CN211000798U - Amphibious sampling monitoring boat - Google Patents
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- CN211000798U CN211000798U CN201920973418.9U CN201920973418U CN211000798U CN 211000798 U CN211000798 U CN 211000798U CN 201920973418 U CN201920973418 U CN 201920973418U CN 211000798 U CN211000798 U CN 211000798U
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Abstract
The utility model discloses an amphibious sampling monitoring ship, but including the unmanned ability amphibious sampling monitoring ship of walking of remote control, the sampling monitoring ship disposes track running gear, and the sampling monitoring ship carries out the multi-parameter appearance that is used for carrying out real-time detection to sampling water quality, carries out meteorological monitoring's meteorological station, camera system to and provide the location and use and independently the ship GPS module of usefulness, realize data and signal transmission's wireless communication module with ground control basic station wireless communication, do under the control of high performance industrial grade P L C controller the multi-parameter appearance detects the automatic water quality sampler that provides the sampling water to be provided with and get the mud ware, the utility model discloses amphibious sampling monitoring ship can satisfy the complicated ground object environmental characteristic requirement of pollution accident area.
Description
Technical Field
The utility model relates to an environmental protection monitoring technology field especially relates to an amphibious sampling monitoring ship.
Background
In recent years, accidents caused by water environment pollution frequently occur, so that emergency equipment for monitoring accidents caused by water environment pollution regulation is urgently needed to meet the complex field sampling monitoring requirements, quickly identify the pollutant types and the pollution development directions and provide technical support for the next emergency disposal. Particularly, for some toxic and harmful areas, a front-line worker cannot reach the area, so that a professional online sampling and monitoring platform is needed, and the real-time online monitoring and sampling can be realized according to the characteristics of sudden environmental problems.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an amphibious sampling monitoring ship to the technical defect who exists among the prior art.
For realizing the utility model discloses a technical scheme that the purpose adopted is:
the utility model provides an amphibious sampling monitoring ship, includes that the unmanned of the autonomous navigation control system's of carrying on of remote control can carry out the sampling monitoring ship of amphibious walking under the drive of numerical control driving system, the sampling monitoring ship disposes track running gear, and the sampling monitoring ship carries on and is used for carrying out real-time detection's multi-parameter instrument to sampling quality of water, carries out meteorological monitoring's weather station, camera system to and provide the location and use and the GPS module of autonomous ship's capable usefulness, realize data and signal transmission's wireless communication module with ground control basic station wireless communication, do under the control of high performance industrial grade P L C controller the multi-parameter instrument detects the automatic quality of water fixed point layering sample thief that provides the sampling water to be provided with the mud sampler.
The camera system comprises an infrared laser illuminator and a rotatable vehicle-mounted camera which are integrally designed and support the auxiliary night vision function of an infrared laser lamp.
The automatic water quality sampler comprises sampling bottles, adopts a parallel water pipeline design, 1 shunt pipe connected in parallel is branched from one main pipeline connected with a sampling pump and is connected to each sampling bottle in a sampling box, and electromagnetic valves respectively control the shunt pipes leading to the sampling bottles; wherein, the sampling pump and the sampling bottle contacting with water adopt plastic products
The utility model discloses amphibious sampling monitoring ship can carry out quick sample and monitoring to the pollution accident waters, can satisfy the environmental monitoring demand under the extreme condition of risk accident area, can realize the quick reaction and the stable transmission of monitoring data and environment image under the amphibious environment on the mobility, and then solve the regional land protective screen of pollution accident, effectively ensure monitoring personnel's personal safety to improve monitoring sampling efficiency, satisfy the regional complicated ground thing environmental characteristic requirement of pollution accident.
Drawings
Fig. 1 is a schematic front view of the amphibious sampling and monitoring boat of the present invention;
fig. 2 is a rear view schematic diagram of the amphibious sampling monitoring boat of the present invention;
fig. 3 is a schematic top view of the amphibious sampling and monitoring boat of the present invention;
fig. 4 is a sampling work flow chart of the amphibious sampling monitoring boat of the utility model;
FIG. 5 is a schematic view of a main interface of the control system;
FIG. 6 is a navigation path planning and job task setup interface for the control system;
FIG. 7 illustrates the generation of a planned route interface on a map based on planned boundary points and route points.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1-6, the utility model discloses an amphibious sampling monitoring boat, but including the unmanned ability amphibious of remote control sampling monitoring boat 100 of walking, the sampling monitoring boat disposes track running gear 6, and the sampling monitoring boat carries with and is used for carrying out real-time detection's multi-parameter instrument to sampling quality of water, carries out meteorological monitoring's meteorological station 5, camera system to and provide the location and with the GPS module 4 of autonomic ship's usefulness, and antenna system 3 for communication, realize data and signal transmission's wireless communication module with ground control basic station wireless communication, do under the control of high performance industrial grade P L C controller the multi-parameter instrument detects the automatic water quality sampler that provides the sampling water to be provided with mud sampler 1.
