TW202240159A - Self-propelled water quality sensing apparatus, system and method for operating the same - Google Patents

Abstract

A self-propelled water quality sensing apparatus, a system and a method for operating the apparatus are provided. The system provides a self-propelled water quality sensing apparatus moving on a track. In the method, a driving mechanism is used to drive the self-propelled water quality sensing apparatus operating over an elevated track surrounding one or more pools. The self-propelled water quality sensing apparatus includes a sensor. The sensor is putted into the pool at a planned stop by a putting mechanism of the apparatus for obtaining water quality data of each pool according to a routing plan and a length setting.

Description

Self-propelled water quality sensing device, system and operation method

The specification proposes a water quality sensing technology, especially a self-propelled water quality sensing device, system and operation method that automatically runs on a path.

In the field of aquaculture fishery, water quality management is the most important foundation. Good water quality can increase the catch and obtain high-quality products. If there is a problem with water quality, it will cause great losses to the farmers. Therefore, water quality management has become the most important aspect of aquaculture fishery. one of the subjects.

The water quality data of fishing farms include water temperature, pH, dissolved oxygen, turbidity, etc. Various surrounding things may affect the water quality, so some water quality monitoring technologies have been developed with conventional technologies. Most of the basic water quality monitoring technologies rely on sensors for various water quality data, such as thermometers, pH meters, dissolved oxygen sensors, and optical sensors for measuring turbidity, etc. Further, there are existing technologies with remote monitoring technology.

FIG. 1 shows a schematic diagram of a device for sensing water quality in a fishing pond in the prior art.

This schematic diagram shows a fishing pond 10, wherein a buoyancy device 101 is used to carry the sensing device 103. The buoyancy device 101 is for floating on the water surface of the fishing pond 10, so that the sensing device 103 can be immersed in the water for water quality sensing. This device It can be floated on the fishing pond for continuous water quality measurement, but if it needs to be cleaned or to measure other fishing ponds, personnel need to manually retract the buoy after a period of time, then carry it to another place and sense the water quality in the same way . If the sensor needs to be cleaned or calibrated, the buoy must still be retracted manually to take out the sensor for cleaning and calibration.

The disclosure paper proposes a self-propelled water quality sensing device, system and operation method. Using automation technology, a self-propelled water quality sensing device can automatically sense the water quality in multiple places in one or more pools, which can effectively save on-site manpower and avoid Problems such as human error and the use of multiple sets of sensors to sense data are difficult to calibrate, such as sensing bias.

According to one embodiment, the proposed self-propelled water quality sensing system includes a self-propelled water quality sensing device, the device is provided with a sensing device, and the sensing device is placed in one or more pools by a sensing device delivery mechanism. , used to collect the water quality data of each pool. The system proposes a track, which can be elevated above the pool in a single-track or double-track manner. The self-propelled water quality sensing device runs on the track through a driving mechanism, and can be driven by itself according to a path planning according to the instructions generated by the control circuit. Type water quality sensing device to the planned stopping point to obtain the water quality data of each pool.

Further, the self-propelled water quality sensing system is also provided with a central control center for receiving water quality data collected by a plurality of self-propelled water quality sensing devices installed in different locations.

The system can also include a base station, which is set at a fixed position on the track. When the self-propelled water quality sensing device runs into the base station, the equipment of the self-propelled water quality sensing device can be maintained in the base station, which can effectively ensure The device is functioning normally.

The self-propelled water quality sensing device is provided with a control circuit for controlling the sensing device delivery mechanism to drop the sensing device into each pool, and retract the sensing device after collecting water quality data. The self-propelled water quality sensing device is also equipped with a communication circuit, which can transmit the water quality data to a communication receiving device immediately when the water quality data is sensed, and then send the water quality data back to the central control center through the communication receiving device.

Preferably, in the self-propelled water quality sensing system, the sensing device launching mechanism of the self-propelled water quality sensing device can place the sensing device in each pool according to one or more length settings, so as to collect a or multiple depths of water quality data. Moreover, the path planning includes one or more stops on the track, and each stop is provided with one or more length settings for dropping the sensing device.

