CN203689153U - Overwater exploring and sampling vessel - Google Patents

Abstract

The utility model discloses an overwater exploring and sampling vessel. The exploring and sampling vessel is characterized in that the exploring and sampling vessel is provided with a microprocessor; the microprocessor simultaneously collects real-time information of a vision module, a satellite navigation module and a wireless data transmission unit, and then controls a manipulator motor control unit, a water sampling analysis and undersea physiognomy information recording unit and a propeller driving and posture adjustment control unit; and a power supply and management unit supplies electricity for the whole exploring and sampling vessel. The overwater exploring and sampling vessel can be widely used by environmental protection departments and non-governmental organizations for tasks such as sampling water, monitoring water surface environments and detecting undersea physiognomy, and the like, to detect water pollution of rivers and lakes, thereby providing necessary physiognomy information for environment monitoring and for vessels to drive in water, and guaranteeing safe driving of other vessels. At the same time, the overwater exploring and sampling vessel has a relatively high automation level, can automatically navigate with the help of satellite navigation, is capable for performing on-site analysis on water samples in time, and has the capability of navigating in severe environment.

Description

A water exploration sampling ship

technical field

The utility model relates to the field of design and manufacture of special ships, in particular to a water exploration and sampling ship. the

Background technique

With the continuous progress and development of society, water exploration ships can be seen everywhere in life, but the existing water exploration ships require a lot of unnecessary manual intervention, and cannot realize remote sensing and telemetry for water sample collection and water area monitoring. Geomorphic information and water quality information are collected and monitored. For example, the "wireless remote control automatic sampling and monitoring ship" with the patent application number 201110173075.6, the main function is to complete water sample collection and image monitoring of the water surface, but there is a lack of monitoring of the collected water samples. On-site analysis capabilities, no automatic return function, and lack of ability to work in harsher maritime environments. the

In view of the above problems, a highly automated water exploration and collection ship is provided, which minimizes manual intervention during its work, can conduct on-site analysis of collected water samples in time, and has the ability to navigate in harsh environments. the

Utility model content

The technical problem to be solved by the utility model is to provide a water exploration and sampling ship, which can automatically sail with the help of satellite navigation and conduct on-site analysis of collected water samples in time, and has the ability to sail in harsh environments. the

In order to achieve the above object, the technical solution of the present utility model is a water exploration sampling ship, which is characterized in that: the said exploration sampling ship is equipped with a microprocessor to simultaneously collect the information of the vision module, satellite navigation module and wireless data transmission unit. After real-time information, the microprocessor controls the manipulator motor control unit, water sample collection and analysis and underwater landform information recording unit, propeller drive and attitude adjustment control unit; the power supply and management unit provide power for the entire exploration and sampling ship. the

The microprocessor is connected with a fault diagnosis unit to realize fault diagnosis for each part of the hull. the

The propeller drive and attitude adjustment control unit is equipped with attitude adjustment steering propellers on both sides of the exploration and sampling ship, and forward and steering propellers at the stern. the

The described water sample collection analysis and underwater landform information recording unit comprises that a water sample collector is installed on the mobile platform of the exploration and sampling ship, and the stepper motor controls the motor wheel to drive the collected and lowered steel wire to pass through the lowered port for water sample collection; The sample analysis sensors are located on both sides of the mobile platform, arranged in sequence; a sonar probe is installed at the bottom of the hull. the

The motor control unit of the manipulator is that the mobile platform is also equipped with a manipulator rotating motor to drive the manipulator, and the manipulator is located near the lower opening to move the collected water samples to the water sample analysis sensors on both sides. the

The front end of the manipulator is provided with a joint motor of the manipulator to control the manipulator to pick up the collected water samples. the

The power supply and the management unit are solar panels connected to the system power supply through the voltage stabilizing circuit to supply power for the entire exploration and sampling ship; the voltage stabilizing circuit is connected to the charging circuit and the charging circuit relay to charge the backup battery at the same time, and the backup battery is switched through the power supply The relay is connected to the system power supply. the

The microprocessor is connected with an inclination sensor, a three-axis gyroscope, and an electronic compass to grasp the attitude of the hull in real time. the

The microprocessor is connected with a clock circuit. the

The collection and lowering steel wire passes through the roller sliding mechanism fixed on the bracket to realize water sample collection, and the bracket is fixed on the mobile platform of the hull. the

A water exploration and sampling ship, due to the adoption of the above-mentioned structure, the utility model can be widely used in environmental protection departments and non-governmental organizations to collect water samples for the pollution of rivers and lakes, to monitor the water surface environment and to detect underwater landforms. Monitoring and providing necessary landform information when ships are traveling in waters to ensure the safety of other ships. At the same time, the utility model has a high level of automation, can automatically navigate with the help of satellite navigation and conduct on-site analysis of collected water samples in time, and has the ability to navigate in harsh environments. the

Description of drawings

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail;

Fig. 1 is a structural block diagram of a kind of water exploration and sampling ship of the utility model;

