CN211235830U - Unmanned ship water quality monitoring system - Google Patents
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- CN211235830U CN211235830U CN201922338378.3U CN201922338378U CN211235830U CN 211235830 U CN211235830 U CN 211235830U CN 201922338378 U CN201922338378 U CN 201922338378U CN 211235830 U CN211235830 U CN 211235830U
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Abstract
The utility model discloses an unmanned ship water quality monitoring system, include: the system comprises an unmanned ship, an unmanned ship control module, a water quality sampling module connected with the unmanned ship control module, and an upper computer wirelessly connected with the unmanned ship control module; the unmanned ship is a catamaran formed by combining a first ship body and a second ship body, and the first ship body is connected with the second ship body through a connecting piece; the water quality sampling module comprises: the system comprises a sampling pool, a plurality of sensors arranged on the side wall of the sampling pool and a water pumping device for pumping water samples to the sampling pool, wherein the sampling pool is arranged between catamarans. The utility model has simple structure, convenient combination and installation, and can provide double power and space and effectively prevent side turning; and after a water sample is pumped into the sampling pool, the sensor can detect the water quality on line, and the water sampling device is convenient and quick.
Description
Technical Field
The utility model relates to a water environment monitoring facilities technical field, more specifically say, the utility model relates to an unmanned ship water quality monitoring system.
Background
At present, the water environment monitoring in China mainly comprises: a laboratory monitoring method, a water quality monitoring station monitoring method and a mobile monitoring method.
The laboratory monitoring method requires that a worker collects a water sample to a preset sampling place, and then performs detailed water quality analysis on the water sample in a laboratory and generates a report. Staff mainly uses the mode of leasing the ship to the waters water sampling. The environmental protection department mainly utilizes the method to carry out periodic water quality monitoring and environmental change evaluation. The laboratory monitoring method has the advantages that the accuracy of the measured water quality parameters is high, and the laboratory monitoring method has the disadvantages of long monitoring period, high cost of manpower and material resources consumed in the monitoring process, poor real-time performance and incapability of early warning of sudden water pollution accidents. And the safety of the monitoring environment where the working personnel are located is poor, and the personal safety of the working personnel cannot be effectively guaranteed. On the other hand, the monitoring data obtained by using the method is not suitable for information management.
The monitoring method of the water quality monitoring station is widely used in China. The method needs to build special monitoring stations, and the monitoring work is completed in the respective stations. The monitoring method has the advantages that the monitored data is high in precision and is less influenced by external factors. Water quality monitoring stations are built in secondary water source areas and the periphery of a reservoir by all levels of environmental protection departments in China, and all-weather monitoring is carried out on the water environment transformation ratio of the drinking water source areas. And the water quality monitoring data of each monitoring station is connected to a water environment website of the government, and the citizen class checks the accurate data of the water environment monitoring in real time through the monitoring website. The disadvantages are that site selection is needed to establish a monitoring station, and investment cost required by construction and cost generated by equipment maintenance are large. Moreover, the ecological environment around the water area can be damaged to a certain degree by building the monitoring stations, the range of the water area which can be monitored by a single monitoring station is limited, and the number of the monitoring stations can be increased only when large-scale water areas are monitored.
Therefore, the method is urgently needed to be designed and mainly used for emergency mobile monitoring and periodic water quality safety inspection. One way is that a worker takes a mobile monitoring ship to arrive at a designated site to collect and analyze water resources. The second method is to control a movable platform carrying a water quality detection sensor, move the movable platform to a specified water area, and sample and analyze the water quality. The mobile monitoring has the advantages of low cost, timely measurement, good flexibility, wide coverage range and the like.
The existing movable platform has a complex structure and is inconvenient to install and combine; there is the water sample collection simultaneously and is not convenient enough, and the water sample of gathering is inconvenient takes off the problem of taking away from portable platform, consequently needs to optimize portable platform structure urgently, improves the convenience of equipment, sampling and leaving a sample.
SUMMERY OF THE UTILITY MODEL
It is an object of the present invention to address at least the above-mentioned deficiencies and to provide at least the advantages which will be explained later.
