WO2017181984A1

WO2017181984A1 - Robot capable of collecting water-related data from lakes and sea

Info

Publication number: WO2017181984A1
Application number: PCT/CN2017/081317
Authority: WO
Inventors: 欧志洪
Original assignee: 欧志洪
Priority date: 2016-04-20
Filing date: 2017-04-20
Publication date: 2017-10-26
Also published as: CN105928557A

Abstract

A robot capable of collecting water-related data from lakes and sea. The robot comprises a robot body (1) comprising a floating cavity (11) disposed therein; the floating cavity (11) comprising a water hole and an air vent disposed at a top portion thereof, wherein the water hole is connected to a water tube body (3), and the air vent is connected to an air tube body (4); a circuit layer (12) disposed below the floating cavity (11) and a communication cavity disposed below the circuit layer (12). A data collection circuit is disposed at the circuit layer (12) and comprises a data processing unit, and a water temperature sensor (21), radioisotope detector (22), and a water quality detector (23), and a communication device respectively connected via signals to the data processing unit. The communication device is configured to perform signal communication. The robot can descend to where detection is needed, and perform the detection, acquiring data efficiently and accurately.

Description

Lake and marine water conservancy data collection robot

[0001] The present invention relates to a lake and marine water conservancy data collection robot.

Background technique

[0002] At present, ocean or lake water detection has become an important task of the water conservancy department. Many of these detection methods are limited to sampling and testing in the laboratory. Although this method is low in cost, it is not effective. Mainly because the water in the lake and the sea is flowing, and the environment in the lake is different everywhere. Therefore, if you need to clearly understand the data of the environment in different places in the water, you need to develop a robot that can sneak into the water.

technical problem

Problem solution

Technical solution

[0003] It is an object of the present invention to overcome the above-discussed shortcomings and to provide a lake and marine water data collecting robot.

[0004] In order to achieve the above object, a specific solution of the present invention is as follows: A lake and marine water conservancy data collecting robot includes a robot body, wherein the robot body is provided with a floating cavity; and a top of the floating cavity is provided a water hole and a gas hole, the water hole is connected with a water pipe, the air hole is connected with a gas pipe; a circuit layer is arranged below the floating cavity, a communication cavity is arranged below the circuit layer; and the circuit layer is provided with a data collecting circuit The data collection circuit includes a data processing unit, and a water temperature sensor, a radioisotope detector, a water quality detector, and a communication device for transmitting signals to the outside, respectively, connected to the data processing unit; the water temperature sensor, the radioactive The isotope detector and the water quality detector are all disposed on the outer sidewall of the robot body; the communication device comprises a communication chip and a communication antenna connected thereto, the communication antenna is disposed at the top of the communication cavity; the water temperature sensor, the radioactivity Isotope detectors and water quality detectors will be detected separately The data is transmitted to the data processing unit and the data is transmitted through the communication device.

[0005] Wherein, the antenna includes a pillar, and the pillar body is provided with a plurality of antenna layers, and each antenna layer includes There is a communication vibrator.

[0006] wherein the communication vibrator includes a PCB substrate, and the PCB substrate is provided with a microstrip unit symmetrically arranged vertically;

[0007] Each of the microstrip units includes a main radiant arm having a zigzag shape, one end of the main radiating arm extends vertically with a first extending arm, and the other end of the main radiating arm extends vertically with a second extension The first extending arm extends a hexagonal first radiation band toward a side of the second extending arm, and the second extending arm extends a hexagonal second radiation toward a side of the first extending arm. a third extension arm is connected between the first radiation belt and the second radiation belt;

[0008] The upper and lower sides of the first radiation belt and the upper and lower sides of the second radiation belt are respectively provided with a plurality of hollow structures; each hollow hole includes a circular main hole, and the top end and the low end of the circular main hole respectively a τ-shaped arm extending toward the center of the main hole, a first radiating arm extending from the two free ends of the τ-shaped arm toward the center of the main hole, and a sub-hole separately provided from both sides of the main hole a curved arcuate hole provided outwardly from the free end;

[0009] Further comprising two feed holes disposed on the PCB substrate for transmitting the feed signals, the two feed holes being respectively fed with the τ-shaped arms.

[0010] wherein the number of the hollow structures on each side is 5-8.

[0011] wherein, the first extension arm and the second extension arm both extend obliquely downward toward the inner side and have a second "second partition arm".