After the self-propelled water quality sensing device collects the water quality data of a certain pool, according to the path planning, the control circuit drives the self-propelled water quality sensing device to run to the next stop to collect water quality data through the driving mechanism.

According to the embodiment of the operation method flow of the self-propelled water quality sensing device, at the beginning, after starting the self-propelled water quality sensing device, according to the instructions generated by the control circuit, the driving mechanism drives the self-propelled water quality sensing device to run on the track Above, according to a path planning, the self-propelled water quality sensing device goes to the planned stopping point to obtain the water quality data of each pool.

Furthermore, when the water quality data is sensed, the water quality data is sent to a communication receiving device in real time, and then the water quality data is sent back to the central control center through the communication receiving device.

Further, after the collection of water quality data is completed at each stop, according to the instructions of the control circuit, the sensing device is retracted by the sensing device delivery mechanism, and then the driving mechanism is used to drive the self-propelled water quality sensing device to run to the next stop to collect water quality data.

In order to further understand the features and technical content of the present invention, please refer to the following detailed description and drawings related to the present invention. However, the provided drawings are only for reference and description, and are not intended to limit the present invention.

The implementation of the present invention is described below through specific specific examples, and those skilled in the art can understand the advantages and effects of the present invention from the content disclosed in this specification. The present invention can be implemented or applied through other different specific embodiments, and various modifications and changes can be made to the details in this specification based on different viewpoints and applications without departing from the concept of the present invention. In addition, the drawings of the present invention are only for simple illustration, and are not drawn according to the actual size, which is stated in advance. The following embodiments will further describe the relevant technical content of the present invention in detail, but the disclosed content is not intended to limit the protection scope of the present invention.

It should be understood that although terms such as "first", "second", and "third" may be used herein to describe various elements or signals, these elements or signals should not be limited by these terms. These terms are mainly used to distinguish one element from another element, or one signal from another signal. In addition, the term "or" used herein may include any one or a combination of more of the associated listed items depending on the actual situation.

The disclosure document discloses a self-propelled water quality sensing device, system and operation method. The proposed self-propelled water quality sensing device is a device that can move autonomously for water quality sensing. Various sensors for data can be one or more sensing elements set in a sensing device to sense various water quality data according to the control of the control circuit. The water quality data can be stored in the device or passed through it. The communication circuit transmits the water quality data to the external equipment.

Fig. 2 shows a schematic diagram of a structural embodiment of a self-propelled water quality sensing device.

The figure schematically shows the main mechanism design of the self-propelled water quality sensing device 20. The main body 205 of the self-propelled water quality sensing device 20 is provided with a control circuit, a battery, a data processing circuit, etc. (not described in detail here), and can With a communication circuit supporting a specific communication protocol, the sensing data can be transmitted wirelessly (antenna 207 ) to an external device, or a telecommunication signal can be transmitted through the driving chain 206 .

According to an embodiment, the autonomous operation design of the self-propelled water quality sensing device 20 is mainly to run on the track 200 by driving a driving mechanism (such as a wheel or a round tube) 209 in addition to running on the general ground. One of the implementations is that the drive mechanism 209 is driven by the internal driving power of the self-propelled water quality sensing device 20; The self-propelled water quality sensing device 20 runs on the track 200 (under the operation method proposed in the disclosure document, the driving method is not limited to any form), that is, according to the design of the routing plan (routing plan), it can run autonomously and stop at the predetermined position. Perform water quality sensing at the set stops. According to an embodiment, the sensing device launching mechanism 201 shown in the figure controls the cable 204 according to the length to drop the sensing device 203 into the water 220, and the dropping sensing device 203' entering the water 220 will be controlled according to the main body 205 The internal control signal performs the sensing operation.