Another object of the utility model is to provide an unmanned ship water quality monitoring system who assembles simple and convenient, sample and leave a kind facility.
In order to realize the utility model discloses a these purposes and other advantages, the utility model provides an unmanned ship water quality monitoring system, include: the system comprises an unmanned ship, an unmanned ship control module, a water quality sampling module connected with the unmanned ship control module, and an upper computer wirelessly connected with the unmanned ship control module;
the unmanned ship is a catamaran formed by combining a first ship body and a second ship body, the first ship body and the second ship body are connected through a connecting piece, and the connecting piece comprises: the ship comprises 1 upper screw and 3 lower screws positioned below the upper screw, wherein the 3 lower screws are parallel to each other and horizontally arranged so that a horizontal installation interval is formed above the 3 lower screws, and two ends of each of the upper screw and the lower screw are detachably connected with the side surfaces of a first ship body and a second ship body respectively;
the water quality sampling module comprises: sampling pond, set up at a plurality of sensors of sampling pond lateral wall and be used for taking out the water sample to the pumping device in sampling pond, the sampling pond sets up between the installation interval is last, the bottom in sampling pond by the screw rod supports down.
In the technical scheme, the unmanned ship is formed by connecting the first ship body and the second ship body through the screw rods, so that the unmanned ship is simple in structure and convenient to assemble and install, and the catamaran can provide double power and space and can effectively prevent side turning; the sampling pool is arranged in the installation interval between the double ship bodies, so that the space can be effectively expanded and utilized, and the stability of the unmanned ship is ensured; after a water sample is pumped into the sampling pool, the sensor can detect the water quality on line, and the water sampling device is convenient and quick.
Preferably, in the unmanned ship water quality monitoring system, the water pumping device comprises a water pipe and a peristaltic pump, one end of the water pipe is connected to the sampling pool, the other end of the water pipe extends downwards to a water source, and the peristaltic pump is connected in series on the water pipe to provide water pumping power.
Preferably, in the unmanned ship water quality monitoring system, the outer sides of the first ship body and the second ship body are respectively provided with a hanging part, and a sample storage bottle is detachably arranged on the hanging part; the hanging part comprises:
a fixing plate fixed to outer sides of the first and second hulls;
the support ring is arranged on the fixing plate and is provided with an arc part which is opened upwards, the arc part forms a space for placing a sample storage bottle, and a rubber layer is arranged on the inner side of the arc part;
the retaining ring is matched with the supporting ring so as to fasten the sample storage bottle in the arc part, and a spring is arranged on the inner side of the retaining ring so as to press the sample storage bottle downwards.
The structural design of hitching part can be with depositing the appearance bottle quick fixation or take out, convenient and fast, and the appearance bottle of depositing is taken off from the hitching part, conveniently takes back to the laboratory and studies, has consequently improved the convenience.
Meanwhile, the sample storage bottles are symmetrically hung on the outer sides of the first ship body and the second ship body, so that the balance and stability of the unmanned ship are guaranteed; for small unmanned vessels, the loading capacity of the unmanned vessel is also increased.
Preferably, in the unmanned ship water quality monitoring system, the unmanned ship control module includes:
a controller; the NI myRIO embedded controller is adopted, NI myRIO onboard resources are rich, and the NI myRIO embedded controller is provided with interfaces such as 40 digital I/O, 8 single-ended analog inputs, 4 single-ended analog outputs, 2 differential analog inputs, 2 ground reference analog outputs, 2 sets of UARTs, 6 PWM, 1 USB, 2 sets of IIC and 6 SPI, and can meet various requirements.
A GPS module connected to the controller; the method selects a NEO-6M type GPS module of U-blox company, and is mainly characterized by low cost, low power consumption, miniaturized packaging and stable positioning precision within a meter range.
An electronic compass disposed at a bow position of the unmanned ship and connected to the controller; the electronic compass is a GY-26 type electronic compass which is a low-cost plane digital compass module and is responsible for determining the angle of the bow of the unmanned ship and matching with automatic navigation. The electronic compass has high precision, good stability and strong anti-interference performance, also has the function of recalibration, and can accurately acquire the azimuth angle at any position.
