CN103287549B - A kind of smart water quality monitoring clears up ship with the water surface - Google Patents
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Abstract
The present invention relates to water quality monitoring and the water surface clears up field, disclose the monitoring of a kind of smart water quality and clear up ship with the water surface, comprise solar powered module, the water surface cleaning module, power train control module, water quality data acquisition module, primary processor, wireless transport module, GPS global positioning module, automatic navigation module, intelligent barrier avoiding module and remote control terminal.The present invention is applied to a field new energy technology, embedded platform development technique, long-distance transmissions and control technology, sensing technology and mechanical power Integration ofTechnology---and water quality monitoring and protection, be made into monitoring ship and the cleaning ship of automation and integration.
Description
Technical field
The present invention relates to water quality monitoring and the water surface clears up field, specifically a kind of smart water quality monitoring clears up ship with the water surface.
Background technology
Water pollution problem becomes the very important problem of society.Traditional water quality monitoring means are laboratory manual analytical methods, and can not detect in real time, complex operation, work capacity is large; Artificial pumped surface rubbish labour intensity is large, and efficiency is low, and can not operation under the harsies environment such as nuclear pollution, has been not suitable for the growth requirement of society now.
Application number be 201020589258.7 Chinese utility model patent disclose a kind of Multi-parameter water quality monitoring wireless sensor, comprise sensor assembly, data processing module, communication and transport module and power module, sensor assembly, data processing module are connected with transport module successively with communication, and power module provides power supply; Sensor assembly comprises multiple-quality water monitoring sensor, the output input analog multiplexer of all water quality monitoring sensors, output signal input signal conditioning circuit and the A/D change-over circuit successively of analog multiplexer.This utility model technology can be widely used in the water quality monitoring of various large area aquaculture, and adopt solar storage battery, economize energy, reduces costs, and simplifies circuit, improves the reliability of node work; ZigBee technology is combined with GPRS, forms Remote data service platform.
Application number be 201120182711.7 Chinese utility model patent disclose a kind of system relating to long-range water quality monitor, solve in existing water quality monitoring technology, must manual site monitoring, realize long-range, Real-Time Monitoring water quality situation.Long-distance water quality monitoring system comprises water quality monitoring remote management center and is arranged on the water quality monitoring node at monitored water source.Water quality monitoring remote management center comprises management centre computer, the first gsm communication module and RS-232 communication module, and described management centre computer is by RS-232 communication module and the first gsm communication model calling; Water quality monitoring node comprises control circuit, and the power module be electrically connected with control circuit respectively, water quality testing meter, the second gsm communication module and memory module.The long-distance water quality monitoring system of this utility model can in real time, remote monitoring water quality, cost is lower, practical
Application number be 03139060.9 Chinese invention patent disclose a kind of catamaran type water surface cleaning rescue ship, catamaran is connected two hulls by the propons being positioned at fore-body with the back axle being positioned at afterbody and forms, be characterized in that netted conveyer is established in the front portion in the middle of catamaran, collecting bin is established at rear portion in the middle of the catamaran, is that a kind of structure can clearing up large area over-water floats and relief drowning people rapidly is fast simple, easy to operate, work efficiency is high, safety performance good, the catamaran type water surface of wide accommodation cleaning rescue ship.
Application number be 201010223569.6 Chinese invention patent disclose a kind of water rubbish clean-up vessel, hull adopts catamaran design, is made up of detecting navigationsystem, collection system, the garbage disposal decorum, rubbish uninstalling system, propulsion system; Be divided into three kinds of mode of operations: free running pattern, pull in shore work pattern, the non-work pattern that pulls in shore.Detect by detecting navigationsystem the region that the water surface has rubbish, and then automatic navigation is carried out work and realized unattended, full-automatic, cleaning efficiency is good, and alerting ability is strong, and stable working is safe and reliable.The continuous and discontinuous work that the scraper bowl type chain net type collecting conveyor wherein related to can realize reclaiming combines, efficient energy-saving.This device up and down can hydraulic-driven luffing simultaneously, can salvage the floating debris of different water depth more quickly and effectively.Collection worked in coordination with by the satellite ship of design allows it have more alerting ability and high efficiency.By hydraulic gyration water pistol water spray, floater on the bank and the recovery of half floating debris are gone on board.
