CN213862592U - Deformable self-stabilizing sampling ship - Google Patents
Deformable self-stabilizing sampling ship Download PDFInfo
- Publication number
- CN213862592U CN213862592U CN202021844964.1U CN202021844964U CN213862592U CN 213862592 U CN213862592 U CN 213862592U CN 202021844964 U CN202021844964 U CN 202021844964U CN 213862592 U CN213862592 U CN 213862592U
- Authority
- CN
- China
- Prior art keywords
- cabin
- manipulator
- ship body
- collection
- ship
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
Landscapes
- Sampling And Sample Adjustment (AREA)
Abstract
The utility model discloses a deformable self-stabilization sampling boat, which comprises a boat body, a collection cabin, a central processing unit, a manipulator clamp replacing table, a sample placing table, a manipulator, a propeller, a transmission antenna, a sonar, a vision module and a slider motor; the collecting cabin is positioned below the ship body and is divided into a left cabin and a right cabin, tracks are arranged on the left cabin and the right cabin, sliding blocks are arranged on the tracks, a driving rod is arranged between the lower parts of the ship body and on the sliding blocks, two ends of the driving rod are respectively hinged with the sliding blocks and the lower parts of the ship body, and sliding block motors are arranged at the hinged parts; the visual module is positioned at the front part of the collection cabin, the sonar is positioned at the lower part of the collection cabin, and propellers are arranged on the two sides and the rear part of the collection cabin; the central processing unit, the sample placing table, the manipulator clamp replacing table, the manipulator and the transmission antenna are all positioned on the ship body. The utility model discloses can carry out water sample collection to the river lake waters pollution condition, provide necessary quality of water data for environmental monitoring.
Description
Technical Field
The utility model relates to a flexible self stabilization sampling ship belongs to water environment monitoring technical field.
Background
With the development of society, environmental problems are more and more emphasized by people, and the water quality safety is closely related to the life of people. Therefore, the water quality safety is guaranteed by sampling and detecting the water body. The traditional water quality sampling is manual sampling, which consumes manpower and has high requirements on the ship body. Although there are related patents for realizing automatic sampling of a sampling boat at present, the influence of the water surface fluctuation of a lake basin under different weather conditions on the automatic sampling boat is not considered, so that the sampling precision is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that needs to solve is not enough to above-mentioned prior art, and provides a flexible self stabilization sampling ship.
In order to solve the technical problem, the utility model discloses a technical scheme is:
a deformable self-stabilizing sampling boat comprises a boat body, a collection cabin, a central processing unit, a manipulator clamp replacing table, a sample placing table, a manipulator, a propeller, a transmission antenna, a sonar, a vision module and a slide block motor, wherein the boat body is provided with a collecting cabin;
the collecting cabin is positioned below the ship body and is divided into a left cabin and a right cabin, the left cabin and the right cabin are opposite in opening, rails perpendicular to the advancing direction of the ship body are arranged on the left cabin and the right cabin respectively, sliding blocks are arranged on the rails, driving rods are arranged between the lower portions of the ship body and the sliding blocks, two ends of each driving rod are hinged with the sliding blocks and the lower portions of the ship body respectively, and sliding block motors are arranged at the hinged positions;
the visual module is positioned at the front part of the collection cabin, the sonar is positioned at the lower part of the collection cabin, and propellers are arranged on the two sides and the rear part of the collection cabin;
the central processing unit, the manipulator clamp replacing table, the manipulator and the transmission antenna are all located on the ship body, and sample placing tables are distributed around the manipulator.
As a further preferable mode, the manipulator gripper replacement table is provided with various types of grippers, and each gripper is provided with a dissolved oxygen sensor, a turbidity sensor and a temperature sensor.
As a further preferred option, the propeller is reversible.
As a further preferred solution, four sample placing tables are distributed around the manipulator.
Compared with the prior art, the utility model discloses accessible human-computer interaction interface carries out real-time supervision and controls the sampling ship to the function situation of sampling ship simultaneously. The utility model discloses extensive be applied to environmental protection department and folk organization and carry out the water sample collection to the rivers lake waters pollution condition, provide necessary quality of water data for environmental monitoring, simultaneously the utility model discloses have higher automation level, thereby can carry out self form self-adaptation change adaptation adverse circumstances sample according to the surface of water condition, also can guarantee the fixed point depthkeeping of quality of water sample.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a deployment process of the collection vessel;
fig. 3 is a top view of the present invention;
fig. 4 is a front view of the present invention;
fig. 5 is a side view of the present invention.
