JPH08164891A - Unmanned automatic water quality measuring device - Google Patents

Abstract

PURPOSE: To provide a worker saving, labour saving, structurally simple and economic unmanned automatic water quality measuring device which can be speedily moved to a desired measuring position without requiring a boat and a navigator and without a measuring position limited. CONSTITUTION: This device is furnished with a longitudinal and lateral direction propeller attached on a lower part of an unmanned floating body floating on a water surface, a radio position measuring device 10 to measure a position of the floating body attached on the floating body, a suspension wind-up device 7 to suspend a water quality measuring sonde 2 at target depth free to elevate through a cable attached on the floating body and an arithmetic and control unit 6 to output a command signal to move the floating body to a target position by way of computing a position of the floating body by receiving an electric wave from a ground station and a command signal to elevate the water quality measuring zonde. The propeller 9 and the water quality measuring zonde 2 are controlled by an output signal of the arithmetic and control unit 6.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an unmanned automatic water quality measuring device.

[0002]

2. Description of the Related Art For example, as a water quality measuring means in an inner bay, lake pond, etc., conventionally, a portable water quality measuring instrument as shown in a front view and a perspective view of FIG. 5 and a mooring type buoy as shown in a side view of FIG. A known water quality measuring device is known.

[0003]

However, first of all,
In the portable water quality measuring device, when water quality is measured in an inner bay or lake, it is measured at the quay, pier, etc., or while moving on the water surface by boarding a boat. In the case of the former, there is a drawback that the measurement position is limited while the measurement can be performed easily, and in the case of the latter, a boat for measurement and a ship operator are required, which requires a considerable amount of cost and further the measurement point. There is a problem that more manpower is required to accurately grasp the position. Next, in the case of the mooring type buoy type water quality measuring device, it cannot be moved to any place.

The present invention has been proposed in view of such circumstances, and the measurement position is not limited, and it is possible to quickly move to a desired measurement position without requiring a boat and a ship operator. It is an object of the present invention to provide an unmanned automatic water quality measuring device that is labor-saving, labor-saving, simple in structure, and economical.

[0005]

To this end, the present invention is directed to a forward / backward / left / right direction propulsion unit attached to the lower portion of an unmanned floating body that floats on the water surface, and a radio wave position attached to the floating body to measure the position of the floating body. A measuring device, a suspension winding device that is attached to the floating body to suspend the water quality measuring sonde to the target depth via a cable, and a radio wave from the ground station to calculate the position of the floating body and target it. It has a calculation control device that outputs a command signal to move to a position and a command signal to move the water quality measurement sonde up and down, and the propulsion machine and the water quality measurement sonde are controlled by the output signal of the calculation control device. And

[0006]

With this structure, when moving to the position on the water surface where water quality is measured, the propulsion device is operated so that the difference between the floating body position obtained by the radio wave position measuring device and the target position is eliminated, and the floating body is moved. By moving. At that time, the electric position signal from the radio wave type position measuring device is input, and this and the target position signal input and instructed by the operation panel are arithmetically processed by the arithmetic processing device, and the command electric signal to the propulsion device of the floating body is inputted. Is output. Further, the water quality data measured at the measurement position and the measurement depth by the water quality measuring device built in the floating body is received by the ground station by the radio wave transmitted through the antenna.

[0007]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is an overall side view thereof, FIG. 2 is a front view of FIG.
Is a block diagram showing the internal configuration of the control device of FIG. 1, and FIG. 4 is a block diagram showing the internal configuration of the water quality data measuring device of FIG.

1 and 2, reference numeral 1 is a water quality measuring sonde, and the water quality measuring sonde 1 is on the upper surface of the front and rear end portions of a pair of symmetrical lower halves 2 which are immersed in water and extend in the front-rear direction. A cable winding device 7 attached to a platform 4 horizontally supported on the upper ends of four columns 3 having the same diameter and the same length and projecting above the water surface is suspended in the water so as to be able to move up and down. Where lower hull 2
A thruster 8 having a swing-type impeller 9 for forward and backward movement and lateral movement is attached to each of the front and rear ends thereof. Reference numeral 6 denotes a control device attached to the platform 4, which transmits the output of the water quality measuring sonde 1 to the ground station via an antenna (not shown) projecting on the flat form, and is also connected to the ground station as described later. While transmitting and guiding the device of the present invention to the measurement position, it controls the cable winding device 7 to raise and lower the water quality measuring sonde 1 to the target depth. The above-described members and devices cooperate to form a radio wave type water quality measuring floating body (hereinafter referred to as a floating body of the present invention).

