CN212301517U - Underwater robot and unmanned ship cooperative water quality detection device - Google Patents
Underwater robot and unmanned ship cooperative water quality detection device Download PDFInfo
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- CN212301517U CN212301517U CN202020191037.8U CN202020191037U CN212301517U CN 212301517 U CN212301517 U CN 212301517U CN 202020191037 U CN202020191037 U CN 202020191037U CN 212301517 U CN212301517 U CN 212301517U
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Abstract
The utility model discloses a water quality testing device in coordination with unmanned ship of underwater robot, include: an unmanned ship control system operating on the water surface; an underwater robot control system operating underwater; the water quality acquisition control system is arranged on the underwater robot control system; the underwater robot control system transmits water quality data to the unmanned ship control system through a wired cable, and then the water quality data is transmitted to the ground control center through wireless communication by the unmanned ship control system. The utility model discloses a water quality testing is in coordination with unmanned ship to underwater robot, and the detection mode is nimble various, has solved traditional buoy water quality testing system and can only fixed point detection water quality information, traditional unmanned ship water quality testing system can only detect surface of water quality information problem.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to a water quality testing device in coordination with unmanned ship of underwater robot is related to.
Background
In recent years, with the development of society, water resources and environment pollution become more serious. As is well known, China is a country with serious water shortage, so that the protection of water resource environment is particularly important, wherein water quality detection is a core link of water resource environment protection.
The common water quality detection equipment mainly comprises three types: the buoy type monitoring system can observe the water quality parameters of the area around the buoy at fixed points and transmit the output to an onshore base station. However, the detection range of the buoy type monitoring system is limited, fixed-point detection can be realized only, and maintenance is difficult. The unmanned ship water quality monitoring system can realize autonomous cruising and detect water surface water quality information. However, the unmanned ship water quality monitoring system can only detect water surface information, cannot detect underwater water quality, and cannot comprehensively reflect the overall water quality condition. The underwater robot monitoring system is divided into a wired underwater robot monitoring system and a wireless underwater robot monitoring system. The wired underwater robot is generally connected with a base station by adopting an umbilical cord, so that the moving range of the wired underwater robot is greatly limited, the wired underwater robot cannot detect water quality information in a large range, the wired underwater robot has weak cruising ability, and the wired underwater robot cannot detect the water quality in core areas of large reservoirs and lakes. The wireless underwater robot can realize underwater autonomous cruise monitoring, but a navigation point needs to be planned in advance, flexible detection cannot be realized, and real-time data communication with the outside world is difficult underwater. The patent with publication number CN208255212U discloses a wireless underwater robot water quality monitoring method, which realizes the detection of underwater water quality information, but needs to plan a path for the robot first and send the water quality information to an onshore control center each time the underwater robot floats up the water surface. Patent publication No. CN203502405U discloses a remote control type water quality monitoring underwater robot system, which realizes the monitoring of underwater water quality information, but needs to be operated and controlled by a hand-held remote controller and is connected with a ground control center by a floating cable, so that the monitoring range is very limited.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: in order to overcome the not enough of background art, the utility model discloses a water quality testing device is in coordination with unmanned ship to underwater robot.
The technical scheme is as follows: underwater robot and unmanned ship water quality testing device in coordination, include:
an unmanned ship control system operating on the water surface;
an underwater robot control system operating underwater;
the water quality acquisition control system is arranged on the underwater robot control system;
the underwater robot control system transmits water quality data to the unmanned ship control system through a wired cable, and then the water quality data is transmitted to the ground control center through wireless communication by the unmanned ship control system.
Furthermore, the unmanned ship control system comprises an unmanned ship body, an unmanned ship controller, an unmanned ship battery module, a first wireless communication module, an unmanned ship propelling device and a robot retracting and releasing device, wherein the unmanned ship controller, the unmanned ship battery module, the first wireless communication module, the unmanned ship propelling device and the robot retracting and releasing device are arranged on the unmanned ship body;
the robot retracting and releasing device comprises a mounting frame arranged at the bottom of the unmanned ship body, a telescopic coil assembly arranged on the mounting frame and used for retracting and releasing a rope, and a rope measuring length sensor arranged on the telescopic coil assembly;
the unmanned ship control system further comprises a wired cable channel, one end of the wired cable channel is connected with the unmanned ship controller, and the other end of the wired cable channel is connected with the underwater robot control system
Further, the underwater robot control system comprises a robot body, and a robot controller, a robot propulsion device, a robot battery module and a second wireless communication module which are arranged on the robot body.
Further, the water quality collection control system comprises: the water quality acquisition device comprises a water quality acquisition device box arranged below the robot, a water quality acquisition controller arranged in the water quality acquisition device box, and a water quality acquisition sensor arranged at the bottom of the water quality acquisition device box.