[0012] wherein, the free ends of the first extension arm and the second extension arm each extend upwardly with a second radiation arm.

[0013] wherein a side of the first radiating arm away from the first radiating strip is provided with a sawtooth structure.

[0014] wherein the inner side of the second radiating arm is provided with a zigzag structure.

[0015] wherein, the PCB substrate is octagonal, and both ends are connected to the cylinder through the fixed arm.

[0016] wherein the bottom of the robot body is further provided with a propeller for raising the robot;

[0017] wherein the data collection circuit further includes a GPS positioning device, wherein the GPS positioning device is connected to the data processing unit;

[0018] wherein the data collection circuit further includes a storage unit, and the storage unit is connected to the data processing unit signal;

[0019] The data collection circuit further includes a video collection unit, the video collection unit is a camera, and the video collection unit is connected to the data processing unit.

Advantageous effects of the invention Beneficial effect

[0020] Through reasonable design, the sinking detection can be realized, sinking in the place where the detection is needed, and then the detection is performed, so that the detection data is accurate and efficient.

Brief description of the drawing

DRAWINGS

1 is a schematic cross-sectional view of the present invention;

2 is a schematic block diagram of a data collection circuit of the present invention;

3 is a cross-sectional view of an antenna of the present invention;

4 is a plan view of a communication vibrator of the present invention;

Figure 5 is a partial enlarged view of Figure 4;

6 is a return loss test chart of the antenna;

7 is a graph showing the isolation performance test of the present antenna;

8 is a pattern of the antenna at 2.4 GHz;

9 is a pattern of the present antenna at 5.0 GHz;

[0030] The reference numerals in FIGS. 1 to 9 illustrate:

[0031] 1-robot body; 11-floating cavity; 12-circuit layer; 13-propeller; 14-communication antenna; 21-water temperature sensor; 22-radioisotope detector; 23-water quality detector; Unit; 3-water pipe; 4-pipe;

[0032] a-column; al-PCB substrate;

[0033] bl-main radiating arm; b21-first extension arm; b22-second extension arm; b31-first radiation band; b32-second radiation band; M-third extension arm; b5-second partition arm ; b6-second radiation arm;

[0034] b7-circular main hole; b71-sub hole; b72-arc hole; b8-T-arm; b81-first radiation arm.

BEST MODE FOR CARRYING OUT THE INVENTION

The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments, which are not intended to limit the scope of the invention.

[0036] As shown in FIG. 1 to FIG. 9, a lake and marine water conservancy data collecting robot according to this embodiment includes a robot main body 1, and the robot main body 1 is provided with a floating cavity 11; Top of cavity 11 a water hole and a gas hole are disposed, the water hole is connected with a water pipe 3, and the air hole is connected with a gas pipe 4; a circuit layer 12 is disposed under the floating cavity 11, and a communication cavity is disposed under the circuit layer 12; The circuit layer 12 is provided with a data collecting circuit, the data collecting circuit includes a data processing unit, and a water temperature sensor 21, a radioisotope detector 22, and a water quality detector 23 respectively connected to the data processing unit for performing signals with the outside world. a communication device for transmitting; the water temperature sensor 21, the radioisotope detector 2, and the water quality detector 23 are all disposed on an outer sidewall of the robot body 1; the communication device includes a communication chip and a communication antenna 14 connected thereto. The communication antenna 14 is disposed at the top of the communication cavity; the water temperature sensor 21, the radioisotope detector 22, and the water quality detector 23 respectively transmit the detected data to the data processing unit and then transmit the data through the communication device; When sinking, the robot is prevented from corresponding water, and water is injected into the water pipe 3, and the water is floated in the cavity 11 after water injection. It will sink because of the influent water. When it is necessary to raise the enthalpy, as long as the intake air is pressurized in the trachea 4, the water can be drained from the water pipe 3, and the robot will float up; by reasonable design, the sinking type can be realized. Detection, sinking where it is needed to detect, and then detecting, making the detection data accurate and efficient.