Further, the utility model discloses a fill body material and set up the buoyancy case between interior outer shell 7 to guarantee when the hull takes place the damage in aqueous, provide sufficient buoyancy, satisfy the requirement that floods, flood the requirement that covers.
Utility model crawler-type amphibious unmanned ship is closed structure, has good surface of water mobility and land ability of passing through, satisfies communication navigation equipment, data transmission equipment and load equipment's installation requirement, and this ship is equipped with 2 confined equipment cabins. The system mainly comprises a crawler-type amphibious boat platform, a numerical control power system, a wireless remote control system, an autonomous navigation control system and a microwave communication system. The carried inspection equipment is a water quality on-line detection multi-parameter instrument, a fixed-point stratified sampler, a mud collecting device and other systems.
Through the technology, the utility model has the amphibious walking function on water and land, can meet the passing capacity in an extremely harsh environment, meet the landing capacity on a large-angle slope, and meet the layered adoption capacity of 10m water depth; the bottom mud sampling capacity is met; and has good floating state in water, and meets the requirements of stability, freeboard performance and the like.
In the utility model, the infrared laser illuminator and the vehicle-mounted camera are integrally designed, and the structure is compact; the auxiliary night vision function of the infrared laser lamp is supported, the electro-optic conversion efficiency of the infrared laser tube is up to more than 70%, and the effective irradiation distance can reach 50 m; up to 64 high-precision presets can be set, and the RS485 bus keyboard is adopted for control; the rotation speed of the vehicle-mounted camera is automatically adjusted according to the zoom multiple of the lens; the vehicle-mounted camera has the functions of automatic focusing and automatic white balance; the high-strength all-plastic shell is adopted, the weight is light, the waterproof performance is good, and meanwhile, the adopted optical coated lens has the functions of light transmittance increase, dust prevention, water prevention and static prevention.
The utility model discloses in, the multi-parameter appearance is installed in the ship, by going into the detection water quality pump through the sampling peristaltic pump, carries out quality of water real-time detection to the water that flows in by the probe in the multi-parameter appearance again.
The utility model discloses an amphibious sampling monitoring ship, seamless compatible many money, the water quality monitoring instrument of polytypic can provide monitoring water sample, instrument power consumption for the instrument to the data (temperature, pH, dissolved oxygen, blue-green algae, chlorophyll A, (conductivity, salinity etc.) with monitoring pass ground control basic station in real time back through on-board communications facilities.
The utility model discloses in, automatic water quality sampler is the environmental protection monitoring instrument who is used for the online automatic sampling of pollution source, and the equipment pipe diameter is big, the velocity of flow is fast, can effectively avoid the pipeline to block up under the control of high performance industrial grade P L C controller, can set for the sampling mode wantonly according to the user's needs, sampling interval, sampling volume and memory location, it also can be sampled with automatic on-line monitoring instrument is synchronous.
The automatic water quality sampler is suitable for long-term work in marine environment, has the functions of automatically removing foam and silt, automatically cleaning, effectively preventing seawater corrosion, biological adhesion, silt deposition and the like, has high reliability, and can stably work and provide accurate data in severe environment. The self cleaning function of the equipment is combined with the cleaning function in the water collecting and distributing system, so that the long-time fault-free operation of the whole set of water quality monitoring system can be realized.
The volume of a sample container of the automatic water quality sampler is 1L, the number of sampling bottles in each group is 12, each group at least meets the sampling requirement of 6 stations, a module group of 12 bottles × 1000ml can be provided with 2 or more groups of modules according to the requirement of a customer, a parallel water pipeline design is adopted, a main pipe 23 connected with a sampling pump 24 is divided into 12 shunt pipes 22 which are connected in parallel and connected to 12 sampling bottles 20 placed in a sampling box, 12 electromagnetic valves 21 respectively control the shunt pipes leading to the 12 sampling bottles, wherein the sampling pump, the sampling bottles, the sampling pipes, pipe joints, valve parts which are contacted with water, and the like are all made of plastics.