An ultrasonic ranging sensor which is arranged at the front end of the unmanned ship and is connected with the controller; an AJ-SR04M-T-X type ultrasonic ranging module is selected to be responsible for obtaining the distance between the unmanned ship and the obstacle, the ranging range is 20-8000 cm, the ranging precision can reach 3mm, and the waterproof function is achieved.
A camera disposed on the unmanned ship and connected to the controller; adopt the USB camera to make things convenient for assembly connection and dismantlement.
A drive device connected to the controller;
and the wireless communication module is connected with the controller and can be connected through UART or USB.
Preferably, unmanned ship water quality monitoring system in, wireless communication module is loRa wireless communication module, the host computer also corresponds and is provided with loRa wireless communication module in order to carry out wireless connection. The LoRa has the characteristic of long-distance communication, and has certain advantages in the aspects of hardware cost, system capacity, operation mode, installation maintenance and communication quality.
Preferably, unmanned ship water quality monitoring system in, first hull and second hull set up respectively drive arrangement, drive arrangement includes that the symmetry sets up left driving motor and the right driving motor at the hull afterbody, left driving motor and right driving motor drive left screw and right screw oar respectively, left driving motor and right driving motor respectively with embedded controller electricity is connected. The controller respectively controls the output power of the left and right driving motors so as to keep the unmanned ship running normally.
Preferably, in the unmanned ship water quality monitoring system, the plurality of sensors include: pH/temperature sensor, dissolved oxygen sensor, conductivity/salinity/TDS sensor and turbidity sensor, a plurality of sensors are connected with embedded controller respectively.
Preferably, unmanned ship water quality monitoring system in, the sample storage bottle is through sampling device water pumping sample storage, sampling device includes sampling pipe, peristaltic pump and solenoid valve, and the sampling union coupling is between water source and sample storage bottle, and the peristaltic pump is established ties with the sampling pipe, and the solenoid valve is established ties with the sampling pipe, the peristaltic pump and the solenoid valve of sampling device all with embedded controller connects.
When the water quality sensor works, the controller controls the No. 1 peristaltic pump to work, and water is pumped into the sampling pool with the water quality sensors; all the water quality sensors work in sequence to collect water quality information; and then the controller controls the No. 2 peristaltic pump to work, selects any electromagnetic valve to be opened, and pumps the water body in the sampling pool or the external water source into the corresponding sample storage bottle.
The utility model discloses a host computer can set for planning route and a plurality of target point, and when starting to sample, GPS module work acquires current unmanned ship longitude and latitude coordinate; the electronic compass works to obtain the attitude information of the unmanned ship, and the controller automatically adjusts the navigation direction and then approaches to the target point according to the planned route. The ultrasonic ranging module acquires distance information between the unmanned ship and the obstacle in real time, and if the unmanned ship meets the obstacle, the controller controls the driving device to drive the unmanned ship to bypass the obstacle after the unmanned ship reaches a proper distance between the unmanned ship and the obstacle. The unmanned ship stops navigating after navigating to a target point, the camera is opened, the surrounding water area is photographed, the obtained picture is converted into a hexadecimal character string and is transmitted to the upper computer through the wireless communication module, and the upper computer processes the hexadecimal character string to restore a real scene photo. During sampling, the controller controls the peristaltic pump to pump water samples into the sampling pool with various water quality sensors, the various water quality sensors work in sequence to acquire and analyze water quality information, and the information is transmitted to the upper computer through the wireless communication module to be displayed in real time. The detected water body is pumped into the sample storage bottle from the sampling pool for sample storage, so that subsequent detection of other quality indexes of the water body is provided. After all the work is finished, the unmanned ship returns.
The utility model discloses at least, include following beneficial effect:
the unmanned ship of the utility model is formed by connecting the first ship body and the second ship body through the screw rods, on one hand, the unmanned ship has simple structure and is convenient for combination and installation, and on the other hand, the catamaran can provide double power and space and can effectively prevent side turning; the sampling pool is arranged in the installation interval between the double ship bodies, so that the space can be effectively expanded and utilized, and the stability of the unmanned ship is ensured; after a water sample is pumped into the sampling pool, the sensor can detect the water quality on line, and the water sampling device is convenient and quick.