In one embodiment, the sensing device launching mechanism 201 of the self-propelled water quality sensing device 20 includes a winch 202 and a cable 204 shown in the figure, the sensing device 203 is fixed by the cable 204, and the sensing device launching mechanism 201 ( Such as a robot arm or a specific lever mechanism) the sensing device 203 is dropped into the water 220 through the winch 202 and the driven cable 204 . Among them, the sensing device 203 can be placed at each stop according to the designed length setting, and the sensing device 203 can be a sensor for sensing specific water quality data, or integrate one or more sensing elements In a sensing device in an assembly, the sensing device 203 is, for example, a pH sensor, a temperature sensor, a conductivity sensor, and a dissolved oxygen sensor.

The data processing circuit in the main body 205 of the self-propelled water quality sensing device 20 is, for example, a central processing unit, which runs an operating system (or system software that can drive related circuits), and can process the obtained water quality data, including data stored in the device. stored in the memory, or transmitted to an external device through a communication circuit. The self-propelled water quality sensing device 20 is provided with a control circuit, which generates control instructions according to the design to control the circuits and mechanisms (such as the drive mechanism 209) in the self-propelled water quality sensing device 20, so that the self-propelled water quality sensing device 20 can Run to the docking point and drive the sensing device 203 to sense the water quality at a specific depth through mechanisms such as the winch 202 and the cable 204, wherein data collection, storage, transmission to external equipment, and retraction of the sensing device (sensing device 203 one) and so on.

Refer to FIG. 3 for an embodiment diagram of the circuit unit in the self-propelled water quality sensing device, in which the functional modules shown include circuits and mechanisms in the self-propelled water quality sensing device 30 .

According to the illustrated embodiment, the self-propelled water quality sensing device 30 is provided with a control circuit 301 electrically connected to each circuit unit in the self-propelled water quality sensing device 30 to control the operation of each circuit unit. The self-propelled water quality sensing device 30 mainly includes a sensing device 309, which is electrically connected to the control circuit 301, and can be arranged on the sensing device delivery mechanism 308. According to the instruction of the control circuit 301, the sensing device delivery mechanism 308 will The sensing device 309 is placed in one or more pools for collecting water quality data of one or more pools.

The sensing device 309 can be a specific sensor, preferably, it can be a device that integrates multiple sensing elements, and the self-propelled water quality sensing device 30 is provided with a driving mechanism 303, such as traditional driving wheels, crawlers, etc. The driving mechanism, but other ways of driving the self-propelled water quality sensing device 30 are not excluded. The driving mechanism 303 is electrically connected to the control circuit 301, and can drive the self-propelled water quality sensing device 30 to run on the track according to the instructions of the control circuit 301, and make the self-propelled water quality sensor 30 run on the track according to a pre-set path plan according to the field to be operated. The water quality sensing device 30 goes to the planned stopping point to obtain the water quality data of each pond.

What is mentioned here is that the path planning can be the control parameters set by the administrator according to the field where the water quality sensing task is to be performed, such as the stops on the track, the depth of the sensing device 30, and the sensor level of each stop. The measurement time, the water quality data to be obtained, and even the setting of regular cleaning of the self-propelled water quality sensing device 30 . If the self-propelled water quality sensing system has a base station as a maintenance device, path planning may include controlling the path and time for the self-propelled water quality sensing device 30 to enter the base station for maintenance (such as cleaning, data transmission, etc.).

The self-propelled water quality sensing device 30 can also be provided with a communication circuit 305, which is electrically connected to the control circuit 301. The communication circuit 305 supports a specific communication protocol, and can transmit the water quality data to a communication receiving device in real time when the device senses the water quality data. , and then send the data back to the central control and management center.

In the self-propelled water quality sensing device 30, the sensing device throwing mechanism 308 that throws the sensing device 309 into the pond can produce an instruction according to the control circuit 301, for example, the instruction can include one or more length settings of each stop point, and the The sensing device 309 is placed in each pool to collect water quality data at one or more depths in each pool.

