CN110171542A - The integrated river of coupled inferring ship and unmanned plane is patrolled platform - Google Patents

The integrated river of coupled inferring ship and unmanned plane is patrolled platform Download PDF

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Publication number
CN110171542A
CN110171542A CN201910437446.3A CN201910437446A CN110171542A CN 110171542 A CN110171542 A CN 110171542A CN 201910437446 A CN201910437446 A CN 201910437446A CN 110171542 A CN110171542 A CN 110171542A
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China
Prior art keywords
monitoring
module
ship
unmanned plane
sample
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CN201910437446.3A
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Chinese (zh)
Inventor
张文龙
王浩岚
李轶
牛丽华
张焕军
王龙飞
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Hohai University HHU
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Hohai University HHU
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Priority to CN201910437446.3A priority Critical patent/CN110171542A/en
Publication of CN110171542A publication Critical patent/CN110171542A/en
Pending legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/12—Inductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G01N1/12—Dippers; Dredgers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/10—Air crafts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/10—Devices for withdrawing samples in the liquid or fluent state
    • G01N2001/1006—Dispersed solids
    • G01N2001/1012—Suspensions
    • G01N2001/1025—Liquid suspensions; Slurries; Mud; Sludge
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/16—Information or communication technologies improving the operation of electric vehicles

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Health & Medical Sciences (AREA)
  • Immunology (AREA)
  • Hydrology & Water Resources (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Pathology (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Ocean & Marine Engineering (AREA)
  • Testing Or Calibration Of Command Recording Devices (AREA)

Abstract

It patrols platform the invention discloses the integrated river of a kind of coupled inferring ship of hydrologic monitoring technical field and unmanned plane, big to solve artificical stream inspection investment in the prior art, data acquisition is limited, and the technical issues of do not adapt to complicated river environment.Monitoring ship instructs after receiving the cruise task that control centre issues to unmanned plane reception and registration cruise, and monitoring ship carries out data monitoring and sample acquisition；Unmanned plane carries out remote sensing monitoring, and monitoring ship carries out necessary avoidance according to remotely-sensed data.Platform of the present invention can receive teleinstruction, it is automatic to carry out data monitoring and sample acquisition, cruising range is wide, and data acquisition type is more, does not need personnel's whole process with ship, greatly reduce the investment of human cost, the remotely-sensed data of unmanned plane can help monitoring ship automatic obstacle-avoiding, so that the ability of the homing capability of inspection platform and the complicated river environment of reply greatly improves, furthermore, unmanned plane can charge or replace battery on monitoring ship, realize lasting intelligence and patrol river.