Next, the internal structure of the control device 6 of FIG. 2 will be described. In FIG.
The radio wave signal received via 3 is processed and the present position information 21 of the measurement floating body 10 of the present invention is output. 12 is the present invention measurement floating body 1 from the current position information 21 and the water quality measurement target position.
A target position / azimuth setting device that sets the moving target route 22 of 0, and 14 is a gyro that outputs the azimuth angle 23 of the measurement floating body of the present invention. Until the calculation unit 11 reaches the target measurement position, the present position information 21 of the measurement float of the present invention obtained from the measurement float 10 of the present invention, the azimuth 23 output from the gyro 14, and the target position azimuth set position 12 Based on the obtained moving target route 22, the swing angle command signals 32a, 3 of the thrusters 8a, 8b, 8c, 8d of the measurement floating body of the present invention.
2b, 32c and 32d are transmitted to the respective thruster swing angle control motors 33a, 33b, 33c and 33d. Further, the impeller rotation speed command signals 34a, 34b,
34c and 34d are impeller driving motors 35a and 3d.
5b, 35c, 35d. Next, after the measurement floating body of the present invention reaches the target position, the swing angle control signals 32a, 32b, 32c, 32 for holding the position are maintained.
d, impeller rotation speed command signals 34a, 34b, 34
Similarly, c and 34d are output, the water depth command signal 41 is further transmitted to the drive control device 40 for the automatic lifting device, and then the data acquisition command signal 51 is output to the water quality data measurement device 50. When the data acquisition for the water depth is completed in this way, the water depth command signal 41 for the second measurement point is then output to the automatic lifting device control device 40, and similarly, the water quality data measurement device 50 acquires the data. The command signal 51 is output. This operation is repeated for each required water depth at the measurement position. By repeating the above procedure, the thrusters 8a, 8b, 8c, 8c of the measurement floating body of the present invention are based on the moving target route 22 obtained from the target position / azimuth setting device 12.
8d swing angle command signals 32a, 32b, 32c, 32
d is output, and the measuring device of the present invention moves to the next measuring position. In addition, in the storage device 11a of the calculation unit 11, a calculation computer (not shown) downloads a calculation processing program required before the start of measurement. After downloading, continue the measurement while automatically moving the measurement position according to this program. Also, if you want to change the measurement order, or if you want to stop the measurement and issue a command to return to the home position, you can receive an interrupt signal wirelessly via the antennas 13 and 15 for the control unit and measure it remotely from land. It is also possible to change or instruct the mode.

FIG. 4 is a block diagram showing the internal structure of the water quality data measuring device 50 of FIG. 3, in which the dissolved oxygen sensor 60a, the salt concentration sensor 61a, and the water depth sensor are generated by the data acquisition command signal 51 sent from the arithmetic unit 11. 62
a, dissolved oxygen data 60b, salinity concentration data 61b acquired from the flow direction sensor 63a and the flow velocity sensor 64a,
Water depth data 62b, flow direction data 63b, flow velocity data 64
b is sequentially recorded in the storage device 65.

[0011]

According to the water quality measuring device of the present invention as described above, water quality measurement in an inner bay or lake which has required a lot of time in the past is automatically performed by combining a radio wave position measuring device and a small propulsion device. Can be efficiently performed in a short time.

In short, according to the present invention, the front-rear, left-right direction propulsion unit attached to the lower portion of the unmanned floating body which floats on the water surface,
An electric wave type position measuring device attached to the floating body to measure the position of the floating body, a suspension winding device attached to the floating body to suspend the water quality measuring sonde to a target depth via a cable, and a ground station And a calculation control device that outputs a command signal for calculating the position of the floating body by receiving radio waves from and moving it to a target position and a command signal for moving up and down the water quality measuring probe,
By controlling the propulsion unit and the water quality measuring sonde by the output signal of the arithmetic and control unit, the measurement position is not limited, and the boat and the operator are not required to quickly move to the desired measurement position. INDUSTRIAL APPLICABILITY The present invention is extremely useful industrially because it provides an unmanned automatic water quality measuring device that can be moved to a labor-saving labor-saving, simple structure and economical.

[Brief description of drawings]

FIG. 1 is an overall side view showing a water quality measuring device according to an embodiment of the present invention.

FIG. 2 is a front view of FIG.

FIG. 3 is a block diagram showing an internal structure of a control unit of the water quality measuring device of FIG.

FIG. 4 is a block diagram showing an internal configuration of the water quality data measuring device of FIG.

FIG. 5 is a perspective view and a front view showing a conventional portable water quality measuring device.

FIG. 6 is a side view showing a conventional mooring buoy type water quality measuring device.

[Explanation of symbols]

1 Water Quality Measuring Sonde 2 Lower Hull 3 Column 4 Platform 5 Cable 6 Control Device 7 Cable Winding Device 8, 8a, 8b, 8c, 8d Thruster 9 Impeller 10 Radio Wave Water Quality Floating Body (Measuring Floating Body of the Present Invention) 11 Computing Unit 11a Storage Device 12 Target Position / Orientation Setting Device 13 Antenna (For Floating Body Position Control) 14 Gyro 15 Antenna (For Floating Body Depth Control) 21 Position Information 22 Moving Target Route 23 Azimuth Angles 32a, 32b, 32c, 32d Swing Command Signals 33a, 33b, 33c , 33d Swing angle control motors 34a, 34b, 34c, 34d Impeller rotation speed command signal 40 Automatic lift device drive control device (automatic lift device) 50 Water quality data measurement device 51 Data acquisition command signal 60a Dissolved oxygen sensor 61a Salt concentration Sensor 62 Depth sensor 63a current direction sensor 64a flow rate sensor 60b dissolved oxygen data 61b salinity data 62b depth data 63b current direction data 64b velocity data 65 storage device

Claims (1)

[Claims] 1. A front-rear, left-right propulsion unit attached to the bottom of an unmanned floating body that floats on the surface of the water, a radio wave position measuring device attached to the floating unit to measure the position of the floating body, and a cable attached to the floating body. Water quality measurement to the target depth via the suspension winder that suspends the sonde so that it can be moved up and down, and the command signal and the same water quality measurement that receive the radio waves from the ground station to calculate the position of the floating body and move to the target position. An unmanned automatic water quality measuring device, comprising an arithmetic and control unit for outputting a command signal for raising and lowering a sonde, and controlling the propulsion unit and the water quality measuring sonde by an output signal of the arithmetic and control unit.