Existing invention and utility model patent, some water quality monitoring method can only carry out fixed point water quality monitoring, is unfavorable for large area sample detecting; Some water rubbish clean-up vessel can not Long-distance Control, needs operating personal to take operation; Some can Long-distance Control but do not utilize solar powered, can only utilize storage battery power supply, can not accomplish environmental protection, and not arrange collision avoidance system.In addition, existing patent or can only water quality monitoring be carried out, or can only refuse on water surface be carried out, both are not combined, waste of manpower and material resources.The design of solar panels maximum power point tracking system is used on monitoring ship, does not all find pertinent literature record both at home and abroad.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, provide a kind of and utilize green solar to power, smart water quality monitoring that is remote controlled, that have automatic navigation and intelligent barrier avoiding function clears up ship with the water surface.
A kind of smart water quality monitoring clears up ship with the water surface, comprise water surface cleaning module, power train control module, water quality data acquisition module, primary processor, wireless transport module and remote control terminal, characterized by further comprising solar powered module, GPS global positioning module, automatic navigation module and intelligent barrier avoiding module, water quality data acquisition module comprises front end sensors group, signal conditioning circuit and analog to digital conversion circuit, the analog signal data of front end sensors group sampling reflection water quality, through the process of signal conditioning circuit and analog to digital conversion circuit, water quality parameter is become again by master processor processes, by wireless transport module, the locating information that water quality parameter and GPS global positioning module obtain is transferred to remote control terminal, remote control terminal carries out water analysis after receiving data, according to water quality parameter and locating information simulation water quality condition distribution graph, water surface cleaning module comprises the netted garbage container of fore-body, rope distributor, rope, camera and visual identifying system, netted garbage container is used for refuse collection, rope distributor controls rope folding and unfolding, rope is connected with netted garbage container by set collar, camera monitors aquatic environment in real time, and visual identifying system carries out garbage-cleaning automatically by netted garbage container after identifying water floating garbage.
Further, solar powered module comprises photovoltaic solar cell plate and automatic rotating device, and solar powered module adopts maximum power point tracing method, and photovoltaic solar cell buttress keeps vertical with direct sunlight direction according to direct sunlight angle automatic rotation.
Further, automatic rotating device comprises driven half gear, the first driving gear, the first gear motor, the first swivel eye, the second swivel eye, swivel eye drive motor and the second driving gear; Driven half gear is vertically fixed on below photovoltaic solar cell plate, first swivel eye and the second swivel eye coaxial, the skin of the first swivel eye and the skin of the second swivel eye are all fixing aboard ship, driven half gear is driven by the first gear motor, the internal layer of the second swivel eye is driven by swivel eye drive motor, the internal layer of the second swivel eye is fixedly connected with vertical support support, and upper end and the photovoltaic solar cell plate of vertical support support are rotatably connected.Second swivel eye internal layer rotates and makes solar panels in horizontal surface, carry out 360 degree of rotations, driven half pinion rotation makes solar panels rotate at vertical direction, the anglec of rotation reaches 90 degree, consider actual direct sunlight angle, realize solar panel thus and be automatically rotated to the object vertical with sunshine direct projection direction, greatly improve the power stage of solar panel.
Further, solar powered module comprises a semisphere sunshine angular transducer, this sensor is made up of two pieces of semicircular circuit board and one piece of circular circuit card, and three pieces of circuit cards are mutually vertical between two, photoconductive cell (24) of gathering in the bent limit of each circuit card.
Further, front end sensors group comprises temperature sensor, humidity sensor, PH sensor, conductivity sensor, dissolved oxygen sensor, heavy metal ion sensor, radiation sensor and PM2.5 sensor.
Further, wireless transport module uses Zigbee network module.
Further, automatic navigation module comprises attitude heading reference system, and it comprises two MEMS sensing chips and three axle magnetometers; After remote control terminal can set navigation route, hull can navigate by water according to set route automatically automatically.
Further, intelligent barrier avoiding module comprises 6 ultrasonic wave module.
The hull that described smart water quality monitoring and the water surface clear up ship adopts catamaran Seal Design, and fore-body installs netted garbage container and camera, for refuse collection and monitoring aquatic environment.Rope distributor controls rope folding and unfolding, and rope connects the movable net of netted garbage container by set collar.After primary processor identifies garbage on water according to visual identifying system, control activity net puts down, and hull advances and allows rubbish enter netted garbage container; When hull stops, movable net is packed up, and prevents rubbish from drifting out netted garbage container.