The automatic water quality sampler is suitable for realizing fixed-point layered sampling, namely, sampling is carried out by controlling a sampling pump, a pipe coiling machine and the like through a set program, accurate layered sampling is carried out according to sea areas with different depths, and meanwhile, the control of the sampling equipment is combined with an autonomous navigation track of an unmanned ship GPS (global positioning system) to achieve the purpose of fixed-point accurate sampling. The longitude and latitude information, the water depth and other information of the sampling point can be conveniently and accurately recorded.
The metering pump of the sampling large-suction-distance electric diaphragm pump can meet the requirement of taking water with the depth of 10m below the water surface, simultaneously the flow needs to meet the requirement of taking 1L water flow in 20S, the pump body is made of non-metal materials for sampling, and the electromagnetic valves connected to each sampling bottle are controlled to open so as to distribute the samples to 12 sampling bottles of a sampling box according to a set program.
Specifically, can utilize the rolling machine, realize the cloth of sampling pipe and put and retrieve to be equipped with the sampling piping, including sounding probe electric wire, sash weight haulage rope under water and the pipe that absorbs water, adopt the winding pipe to twine into a root canal group with three kinds of pipelines, the pipe that absorbs water adopts three rubber one-line rubber plastic pipes, external diameter 15mm, internal diameter 8 mm.
The utility model discloses in, still be provided with data acquisition system, gather information such as ship position (longitude and latitude), sampling time, sampling depth. The data acquisition system is arranged in the electric control cabinet
Specifically, when fixed-point layered accurate sampling is performed, after a ship plans a course and reaches a sampling point, a water depth parameter of the sampling point is detected through a single wave speed, the water depth parameter is acquired through P L C in a control system, parameters such as the number of the sampling points in a program and corresponding sampling water depth are selected, meanwhile, a servo pipe coiling machine is controlled to receive and release a water pipe, when a water depth pressure sensor senses that the water depth parameter set in the sampling program is reached, a sampling peristaltic pump starts sampling operation according to a set program, and a working flow chart of the sampling peristaltic pump is shown in FIG. 4.
Further, the utility model discloses in, amphibious sampling monitoring ship can also realize following function:
1) bottom layer data display including host rotation speed, electric quantity, posture of the boat and the like; electric quantity alarm and overtime alarm return voyage; loss of signal interruption (return after continuing to complete the mission) returns. And an attitude deceleration alarm function.
2) And (3) navigation control: carrying out intelligent control by adopting general self-driving software; the track setting can be realized on the control interface; modifying the flight path; and (5) remote control.
3) Controlling equipment: remotely controlling the carrying equipment; remote data acquisition (image and data) and geographic information data transmission; processing data; and (6) analyzing the data.
Wherein, the main display interface of the control system contains:
1. the path planning mode module can realize the following path planning modes:
1) planning a boundary route (adopting a frame selection scheme and automatically producing a path by a matrix grid);
2) path planning: clicking a planned path directly from a map;
3) importing the geographic information into the CAD engineering drawing. (CAD leads TXT format, generating longitude and latitude, setting path).
2) Displaying a window in real time on a track: the unmanned ship can set an automatically produced route planning map according to the water area boundary matrix for displaying. Displaying a green identification mark for a completed planning point in the path, and adopting a red identification mark for the completed path;
3) viewing a screen monitoring window: the video monitoring window monitors a rotary picture by a video; a pan-tilt control handle (shown in a handle diagram); a camera shooting and photographing switching button;
4) and a task information window: contains the total number of mission planning points (numerical representation); total number of voyages and percentage of completed work (bar graph representation); the sampling times (numerical representation) of the task at this time; the time of the navigation of the task: (numerical representation);
5) base station status display Window: displaying the electric quantity of the base station; transmitting and receiving signal information;
6) unmanned ship platform information window: displaying the electric quantity of the unmanned ship; real-time latitude and longitude display (numerical display); displaying the signal communication; real-time speed display (numerical display); the rotating speed of the main engine.
7) Hydrological atmosphere display window: and displaying various indexes (digital display) in real time according to the number of the probes and the types of the probes.
The navigation path planning and operation task setting interface of the control system comprises:
1) a path planning interface: generating a planned path on the map according to the planned boundary points and the path points;
2) path setting window: the setting window comprises a boundary point planning button and a path point planning button; arranging matrix setting (with scheme saving and deleting changing scheme function, line number, column number, east-west direction spacing, north-south direction spacing and offshore distance digital setting window);
3) task load setting window: sampling points (sampling amount, sampling depth, number of sampling bottles); monitoring point (monitoring depth).