Description

The integrated river of coupled inferring ship and unmanned plane is patrolled platform
Technical field
The invention belongs to hydrologic monitoring technical fields, and in particular to a kind of integrated river of coupled inferring ship and unmanned plane Inspection platform.
Background technique
In current river management, the universal way of river inspection is that manpower patrols river, water quality of river and substrate monitoring master It is divided into two kinds, one is sets up vertical monitoring station in fixed bit, and two is are manually set sampled point, and manual sampling simultaneously transports laboratory prison back It surveys.Currently, the existing automatic monitoring ship in river, but it has several drawbacks in that there is no large scale investment use: the degree of automation is not Height needs personnel in bank real-time control；Function is limited, is only capable of being monitored the part water quality indicator in river, if desired It fully understands river regime, still needs to a large amount of human inputs；The complexity that river environment cannot be coped with, for floating during cruise Rubbish, the reply of the chaff interferents such as water plant are not smart enough；Unmanned plane carrying battery quality is limited, and cruise duration is short, to big face Product basin carries out remote sensing monitoring and needs repeatedly replacement power supply.In addition, requirement of the people for river health is higher and higher, river pipe The demand for patrolling river of reason department is higher and higher.Simple manpower, which patrols river and sampling monitoring, which cannot cope with the supervision of new era, needs It asks.
Summary of the invention
The purpose of the present invention is to provide a kind of coupled inferring ships and the integrated river of unmanned plane inspection platform, to solve Artificical stream inspection investment is big in the prior art, and data acquisition is limited, and the technical issues of do not adapt to complicated river environment.
In order to achieve the above objectives, the technical scheme adopted by the invention is that: a kind of one of coupled inferring ship and unmanned plane Change river to patrol platform, including control centre, monitoring boat system receives after the cruise task that control centre issues to unmanned plane System conveys cruise instruction, and navigates by water to specified waters, monitor boat system by sampling module, monitoring modular, storage sample module into Row data monitoring and sample acquisition, and monitoring data are transferred to data center by monitoring ship communication module；UAV system The remotely-sensed data of remote sensing module is sent to data center and monitoring ship communication module, data center by UAV Communication module In data for control centre's real time review；The remotely-sensed data that monitoring ship control module is received according to monitoring ship communication module Avoidance information is sent to monitoring ship navigation module.
The sampling module includes scalable component, and scalable component is driven by motor 1 and carried water sampling pipe and grabs Bucket drops to specified depth of water position；Peristaltic pump acquires water sample by water sampling pipe；Bucket is grabbed to acquire under the driving of motor 2 Bed mud sample passes through track for bed mud sample transfer to predeterminated position after the completion of acquisition.
The monitoring modular includes temperature sensor, dissolved oxygen sensor, pH probe, temperature sensor, dissolved oxygen sensing Device, pH probe are arranged on scalable component, drop to specified depth of water position with scalable component and carry out data monitoring.
The storage sample module includes water sample sampling bag, substrate sludge sampling bag, and sampler bag positioning device detects water sample sampling bag When being in designated position with substrate sludge sampling bag, start to receive water sample and bed mud sample, passes through sampling closing device after finishing receiving Water sample sampling bag and substrate sludge sampling bag are sealed, the water sampling bag equipped with water sample and the substrate sludge sampling bag equipped with bed mud are logical It crosses sample transfer assembly and is sent into the sample storage assembly that can separate temperature control.
The sampling module, monitoring modular, storage sample module use integrated design, carry out coordinated control by control assembly.
The UAV system includes unmanned plane power plant module, and unmanned plane power plant module is powered by rechargeable lithium battery, Rechargeable lithium battery is fixed on uav bottom by battery bracket；The monitoring boat system includes monitoring ship power plant module, prison It surveys ship power module and is charged by wireless charging bottom plate to rechargeable lithium battery.
The battery bracket is equipped with plug, and rechargeable lithium battery is equipped with jack, and plug is under the driving of motor 3 and inserts The fixation and disassembly of battery are realized in hole cooperation.
The monitoring ship communication module and UAV Communication module be all made of wireless serial communication component, 4G DTU component, 5G communication component is any one or more of.
The monitoring ship navigation module is navigated using GPS navigation component；The UAV system includes that unmanned plane is led Model plane block, Navigation of Pilotless Aircraft module are navigated using GPS navigation component.
The monitoring ship control module uses STM32 single-chip microcontroller；The UAV system includes unmanned aerial vehicle (UAV) control module, nothing Human-machine Control module uses STM32 single-chip microcontroller.
Compared with prior art, advantageous effects of the invention:
(1) coupled inferring ship of the present invention can receive teleinstruction with the integrated river of unmanned plane inspection platform, cruise To designated position carry out data monitoring and sample acquisition, cruising range is wide, data acquire type it is more, do not need personnel's whole process with Ship greatly reduces the investment of human cost, and the remotely-sensed data of UAV system can help monitoring ship automatic obstacle-avoiding, so that patrolling The ability looked into the homing capability of platform and cope with complexity river environment greatly improves, and realizes intelligence and patrols river；
(2) the integrated river of coupled inferring ship of the present invention and unmanned plane is patrolled platform, monitors the power mould in boat system Block can charge to the power plant module of UAV system, improve the cruise duration of unmanned plane, enhance the monitoring capability of platform；