Described power train control module comprises DC motor driver, steering engine and command analysis device.The instruction that primary processor is assigned according to remote control terminal, automatic navigation module or intelligent barrier avoiding module sends control command to power train control module, and module receives resolve command after order.Actuator, according to the command driven motor running after resolving, makes ship navigate by water on request, thus reach the navigation of artificial remote operation hull, hull automatically navigates by water according to predetermined paths and meets the functions such as barrier detours automatically.
Described water quality data acquisition module comprises front end sensors group, signal conditioning circuit and analog to digital conversion circuit, and all modulate circuits and analog to digital conversion circuit are integrated on a circuit card, strengthens integration degree, reduces cost.Front end sensors group comprises temperature sensor, humidity sensor, PH sensor, conductivity sensor, dissolved oxygen sensor, heavy metal ion sensor, gamma-ray transducer, PM2.5 sensor; Analog to digital conversion circuit for core, can input the different analog signal in 8 tunnels with ADC0804 chip simultaneously.Collected the raw electrical signal of reflection water quality condition by front end sensors after, after signal conditioning circuit amplification, rectification, filtering and noise reduction, convert digital signal to by analog to digital conversion circuit and be input to master processor processes.
Described wireless transport module uses Zigbee module.Zigbee module powers on automatic network-building.Network is made up of a Coordinator and multiple Router., be positioned at the receiver of remote control terminal as Coordinator here, the wireless module on cleaning ship is as Router.Principal feature is: 1) Zigbee module powers on automatic network-building.2) data center can monitor many cleaning ships simultaneously.And every bar cleaning ship can add at any time and exit network, and can not have any impact to other ships.3) after any one node accident power-off, as long as can re-power, module just can access network automatically again, does not worry that cleaning ship departs from and controls.
Described GPS global positioning module and GPS use third generation superhigh precision process chip.This module precision is high, power consumption is little, exports as NMEA0183 standard statement.First isolate latitude and longitude information after reception information, be degree cellular, first need degree of converting thereof into form.For some reason, the map that the map companies that China is all provides has carried out certain skew to the gps coordinate of reality.Therefore, when electronic chart shows, need pair warp and weft degree information to revise.Modification method is inquiry offset data storehouse, revises measuring the longitude and latitude obtained.GPS sends the data to primary processor for navigation by serial ports.
Described remote control terminal comprises wireless data receiver, is the Zigbee module working in Coordinator state.
The core of automatic navigation module is boat appearance referrer module (AHRS), comprises two MEMS sensing chips (triaxial accelerometer and gyroscope) and three axle magnetometers.Sensing chip measures 3-axis acceleration, three axis angular rates, the three axle magnetic data of hull in real time, and preprocessor utilizes quaternion attitude algorithm method to calculate the course of hull, angle of turning on one's side and luffing angle.These information will be used for automatic navigation and hull security monitoring.
The present invention has following advantage and effect relative to prior art: real-time water quality monitoring and the refuse on water surface that can be applied to rapidly various waters, convenient and reliable operation, effectively to increase water quality detection efficiency and detection range, Long-distance Control cleaning is realized to source of pollution, Water quality can be improved fast.By solar cell for supplying power, maximum power point tracking is taked to design, energy-conserving and environment-protective.The process of image data does not need on-the-spot human assistance, realizes remote terminal completely and controls, have automatic navigation and intelligent barrier avoiding function, can be used for particular surroundings and detects.This ship integrated degree is high, possesses consummating function, practical, has very large social value and application prospect.
Accompanying drawing explanation
Fig. 1 is that water quality monitoring and the water surface clear up one of ship constructional drawing;
Fig. 2 is that water quality monitoring and the water surface clear up ship constructional drawing two;
Fig. 3 is that water quality monitoring and the water surface clear up ship constructional drawing three;
Fig. 4 is sunshine direct projection direction sensor structural representation;
Fig. 5 is sunshine direct projection direction sensor principle schematic;
Fig. 6 is system chart of the present invention;
Fig. 7 is the block diagram of water quality data acquisition module;
Fig. 8 is the functional block diagram of co-ordination between primary processor and each module;
Fig. 9 is the hardware controls block diagram of intelligent barrier avoiding module.