Detailed Description
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The utility model discloses a flexible self stabilization sampling ship, its characterized in that: after being equipped with microprocessor and collecting wireless signal receiving module, satellite navigation module, vision module, water quality sensor module, sonar detection module's signal simultaneously in the sampling ship, microprocessor control manipulator control module, screw control module, hull form control module function, accessible human-computer interaction interface carries out real-time supervision and controls the sampling ship to the operation situation of sampling ship simultaneously.
Structurally, include hull, collection cabin, central processing unit 1, manipulator tong replacement station 2, sample place platform 3, manipulator 4, screw 5, transmission antenna 6, sonar 7, vision module 8, slider motor 9.
Collect the cabin and be located the hull below, collect the cabin and divide into left storehouse and right storehouse, the opening in left storehouse and right storehouse is relative, all be equipped with on left storehouse and the right storehouse with hull direction of advance vertically track, be equipped with the slider on the track, the slider is equipped with the actuating lever between the hull lower part, the actuating lever both ends respectively with between slider and the hull lower part articulated, articulated department all is equipped with slider motor 9.
The central processing unit 1, the manipulator clamp replacing table 2, the manipulator 4 and the transmission antenna 6 are all positioned on the ship body, and four sample placing tables 3 are distributed around the manipulator 4.
The manipulator gripper replacement table 2 is internally provided with grippers of various types, and each gripper is provided with a dissolved oxygen sensor, a turbidity sensor and a temperature sensor.
The propellers 5 can rotate forward and backward, and the propeller control module is connected with the propellers at the side and the stern of the ship and can control the steering and the forward and backward rotation of the propellers.
After a microprocessor is arranged in the sampling ship and simultaneously collects signals of the wireless signal receiving module, the satellite navigation module, the vision module, the water quality sensor module and the sonar detection module, the microprocessor controls the operation of the manipulator control module, the propeller control module and the ship shape control module. Meanwhile, the microprocessor is connected with a wireless signal receiving module, the wireless signal receiving module receives signals transmitted by the man-machine interaction module, and the microprocessor also samples the ship body running condition of the ship and transmits water sample monitoring data to the man-machine interaction module in real time.
The manipulator control module is connected with the manipulator, can control the manipulator to carry out the sampling of quality of water, also can control the manipulator and replace the tong at manipulator tong replacement platform to can place the sample bottle of taking good appearance at the sample and place the platform.
The vision module can automatically identify obstacles such as aquatic weeds and the like on the whole body of the ship side, and the manipulator can automatically clear the obstacles.
The gripper on the mechanical gripper replacement table is provided with a dissolved oxygen sensor, a turbidity sensor and a temperature sensor, can detect data in water in real time, and is connected with a water quality sensing module to transmit data to a central processing unit. The above sensors include, but are not limited to, the above sensors.
The ship body form control module is connected with the sliding block motor, the inclination angle sensor and the three-axis gyroscope, and the posture of the ship body can be automatically adjusted according to the water surface fluctuation condition.
The human-computer interaction module can monitor the position of the sampling ship in real time and can input a GPS positioning point to enable the ship to automatically drive to the positioning point according to the GPS positioning point for sampling; water quality data monitored by a water quality sensing module of a human-computer interaction position real-time monitoring sampling ship, underwater conditions are monitored in real time according to a sonar sensing module, and surrounding conditions of a ship body are monitored in real time according to a visual module
The above-mentioned embodiments further describe the objects, technical solutions and advantages of the present invention in detail, it should be understood that the above description is only the embodiments of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (4)
1. A deformable self-stabilizing sampling vessel, characterized by: comprises a ship body, a collection cabin, a central processing unit (1), a manipulator clamp replacing table (2), a sample placing table (3), a manipulator (4), a propeller (5), a transmission antenna (6), a sonar (7), a vision module (8) and a slide block motor (9);
the collecting cabin is positioned below the ship body and is divided into a left cabin and a right cabin, the openings of the left cabin and the right cabin are opposite, tracks perpendicular to the advancing direction of the ship body are arranged on the left cabin and the right cabin respectively, sliding blocks are arranged on the tracks, a driving rod is arranged between the lower parts of the ship body and each sliding block, two ends of each driving rod are hinged with the corresponding sliding block and the lower part of the ship body respectively, and sliding block motors (9) are arranged at the hinged parts;
the visual module (8) is positioned at the front part of the collection cabin, the sonar (7) is positioned at the lower part of the collection cabin, and propellers (5) are arranged on the two sides and the rear part of the collection cabin;
the central processing unit (1), the manipulator clamp replacing table (2), the manipulator (4) and the transmission antenna (6) are all located on the ship body, and the sample placing table (3) is distributed around the manipulator (4).