(3) coupled inferring ship provided by the invention can be used not only for river management portion with the integrated river of unmanned plane inspection platform Door patrols river, can also be applied to emergency monitoring and scientific research etc..
Detailed description of the invention
Fig. 1 is a kind of coupled inferring ship provided in an embodiment of the present invention is with the integrated river of unmanned plane inspection platform System structure chart；
Fig. 2 is the sampling mould of a kind of coupled inferring ship provided in an embodiment of the present invention with the integrated river of unmanned plane inspection platform Block, monitoring modular, storage sample module structural schematic diagram；
Fig. 3 is a kind of coupled inferring ship provided in an embodiment of the present invention and wireless charging in the integrated river of unmanned plane inspection platform The structural schematic diagram of electric bottom plate and rechargeable lithium battery；
Fig. 4 is a kind of coupled inferring ship provided in an embodiment of the present invention and unmanned plane in the integrated river of unmanned plane inspection platform Rechargeable lithium battery and battery bracket main view；
Fig. 5 is a kind of coupled inferring ship provided in an embodiment of the present invention and unmanned plane in the integrated river of unmanned plane inspection platform Rechargeable lithium battery and battery bracket top view；
In figure: 1. control centres；2. data center；3. monitoring boat system；31. sampling module；310. control assembly；311. can stretch Contracting component；312. motors 1；313. peristaltic pump；314. water sampling pipes；315. motors 2；316. grab bucket；317. guide rail；32. Monitoring modular；321. temperature sensor；322. dissolved oxygen sensor；323.pH probe；33. storage sample module；331. sampler bags are fixed Position device；332. water sample sampling bags；333. substrate sludge sampling bags；334. sampling closing devices；34. monitoring ship control module；35. Monitoring ship navigation module；36. monitoring ship communication module；37. monitoring ship power plant module；371. wireless charging bottom plates；4. unmanned plane System；41. remote sensing module；42. UAV Communication module；43. unmanned plane power plant module；431. rechargeable lithium battery；4311. inserting Hole；432. battery bracket；4321. right clamping plate；4322. upper clamp plate；4323. left clamp；4324. motor 3；4325. track； 4326. plug；44. unmanned aerial vehicle (UAV) control module；45. Navigation of Pilotless Aircraft module.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, control centre thinks that monitoring ship communication module sends cruise task, monitoring ship communication module passes task It is defeated by monitoring ship control module, monitoring ship control module handles task, on the one hand controls monitoring ship according to received task and leads Model plane block sends to monitoring ship power plant module and instructs, and starts monitoring ship；On the other hand monitoring ship is controlled according to received task Communication module sends cruise instruction to UAV Communication module, and unmanned aerial vehicle (UAV) control module is received according to UAV Communication module Instruction control Navigation of Pilotless Aircraft module is sent to unmanned plane power plant module to be instructed, and starts unmanned plane, monitoring ship and unmanned plane according to Cruise task is cruised.In the present embodiment, monitoring ship control module and unmanned aerial vehicle (UAV) control module are all made of STM32 single-chip microcontroller Carry out data processing；Monitoring ship navigation module and Navigation of Pilotless Aircraft module are all made of GPS component and navigate；Monitoring ship communicates mould Block and UAV Communication module are integrated with wireless serial communication component, 4G DTU component and 5G communication component, can be used wherein Any mode is communicated；In addition, monitoring ship navigation module and Navigation of Pilotless Aircraft module further include respective engine control Module and communication unit, monitoring ship power plant module further include generator, unmanned plane charging assembly, motor and propeller；Unmanned plane Power plant module further includes rechargeable lithium battery, engine and propeller.Remote sensing module includes high-definition night-viewing camera and communication unit Member, in the process of moving, unmanned aerial vehicle (UAV) control module send to remote sensing module and instruct, and remote sensing module passes remotely-sensed data according to instruction It is defeated by UAV Communication module, remotely-sensed data is uploaded to data center and at any time for control centre's tune by UAV Communication module With, while remotely-sensed data is transmitted to monitoring ship control module, monitoring ship control by UAV Communication module by UAV Communication module Molding root tuber sends avoidance information to monitoring ship navigation module according to remotely-sensed data, and monitoring ship navigation module is controlled according to avoidance information Monitoring ship power plant module avoidance in the process of moving.Since monitoring ship can receive teleinstruction, solving existing korneforos of patrolling is needed The problem of wanting personnel's whole process to participate in ship, greatly reduces the investment of human cost.Due to having coupled unmanned plane, unmanned plane it is distant Sense data can provide support for the navigation of monitoring ship, so that the energy of the homing capability of inspection platform and the complicated river environment of reply Power greatly improves, and realizes intelligence and patrols river.
Control centre sends sampling task to monitoring ship communication module, and monitoring ship communication module is by multiplexed transport to monitoring ship The STM32 single-chip microcontroller of the STM32 single-chip microcontroller of control module, monitoring ship control module handles task, on the one hand according to task control Monitoring ship navigation module sends to monitoring ship power plant module and instructs, and monitoring ship reaches sampling location according to sampling task, and arrival is adopted Behind sample position, monitoring ship navigation module sends information to monitoring ship control module, and monitoring ship control module is to sampling module, prison It surveys module and storage sample module sends instruction, sampling module completes sampling according to instruction, sample a part is transferred to monitoring modular It is monitored, a part is transferred to storage sample module stored sample, after monitoring modular and storage sample module completion task, sends information Monitoring ship communication module is given, monitoring data and sampled data are uploaded to data center's storage and supplied at any time by monitoring ship communication module Control centre calls.Due to being used cooperatively for the sampling module of monitoring ship itself, monitoring modular and storage sample module, make platform of patrolling Index unable to monitor can be sampled with a greater variety of data of field monitoring.