In the embodiment of the present invention, a lake and ocean water data collecting robot includes a cylinder a, a plurality of antenna layers are disposed in the cylinder a, and each antenna layer includes a communication vibrator. The communication vibrator includes a PCB substrate a1, and the PCB substrate a is provided with microstrip units symmetrically arranged vertically; each of the microstrip units includes a main-shaped radiation arm bl having a zigzag shape, and the main radiation arm bl The first extension arm _b 21 extends perpendicularly from the other end of the main radiation arm b1, and the second extension arm b22 extends from the second extension arm b22. a first radiating strip b31 of a hexagonal shape, the second extending arm b22 extending from the side of the first extending arm b21 with a hexagonal second radiating strip b32; a first radiating strip _b3 l and a second radiating strip _b32 A third extension arm b4 is disposed between the upper and lower sides of the first radiation belt b31 and the upper and lower sides of the second radiation belt b32; and each hollow hole includes a circular main hole b7, a T-arm b8 extending from the top end and the lower end of the circular main hole b7 toward the center of the main hole, and a first radiating arm b81 extending from the two free ends of the T-arm b8 toward the center of the main hole a sub-hole b71 disposed outwardly on both sides of the main hole, and an arc-shaped arc-shaped hole b72 disposed outward from the free end of the sub-space; The utility model comprises two feeding holes arranged on the PCB substrate a for transmitting the feeding signals, and the two feeding holes are respectively fed with the T-shaped arms b8. Through a large number of microstrip circuit structure design, as well as a large number of simulation experiments and parameter adjustments, the above antenna structure is finally determined; the antenna is federically coupled with multiple antenna layers at the same time. And 5.0GHz showed excellent electrical performance, as shown in Figure 6, the average bandwidth in the vicinity of this band reached 9.65d Bi; and other electrical properties also have excellent results, its return loss in the 2.4-2.48GHZ frequency band and 5. 15 The return loss of the -5.875 GHz band is better than -15 dB; as shown in Figure 7, the isolation is between 2.4-2.48 GHz and 5.15-

The isolation loss in the 5.875 GHz band is better than -20 dB. It proves that the antenna itself has better performance; in addition, the antenna has good directivity, as shown in Fig. 8 and Fig. 9, both of which are omnidirectional antennas. Therefore, it can make the robot transmit signals in the pipeline 1 more stably and efficiently.

[0038] In the lake and ocean water data collection robot described in this embodiment, the number of the hollow structures on each side is 5-8. In the lake and ocean water data collection robot of the embodiment, the first extension arm b21 and the second extension arm b22 both extend obliquely downward toward the inner side and have a second partition arm b5. Radiation arm. In the lake and ocean water data collecting robot of the embodiment, the side of the first radiating arm b81 away from the first radiating zone b31 is provided with a zigzag structure. In the lake and ocean water data collection robot described in this embodiment, the inner side of the second radiation arm b6 is provided with a zigzag structure. In the embodiment of the present invention, a lake and ocean water data collection robot has a PCB substrate with an octagon shape, and both ends are connected to the cylinder a through a fixed arm. Through many experiments, it is found that if the above specifications are met, the performance of the antenna will be more optimized, especially in terms of return loss, the return loss of the band loss in the 2.4-2.48 GHz band and the 5.15-5.875 GHz band are better than -17 dB. .

[0039] The bottom of the robot body 1 is further provided with a propeller 13 for raising the robot; the propeller 13 can help the robot to sink or rise, making the use of the robot more convenient.

[0040] The data collection circuit further includes a GPS positioning device, and the GPS positioning device is connected to the data processing unit signal; the position of the robot can be conveniently located for convenient searching.

[0041] The data collection circuit further includes a storage unit, wherein the storage unit is connected to the data processing unit signal; the storage unit is connected to the central processor signal; the detection signal may be recorded and backed up to prevent data loss.

[0042] The data collection circuit further includes a video capture unit 24, the video capture unit 24 is a camera; the video capture unit 24 is coupled to the data processing unit. It is easy to collect underwater video data.

[0043] The communication antenna is a non-size required antenna, and the above requirements are met as long as the hole and the hole are arranged in the bending direction; but if better stable performance is required, the specific size of the antenna can be optimized as follows: P The size of the CB substrate is based on the column a that can be laterally disposed. The line width of the main radiating arm bl is: 2 mm, the longitudinal arm height of the main radiating arm M is 4.5 mm, the length of the short cross arm in the middle is: 13 mm, and the lengths of the long cross arms of the two sides are respectively: 38 mm; the first extending arm b21 and The second extension arm b22 is the same size, the line width is 2 mm, and the height is 13 mm; the first radiation belt b31 and the second radiation belt b32 are the same size, and the third extension arm b4 in the middle has a line width of: 3 mm, the first radiation belt The connecting arm between b31 and the first extending arm b21 is not required to have a size requirement, and the connecting arm between the second radiating strip and the second extending arm is not required to have a size requirement; the line width of the first radiating strip b31 is 2 mm; The side length is: 14mm, the four oblique sides are 11mm; the circular main hole has a diameter of 1.5mm; the T-shaped arm has a longitudinal length of 0.2mm, and the length of the crossbar is:

0.5mm, the line width is 0.05mm; the line width of the first radiation arm b81 is also 0.05, and the height is not limited.畐 ij hole b71 has a diameter of 0.05 mm, and the curved hole b72 has a line width of 0.03 mm and an inner diameter of 0.1 mm.