Shown in figure: 1: hull both sides sealing cabin; 2: photovoltaic solar cell plate; 3: netted garbage container; 4: midbody waterproof cabin; 5: rope; 6: sensor lays courtyard; 7: rope distributor; 8: DC motor driver; 9: steering engine; 10: initiative driver; 11: driven transmission wheel; 12: set collar; 13: parallel support support; 14: driven half gear; 15: vertical support support; 16: the first swivel eyes; 18: the first gear motors; 19: the first driving gears; 20: the second swivel eyes; 22: internal layer drive motor; 23: the second driving gears; 24: photoconductive cell.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail, but embodiments of the present invention are not limited thereto.
As shown in Figure 1, water quality monitoring and the water surface are cleared up ship hull and are made up of four parts: photovoltaic solar cell plate 2 and automatic rotating device, hull both sides sealing cabin 1, midbody waterproof cabin 4, netted garbage container 3.Hull is processed by the thick stainless steel sheet of 1mm; In order to strengthen hull bear intensity, in hull, install skeleton additional; Photovoltaic solar cell plate 2 maximum output voltage 12 volts, by after controller transformation for other hardware circuits are powered; The required all electronic control hardware of sealing in the waterproof cabin of middle part.
As shown in Figure 3, two swivel eye skins are fixing aboard ship for automatic rotating device structure.After primary processor draws direct sunlight angle by sunshine direct projection direction sensor, photovoltaic solar cell plate 2 rotation is in the horizontal direction controlled and the first gear motor 18 controls the rotation of photovoltaic solar cell plate 2 at vertical direction by internal layer drive motor 22, ensure that solar panel is vertical with direct sunlight direction, make photovoltaic solar cell plate 2 horsepower output maximum.
In the waterproof cabin of middle part, be rope distributor 7 from front to back successively, sensor lays courtyard 6, the circuit hardware seal area of whole system, power control unit.Primary processor controls rope distributor 7 folding and unfolding rope as required, indirectly controls the folding of the activity net of netted garbage container 3, garbage collecting function is normally run.Be placed on the sensor sensor laid in courtyard 6 and adopt domestic famous brand name " thunder magnetic " serial water quality sensor, have and respond the advantages such as fast, easy to maintenance, economical and practical.Have employed temperature sensor, humidity sensor, PH sensor, dissolved oxygen sensor, conductivity sensor, heavy metal copper ionization sensor, koniology concentration sensor in the present embodiment, also may be combined with other sensors as required to reach necessary requirement.Power control unit mainly comprises DC motor driver 8 and steering engine 9, and DC motor driver has rotating function.Primary processor, by controlling steering engine 9, drives DC motor driver 8 to swing to reach the object changing hull navigation direction.
Mainly each electronic building blocks in circuit hardware seal area, as the ARM9 flush bonding module of TQ series selected by treater, GPS uses HOLUX M-87 module, and Wireless Data Transmission selects common Zigbee module etc.In addition, other circuit hardwares that autonomous Design makes also are included in this region.Select the module of other brands also can reach same effect according to actual needs.
6 ultrasonic wave module are installed on the bow, are distributed in the left and right sides of hull, ultrasonic wave module general on the market can be selected.In the positional alignment of ultrasonic wave module, each module be separated by 30 degree towards angle.When carrying out the measurement of distance, by primary processor, instruction being sent to ultrasound transmitter device, controlling the super sonic that it sends 40kHz, and starting timer simultaneously.Will be reflected back after running into obstacle in the way that this super sonic is propagated in atmosphere, 51 micro controller systems, after ultrasonic testing to echo, stop timing.Like this, timer just can record roundtrip propagation time t used accurately.Distance between obstacle to transmitting probe is S=v × t/2, and wherein v is THE VELOCITY OF SOUND IN AIR.Primary processor keeps away barrier fuzzy algorithm according to certain again, controls power train control module and drives hull advance or turn to, thus realize intelligent barrier avoiding.In FUZZY ALGORITHMS FOR CONTROL, using the distance between obstacle nearest in working direction and hull as input D.The fuzzy of distance measures { VL, L, S, VS}, respectively expression { far, far, closely, very closely }.Using 3 of the left side ultrasonic wave module as one group, choose the distance minimum value recorded and input as the left side, represent with DL; Using 3, the right ultrasonic wave module as one group, choose the distance minimum value recorded and input as the right, represent with DR.The action of hull movement is as output, and corresponding fuzzy quantity has, and { TL, TLL, GS, TRL, TR, R} represent { turn left 60 degree, turn left 30 degree, advance, turn right 30 degree, turn right 60 degree, the right side turn 90 degrees } respectively.All adopt triangular membership functions to all inpuies and output in native system, anti fuzzy method uses maximum membership degree method.