As shown in Figure 1 and Figure 2, sampling module, monitoring modular, storage sample module use integrated design, unified by control assembly Coordinated control.Sampling module includes scalable component and electrode 1, water sampling pipe, grabs bucket and motor 2, guide rail, communication unit Member；Monitoring modular includes temperature sensor, dissolved oxygen sensor, pH probe, communication unit；Storage sample module includes sampler bag, adopts Sample bag positioning device, sampling closing device, communication unit；Sampling module, monitoring modular, storage sample module pass through respective communication unit Member is communicated with control assembly.
After control assembly receives sampling task, send instructions to motor 1, control motor 1 is run, make scalable component according to Instruction requires to drop to fixed depth of water position, while sending instructions to sampler bag positioning device, and sampler bag is placed on preset position It sets.Then peristaltic pump is sent instructions to, water sample is transported in water sample sampling bag by water sampling pipe, sends instructions to temperature Sensor, dissolved oxygen sensor and pH pop one's head in, and return to control assembly after data measured.Then motor 2 is sent instructions to, is controlled It grabs bucket completion and grabs mud movement, send instructions to scalable component and guide rail later, bucket will be grabbed and be transferred to predeterminated position, send It instructs to motor 2, bucket opening is grabbed in control, and bed mud sample is fitted into substrate sludge sampling bag.Monitoring modular further includes specimen preprocessing Component and optical monitoring component are managed, the two is used cooperatively, and can detect ammonia nitrogen, nitrate nitrogen, nitrite nitrogen, total nitrogen in sample With the routinely index such as total phosphorus.After water sampling bag and substrate sludge sampling bag receive sample, sampler bag closing device is sent instructions to, Sampler bag is sealed, sampling task is completed and sends message to monitoring ship control module.In the present embodiment, temperature sensor, Dissolved oxygen sensor and pH probe are arranged on scalable component, drop to specified depth of water position with scalable component and carry out data Monitoring；Water sampling bag equipped with water sample and the substrate sludge sampling bag equipped with bed mud are sent by sample transfer assembly can separate temperature control Sample storage assembly in saved.Since the cooperation of the sampling module of monitoring ship itself, monitoring modular and storage sample module makes With, make patrol platform index unable to monitor can be sampled with a greater variety of data of field monitoring.
As shown in figure 3, figure 4 and figure 5, the integrated river inspection of coupled inferring ship and unmanned plane provided in this embodiment is flat Platform can charge to the rechargeable lithium battery of unmanned plane power plant module by the wireless charging bottom plate of monitoring ship power plant module and carry out Charging, improves the cruise duration of unmanned plane.Rechargeable lithium battery is fixed on uav bottom by battery bracket, when chargeable lithium When battery needs to charge, unmanned plane is dropped on wireless charging bottom plate, and the left clamp of battery bracket is set in the driving lower edge of motor 3 It sets the track in upper clamp plate and is moved to plug to the left and extracted out from jack, rechargeable lithium battery is unlocked.Setting inside unmanned plane One piece of independent battery only just used when replacing rechargeable lithium battery, unmanned plane fly under the driving of the battery and have completed The battery of charging, at this point, left clamp under the driving of motor 3 along track to right translation, until plug cooperates and chargeable with jack Lithium battery tightly fits together with right clamping plate, and rechargeable lithium battery is relocked.After having replaced battery, unmanned plane can be after Continuous to execute inspection task, the battery changed then charges on wireless charging bottom plate spare.Rechargeable lithium battery can be to unmanned plane Internal independent battery charges, to guarantee that unmanned plane has enough power when replacing rechargeable lithium battery next time.
After inspection, control centre makes a return voyage task to the transmission of monitoring ship communication module, and monitoring ship communication module is by task It is transferred to the STM32 single-chip microcontroller of monitoring ship control module, the STM32 single-chip microcontroller of monitoring ship control module handles task, due to returning Boat does not need remote sensing monitoring on the way, and the STM32 single-chip microcontroller of monitoring ship control module is logical to unmanned plane by monitoring ship communication module Believe that module conveys the instruction of UAV system landing, instruction is transferred to unmanned aerial vehicle (UAV) control module by UAV Communication module The STM32 single-chip microcontroller of STM32 single-chip microcontroller, unmanned aerial vehicle (UAV) control module is instructed to Navigation of Pilotless Aircraft module transfer, and it is motor-driven to control nobody Power module carries out pinpoint landing.
Unmanned plane continuation of the journey problem is always the major issue of remote sensing monitoring, and monitoring ship power plant module of the invention can be to nobody Motor-driven power module charging, improves the cruise duration of unmanned plane.Meanwhile the one of coupled inferring ship and unmanned plane provided by the invention Change river inspection platform feature is complete, and easy to use, application range is not limited to river management department Xun He, can be applied to emergency prison It surveys and scientific research etc., meeting the new era intelligently patrols river, and the automatic needs monitored with sampling are realized to river health shape The intelligent monitoring of condition.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations Also it should be regarded as protection scope of the present invention.