The control system has a preset task window, and comprises:
1) a path planning interface: generating a planned path on the map according to the planned boundary points and the path points;
2) path setting window: the setting window comprises a boundary point planning button and a path point planning button; arranging matrix setting (with scheme saving and deleting changing scheme function, line number, column number, east-west direction spacing, north-south direction spacing, offshore distance digital setting window)
3) Task load setting window: sampling points (sampling amount, sampling depth, number of sampling bottles); monitoring point (monitoring depth).
The utility model discloses an have following advantage:
1. collecting bottom mud of a target water body: the mud collecting amount is not required, so that the sediment can be conveniently packed and a sample can be conveniently sealed;
2. and (3) collecting a water sample of the target water body, wherein the sampling amount of single operation is 24 × 1L (24kg), and layered depth-fixed water collection and monitoring are realized simultaneously:
3. the online monitoring equipment of the mainstream water body is fully compatible, and covers monitoring indexes such as pH value, dissolved oxygen, temperature, conductivity, total salt content, chlorophyll a, blue-green algae and the like;
4. realizing the acquisition and storage of meteorological physical indexes: wind speed, relative humidity, solar radiation and other auxiliary properties: the system comprises a sensor and other data transmission interface protocols, unmanned ship navigation route planning control and obstacle avoidance functions, a water quality monitoring result forming space analysis function including automatic interpolation, and technical functions of monitoring results and special chart publishing.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.
Claims (4)
1. The utility model provides an amphibious sampling monitoring ship, includes that the unmanned of the autonomous navigation control system's of carrying on of remote control can carry out the sampling monitoring ship of amphibious walking under the drive of numerical control driving system, its characterized in that, the sampling monitoring ship disposes track running gear, and the sampling monitoring ship carries on the multi-parameter appearance that is used for carrying out real-time detection to the sampling quality of water, carries out meteorological monitoring's weather station, camera system to and provide the location and use and the GPS module of autonomous ship line, realize data and signal transmission's wireless communication module with ground control basic station wireless communication, for under the control of high performance industrial grade P L C controller the multi-parameter appearance detects the automatic quality of water fixed point layering sample thief that provides the sampling water, and be provided with the mud ware of getting.
2. An amphibious sampling monitoring boat according to claim 1, wherein the camera system comprises an integrally designed infrared laser illuminator supporting infrared laser light assisted night vision and a rotatable vehicle-mounted camera.
3. An amphibious sampling and monitoring boat according to claim 1, wherein the automatic water sampler comprises sampling bottles, a parallel water pipeline design is adopted, 1 shunt pipe connected in parallel is branched from one main pipeline connected with the sampling pump and is connected to each sampling bottle placed in a sampling box, and electromagnetic valves respectively control the shunt pipes leading to the sampling bottles; wherein, the sampling pump and the sampling bottle which are contacted with water adopt plastic products.
4. An amphibious sampling monitoring craft as claimed in claim 1 wherein the wireless communication module employs a microwave communication system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920973418.9U CN211000798U (en) | 2019-06-26 | 2019-06-26 | Amphibious sampling monitoring boat |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920973418.9U CN211000798U (en) | 2019-06-26 | 2019-06-26 | Amphibious sampling monitoring boat |
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| CN211000798U true CN211000798U (en) | 2020-07-14 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614888A (en) * | 2019-06-26 | 2019-12-27 | 天津市环境保护科学研究院 | Amphibious sampling monitoring boat |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110614888A (en) * | 2019-06-26 | 2019-12-27 | 天津市环境保护科学研究院 | Amphibious sampling monitoring boat |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210615 Address after: 300191 No. 17, rehabilitation Road, Tianjin, Nankai District Patentee after: Tianjin Institute of ecological and Environmental Sciences Address before: No.17, Fukang Road, Nankai District, Tianjin 300321 Patentee before: TIANJIN ACADEMY OF ENVIRONMENTAL SCIENCES |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 300191 No. 17, rehabilitation Road, Tianjin, Nankai District Patentee after: Tianjin Academy of ecological and Environmental Sciences (Tianjin Academy of environmental planning, Tianjin low carbon development research center) Address before: 300191 No. 17, rehabilitation Road, Tianjin, Nankai District Patentee before: Tianjin Institute of ecological and Environmental Sciences |