The present invention coordinates the work between the modules such as water quality data acquisition module, automatic navigation module, GPS locating module, power train control module, intelligent barrier avoiding module, wireless transport module, water surface cleaning module by embedded Linux system, its working process is as follows:
Water quality monitoring and the water surface are cleared up after ship starts working, ARM9 primary processor can timing acquisition water quality data acquisition module to the collection result of water body, and image data is calculated, error correction, format, the process such as packing.Then packed data are transferred to wireless transport module, by wireless transport module, data are sent to (as PC) on remote control terminal.In navigation process, GPS real-time reception locating information, and send information to ARM9 treater.ARM9 treater, in conjunction with the data of attitude heading reference system, calculates current location, navigation information such as navigation direction, Attitude etc.Under non-automatic navigation mode, control terminal directly sends control command to power train control module, Non-follow control boat trip.Under automatic navigation pattern, the data of these data with setting course line contrast by ARM9 treater, calculate the information such as yaw angle, cross track distance.ARM9 treater sends control command according to yaw data to power train control module.Power train control module receives order, according to command driven steering engine and DC machine running, promotes ship and advances according to fixed route.If run into obstacle in navigation, intelligent barrier avoiding module can be taken by force and implemented around barrier operation, until cut-through thing to the control of power train control module.In the course of the work, the timing of ARM9 treater obtains the direct projection angle of sunshine by sunshine direct projection direction sensor, according to navigation information adjustment solar panels to best angle.Zigbee module is connected with primary processor by serial ports.
Described solar powered module adopts MPPT maximum power point tracking design, also comprise sunshine direct projection direction sensing measurer (Fig. 4) of autonomous Design, be made up of two pieces of semicircular circuit board and one piece of circular circuit card, three pieces of circuit cards are mutually vertical between two, by every 5 degree of units on every block circuit edges of boards, be uniformly distributed 144 photoconductive cells 24, according to the feature that photoconductive cell resistance changes with the light flux variations received, detect that the resistance distribution situation of photoconductive cell on three pieces of circuit cards just can draw sunshine direct projection direction indirectly respectively, accuracy of detection can reach 2.5 degree.After primary processor calculates sunshine direct projection angle, export control command and the first gear motor 18 and internal layer drive motor 22 are accurately controlled, drive solar panel by gear transmission, make it vertical with direct sunlight direction.In order to explain the principle of work of sunshine direct projection angle sensor measurer better, below carrying out some mathematical derivations and being explained:
According to existing theory, photoconductive cell resistance and the light quantity received are negative correlativing relation, and related experiment also demonstrates this objective fact.
As shown in Figure 5, if sunshine azimuth be θ, high angle is β, the light quantity that in space, arbitrary bin vertical with sunlight receives is that bin area is identical with photoconductive cell sensitive surface.Light quantity is decomposed x, y, z axle to obtain:
x= cosβ?cosθ
y= cosβ?sinθ
z= sinβ
A () determines sunlight azimuth angle theta
Foundation ring angle is on the position of δ, and the light quantity that photoconductive cell receives is:
(δ)=?
x?cosδ+?
y?sinδ= cosβ?cosθ?cosδ+ cosβ?sinθ?sinδ
(δ) to δ differentiate, can obtain:
’(δ)= - cosβ?cosθ?sinδ+ cosβ?sinθ?cosδ
Make ' (δ)=0:
tanδ=tanθ (tanθ=tanδ)
So as δ=θ or δ=θ+π, (δ) has maximum value or minimal value, there is minimal value in conjunction with actual conditions are known as δ=θ+π, during δ=θ, there is maximum value.Find out thus, foundation ring receives the locus angle of the maximum photoconductive cell of light quantity (resistance is minimum)
be sunshine azimuth angle theta.