Furthermore, the water quality acquisition sensor comprises a PH value sensor, an ammonia nitrogen sensor, a dissolved oxygen sensor, a turbidity sensor, a salinity sensor and a water temperature sensor.
Has the advantages that: compared with the prior art, the utility model has the advantages that:
(1) the problem that a traditional wired underwater robot water quality monitoring cable is connected with a ground control center, the monitoring range is small, and the water quality information of an integral reservoir and a hubbe cannot be monitored and reflected in a large range is solved by connecting the unmanned ship and the underwater robot through a wired cable;
(2) the underwater robot is pulled by the unmanned ship retracting device, so that the cruising ability of the underwater robot is increased, and the problem of short cruising time of the traditional underwater robot is solved;
(3) through underwater robot and unmanned ship water quality testing in coordination, the detection mode is nimble various, has solved traditional buoy water quality testing system and can only fixed point detection water quality information, traditional unmanned ship water quality testing system can only detect surface of water quality information problem.
Drawings
FIG. 1 is a schematic structural diagram of the unmanned ship control system of the present invention;
FIG. 2 is a schematic structural view of the underwater robot control system and the water quality acquisition control system of the present invention;
FIG. 3 is a flow chart of the present invention;
figure 4 is the function connection diagram of the water quality collection control system of the utility model.
Detailed Description
The technical solution of the present invention will be further explained with reference to the accompanying drawings and examples.
The underwater robot and unmanned ship cooperative water quality detection apparatus shown in fig. 1 and 2 includes:
an unmanned ship control system 1 operating on the water surface;
an underwater robot control system 2 operating underwater;
a water quality acquisition control system 3 arranged on the underwater robot control system;
the underwater robot control system 2 transmits water quality data to the unmanned ship control system 1 through a wired cable, and then the unmanned ship control system 1 transmits the water quality data to the ground control center 4 through wireless communication.
The unmanned ship control system 1 comprises an unmanned ship body 101, an unmanned ship controller 102 arranged on the unmanned ship body 101, an unmanned ship battery module 103, a first wireless communication module 104, an unmanned ship propulsion device 105 and a robot retraction device.
The unmanned ship controller 102 is arranged in an inner cabin of the unmanned ship body 101 and used for controlling the running state of the unmanned ship and processing data;
the unmanned ship battery module 103 is arranged in an inner cabin of the unmanned ship body 101 and provides a power source for the whole control system;
the first wireless communication module 104 is a big Dipper/GPS dual-mode communication module, is arranged at the front end of the unmanned ship body 101, and is used for realizing the self-positioning of the unmanned ship and the data exchange with the ground control center 4 and realizing the data receiving and sending processing;
the unmanned ship propulsion device 105 is positioned at the tail part of the unmanned ship body 101 and is used for realizing autonomous navigation of the unmanned ship;
the robot retracting and releasing device comprises a mounting frame 106 arranged at the bottom of the unmanned ship body 101, a telescopic coil assembly 107 installed on the mounting frame 106 and used for retracting and releasing a rope, and a rope measuring length sensor 108 installed on the telescopic coil assembly 107 and used for detecting the retracting and releasing length of the rope. One end of the rope is connected to the telescopic coil assembly 107, and the other end of the rope is installed on the underwater robot rope connector 110 to control the underwater robot to retract and release.
The underwater unmanned ship further comprises a wired cable channel 109, wherein one end of the wired cable channel 109 is connected with the unmanned ship controller 102, and the other end of the wired cable channel 109 is connected with the robot controller 202 on the underwater robot control system 2, so that real-time communication and data receiving and sending processing between the unmanned ship underwater robots are realized.
The underwater robot control system 2 comprises a robot body 201, and a robot controller 202, a robot propulsion device 203, a robot battery module 204 and a second wireless communication module 205 which are arranged on the robot body 201.
The robot controller 202 is arranged in the inner cabin of the robot body 201 and is used for controlling the running state of the underwater robot and processing data;
the robot propelling devices 203 are respectively arranged at the front end and the rear end of the robot body 201 in two groups and are used for controlling the attitude operation of the underwater robot;
the robot battery module 204 is located inside the robot body 201 and serves as a power source of the whole underwater robot;
the second wireless communication module 205 is also a big dipper/GPS dual mode communication module.
The water quality collection control system 3 includes: a water quality acquisition device box 301 arranged below the robot, a water quality acquisition controller 302 arranged in the water quality acquisition device box 301, and a water quality acquisition sensor 303 arranged at the bottom of the water quality acquisition device box 301.