The utility model discloses a structural design of hitching part can be with depositing the appearance bottle quick fixation or take out, convenient and fast, and the appearance bottle of depositing is taken off from the hitching part, and the convenience is taken back to the laboratory and is studied, has consequently improved the convenience. Meanwhile, the sample storage bottles are symmetrically hung on the outer sides of the first ship body and the second ship body, so that the balance and stability of the unmanned ship are guaranteed; for small unmanned vessels, the loading capacity of the unmanned vessel is also increased.
The utility model discloses an unmanned ship water quality monitoring system hardware is easy, the installation is convenient with the maintenance, and easy operation can avoid complicated bottom hardware design and software programming, saves a large amount of costs and time.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Fig. 1 is a schematic structural view of the unmanned ship water quality monitoring system of the present invention;
fig. 2 is a schematic top view of the unmanned ship according to the present invention;
fig. 3 is a schematic front structural view of the unmanned ship according to the present invention;
fig. 4 is a schematic structural diagram of the sampling cell according to the present invention;
fig. 5 is a schematic structural view of the hanging part of the present invention;
FIG. 6 is a frame diagram of the unmanned water quality monitoring system of the present invention;
fig. 7 is a frame diagram of the unmanned ship control module according to the present invention;
fig. 8 is a frame diagram of the water quality sampling module of the present invention.
Detailed Description
The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.
As shown in fig. 1 to 8, a water quality monitoring system for an unmanned ship includes:
an unmanned ship 1; the catamaran is formed by selecting ship models with proper sizes as a first ship body 2 and a second ship body 3, combining the first ship body 2 and the second ship body 3, and connecting the first ship body 2 and the second ship body 3 through a connecting piece, wherein the connecting piece comprises: the ship comprises 3 lower screw rods 15 positioned below and 1 upper screw rod 16 positioned above the lower screw rods, wherein the 3 lower screw rods 15 are horizontally arranged at equal intervals so that a horizontal installation interval is formed above the 3 screw rods, and two ends of the upper screw rods 16 and two ends of the lower screw rods 15 are detachably connected with the side surfaces of the first ship body 2 and the second ship body 3 respectively; specifically, each screw rod is matched with a butterfly nut through a gasket to realize detachable connection with the ship body, and meanwhile water leakage is prevented.
An unmanned ship control module; the unmanned ship 1 is used for controlling navigation and sampling of the unmanned ship 1 and can be selectively arranged on the first ship body 2 or the second ship body 3.
The water quality sampling module is connected with the unmanned ship control module; as shown in fig. 3 and 4, the water quality sampling module includes: sampling cell 17, set up at a plurality of sensors 18 of sampling cell 17 lateral wall and be used for taking out the water sample to the pumping device of sampling cell 17, sampling cell 17 can use the box to make, and the box is inside to have the space that holds the water sample, sampling cell 17 sets up on the installation interval that 3 lower screw rods top formed, the bottom in sampling cell 17 by lower screw rod supports, and the lateral part or the top in sampling cell 17 are connected fixedly with upper screw rod 16.
The upper computer is in wireless connection with the unmanned ship control module; the upper computer has a good man-machine interaction interface, and the upper computer can observe water quality parameters on line, so that the on-line monitoring of the water quality is completed; the upper computer can also set a route of the unmanned ship, so that the unmanned ship can achieve a specific sampling point according to a specific route to collect a water sample; the upper computer can also control the water quality sampling module to work and close through the unmanned ship control module.
Further, pumping device includes water pipe and peristaltic pump, water pipe one end is connected to sampling pond 17, and the other end stretches to the water source of unmanned ship 1 below downwards, the peristaltic pump is established ties on the water pipe in order to provide pumping power, just so can take out the water sample in the sampling pond.