The self-propelled water quality sensing device 30 is provided with a data processing circuit 307 for performing data processing. When the device obtains various water quality data through the sensing device 309, the data processing circuit 307 subsequently processes these data, including storing the data in the self- The memory of the walking water quality sensing device 30 may be transmitted to an external device through the communication circuit 305 in real time.

The self-propelled water quality sensing device 30 is provided with a power management circuit 311, which can be used to manage the power delivered by the connecting cable, and then supply power to each module of the device. In one embodiment, the power management circuit 311 can be used to manage the operation of the battery in the device; or in another embodiment, the self-propelled water quality sensing device 30 can obtain power from a self-powered rail, so that the power management circuit 311 Manage the power consumption of each circuit and mechanism in the self-propelled water quality sensing device 30 . In one embodiment, when the power management circuit 311 judges that the power of the self-propelled water quality sensing device 30 has dropped to a certain threshold, the control circuit 301 can generate an instruction to control the driving mechanism 303 to drive the self-propelled water quality sensing device 30 to run to The base station is charging.

According to an embodiment, the self-propelled water quality sensing device 30 can run on a track, and the design of the track can be elevated above the pool (sensing target) in a single-track or double-track manner, in addition to providing wheels to drive the self-propelled water quality on the track. In addition to the texture sensing device 30, it is not ruled out that the self-propelled water quality sensing device 30 can be driven to run in a cable pulling manner.

FIG. 4 then shows an embodiment diagram of the architecture of the water quality sensing system using the self-propelled water quality sensing device.

The embodiment shown in the figure shows that the walking water quality sensing system proposes a central control and management center 400, and the central control and management center 400 can connect multiple self-propelled water quality sensing devices 401, 403 operating in different fields through the network 40 , 405, 407, for receiving the water quality data collected by these self-propelled water quality sensing devices 401, 403, 405, 407 located at different positions.

More than one self-propelled water quality sensing device can be operated in each field, for example, in one of the fields, multiple self-propelled water quality sensing devices 401, 403 can be connected to the network 40 through a gateway 411, And transmit the data to the central control and management center 400; the self-propelled water quality sensing devices 405, 407 can be connected to the network 40 through the gateway 412, and the above gateways 411 and 412 operate as a communication receiving device, so that the self-propelled water quality The texture sensing devices 401, 403, 405, 407 can transmit the water quality data to the central control center 400 in real time or after processing, so that the central control center 400 can remotely monitor the water quality of multiple fields. In one embodiment , also can remotely set and control the self-propelled water quality sensing devices 401, 403, 405, 407 running everywhere.

The self-propelled water quality sensing system is equipped with at least one self-propelled water quality sensing device in each terminal field, and obtains the collected data in each field through the sensing device provided by each self-propelled water quality sensing device Water quality data for one or more ponds. The system sets up a track in each field for the operation of the self-propelled water quality sensing device, so that the self-propelled water quality sensing device runs on the track through the driving mechanism, especially, through the path set according to the needs of each field Planning can make the self-propelled water quality sensing device go to the planned stop regularly on the track to obtain the water quality data of each pool.

According to the embodiment of the self-propelled water quality sensing device, in conjunction with the route planning provided by the system and the length setting of each stop point, the embodiment of the related operation method can refer to the flowchart shown in FIG. 5 .

At the beginning, as in step S501, the self-propelled water quality sensing device is placed on the track. After being turned on, as in step S503, the system will initialize the device, and the operating system running therein will confirm that the power, the circuit components of the device, and the mechanism can operate Normally, as in step S505, the sensing device therein may be initialized, which may include cleaning, calibration, setting, etc. initialization.

Next, as in step S507, the operating system running on the self-propelled water quality sensing device generates an instruction through the control circuit, and the driving mechanism drives the self-propelled water quality sensing device to move to the sensing position, as in step S509, through the sensing device delivery mechanism Set the sensing device to a certain depth according to the length, as in step S511, collect water quality data for each pool according to the instruction, follow-up actions as in step S513, the water quality data can be stored, or can be directly transmitted to external devices, such as base stations or central control management In the center, in step S515, the control circuit controls the sensing device release mechanism to retract the sensing device.

According to the judgment of the control circuit, if there is still a next stop, the self-propelled water quality sensing device will be controlled to run to the next stop, and the above steps S507 to S515 and other steps will be executed in the same way.

In subsequent steps, such as in the base station or the central control center, data analysis can be performed based on the water quality data transmitted by the self-propelled water quality sensing devices at each end, and reports can be made, or pushed to the pool manager's device. For example, when an aquaculture operator uses the self-propelled water quality monitoring system proposed in the disclosure document, he can use the software program provided by the system to obtain water quality data, reports, and even warning information provided by the system.

The following lists a variety of applicable fields for the self-propelled water quality sensing device. First, according to the embodiment diagram of the operation of the self-propelled water quality sensing device shown in FIG. 611, 613 of the fishing pond, the system proposes a solution for obtaining water quality data in this field.

It shows a self-propelled water quality sensing device 60 running on an elevated track 610. This example shows that the elevated track 610 is set between two pools 601, 603, so that the self-propelled water quality sensing device 60 can obtain two pools 601, 603 water quality data. In particular, according to the embodiment, the system can propose different water quality sensing requirements for different pools 601, 603, and can propose one or more length settings for each pool, so that the self-propelled water quality sensing device 60 can control the sensing The measuring device throwing mechanism throws the length of the sensing device 600 into each pool 601, 603, so as to collect water quality data at one or more depths in each pool.

Fig. 7 shows another embodiment diagram of the operation of the self-propelled water quality sensing device. This figure shows that a plurality of pools 701, 702, 703, 704 are arranged in one field, and it can be one or more breeding ponds located in one place. Pools, the system sets the track 720 around these pools 701, 702, 703, 704 in a ring-shaped manner, and sets a path plan on the track 720, including multiple stops at each pool 701, 702, 703, 704 One of the track implementations is an elevated track.

This example shows that there are more than one self-propelled water quality sensing devices on the track 720. This example proposes that the first self-propelled water quality sensing device 711 and the second self-propelled water quality sensing device 712 can be individually configured according to one Path planning runs on track 720 . This example also shows that a base station 710 is installed at a fixed position on the track 720. When the first self-propelled water quality sensing device 711 and the second self-propelled water quality sensing device 712 respectively run into the base station 710, maintenance related Equipment, for example, can clean the self-propelled water quality sensing device and sensors, maintain, charge and maintain data at the base station 710 .

According to an embodiment, the base station 710 can also be equipped with a data host, when the self-propelled water quality sensing device obtains water quality data, the water quality data can be transmitted to the base station 710 in real time through the communication circuit therein, or it can be the central host proposed in the above-mentioned embodiment. control center.

Fig. 8 shows another embodiment diagram of the operation of the self-propelled water quality sensing device. This example shows pools 801, 802, 803, 804, 805, 806 arranged in arrays in a field. Similarly, there is a track 820 set around On the pools 801, 802, 803, 804, 805, 806, there is also a self-propelled water quality sensing device 811 and a base station 810 running thereon in a circular manner.

There are stop points 821, 822, 823, 824, 825, 826 corresponding to each pool on the track 820 shown in the figure, and each stop point can be provided with one or more length settings of the delivery sensing device, and the length setting and coverage of these stops The path plans of points 821, 822, 823, 824, 825, and 826 are all stored in the memory of the self-propelled water quality sensing device 811, so that the control circuit can control the self-propelled The position where the water quality sensing device 811 docks and the task of performing water quality sensing includes controlling the sensing device launching mechanism of the self-propelled water quality sensing device 811 to place the sensing device in the pool 801, 802, 803, 804 according to a length, 805, 806 to collect water quality data at one or more depths in each pond.

After the self-propelled water quality sensing device 811 finishes collecting the water quality data of one of the pools, the control circuit can drive the self-propelled water quality sensing device 811 to the next stop to collect water quality data according to the path planning.

The field where the self-propelled water quality sensing device can be applied can also refer to the embodiment diagram shown in Figure 9. The field shown in the figure is provided with multiple pools (represented by the pool numbered 901), in order to be able to Efficiently and automatically perform the water quality sensing operation of multiple pools 901. In this example, two parallel rails 911, 912 are set up above the multiple pools 901, and a self-propelled water quality sensing device 90 is provided, which can use one or The two cantilevers hang the sensing device with cables. In this example, the sensing devices 91 and 92 are hung respectively with two cantilevers, which can sense two of the plurality of pools 901 at the same time, and then installed on the track 911, The driving mechanisms 93 and 94 on the 912 drive the self-propelled water quality sensing device 90 to move above the plurality of pools 901 in a certain linear direction.

The self-propelled water quality sensing device 90 will run according to the path planned by the operation method of the self-propelled water quality sensing device as described in Figure 5, and the system sets each stop point and The time when the sensing devices 91, 92 are put in, the sensing items, the sensing depth, etc., these set values are stored in the memory of the self-propelled water quality sensing device 90, so that the operating system of the self-propelled water quality sensing device 90 The driving mechanism 93, 94 is controlled by the control circuit to drive the self-propelled water quality sensing device 90 to automatically move to multiple sensing positions, and the sensing devices 91, 92 are dropped into the pool 901 according to the settings for sensing operations.

Another form can refer to the embodiment diagram of the operation of the self-propelled water quality sensing device shown in Figure 10, which shows that a self-propelled system running on a single track 107 is set above a plurality of pools (this example is represented by a number 108 pool). The type water quality sensing device 100 can sense the water quality of the lower pool 108 by one or more cantilever suspension sensing devices. This example shows that the self-propelled water quality sensing device 100 is provided with two cantilevers (the description of the relevant mechanism is ignored here) to suspend the sensing devices 105 and 106 respectively, and the self-propelled water quality sensing device 100 itself is driven by a certain A linear direction drive runs on the track 107, and according to the path planning timing, the sensing devices 105, 106 are put into the water pool 108 at fixed points for sensing.

The Self-Propelled Water Quality Sensing Device and Its Operation Method Proposed in the Disclosure Document Next, refer to the diagram of an embodiment of the operation of the self-propelled water quality sensing device shown in FIG. 11 . This example shows a sensing system of a single-arm self-propelled water quality sensing device 110 , and the self-propelled water quality sensing device 110 runs on the track 111 in the figure through its driving mechanism. It should be mentioned here that in addition to driving the self-propelled water quality sensing device 110 to move, the driving mechanism of the self-propelled water quality sensing device 110 also needs to make the self-propelled water quality sensing device 110 move stably on the track 111 through structural design. and through the control circuit to drive the cantilever 119 to extend and turn, and then use the cable 113 to control the length, so as to put the suspended sensing device 115 into each pool 117 (represented by the number 117 pool in this example) Perform a water quality test.

According to an embodiment, the self-propelled water quality sensing device 110 is shown with a single cantilever 119 to suspend the sensing device 115 through a cable 113. According to the path planning and sensing settings, the self-propelled water quality sensing device 110 is driven by a driving mechanism. Stop at each docking point, control the steering (angle) and telescopic length of the cantilever 119, and control the cable 113 to hang the sensing device 115 into the pool 117, which can effectively sense the pool of each pool 117 in a field .

To sum up, according to the embodiments of the above-mentioned self-propelled water quality sensing system, device and operation method, the purpose of sharing one self-propelled water quality sensing device for multiple pools can be achieved, and the self-propelled water quality sensing in each field The device operates with automation technology, and automatically puts the sensing device to a specific location at a specific time to perform sensing operations. Automatic control can avoid human errors, and can also avoid pollution caused by sensors immersed in water (or in a specific environment) for a long time and sensing error. In another advantage, since multiple pools share one self-propelled water quality sensing device, errors caused by multiple sets of sensors used by multiple pools can be avoided.

The content disclosed above is only a preferred feasible embodiment of the present invention, and does not therefore limit the scope of the patent application of the present invention. Therefore, all equivalent technical changes made by using the description and drawings of the present invention are included in the application of the present invention. within the scope of the patent.

10: Fishing pond 101: buoyancy 103: Sensing device 20: Self-propelled water quality sensing device 200: track 220: water 201: Sensing device delivery mechanism 203, 203': Sensing device 205: subject 207: Antenna 209: drive mechanism 202: Hoist 204: cable 206: drive chain 30: Self-propelled water quality sensing device 301: control circuit 303: drive mechanism 305: communication circuit 307: Data processing circuit 308: Sensing device delivery mechanism 309: Sensing device 311: power management circuit 40: Network 400: Central Control Center 411, 412: Gateway 401, 403, 405, 407: Self-propelled water quality sensing devices 60: Self-propelled water quality sensing device 610: elevated track 601, 603: pool 600: Sensing device 611, 613: water truck 701, 702, 703, 704: Pools 711: The first self-propelled water quality detection device 712:Second self-propelled water quality sensing device 710: base station 720: track 801, 802, 803, 804, 805, 806: Pools 821, 822, 823, 824, 825, 826: Stops 811: Self-propelled water quality sensing device 810: base station 820: track 90: Self-propelled water quality sensing device 93, 94: drive mechanism 91, 92: Sensing device 911, 912: track 901: Pool 100: Self-propelled water quality sensing device 105, 106: Sensing device 107: track 108: pool 110: Self-propelled water quality sensing device 111: track 119: Cantilever 115: Sensing device 113: cable 117: pool Steps S501-S515: Operation process of the self-propelled water quality sensing device

Fig. 1 shows the schematic diagram of the sensing equipment installed in the fishery in the prior art;

Fig. 2 shows the schematic diagram of the structural embodiment of self-propelled water quality sensing device;

Fig. 3 shows the embodiment diagram of the circuit unit in the self-propelled water quality sensing device;

Figure 4 shows a diagram of an embodiment of the structure of a water quality sensing system using a self-propelled water quality sensing device;

Fig. 5 shows a flow chart of an embodiment of the operation method of the self-propelled water quality sensing device;

Figure 6 shows one of the embodiment diagrams of the operation of the self-propelled water quality sensing device;

Figure 7 shows the second embodiment diagram of the operation of the self-propelled water quality sensing device;

Figure 8 shows the third embodiment diagram of the operation of the self-propelled water quality sensing device;

Figure 9 shows the fourth embodiment diagram of the operation of the self-propelled water quality sensing device;

Figure 10 shows the fifth embodiment diagram of the operation of the self-propelled water quality sensing device; and

Fig. 11 shows the sixth embodiment diagram of the operation of the self-propelled water quality sensing device.

20: Self-propelled water quality sensing device

200: track

220: water

201: Sensor delivery mechanism

203,203': Sensing device

205: subject

207: Antenna

209: drive mechanism

202: Hoist

204: cable

206: drive chain

Claims (20)