The water quality acquisition device box 301 is placed at the bottom of the robot body 201;
the water quality acquisition controller 302 is arranged in the water quality acquisition device box 301 and is used for processing data acquired by each water quality acquisition sensor;
the water quality acquisition sensor 303 comprises a PH value sensor, an ammonia nitrogen sensor, a dissolved oxygen sensor, a turbidity sensor, a salinity sensor and a water temperature sensor, and realizes all-dimensional and multi-level measurement in a water quality detection area.
The water quality acquisition sensor 303 and the water quality acquisition controller 302 are communicated by adopting an RS485 protocol to form a communication network of the RS485 communication protocol. The water quality acquisition controller 302 and the robot controller 202 communicate by adopting an RS232 protocol, so that the whole water quality information data acquisition and processing are realized, and finally the water quality information data acquisition and processing are sent to the ground control center 4 for water quality data analysis and processing.
Referring to fig. 3 and 4, the underwater robot and unmanned ship cooperative water quality detection device of the present invention has the following working operation modes:
the unmanned ship control system is powered on, each module is initialized, and the unmanned ship controller 102 waits for an instruction sent by the ground control center 4. The ground control center 4 sets coordinates of a specified detection water area for the unmanned ship according to the water surface satellite map, and the unmanned ship controller 102 calculates a deflection angle required to be adjusted when the unmanned ship runs to the central coordinates of the detection area according to the longitude and latitude coordinates and the terminal coordinates of the unmanned ship at the moment. Meanwhile, the unmanned ship controller 102 determines the steering angle of the unmanned ship according to the relationship between the coordinates of the unmanned ship and the straight line of the starting point, and adjusts the driving direction of the unmanned ship according to the obtained data. The big Dipper/GPS dual-mode communication module controls different rotating speeds of a left motor and a right motor through a differential method to enable the unmanned ship to steer. The unmanned ship controller 102 receives a series of unmanned ship autonomous navigation data and then sends an instruction to prepare autonomous navigation to a set monitoring area. One end of the rope is connected to the unmanned ship control system telescopic coil assembly 7, the other end of the rope is connected to the underwater robot rope connector 110, and when the rope length is detected to be 1m by the rope length measuring sensor 108, a corresponding pin has a level change, which indicates that the unmanned ship can pull the underwater robot to operate normally when the unmanned ship is connected with the underwater robot. The unmanned ship controller 102 starts to control the unmanned ship to autonomously sail to a designated water area after detecting the level change of the pin of the rope length measuring sensor. In the process that the whole unmanned ship sails to a detection area independently, the underwater robot keeps a shutdown state, and the unmanned ship pulls the underwater robot to reach the designated detection area through a rope. Similarly, after the water quality information is collected, the unmanned ship pulls the underwater robot to return to the ground in the same way. By the traction method, the cruising ability of the underwater robot can be effectively enhanced.
After the unmanned ship pulls the underwater robot to reach the specified detection water area, the Beidou/GPS dual-mode communication module sends self-positioning coordinates to the ground control center 4, and the ground control center 4 executes the next operation after receiving the unmanned ship positioning information. And after judging that the position of the unmanned ship is correct, the ground control center 4 sends a starting instruction of the underwater robot through the Beidou/GPS dual-mode communication module. After receiving the instruction, the unmanned ship controller 102 sends the instruction to the underwater robot controller 32 through the wired cable, and at this time, the underwater robot control system is started up, and each module is electrified and initialized.
After receiving the self-positioning information of the unmanned ship, the ground control center 10 sends an instruction to the unmanned ship telescopic part 7, the unmanned ship telescopic part 7 releases the rope, the rope length measuring sensor 6 sends a related instruction to the unmanned ship controller 3 after detecting that the rope is released to a set length, and the unmanned ship controller 3 stops releasing the rope after receiving the instruction and sends the information to the ground control center 10.
After receiving the relevant instruction, the ground control center 10 sends the water area position information to be detected of the underwater robot to the unmanned ship controller 3, the unmanned ship controller 3 packages the data after receiving the instruction and sends the data to the underwater robot controller 202 through a wired cable, and the underwater robot controller 202 controls the underwater robot propulsion device 203 to reach the designated detection area after receiving the instruction. After the underwater robot reaches the designated area, the underwater robot controller 202 sends an instruction to the water quality acquisition controller 302 to start acquiring water quality information.
After the water quality acquisition controller 302 receives the water quality acquisition instruction, each water quality acquisition sensor 303 is powered on and initialized to start water quality information acquisition. The water quality acquisition sensors 303 transmit acquired data to the water quality acquisition controller 302 through an RS485 communication protocol, and the water quality acquisition controller 302 packages the data, attaches a time tag, and transmits the data to the underwater robot controller 202 through an RS232 communication protocol. Meanwhile, the water quality acquisition controller 302 stores the secondary information internally, so that data loss in the data transmission process is prevented. The underwater robot controller 202 sends the information to the unmanned ship controller 102 through a wired cable, and the unmanned ship main controller 102 sends the data information to the ground control center 4 through a big Dipper/GPS dual-mode communication module. The ground control center 4 analyzes and processes the obtained data in real time, and determines the next area needing water quality detection according to the processing result.