Further, the outer sides of the first ship body 2 and the second ship body 3 are respectively provided with a hanging part 4, and sample storage bottles are detachably arranged on the hanging parts 4; as shown in fig. 5, the hanging part 4 includes:
a fixing plate 10 fixed to the outer side portions of the first and second hulls 2 and 3;
a support ring 11 disposed on the fixing plate 10, wherein the support ring 11 has an arc portion opened upward, the arc portion forms a space for placing a sample bottle, and a rubber layer 13 is disposed inside the arc portion;
a retaining ring 12 cooperating with said support ring 11 to fasten the vial in the arc, said retaining ring being provided inside with a spring 14 to press the vial downwards. The end of the retaining ring 12 is provided with a buckling block matched with the supporting ring 11.
The structural design of hitching part 4 can be with depositing the appearance bottle quick fixation or take out, convenient and fast, and the appearance bottle of depositing is taken off from the hitching part, conveniently takes back to the laboratory and studies, has consequently improved the convenience.
Meanwhile, the sample storage bottles are symmetrically hung on the outer sides of the first ship body and the second ship body, so that the balance and stability of the unmanned ship are guaranteed; for small unmanned vessels, the loading capacity of the unmanned vessel is also increased.
Further, the unmanned ship control module includes:
a controller; the NI myRIO embedded controller is adopted, NI myRIO onboard resources are rich, and the NI myRIO embedded controller is provided with interfaces such as 40 digital I/O, 8 single-ended analog inputs, 4 single-ended analog outputs, 2 differential analog inputs, 2 ground reference analog outputs, 2 sets of UARTs, 6 PWM, 1 USB, 2 sets of IIC and 6 SPI, and can meet various requirements.
A GPS module 5 provided on the unmanned ship and connected to the controller; the method selects a NEO-6M type GPS module of U-blox company, and is mainly characterized by low cost, low power consumption, miniaturized packaging and stable positioning precision within a meter range.
An electronic compass 6 provided at a bow position of the unmanned ship 1 and connected to the controller; the electronic compass 6 is a GY-26 type electronic compass which is a low-cost plane digital compass module and is responsible for determining the angle of the bow of the unmanned ship and cooperating with automatic navigation. The electronic compass has high precision, good stability and strong anti-interference performance, also has the function of recalibration, and can accurately acquire the azimuth angle at any position.
An ultrasonic ranging sensor 8 which is provided at the front end of the unmanned ship 1 and connected to the controller; an AJ-SR04M-T-X type ultrasonic ranging module is selected to be responsible for obtaining the distance between the unmanned ship and the obstacle, the ranging range is 20-8000 cm, the ranging precision can reach 3mm, and the waterproof function is achieved. When the obstacle is detected, the controller myRIO on the unmanned ship 1 automatically controls the driving device to adjust the unmanned ship to avoid the obstacle, then the route is planned again to move forward towards the target point, and the whole obstacle avoiding process is independently completed by the unmanned ship controlled by the myRIO.
A camera 7 provided on the unmanned ship 1 and connected to the controller; adopt the USB camera to make things convenient for assembly connection and dismantlement. After the unmanned ship 1 arrives at the water sample collection point, the controller can control the camera 7 to shoot the surrounding environment, and the shot image is processed by the controller and then uploaded to the upper computer through wireless transmission, so that the upper computer can directly see the surrounding environment condition of the unmanned ship.
A drive device connected to the controller; the driving device can change the moving speed of the unmanned ship and also can keep or change the running direction of the unmanned ship.
And the wireless communication module 9 is connected with the controller and can be connected through UART (universal asynchronous receiver/transmitter) or USB (universal serial bus) so as to carry out communication between the upper computer and the unmanned ship.
Further, wireless communication module is loRa wireless communication module, also correspond on the host computer and be provided with loRa wireless communication module in order to carry out wireless connection. The LoRa has the characteristic of long-distance communication, and has certain advantages in the aspects of hardware cost, system capacity, operation mode, installation maintenance and communication quality.