A self-propelled water quality sensing system, comprising: A self-propelled water quality sensing device is provided with a sensing device, and the sensing device is placed in one or more pools by a sensing device delivery mechanism to collect water quality data of the one or more pools; and A track, the self-propelled water quality sensing device runs on the track through a driving mechanism, and according to a path planning, the self-propelled water quality sensing device goes to a planned stopping point to obtain water quality data of each pool. The self-propelled water quality sensing system as described in claim 1 further includes a central control center for receiving water quality data collected by a plurality of self-propelled water quality sensing devices located in different locations. The self-propelled water quality sensing system as described in claim 1, which also includes a base station, which is set at a fixed position on the track, and when the self-propelled water quality sensing device runs into the base station, maintenance of the self-propelled Equipment for walking water quality sensing devices. The self-propelled water quality sensing system as described in Claim 1, wherein the self-propelled water quality sensing device is provided with a control circuit for controlling the sensing device delivery mechanism to drop the sensing device into each pool, and The sensing device is retracted after the collection of water quality data is completed. The self-propelled water quality sensing system as described in Claim 4, wherein the self-propelled water quality sensing device is provided with a communication circuit electrically connected to the control circuit, and when the water quality data is sensed, the water quality data is sent to A communication receiving device, and then the water quality data is transferred from the communication receiving device to a central control center. The self-propelled water quality sensing system according to any one of claims 1 to 5, wherein the sensing device launching mechanism of the self-propelled water quality sensing device launches the sensing device according to one or more length settings In each pond, to collect water quality data at one or more depths in each pond. The self-propelled water quality sensing system as described in Claim 6, wherein the path planning includes one or more stops on the track, and each stop is provided with one or more length settings for launching the sensing device. The self-propelled water quality sensing system as described in claim item 7, wherein, after the self-propelled water quality sensing device collects the water quality data of the pool, according to the path planning, the control circuit drives the self-propelled The walking water quality sensing device runs to the next stop to collect water quality data. The self-propelled water quality sensing system as claimed in item 8, wherein the one or more pools are one or more pools located at one place, and the track is set above the one or more pools with a single track or double track elevated. The self-propelled water quality sensing system as claimed in item 9, wherein the track is arranged around the one or more pools in a circular or linear manner. The self-propelled water quality sensing system as described in claim 10, wherein the self-propelled water quality sensing device hangs one or more of the sensing devices with a single or multiple cantilevers, so as to be dropped into the one or more pools sensing in. A self-propelled water quality sensing device, comprising: A control circuit, electrically connected to each circuit unit in the self-propelled water quality sensing device, to control the operation of each circuit unit; A sensing device, electrically connected to the control circuit, and set on a sensing device delivery mechanism, according to the instructions of the control circuit, the sensing device delivery mechanism is used to place the sensing device in one or more pools for use to collect water quality data for the pond or ponds; and A drive mechanism, electrically connected to the control circuit, drives the self-propelled water quality sensing device to run on a track according to the instructions of the control circuit, and makes the self-propelled water quality sensing device arrive at a planned stop according to a route plan Click to get the water quality data of each pool. The self-propelled water quality sensing device as claimed in claim 12, wherein the driving mechanism is driven by the internal driving power of the self-propelled water quality sensing device. The self-propelled water quality sensing device as described in claim 12, wherein the driving mechanism is a driving chain, that is, the driving chain drives the self-propelled water quality sensing device to run. The self-propelled water quality sensing device as described in claim 12, which is also provided with a communication circuit electrically connected to the control circuit, and when the water quality data is sensed, the water quality data is immediately transmitted to a communication The receiving device further transmits the water quality data to a central control center by the communication receiving device. The self-propelled water quality sensing device as described in any one of claims 12 to 15, wherein the sensing device launching mechanism places the sensing device in each pool according to one or more length settings, so as to collect Water quality data at one or more depths. The self-propelled water quality sensing device as described in claim 16, wherein the sensing device launching mechanism includes a winch and a cable, and the sensing device is fixed by the cable, so as to drop the sensing device into each pool . An operation method of a self-propelled water quality sensing device, comprising: Start a self-propelled water quality sensing device, and drive the self-propelled water quality sensing device to run on a track according to an instruction generated by a control circuit, wherein the self-propelled water quality sensing device is equipped with a sensor device, using a sensing device delivery mechanism to place the sensing device in one or more pools for collecting water quality data of the one or more pools; The stop points obtain the water quality data of each pond. The operation method as described in claim 18, wherein the self-propelled water quality sensing device is provided with a communication circuit, electrically connected to the control circuit, and when the water quality data is sensed, the water quality data is transmitted immediately to a communication receiving device, and then the communication receiving device forwards the water quality data to a central control center. The operation method as described in claim 19, wherein, after the collection of water quality data is completed at each stop, according to the instruction of the control circuit, the sensing device is retracted by the sensing device delivery mechanism, and then the driving mechanism is used to drive the automatic The walking water quality sensing device runs to the next stop to collect water quality data.

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