2. A deformable self-stabilizing sampling vessel according to claim 1, wherein: the manipulator tong replacing table (2) is internally provided with a plurality of types of tongs, and each tong is provided with a dissolved oxygen sensor, a turbidity sensor and a temperature sensor.
3. A deformable self-stabilizing sampling vessel according to claim 1, wherein: the propeller (5) can rotate positively and negatively.
4. A deformable self-stabilizing sampling vessel according to claim 1, wherein: four sample placing platforms (3) are distributed around the manipulator (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021844964.1U CN213862592U (en) | 2020-08-29 | 2020-08-29 | Deformable self-stabilizing sampling ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021844964.1U CN213862592U (en) | 2020-08-29 | 2020-08-29 | Deformable self-stabilizing sampling ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213862592U true CN213862592U (en) | 2021-08-03 |
Family
ID=77047532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021844964.1U Active CN213862592U (en) | 2020-08-29 | 2020-08-29 | Deformable self-stabilizing sampling ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213862592U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112229674A (en) * | 2020-08-29 | 2021-01-15 | 盐城工学院 | Deformable self-stabilizing sampling ship |
-
2020
- 2020-08-29 CN CN202021844964.1U patent/CN213862592U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112229674A (en) * | 2020-08-29 | 2021-01-15 | 盐城工学院 | Deformable self-stabilizing sampling ship |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110406638B (en) | Unmanned monitoring ship for monitoring water ecology of shallow water marsh wetland and monitoring method thereof | |
| CN203593143U (en) | Wind-solar complementary type unmanned ocean monitoring boat | |
| CN204473093U (en) | Automation auxiliary device handled by a kind of ships and light boats | |
| CN112229674A (en) | Deformable self-stabilizing sampling ship | |
| CN106428495A (en) | Marine unmanned vehicle directly driven by wind energy | |
| CN106695834A (en) | Double-body detection underwater robot device and control method | |
| CN108438178A (en) | A kind of glding type manned device for deep water face dam preservation ＆ testing | |
| CN213862592U (en) | Deformable self-stabilizing sampling ship | |
| CN203958575U (en) | One is search and rescue robot under water | |
| CN109061090A (en) | A kind of live synchronization detecting method and system for Ocean Color Remote Sensing | |
| CN114620188B (en) | Unmanned underwater vehicle autonomous recovery mechanism and recovery method based on double-body unmanned ship | |
| CN103661818A (en) | Unmanned intelligent surveying vessel | |
| CN201872911U (en) | Near-surface automatic mobile monitoring station | |
| CN110001872A (en) | A kind of small-sized water quality monitoring and emergency disposal ship | |
| CN210882533U (en) | Cruise type water quality monitoring ship | |
| NL2030197B1 (en) | A water automatic rescue device | |
| CN205707159U (en) | Hydrologic monitoring high-speed craft | |
| CN112357028B (en) | Aircraft for detecting underwater plants | |
| CN217706215U (en) | Full-autonomous water surface unmanned aerial vehicle take-off and landing carrier | |
| CN215752931U (en) | Offshore floating oil recovery robot | |
| CN208993903U (en) | The voluntary recall device of Quan Haishen unmanned submersible | |
| CN213354801U (en) | Three-revolving-body combined autonomous underwater vehicle | |
| CN114324810B (en) | Novel underwater robot water quality data acquisition device and control method thereof | |
| JPH0457559B2 (en) | ||
| CN214451763U (en) | Underwater dimension data inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |