery module comprises a storage battery and a solar photovoltaic assembly, the solar photovoltaic assembly is connected with the storage battery, and the storage battery provides electric power for the whole system.
Further, the control device for sampling the water quality of the unmanned ship further comprises an air pressure monitoring module and a communication module, wherein the communication module is in communication connection with a remote terminal, and when the air pressure monitoring module detects that the sea air pressure is too low, the communication module sends the position coordinate to the remote terminal.
Furthermore, the power module comprises an obstacle detection module, and the obstacle detection module detects the position of an obstacle by adopting a laser radar obstacle avoidance control method and feeds the position of the obstacle back to the navigation module.
A water quality sampling unmanned ship control method comprises the following steps:
the control device for sampling the water quality of the unmanned ship comprises a sampling point selection module, a navigation module, a power module, a sampling module, a battery module, a labeling machine, a grabbing and sticking module, a yacht main body and a microprocessor, wherein the microprocessor is respectively communicated with the sampling point selection module, the navigation module, the power module, the sampling module, the battery module, the labeling machine and the grabbing and sticking module; the system comprises a sampling point selection module, a navigation module, a power module and a control module, wherein the sampling point selection module is used for selecting sampling points in a sea area, the navigation module is used for planning a line according to the selected sampling points, and the power module is used for controlling the power of the whole system;
sea area point selection: selecting sampling points through a sampling point selection module, and generating a driving path according to the sampling points through a navigation module;
and (3) label grabbing and sticking: numbering according to coordinate information of the sampling points, generating labels by a labeling machine, and attaching a plurality of labels to the sampling bottles by a grabbing and attaching module;
moving: the power module operates and moves to a sea area near the sampling point to confirm the position, and the sampling module samples when the position is confirmed to be correct;
a sampling step: and the sampling module scans the corresponding label until the corresponding label is matched with the coordinates of the sampling point, and introduces the sampling water into the corresponding sampling bottle.
Further, in the step of sea area point selection, the navigation module designates a route with the shortest route according to the sampling point.
Further, in the moving step, the obstacle detection module detects a front obstacle in real time, and finely adjusts a planned path in real time to avoid collision.
Further, in the sampling step, the sampling module is provided with an oil film thickness monitor, the oil film thickness monitor detects the oil film thickness and coordinate information of the oil leakage at the current sampling point and feeds the oil film thickness and coordinate information back to the microprocessor, the microprocessor sends the oil film thickness and coordinate information to the remote terminal, differential value analysis is carried out through a GIS technology, pollution space distribution is drawn, and suggestions are provided for subsequent processing.
Further, the water quality sampling unmanned ship control method further comprises the following steps: and moving to the next sampling point according to the planned route.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the battery module controls the power supply and provides power for the control circuit board, the sampling module is used for collecting samples, the sampling module comprises 1-10 sampling bottles, the labeling machine is used for generating labels, position coordinate information of sampling points is arranged on the labels, and the label grabbing and sticking module grabs the labels and sticks the labels to the corresponding sampling bottles. According to the demand of sampling point, corresponding with the position and the label of sampling point, sampling bottle, for later stage inspection personnel facilitate, solved the chaotic problem of sampling point, improve detection efficiency, the management and control is convenient, can satisfy a plurality of sampling point simultaneously and measure.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a block diagram of a preferred embodiment of the control device for sampling water quality of the unmanned ship of the present invention;
FIG. 2 is another block diagram of the control device for unmanned surface vehicle water sampling shown in FIG. 1;
FIG. 3 is a partial structure diagram of the control device for unmanned surface vehicle water sampling shown in FIG. 1;
fig. 4 is a flow chart of a water quality sampling unmanned ship control method.
In the figure: 10. a sampling bottle; 20. a label; 30. a scanner; 40. a sampling tube; 50. a slide rail.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the detailed description, and it should be noted that the embodiments or technical features described below can be arbitrarily combined to form a new embodiment without conflict.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-3, a control device for sampling water quality of an unmanned ship comprises a sampling point selection module, a navigation module, a power module, a sampling module, a battery module, a labeler, a label-grasping module, a yacht main body and a microprocessor, wherein the microprocessor is respectively communicated with the sampling point selection module, the navigation module, the power module, the sampling module, the battery module, the labeler and the label-grasping module; the sampling point selecting module is used for selecting sampling points of a sea area, the navigation module is used for carrying out circuit planning according to the selected sampling points, the power module is used for controlling the power of the whole system, the battery module controls a power supply and provides power for the control circuit board, the sampling module is used for collecting samples, the sampling module comprises 7 sampling bottles, the labeler is used for generating labels, position coordinate information of the sampling points is arranged on the labels, and the grabbing and sticking module grabs the labels and sticks to the corresponding sampling bottles. According to the demand of sampling point, corresponding with the position and the label of sampling point, sampling bottle, for later stage inspection personnel facilitate, solved the chaotic problem of sampling point, improve detection efficiency, the management and control is convenient, can satisfy a plurality of sampling point simultaneously and measure.