Also namely: the position δ finding out the minimum photoconductive cell of resistance on foundation ring, just sunlight azimuth can be determined:
θ=δ
B () determines sunlight high angle β
Side angle is on the position of γ, and the light quantity that photoconductive cell receives is:
(γ)=?z?sinγ+?y?cosγ= sinβ?sinγ+ cosβ?sinθ?cosγ
(γ) to γ differentiate, can obtain:
’(γ)= sinβ?cosγ - cosβ?sinθ?sinγ
Make ' (γ)=0:
tanγ=tanβ/sinθ (tanβ=tanγ?sinθ)
Find out thus, side receives the locus angle γ of the maximum photoconductive cell of light quantity (resistance is minimum) by sunlight azimuth
determine together with sunlight high angle β.Also namely: find out the photoconductive cell position γ that resistance on side is minimum, just high angle can be obtained in conjunction with known sunlight azimuth angle theta:
β=arctan(tanγ?sinθ)
Due to when θ=0 ° or θ=180 °, sin θ=0, upper part derivation formula is inapplicable, can not obtain sunlight high angle according to the formula derived.Therefore when θ=0 ° or θ=180 °, need the sunshine direction could determining any angle incidence in conjunction with another side completely, derivation is as follows:
Be on the position of γ in another side angle, the light quantity that photoconductive cell receives is:
(γ)=?z?sinγ+?x?cosγ= sinβ?sinγ+ cosβ?cosθ?cosγ
(γ) to γ differentiate, can obtain:
’(γ) = sinβ?cosγ - cosβ?cosθ?sinγ
Make ' (γ)=0:
sinβ?cosγ= cosβ?cosθ?sinγ
When θ=0 °, cos θ=1
That is:
sinβ?cosγ= cosβ ?sinγ
tanγ=tanβ
So γ=β or γ=β+π (casting out)
Known in conjunction with reality, as γ=β, it is maximum that photoconductive cell receives light quantity; As γ=β+π, it is minimum that photoconductive cell receives light quantity, and in fact, because side circuit plate is semicircular circuit board, the position of γ > π is without any meaning.
When θ=180 °, cos θ=-1
That is:
sinβ?cosγ= -cosβ ?sinγ
tanγ= -tanβ
So γ=π-β or γ=-β (casting out)
Known in conjunction with reality, as γ=π-β, it is maximum that photoconductive cell receives light quantity; As γ=-β, it is minimum that photoconductive cell receives light quantity, and in fact, because side circuit plate is semicircular circuit board, the position of γ <0 is without any meaning.
Find out thus, the locus angle γ (during θ=0 °) or the π-γ (during θ=180 °) that this side receive the maximum photoconductive cell of light quantity (resistance is minimum) are sunshine high angle β.Also namely: the position γ finding out the photoconductive cell that on this side, resistance is minimum, just sunlight high angle can be determined:
β=γ (during θ=0 °) or β=π-γ (during θ=180 °)
In the present invention, primary processor coordinates the work between the modules such as water quality data acquisition module, GPS global positioning module, wireless transport module, power train control module, automatic navigation module, as shown in Figure 8.First, primary processor obtains the data that the boat appearance referrer module in water quality data acquisition module, GPS global positioning module, automatic navigation module gathers.Then, after water quality parameter, GPS position information, orientation and attitude information etc. are made simple process by primary processor, wireless transport module is given in packing, by wireless transport module, data is sent to remote control terminal.Under automatic navigation pattern, primary processor utilizes GPS locating information, orientation and attitude information to calculate the information such as position residing for self and direction, compares and calculate with navigation way, generates control command.Power train control module receives and performs control command, drives ship to advance by fixed route.
Described water quality monitoring and the water surface are cleared up ship and are also comprised intelligent barrier avoiding module (Fig. 9).By ultrasonic measuring distance technology together with Microprocessor S3C44B0X combine with technique, hull installs 6 ultrasonic sensor modules, utilize real-time control and the data processing function of microprocessor, ultrasonic signal circulation is constantly sent and gathered, by calculating the distance indirectly obtained between hull and obstacle.After treater records distance, the fuzzy algorithm instruction that Automatically invoked writes.The input of fuzzy algorithm is the obstacle distance of ultrasonic measurement, and output is the control command of treater to stepping motor, and regulation motor has advance and rotates two kinds of actions, and wherein the anglec of rotation is accurately adjustable.According to certain control policy, set up fuzzy language set and the fuzzy control rule of distance input and action output.Primary processor controls power plant module accordingly, controls hull and realizes intelligent barrier avoiding function.