Fig. 2 is the structural representation of a kind of water exploration sampling ship of the utility model;

Fig. 3 is the structural representation of a bow of a kind of water exploration and sampling ship of the utility model;

Fig. 4 is a logical block diagram of a kind of water exploration and sampling ship of the utility model;

Fig. 5 is the software judgment flow chart of a kind of water exploration sampling ship of the utility model;

In Figure 1-5, 1. Mobile platform; 2. Attitude adjustment steering propeller; 3. Water sample collector lowering the stepping motor; 4. Motor wheel; 5. Lower opening; 6. Forward and steering propeller; Rotating motor; 8. Manipulator; 9. Pulley mechanism; 10. Bracket; 11. Collection and lowering steel wire; 12. Sonar probe; 13. Manipulator joint motor; 14. Water sample analysis sensor; 15. Microprocessor; 16. Manipulator Motor control unit; 17. Vision module; 18. Satellite navigation module; 19. Fault diagnosis module; 20. Propeller drive and attitude adjustment control unit; 21. Water sample collection and analysis and underwater landform information recording unit; 22. Wireless data transmission Unit; 23. Power supply and management unit. the

Detailed ways

The utility model is a new type of water exploration and water sample collection ship with self-balancing ability. Through the various water sample analysis sensors 14 on the mobile platform 1, the collected water samples can be analyzed in real time on site, and the The analyzed data is transmitted back to the monitoring room or the monitoring terminal through the wireless data transmission unit 22 . The unique design of the installation position of the propeller enables it to turn in any direction on the spot. With the gyroscope and inclination sensor on the mobile platform 1, the attitude of the mobile platform can be adjusted in real time, so that it can be used in stormy waters such as Sailing and working smoothly on the sea. The sonar probe 12 installed at the bottom of the mobile platform 1 can carry out data collection to underwater landform features in real time, and automatically mark the geographic coordinate information of underwater hidden reefs, etc., to provide useful information for other ships to safely travel in this water area. the

Concretely as shown in Figure 1-5, after the utility model collects the real-time information of vision module 17, satellite navigation module 18, wireless data transmission unit 22 for microprocessor 15 simultaneously, microprocessor 15 controls manipulator motor control unit 16, The water sample collection and analysis and underwater landform information recording unit 21, the propeller drive and attitude adjustment control unit 20 work; the power supply and management unit 23 provides power for the entire exploration and sampling ship. The microprocessor 15 is connected with a fault diagnosis unit 19 to realize fault diagnosis for each part of the hull. the

The propeller drive and attitude adjustment control unit 20 is equipped with attitude adjustment steering propellers 2 on both sides of the exploration and sampling ship, and forward and steering propellers 6 at the stern. the

Water sample collection and analysis and underwater landform information recording unit 21 includes a water sample collector installed on the mobile platform 1 of the exploration sampling ship, and the stepper motor 3 controls the motor wheel 4 to drive the collected steel wire 11 through the lower port 5 for water sampling. Collection; water sample analysis sensors 14 are located on both sides of the mobile platform 1, arranged in sequence; a sonar probe 12 is installed at the bottom of the hull. the

The manipulator motor control unit 16 is also provided with the manipulator rotating motor 7 on the mobile platform 1 to drive the manipulator 8. The manipulator 8 is located near the lower opening 5 and moves the collected water samples to the water sample analysis sensors 14 on both sides. The front end of the manipulator 8 is provided with a manipulator joint motor 13 to control the manipulator 8 to pick up the collected water samples. the

The power supply and management unit 23 is that the solar panel is connected to the system power supply through the voltage stabilizing circuit to supply power for the entire exploration and sampling ship; the voltage stabilizing circuit is connected to the charging circuit and the charging circuit relay to charge the backup battery at the same time, and the backup battery is connected to the battery through the power switching relay. Enter system power. the

The microprocessor 15 is connected with an inclination sensor, a three-axis gyroscope, and an electronic compass to grasp the posture of the hull in real time. The microprocessor 15 is connected to a clock circuit. the

Collecting and lowering the steel wire 11 to pass through the roller-sliding mechanism 9 mechanism fixed on the bracket 10 to realize water sample collection, and the bracket 10 is fixed on the mobile platform 1 of the hull. the

The modules of the new type of water exploration and water sample collection ship are mainly composed of microprocessor control part, sensing part, solar power supply part, remote data transmission and receiving part, sonar probe, gyroscope, fault diagnosis unit, motor control part and so on. The microprocessor control part mainly controls the work of each functional module and processes the data of the sensor and the wireless data transmission module. the

