CN110749473A - Water sample automatic acquisition device of unmanned ship - Google Patents
Water sample automatic acquisition device of unmanned ship Download PDFInfo
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- CN110749473A CN110749473A CN201911001625.9A CN201911001625A CN110749473A CN 110749473 A CN110749473 A CN 110749473A CN 201911001625 A CN201911001625 A CN 201911001625A CN 110749473 A CN110749473 A CN 110749473A
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Abstract
The invention discloses an automatic water sample collecting device of an unmanned ship, which comprises: the sampling bottle feeding unit comprises a storage hopper, a feeding groove, a rotating block and a discharging plate; the bottle cap screwing unit comprises a material holding manipulator, a screwing manipulator and a sliding table, the screwing manipulator is fixed on the sliding table, the sliding table is arranged on the ship body, and the material holding manipulator is used for clamping and discharging sampling bottles on the discharging plate; the water taking unit comprises a peristaltic pump and a water taking arm, the water taking arm is arranged on the ship body, a passage is arranged in the water taking arm, and the peristaltic pump outputs extracted sampling water to the sampling bottle through the passage when the water taking arm rotates to a set position; the sampling bottle collecting unit is arranged at the bottom of the ship body and is used for collecting sampling bottles filled with collected water; and the control driving device controls the operations of the rotating block, the material holding manipulator, the twisting manipulator, the discharging plate and the peristaltic pump. Has the advantages that: no adverse effect is caused to the water body, the consistency of water environment management is greatly enhanced, and the total cost of water environment management is saved.
Description
Technical Field
The invention relates to the field of unmanned ships, in particular to an automatic water sample collecting device of an unmanned ship.
Background
At present, both in aquaculture industry and environment protection industry chain, the real-time water quality of a water environment has high requirements. Therefore, how to monitor the water quality in real time is very important.
Through research, the current water quality monitoring mainly depends on a water quality surveying buoy or a water intake pump ship. The water intake pump ship has higher flexibility and adaptability, does not have an underwater building structure with complex structure, can be used as a supplementary and emergency drought-resisting measure of a fixed pump station, and can improve the guarantee rate of irrigation and water supply. But also has the following disadvantages: (1) the capital investment is high. (2) The cofferdam cost is high. (3) The cycle is long. (4) The quality of the taken water is poor. (5) The use is limited. However, the fixed pump station is greatly influenced by the change of the water level, and the water taking capacity of the fixed pump station is weakened. The automatic water sample collecting device for the unmanned ship has the advantages of low manufacturing cost, low cost of the whole ship body, short water taking period, high reduction degree of obtained water quality, and flexible and accurate water taking place.
For the water quality survey buoy, the buoy has the advantages that the maintenance and replacement period of the buoy is prolonged, the maintenance cost is saved, the buoy is universal in four seasons of a frozen port, and the navigation aiding requirement required by safe navigation of a ship is met. However, the steel buoy exposes to a corrosive environment such as salt water, and oxidation and corrosion of steel would cause water pollution. Since the steel buoy is heavy, it requires too much maintenance cost. Steel buoys also have significant limitations and many studies on buoys are looking to find new materials that are lightweight and environmentally friendly.
At present, water quality sampling is mainly performed manually, a manual mark is also used for distinguishing sampling bottles, efficiency is low, and an effective sample distinguishing method is lacked for automatic water body sampling.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an automatic water sample collecting device of an unmanned ship, which is realized by the following technical scheme:
unmanned ship's water sample automatic acquisition device includes:
the sampling bottle feeding unit comprises a storage hopper, a feeding groove, a rotating block and a discharging plate, wherein the storage hopper stores a plurality of sampling bottles, and the sampling bottles fall on the discharging plate after being pushed by the rotating block arranged in the feeding groove through the feeding groove;
the bottle cap screwing unit comprises a material holding manipulator, a screwing manipulator and a sliding table, wherein the screwing manipulator is fixed on the sliding table, the sliding table is arranged on the ship body in a lifting manner, and the material holding manipulator is arranged above the discharging plate and is used for clamping and discharging sampling bottles on the discharging plate;
the water taking unit comprises a peristaltic pump and a water taking arm, the water taking arm is rotatably arranged on the ship body, a passage is arranged in the water taking arm, and the peristaltic pump outputs extracted sampling water to a sampling bottle through the passage when the water taking arm rotates to a set position;
the sampling bottle collecting unit is arranged at the bottom of the ship body and is used for collecting sampling bottles filled with collected water;
and the control driving device controls the operations of the rotating block, the material holding manipulator, the twisting manipulator, the discharging plate, the peristaltic pump and the camera.
The water sample automatic acquisition device of the unmanned ship is further designed in that the control driving device comprises a stepping motor, and the stepping motor controls and drives the sliding table to ascend and descend through an S-shaped curve acceleration and deceleration algorithm.
The water sample automatic acquisition device of the unmanned ship is further designed in that the stepping motor performs S-shaped curve acceleration control according to the formula (1), performs S-shaped curve deceleration control according to the formula (2), and performs acceleration processing by adopting 1000 points (length).
Fcurrent＝Fmin+(Fmax-Fmin)/(1+e^(-Flexible*(i-num)/num)) (1)
Fcurrent＝Fmin-(Fmax-Fmin)/(1+e^(-Flexible*(i-num)/num)) (2)
In the formula, Fcurrent is a single frequency value in a length point, Fmin is an initial frequency, Fmax is a maximum frequency, flexile (i-num)/num is used for stretching and changing an S-shaped curve, flexile represents that the S-shaped curve interval takes a value of 4-6, i is an index in a cyclic calculation process, starting from 0, and num is the size of length/2
The water sample automatic acquisition device of the unmanned ship is further designed in that the control driving device comprises a steering engine, and the steering engine controls the clamping operation of the material holding manipulator and the twisting manipulator and the rotation of the water taking arm through a PID algorithm.