The ground control center 4 sends the position information of the next water quality area to be detected to the underwater robot in the same way, the underwater robot performs water quality detection in the same way, and sends the water quality detection data to the ground control center 4 for data analysis and processing in the same way. Through the mode, the water quality detection system is sequentially circulated, and the multipoint water quality detection of the underwater robot can be realized.
After the water quality information of the designated water area is detected, the ground control center 4 sends a shutdown instruction of the underwater robot and sends the return terminal coordinate information to the unmanned ship control system. After receiving the information sent by the ground control center 4, the unmanned ship controller 102 sends an underwater robot shutdown instruction to the underwater robot controller 202. And after receiving the shutdown instruction, the underwater robot controller 202 automatically shuts down the ship, keeps a dead halt state and waits for the traction of the unmanned ship by the rope.
After receiving the shutdown command and the return information, the unmanned ship controller 102 first controls the telescopic member 107 to retract the rope. The rope length sensor 106 sends a command to the drone controller 102 to stop the retraction after detecting a predetermined rope length. And the unmanned ship pulls the underwater robot to return to the return terminal autonomously through various data calculated by the Beidou/GPS dual-mode communication module according to the return terminal position information sent by the ground control coordinate. And finishing the whole water quality detection process.
Claims (5)
1. The utility model provides a water quality testing device is in coordination with unmanned ship to underwater robot which characterized in that includes:
an unmanned ship control system (1) operating on the water surface;
an underwater robot control system (2) operating underwater;
a water quality acquisition control system (3) arranged on the underwater robot control system;
the underwater robot control system (2) transmits water quality data to the unmanned ship control system (1) through a wired cable, and then the unmanned ship control system (1) transmits the water quality data to the ground control center (4) through wireless communication.
2. The underwater robot and unmanned ship cooperative water quality detection device according to claim 1, characterized in that: the unmanned ship control system (1) comprises an unmanned ship body (101), an unmanned ship controller (102) arranged on the unmanned ship body (101), an unmanned ship battery module (103), a first wireless communication module (104), an unmanned ship propelling device (105) and a robot retracting device;
the robot retracting and releasing device comprises a mounting frame (106) arranged at the bottom of the unmanned ship body (101), a telescopic coil assembly (107) arranged on the mounting frame (106) and used for retracting and releasing a rope, and a rope measuring length sensor (108) arranged on the telescopic coil assembly (107);
the underwater robot control system further comprises a wired cable channel (109), one end of the wired cable channel (109) is connected with the unmanned ship controller (102), and the other end of the wired cable channel (109) is connected with the underwater robot control system (2).
3. The underwater robot and unmanned ship cooperative water quality detection device according to claim 1, characterized in that: the underwater robot control system (2) comprises a robot body (201), a robot controller (202), a robot propulsion device (203), a robot battery module (204) and a second wireless communication module (205), wherein the robot controller (202), the robot propulsion device (203), the robot battery module (204) and the second wireless communication module are arranged on the robot body (201).
4. The underwater robot and unmanned ship cooperative water quality detection device according to claim 3, characterized in that: the water quality collection control system (3) comprises: the water quality collection device comprises a water quality collection device box (301) arranged below the robot, a water quality collection controller (302) arranged in the water quality collection device box (301), and a water quality collection sensor (303) arranged at the bottom of the water quality collection device box (301).
5. The underwater robot and unmanned ship cooperative water quality detection device according to claim 4, characterized in that: the water quality acquisition sensor (303) comprises a PH value sensor, an ammonia nitrogen sensor, a dissolved oxygen sensor, a turbidity sensor, a salinity sensor and a water temperature sensor.
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| CN202020191037.8U CN212301517U (en) | 2020-02-21 | 2020-02-21 | Underwater robot and unmanned ship cooperative water quality detection device |
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| CN202020191037.8U CN212301517U (en) | 2020-02-21 | 2020-02-21 | Underwater robot and unmanned ship cooperative water quality detection device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467485A (en) * | 2021-09-03 | 2021-10-01 | 武汉理工大学 | ROV and mother ship cooperative underwater target search path planning and dynamic updating method |
| CN113895580A (en) * | 2021-11-17 | 2022-01-07 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
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2020
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113467485A (en) * | 2021-09-03 | 2021-10-01 | 武汉理工大学 | ROV and mother ship cooperative underwater target search path planning and dynamic updating method |
| CN113895580A (en) * | 2021-11-17 | 2022-01-07 | 国网智能科技股份有限公司 | Communication positioning device and method for cableless autonomous underwater robot |
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