Preferably, referring to fig. 3, the sampling module further includes a slide rail 50, a sampling tube 40 and a scanner 30, the scanner 30 is mounted on the sampling tube 40, a plurality of sampling bottles 10 are disposed below the sampling tube 40, after the control device for sampling the water quality of the unmanned ship reaches a specified sampling point, the sampling tube 40 slides along the slide rail 50, the scanner scans a label on the sampling bottle 10 until information of the label 20 is consistent with position coordinate information of a current sampling point, and the sampling tube 40 flows a seawater sample into the current sampling bottle 10. Both can further improve sampling efficiency according to the quantity of demand adjustment sampling bottle 10, can move in a flexible way again simultaneously, and after the scanner detected position coordinate on the label and current position accord with, sampling pipe 40 flowed the sample into current sampling bottle 10 again.
In the actual operation process, the mode accessible lead screw and the motor of sampling pipe 40 goes on, and the slider is fixed with sampling pipe 40 promptly, and thereby slider and lead screw spiro union, thereby the motor drives the lead screw and rotates the adjusting position, and this kind of transmission mode stability is good. And the control device for sampling the water quality of the unmanned ship is provided with a sinking device, and after the unmanned ship arrives at a designated place, a motor in the sinking device drives the lower layer of the sampling module, so that the upper end of the sampling pipe 40 is positioned below the sea surface to sample. The sinking device communicates with the microprocessor, and when the outflow of water from the sampling tube 40 is completed, an ok command is triggered and fed back to the microprocessor, and the sinking device causes the sampling module to rise to the initial position.
Preferably, the battery module comprises a storage battery and a solar photovoltaic assembly, the solar photovoltaic assembly is connected with the storage battery, and the storage battery provides power for the whole system. The problem of endurance is solved.
Preferably, the control device for sampling the water quality of the unmanned ship further comprises an air pressure monitoring module and a communication module, the communication module is in communication connection with a remote terminal, and when the air pressure monitoring module detects that the sea air pressure is too low, the communication module sends the position coordinates to the remote terminal. The sea area early warning capability is improved, and when storms or severe weather come, the air pressure can be low, and sea area early warning is provided.
Preferably, the power module comprises an obstacle detection module, and the obstacle detection module detects the position of an obstacle by adopting a laser radar obstacle avoidance control method and feeds the position of the obstacle back to the navigation module. The problem of touch damage is solved.
Referring to fig. 4, a water quality sampling unmanned ship control method includes the following steps:
the control device for sampling the water quality of the unmanned ship comprises a sampling point selection module, a navigation module, a power module, a sampling module, a battery module, a labeling machine, a grabbing and sticking module, a yacht main body and a microprocessor, wherein the microprocessor is respectively communicated with the sampling point selection module, the navigation module, the power module, the sampling module, the battery module, the labeling machine and the grabbing and sticking module; the system comprises a sampling point selection module, a navigation module, a power module and a control module, wherein the sampling point selection module is used for selecting sampling points in a sea area, the navigation module is used for planning a line according to the selected sampling points, and the power module is used for controlling the power of the whole system;
sea area point selection: selecting sampling points through a sampling point selection module, and generating a driving path according to the sampling points through a navigation module;
in the step of sea area point selection, the navigation module designates a route with the shortest distance according to sampling points.
And (3) label grabbing and sticking: numbering according to coordinate information of the sampling points, generating labels by a labeling machine, and attaching a plurality of labels to the sampling bottles by a grabbing and attaching module;
moving: the power module operates and moves to a sea area near the sampling point to confirm the position, and the sampling module samples when the position is confirmed to be correct;
in the moving step, the obstacle detection module detects a front obstacle in real time and finely adjusts a planned path in real time to avoid collision.