Further, first hull 2 and second hull 3 set up respectively drive arrangement, drive arrangement includes that the symmetry sets up left driving motor and the right driving motor at the hull afterbody, and left driving motor and right driving motor drive left screw and right screw propeller respectively, left side driving motor and right driving motor respectively with embedded controller electricity is connected. The controller respectively controls the output power of the left and right driving motors so as to keep the unmanned ship running normally. The left propeller and the right propeller are symmetrically arranged in a splayed manner, so that when the running power of the left driving motor and the running power of the right driving motor are different, the unmanned ship can be driven to steer to change a navigation route.
Further, the plurality of sensors 18 includes: a pH/temperature sensor, a dissolved oxygen sensor, a conductivity/salinity/TDS sensor and a turbidity sensor, wherein the sensors 18 are respectively connected with the embedded controller.
Further, the sample storage bottle is pumped through the sampling device to store samples, the sampling device comprises a sampling pipe, a peristaltic pump and an electromagnetic valve, the sampling pipe is connected between the sampling pool and the sample storage bottle, the peristaltic pump is connected with the sampling pipe in series, the electromagnetic valve is connected with the sampling pipe in series, and the peristaltic pump and the electromagnetic valve of the sampling device are connected with the embedded controller. When the sample storage bottle is provided with a plurality of sample storage bottles, each sample storage bottle is respectively connected with a set of sampling devices.
The controller controls a No. 1 peristaltic pump (a peristaltic pump of the sampling pool) to work, and water is pumped into the sampling pool with each water quality sensor; all the water quality sensors work in sequence to collect water quality information; and then the controller controls a No. 2 peristaltic pump (a peristaltic pump of the sampling device) to work, the electromagnetic valve of any sample storage bottle is selected to be opened, and the water body in the sampling pool is extracted into the corresponding sample storage bottle.
Example 1
The upper computer sets a planned route and a plurality of target sampling points, and when the unmanned ship starts to sample, the GPS module works to acquire the longitude and latitude coordinates of the current unmanned ship; the electronic compass works to obtain the attitude information of the unmanned ship, and the controller automatically adjusts the navigation direction and then approaches to the target point according to the planned route. The ultrasonic ranging module acquires distance information between the unmanned ship and the obstacle in real time, and if the unmanned ship meets the obstacle, the controller controls the driving device to drive the unmanned ship to bypass the obstacle after the unmanned ship reaches a proper distance between the unmanned ship and the obstacle. The unmanned ship stops navigating after navigating to a target point, the camera is opened, the surrounding water area is photographed, the obtained picture is converted into a hexadecimal character string and is transmitted to the upper computer through the LoRa wireless communication module, and the upper computer processes the hexadecimal character string to restore a real field photo. During sampling, the controller controls the peristaltic pump to pump water samples into the sampling pool with various water quality sensors, the various water quality sensors work in sequence to acquire and analyze water quality information, and the information is transmitted to the upper computer through the wireless communication module to be displayed in real time.
Example 2
The upper computer sets a planned route and a plurality of target sampling points, and when the unmanned ship starts to sample, the GPS module works to acquire the longitude and latitude coordinates of the current unmanned ship; the electronic compass works to obtain the attitude information of the unmanned ship, and the controller automatically adjusts the navigation direction and then approaches to the target point according to the planned route. The ultrasonic ranging module acquires distance information between the unmanned ship and the obstacle in real time, and if the unmanned ship meets the obstacle, the controller controls the driving device to drive the unmanned ship to bypass the obstacle after the unmanned ship reaches a proper distance between the unmanned ship and the obstacle. The unmanned ship stops navigating after navigating to a target point, the camera is opened, the surrounding water area is photographed, the obtained picture is converted into a hexadecimal character string and is transmitted to the upper computer through the LoRa wireless communication module, and the upper computer processes the hexadecimal character string to restore a real field photo. When sampling, the controller controls the No. 1 peristaltic pump to work, and water below the unmanned ship is pumped into a sampling pool with each water quality sensor; all the water quality sensors work in sequence to collect water quality information; and then the controller controls the No. 2 peristaltic pump to work, selects any electromagnetic valve to be opened, and extracts the water body in the sampling pool, enters the corresponding sample storage bottle to be stored so as to provide subsequent detection for other quality indexes of the water body. After all the work is finished, the unmanned ship returns.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the applications listed in the specification and the examples. It can be applicable to various and be fit for the utility model discloses a field completely. Additional modifications will readily occur to those skilled in the art.