The microprocessor 15 receives the control commands transmitted by the wireless data transmission unit 22, including the coordinate information of the water quality monitoring area and the underwater landform measurement area, setting control parameters and collecting information. Then the microprocessor 15 resolves the control command with the help of the satellite navigation module 18 and the visual module 17 to control the movement of the machine to reach the destination, and perform tasks such as water sample collection and analysis as required, underwater landform information collection and hidden reef geographic location coordinate recording, etc., through wireless The data transmission unit 22 feeds back the information to the remote terminal or computer. In one sampling, the microprocessor 16 controls the water sample collector to lower the stepping motor 3 to lower the water sample collector to the set water depth through the collector lowering steel wire 11, and the water sample collector lowers the stepping motor 3 to stop and execute the water sample. collection. After the collection is completed, the microprocessor 15 classifies the collected samples, and then controls the manipulator 8 to clamp the water sample collector and place it at the designated position of the water sample analysis sensor 14 for water sample analysis. Then continue to collect water samples. Repeat this process until all control commands are executed, and send feedback information to report that the task is completed, and wait for the arrival of the next task. If there is no next task or an automatic return order, then follow the guidance of the navigation system and the electronic compass, and return on the original path under the drive of the forward and steering propeller 6. the

When there is wind and wave interference on the water surface, the microprocessor 15 can use the PID control principle to control the forward and steering propeller 6 through the information fed back by the gyroscope and the inclination sensor. Make adjustments to keep it running smoothly. the

The fault diagnosis unit 19 detects the input signal of the microprocessor 15, and the input signal of the microprocessor 15 is a signal input or output circuit of each functional unit or device. By monitoring the working status of these loops, it is possible to reflect the working status of each part of the system. When a fault occurs, the fault information can be stored separately, and the fault information can be fed back to the controller and maintenance personnel in the form of a short message to solve the fault in time. The battery management system carried by itself can manage the power supply. The battery management system can detect the battery power and charge the battery through solar panels when the power is too low. And carry out the necessary power switching, using solar panels to supply power when the sun is sufficient, and using backup batteries to supply power at night. Therefore, it can meet the requirements of long-term field work. the

The utility model has been exemplarily described above in conjunction with the accompanying drawings. Obviously, the specific implementation of the utility model is not limited by the above method, as long as the various improvements made by the technical solution of the utility model are adopted, or directly applied to other occasions without improvement All are within the protection scope of the present utility model. the

Claims (10)

1. a kind of exploration on water sampling boat, it is characterised in that：Microprocessor is provided with described exploration sampling boat（15）Vision module is collected simultaneously（17）, satellite navigation module（18）, wireless data delivery unit（22）Real time information after, microprocessor（15）Control machinery hand motor control unit（16）, water sampling analysis and subaqua-tic geomorphology information recording unit（21）, propeller driving and pose adjustment control unit（20）Work；Power supply and administrative unit（23）It is powered for whole exploration sampling boat. 

2. a kind of exploration on water sampling boat according to claim 1, it is characterised in that：Described microprocessor（15）It is connected with failure diagnosis unit（19）. 

3. a kind of exploration on water sampling boat according to claim 1, it is characterised in that：Described propeller driving and pose adjustment control unit（20）Both sides for exploration sampling boat are equipped with pose adjustment screw-rudder（2）, quarter is provided with forward and screw-rudder（6）. 

4. a kind of exploration on water sampling boat according to claim 1, it is characterised in that：Described water sampling analysis and subaqua-tic geomorphology information recording unit（21）It is included in the mobile platform of exploration sampling boat（1）Stepper motor is transferred provided with water sampler（3）Controlled motor wheel（4）Drive collection decentralization steel wire（11）Through decentralization mouth（5）Carry out water sampling；Water sample analysis sensor（14）Positioned at mobile platform（1）Both sides, distribution is arranged successively；Hull bottom is simultaneously provided with Sonar Probe（12）. 

5. a kind of exploration on water sampling boat according to claim 1, it is characterised in that：Described manipulator motor control unit（16）For mobile platform（1）On be additionally provided with manipulator electric rotating machine（7）Driving mechanical hand（8）, manipulator（8）Positioned at decentralization mouth（5）Near, the water sample collected is moved to the water sample analysis sensor of both sides（14）On. 

6. a kind of exploration on water sampling boat according to claim 5, it is characterised in that：Described manipulator（8）Front end is provided with manipulator joint motor（13）, control machinery hand（8）Pick up the water sample collected. 

7. a kind of exploration on water sampling boat according to claim 1, it is characterised in that：Described power supply and administrative unit（23）It is that whole exploration sampling boat is powered to be connected to system power supply by mu balanced circuit for solar energy electroplax；Mu balanced circuit connects charging circuit, charge circuit relay and charged to reserve battery simultaneously, and reserve battery passes through power transfer relay access system power supply. 

8. a kind of exploration on water sampling boat according to claim 1, it is characterised in that：Described microprocessor（15）Obliquity sensor, three-axis gyroscope, digital compass are connected with, hull attitude is grasped in real time. 

9. a kind of exploration on water sampling boat according to claim 1, it is characterised in that：Described microprocessor（15）Connect clock circuit. 

10. a kind of exploration on water sampling boat according to claim 4, it is characterised in that：Described collection decentralization steel wire（11）Through being fixed on support（10）On skidding machine（9）Structure realizes water sampling, support（10）It is fixed on the mobile platform of hull（1）On. 

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