Claims (8)
1. a smart water quality monitoring clears up ship with the water surface, comprise water surface cleaning module, power train control module, water quality data acquisition module, primary processor, wireless transport module and remote control terminal, characterized by further comprising solar powered module, GPS global positioning module, automatic navigation module and intelligent barrier avoiding module, water quality data acquisition module comprises front end sensors group, signal conditioning circuit and analog to digital conversion circuit, the analog signal data of front end sensors group sampling reflection water quality, through the process of signal conditioning circuit and analog to digital conversion circuit, water quality parameter is become again by master processor processes, by wireless transport module, the locating information that water quality parameter and GPS global positioning module obtain is transferred to remote control terminal, remote control terminal carries out water analysis after receiving data, according to water quality parameter and locating information simulation water quality condition distribution graph, water surface cleaning module comprises the netted garbage container (3) of fore-body, rope distributor (7), rope (5), camera and visual identifying system, netted garbage container (3) is for refuse collection, rope distributor (7) controls rope (5) folding and unfolding, rope (5) is connected with netted garbage container (3) by set collar (12), camera monitors aquatic environment in real time, automatically carries out garbage-cleaning after visual identifying system identifies water floating garbage by netted garbage container (3).
2. smart water quality monitoring according to claim 1 clears up ship with the water surface, it is characterized in that solar powered module comprises photovoltaic solar cell plate (2) and automatic rotating device, solar powered module adopts maximum power point tracing method, and photovoltaic solar cell plate (2) keeps vertical with direct sunlight direction according to direct sunlight angle automatic rotation.
3. smart water quality monitoring according to claim 2 clears up ship with the water surface, it is characterized in that automatic rotating device comprises driven half gear (14), the first driving gear (19), the first gear motor (18), the first swivel eye (16), the second swivel eye (20), internal layer drive motor (22) and the second driving gear (23), driven half gear (14) is vertically fixed on photovoltaic solar cell plate (2) below, first swivel eye (16) is coaxial with the second swivel eye (20), the skin of the first swivel eye (16) and the skin of the second swivel eye (20) are all fixing aboard ship, driven half gear (14) is driven by the first gear motor (18), the internal layer of the second swivel eye (20) is driven by internal layer drive motor (22), the internal layer of the second swivel eye (20) is fixedly connected with vertical support support (15), upper end and the photovoltaic solar cell plate (2) of vertical support support (15) are rotatably connected.
4. smart water quality monitoring according to claim 3 clears up ship with the water surface, it is characterized in that solar powered module comprises a semisphere sunshine direct projection direction sensor, this sensor is made up of two pieces of semicircular circuit board and one piece of circular circuit card, three pieces of circuit cards are mutually vertical between two, photoconductive cell (24) of gathering in the bent limit of each circuit card.
5. smart water quality monitoring according to claim 1 clears up ship with the water surface, it is characterized in that front end sensors group comprises temperature sensor, humidity sensor, PH sensor, conductivity sensor, dissolved oxygen sensor, heavy metal ion sensor, radiation sensor and PM2.5 sensor.
6. smart water quality monitoring according to claim 1 clears up ship with the water surface, it is characterized in that wireless transport module uses Zigbee network module.
7. smart water quality monitoring according to claim 1 clears up ship with the water surface, and it is characterized in that automatic navigation module comprises attitude heading reference system, described attitude heading reference system comprises two MEMS sensing chips and three axle magnetometers; After remote control terminal setting navigation route, hull can navigate by water according to set route automatically automatically.
8. smart water quality monitoring according to claim 1 clears up ship with the water surface, it is characterized in that intelligent barrier avoiding module comprises 6 ultrasonic wave module.
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| EP3643594A1 (en) * | 2018-10-23 | 2020-04-29 | Dec N.V. (Deme Environmental Contractors) | Method and system for removing floating waste from water |
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