Claims (8)
1. An unmanned ship water quality monitoring system, comprising: the system comprises an unmanned ship, an unmanned ship control module, a water quality sampling module connected with the unmanned ship control module, and an upper computer wirelessly connected with the unmanned ship control module;
the unmanned ship is a catamaran formed by combining a first ship body and a second ship body, the first ship body and the second ship body are connected through a connecting piece, and the connecting piece comprises: the ship comprises 1 upper screw and 3 lower screws positioned below the upper screw, wherein the 3 lower screws are parallel to each other and horizontally arranged so that a horizontal installation interval is formed above the 3 lower screws, and two ends of each of the upper screw and the lower screw are detachably connected with the side surfaces of a first ship body and a second ship body respectively;
the water quality sampling module comprises: sampling pond, set up at a plurality of sensors of sampling pond lateral wall and be used for taking out the water sample to the pumping device in sampling pond, the sampling pond sets up between the installation interval is last, the bottom in sampling pond by the screw rod supports down.
2. The unmanned ship water quality monitoring system of claim 1, wherein the water pumping device comprises a water pipe and a peristaltic pump, one end of the water pipe is connected to the sampling pool, the other end of the water pipe extends downwards to a water source below the unmanned ship, and the peristaltic pump is connected in series on the water pipe to provide water pumping power.
3. The unmanned ship water quality monitoring system of claim 2, wherein the outer sides of the first ship body and the second ship body are respectively provided with a hanging part, and a sample storage bottle is detachably arranged on the hanging parts; the hanging part comprises:
a fixing plate fixed to outer sides of the first and second hulls;
the support ring is arranged on the fixing plate and is provided with an arc part which is opened upwards, the arc part forms a space for placing a sample storage bottle, and a rubber layer is arranged on the inner side of the arc part;
the retaining ring is matched with the supporting ring so as to fasten the sample storage bottle in the arc part, and a spring is arranged on the inner side of the retaining ring so as to press the sample storage bottle downwards.
4. The unmanned ship water quality monitoring system of claim 3, wherein the unmanned ship control module comprises:
an embedded controller;
a GPS module connected to the embedded controller;
an electronic compass disposed on the unmanned ship and connected to the embedded controller;
the ultrasonic ranging sensor is arranged on the unmanned ship and connected with the embedded controller;
the camera is arranged on the unmanned ship and is connected with the embedded controller;
the driving device is connected with the embedded controller;
and the wireless communication module is connected with the embedded controller.
5. The unmanned ship water quality monitoring system of claim 4, wherein the wireless communication module is a LoRa wireless communication module, and the upper computer is also correspondingly provided with the LoRa wireless communication module for wireless connection.
6. The unmanned ship water quality monitoring system of claim 5, wherein the driving device is disposed on each of the first ship body and the second ship body, the driving device comprises a left driving motor and a right driving motor symmetrically disposed on the tail portion of the ship body, the left driving motor and the right driving motor respectively drive the left screw propeller and the right screw propeller, and the left driving motor and the right driving motor are respectively electrically connected with the embedded controller.
7. The unmanned marine vessel water quality monitoring system of claim 6, wherein the plurality of sensors comprises: pH/temperature sensor, dissolved oxygen sensor, conductivity/salinity/TDS sensor and turbidity sensor, a plurality of sensors are connected with embedded controller respectively.
8. The unmanned ship water quality monitoring system of claim 7, wherein the sample bottle is pumped through a sampling device for sample storage, the sampling device comprises a sampling pipe, a peristaltic pump and a solenoid valve, the sampling pipe is connected between the water source and the sample bottle, the peristaltic pump is connected in series with the sampling pipe, the solenoid valve is connected in series with the sampling pipe, and the peristaltic pump and the solenoid valve of the sampling device are both connected with the embedded controller.
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| CN112394187A (en) * | 2020-12-30 | 2021-02-23 | 安徽中科大赛悟科技有限公司 | Water quality sampling detection system based on unmanned ship |
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