The present invention is only a preferred embodiment, and equivalent changes or modifications made to the structures, features, and principles of the present invention are included in the scope of the present invention.

Claims

Claim

[Claim 1] A lake and marine water conservancy data collecting robot, comprising: a robot body (1), wherein the robot body (1) is provided with a floating cavity (11); the floating cavity ( 11) is provided with a water hole and a gas hole at the top, the water hole is connected with a water pipe (3), the air hole is connected with a gas pipe (4); and a circuit layer (1 2) is arranged under the floating cavity (11). A communication cavity is disposed under the circuit layer (12); the circuit layer (12) is provided with a data collection circuit, the data collection circuit includes a data processing unit, and a water temperature sensor separately connected to the data processing unit (21) , a radioisotope detector (22), a water quality detector (23), a communication device for signal transmission with the outside world; the water temperature sensor (21), a radioisotope detector (22), a water quality detector (23) Both are disposed on an outer sidewall of the robot body (1); the communication device includes a communication chip and a communication antenna (14) connected thereto, and the communication antenna (14) is disposed at the top of the communication cavity The water temperature sensor (21), the radioisotope detector (22), and the water quality detector (23) respectively transmit the detected data to the data processing unit and transmit the data through the communication device; the antenna includes a cylinder ( a), the column) is provided with a plurality of antenna layers, each antenna layer includes a communication vibrator; the communication vibrator includes a PCB substrate (al), and the PCB substrate (al) is provided with a top and bottom Symmetrically disposed microstrip units; each of the microstrip units includes a main-shaped radiating arm (M) having a zigzag shape, and one end of the main radiating arm (bl) vertically extends with a first extending arm (b21), The other end of the main radiating arm (b1) extends vertically with a second extending arm (b22); the first extending arm (b21) extends to the side of the second extending arm (b22) with a hexagonal first radiation a belt (b3l), the second extension arm (b22) extending to the side of the first extension arm (b21) with a hexagonal second radiation band (b32); a first radiation band (b31) and a second radiation a third extension arm (b4) is connected between the belts (b3 2); the first radiation The upper and lower sides of (b31) and the upper and lower sides of the second radiation belt (b32) are provided with a plurality of hollow structures; each hollow hole includes a circular main hole (b7), a top end of the circular main hole (b7), and a T-arm (b8) extending from the lower end to the center of the main hole, a first radiating arm (b81) extending from the two free ends of the T-arm (b8) toward the center of the main hole, and two from the main hole Side set separately a secondary hole (b71), an arcuate curved hole (b72) disposed outward from the free end of the secondary air; and a feed hole for transmitting a feed signal disposed on the PCB substrate (al), The two feed holes are respectively fed to the T-arm (b8).

[Claim 2] A lake and marine water data collecting robot according to claim 1, wherein: the number of said hollow structures on each side is 5-8.

[Claim 3] The lake and marine water data collection robot according to claim 1, wherein: the first extension arm (b21) and the second extension arm (b22) both extend obliquely downward toward the inner side. There is a second partition arm (b5).

[Claim 4] A lake and marine water data collection robot according to claim 1, wherein: the free ends of the first extension arm (b21) and the second extension arm (b22) extend upwardly There is a second radiating arm (b6).

[Claim 5] A lake and marine water conservancy data collecting robot according to claim 1, wherein: the first radiating arm (b81) is provided with a zigzag structure on a side away from the first radiating zone (b31) .

[Claim 6] A lake and marine water data collecting robot according to claim 3, wherein the inner side of the second radiating arm (b6) is provided with a zigzag structure.

[Claim 7] A lake and marine water data collecting robot according to claim 1, wherein: the PCB substrate (al) is octagonal, and both ends are connected to the cylinder (a) through the fixing arms.