A sampling step: and the sampling module scans the corresponding label until the corresponding label is matched with the coordinates of the sampling point, and introduces the sampling water into the corresponding sampling bottle. In the sampling step, the sampling module is provided with an oil film thickness monitor, the oil film thickness monitor detects the oil film thickness and coordinate information of the oil leakage of the current sampling point and feeds the oil film thickness and coordinate information back to the microprocessor, the microprocessor sends the oil film thickness and coordinate information to the remote terminal, difference value analysis is carried out through a GIS technology, a pollution space distribution diagram is drawn, and suggestions are provided for subsequent processing. Specifically, the polluted area can be determined by a remote sensing means, the polluted area is divided into grids, sampling points are arranged in each grid for sampling, and then the sampling results are drawn. In the more and more important era of current oil, the oil leak situation sometimes appears in the transportation of oil, and sea area pollution becomes important problem, and oil film thickness monitor can tentatively detect the oil film thickness of each sampling point of oil film to feed back to remote terminal, help managers tentatively judge the oil film thickness distribution that pollutes the sea area, thereby implement different methods according to the situation in different regions, arrange personnel to burn if oil film thickness is too thick. The response efficiency is high.
Cruising: and moving to the next sampling point according to the planned route. And (4) performing return voyage planning until all sampling points are reached.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.
Claims (5)
1. The utility model provides a controlling means for unmanned ship water sampling which characterized in that: the intelligent yacht comprises a sampling point selection module, a navigation module, a power module, a sampling module, a battery module, a labeler, a grabbing and sticking module, a yacht main body, a microprocessor and a control circuit board, wherein the microprocessor is respectively communicated with the sampling point selection module, the navigation module, the power module, the sampling module, the battery module, the labeler and the grabbing and sticking module; the sampling point selecting module is used for selecting sampling points of a sea area, the navigation module is used for carrying out circuit planning according to the selected sampling points, the power module is used for controlling the power of the whole system, the battery module controls a power supply and provides power for the control circuit board, the sampling module is used for collecting samples, the sampling module comprises 1-10 sampling bottles, the labeler is used for generating labels, position coordinate information of the sampling points is arranged on the labels, and the label grabbing and sticking module grabs the labels and sticks to the corresponding sampling bottles.
2. The control device for unmanned surface vehicle water sampling of claim 1, wherein: the sampling module still includes slide rail, sampling pipe and scanner, the scanner install in the sampling pipe, a plurality of the sampling bottle is settled in the sampling pipe below, after being used for unmanned ship water sampling's controlling means to reach appointed sampling point, the sampling pipe is followed the slide rail slides, the label on the sampling bottle is scanned to the scanner, until the information of label is unanimous with the position coordinate information of current sampling point, the sampling pipe with the sea water sample flow in present the sampling bottle.
3. The control device for unmanned surface vehicle water sampling of claim 1, wherein: the battery module comprises a storage battery and a solar photovoltaic assembly, the solar photovoltaic assembly is connected with the storage battery, and the storage battery provides power for the whole system.
4. The control device for unmanned surface vehicle water sampling of claim 3, wherein: the control device for unmanned ship water quality sampling further comprises an air pressure monitoring module and a communication module, wherein the communication module is in communication connection with a remote terminal, and when the air pressure monitoring module detects that the sea air pressure is too low, the communication module sends a position coordinate to the remote terminal.
5. The control device for unmanned surface vehicle water sampling of claim 4, wherein: the power module comprises an obstacle detection module, and the obstacle detection module detects the position of an obstacle by adopting a laser radar obstacle avoidance control method and feeds the position of the obstacle back to the navigation module.
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| CN112230582A (en) * | 2020-10-27 | 2021-01-15 | 四川摩比斯新能源水翼船有限责任公司 | Fixed-point acquisition method and device for environmental big data based on new energy hydrofoil |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112230582A (en) * | 2020-10-27 | 2021-01-15 | 四川摩比斯新能源水翼船有限责任公司 | Fixed-point acquisition method and device for environmental big data based on new energy hydrofoil |
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Effective date of registration: 20220819 Address after: North side of Chuangxin Road, Xuzhuang Street, Gaogang District, Taizhou City, Jiangsu Province 225324 Patentee after: Taizhou Zhongyi Marine Equipment Co.,Ltd. Address before: 225300 east side of Xingyuan Road, science and Technology Pioneer Park, Gao Gang, Taizhou, Jiangsu Patentee before: TAIZHOU KEPUNI COMMUNICATION EQUIPMENT Co.,Ltd. |