Claims (10)

  1. The platform 1. the integrated river of a kind of coupled inferring ship and unmanned plane is patrolled, characterized in that including control centre (1), prison It surveys after boat system (3) receive the cruise task that control centre (1) issues and is instructed to UAV system (4) reception and registration cruise, and navigate Row monitors boat system (3) by sampling module (31), monitoring modular (32), storage sample module (33) and carries out data to specified waters Monitoring and sample acquisition, and monitoring data are transferred to data center (2) by monitoring ship communication module (36)；UAV system (4) remotely-sensed data of remote sensing module (41) is sent to data center (2) by UAV Communication module (42) and monitoring ship is logical Believe module (36), the data in data center (2) are for control centre (1) real time review；Monitoring ship control module (34) basis The remotely-sensed data that monitoring ship communication module (36) receives sends avoidance information to monitoring ship navigation module (35).
  2. The platform 2. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that described Sampling module (31) includes scalable component (311), and scalable component (311) is driven by motor 1(312) and carries water sampling It manages (314) and grabs bucket (316) and drop to specified depth of water position；Peristaltic pump (313) acquires water by water sampling pipe (314) Sample；It grabs bucket (316) and acquires bed mud sample under the driving of motor 2(315), pass through track (317) after the completion of acquisition for bed mud Sample transfer is to predeterminated position.
  3. The platform 3. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that described Monitoring modular (32) includes temperature sensor (321), dissolved oxygen sensor (322), pH probe (323), temperature sensor (321), dissolved oxygen sensor (322), pH probe (323) are arranged on scalable component (311), with scalable component (311) It drops to specified depth of water position and carries out data monitoring.
  4. The platform 4. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that described Storage sample module (33) includes water sample sampling bag (332), substrate sludge sampling bag (333), and sampler bag positioning device (331) detects water sample When sampler bag (332) and substrate sludge sampling bag (333) are in designated position, start to receive water sample and bed mud sample, after finishing receiving Water sample sampling bag (332) and substrate sludge sampling bag (333) are sealed by sampling closing device (334), the water equipped with water sample Sample collection bag (332) and substrate sludge sampling bag (333) equipped with bed mud are sent into the sample that can separate temperature control by sample transfer assembly Storage assembly.
  5. The platform 5. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that described Sampling module (31), monitoring modular (32), storage sample module (33) use integrated design, are coordinated by control assembly (310) Control.
  6. The platform 6. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that described UAV system (4) includes unmanned plane power plant module (43), and unmanned plane power plant module (43) is supplied by rechargeable lithium battery (431) Electricity, rechargeable lithium battery (431) are fixed on uav bottom by battery bracket (432)；
    The monitoring boat system (3) includes monitoring ship power plant module (37), and monitoring ship power plant module (37) passes through wireless charging bottom Plate (371) charges to rechargeable lithium battery (431).
  7. The platform 7. the integrated river of coupled inferring ship according to claim 6 and unmanned plane is patrolled, characterized in that described Battery bracket (432) is equipped with plug (4326), and rechargeable lithium battery (431) is equipped with jack (4311), and plug (4326) exists Motor 3(4324) driving under with jack (4311) cooperate realize battery fixation and disassembly.
  8. The platform 8. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that institute It states monitoring ship communication module (36) and UAV Communication module (42) is all made of wireless serial communication component, 4G DTU component, 5G Communication component is any one or more of.
  9. The platform 9. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that described Monitoring ship navigation module (35) is navigated using GPS navigation component；
    The UAV system (4) includes Navigation of Pilotless Aircraft module (45), and Navigation of Pilotless Aircraft module (45) uses GPS navigation component It navigates.
  10. The platform 10. the integrated river of coupled inferring ship according to claim 1 and unmanned plane is patrolled, characterized in that institute Monitoring ship control module (34) are stated using STM32 single-chip microcontroller；
    The UAV system (4) includes unmanned aerial vehicle (UAV) control module (44), and unmanned aerial vehicle (UAV) control module (44) uses STM32 monolithic Machine.
CN201910437446.3A 2019-05-24 2019-05-24 The integrated river of coupled inferring ship and unmanned plane is patrolled platform Pending CN110171542A (en)

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Application publication date: 20190827