The water sample automatic acquisition device of the unmanned ship is further designed in that the steering engine performs PID algorithm control according to the formula (1) and controls the steering engine according to ukAdjusting steering engine PWM value
In the formula (2), Kp- > P, Ki- > I, Kd- > D, ek- > the error of this time, and ek-1- > the last error.
The water sample automatic acquisition device of the unmanned ship is further designed in that a bottle cap of the sampling bottle is provided with a two-dimensional code for distinguishing the sampling bottle.
Unmanned ship's water sample automatic acquisition device's further design lies in, still includes two-dimensional code recognition scanning device, two-dimensional code recognition scanning device sets up on twisting the manipulator, carries out the recognition scanning to the two-dimensional code of bottle lid department, uses opencv storehouse discernment QR two-dimensional code, frames out the two-dimensional code in the picture to use open source storehouse Zxing to decode, cooperation Zbar algorithm discerns two-dimensional code information, and the record contains the information of water intaking place, time, degree of depth, and uploads to remote data bank.
The unmanned ship water sample automatic acquisition device is further designed in that the storage hopper is an inverted triangular prism, a discharge port at the lower end of the storage hopper is connected with the feeding groove through a bent circuitous groove, and a sampling bottle is pushed out through the discharge port of the circuitous groove and falls onto a rotating surface of the rotating block.
The unmanned ship's water sample automatic acquisition device's further design lies in, the turning block is a fan-shaped block, and the turning block carries out the separation to the sampling bottle in the circuitous groove when on with the sampling bottle propelling movement on the rotation plane to the stripper, and the next sampling bottle gets into the feeding trough through the storage hopper after the turning block resets.
The unmanned ship's water sample automatic acquisition device's further design lies in, the one end of getting the water arm rotationally with the output shaft of a motor through a pivot, the other end is in the honeycomb duct is equipped with to be used for introducing the collection bottle with gathering water under the passageway.
The invention has the following advantages:
the automatic water sample collecting device of the unmanned ship can reach the designated water area for water body collection only after sending the water taking instruction, and the action of the automatic water sample collecting device does not cause adverse effect on the water body. In addition, the unmanned ship integrates multiple functions, thereby greatly enhancing the consistency of water environment management and saving the total cost of water environment management. Compared with the traditional manual recording and distinguishing method, the two-dimensional code recognition sampling bottle has higher efficiency and accuracy.
The automatic water sample collecting device of the unmanned ship distinguishes the sampling bottles by adopting the two-dimensional code identification, and simultaneously records the collecting place, time and depth of the water samples in the sampling bottles in the corresponding database, so that the distinguishing of the water sample bottles and the recording efficiency of the information of the water samples can be greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of an automatic water sample collecting device of an unmanned ship.
Fig. 2 is a schematic structural view (upside down) of a sample bottle feeding unit.
Fig. 3 is a schematic structural view of the water intake unit.
Fig. 4 is a graph of an S-shaped curve equation.
Fig. 5 is an acceleration curve equation.
Fig. 6 is a diagram of a deceleration curve equation.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, the automatic water sample collecting device for the unmanned ship in the embodiment mainly comprises a sampling bottle feeding unit 1, a bottle cap screwing unit 3, a water taking unit 4, a sampling bottle collecting unit 2 and a control driving device.
Referring to fig. 2, the sampling bottle feeding unit 1 adopted in this embodiment mainly comprises a storage hopper 11, a feeding chute 13, a rotating block 14 and a discharging plate 15. Storage hopper 11 has stored a plurality of sampling bottles 6, and sampling bottle 6 rotates the promotion back by the turning block 14 that sets up in last silo 13 through last silo 13 and falls on stripper 15. The discharging plate 15 can be slidably arranged in the feeding groove 13, one side of the discharging plate 15 is connected with an output shaft of a motor 152 through two connecting rods 151, when the output shaft of the motor 152 rotates, the discharging plate 15 is pulled out through transmission of the two connecting rods 151, and the sampling bottles 6 on the discharging plate 15 freely fall into the sampling bottle collecting unit 2 to complete discharging operation. The storage hopper 11 is an inverted triangular prism, a discharge hole at the lower end of the storage hopper 11 is connected with a feeding groove 13 through a curved circuitous groove 12, and the sampling bottle 6 is pushed out through the discharge hole of the circuitous groove 12 and falls onto a rotating surface of a rotating block 14. The turning block 14 is a fan-shaped block body, the turning block 14 separates the sampling bottle in the circuitous groove 12 when pushing the sampling bottle 6 on the rotating surface onto the discharging plate 15, and the next sampling bottle enters the feeding groove 13 through the storage hopper 11 after the turning block 14 resets.
The bottle cap screwing unit 3 adopted in this embodiment is mainly composed of a material holding manipulator 33, a screwing manipulator 31, and a sliding table 32. The screwing manipulator 31 is fixed on the sliding table 32, the sliding table 32 is arranged on a ship body (not shown in the figure) in a lifting manner, and the material holding manipulator 33 is arranged above the discharging plate 15 to clamp and discharge the sampling bottles 6 on the discharging plate 15. When the screwing manipulator 31 works, the screwing manipulator is driven by the sliding table 32 to descend to the bottle cap of the sampling bottle 6 to be clamped tightly, and then the bottle cap is rotated to separate the bottle cap of the sampling bottle 6 from the bottle body; then, the sliding table 32 rises to drive the bottle cap clamped with the bottle cap to rise, and the water taking unit 4 is waited to inject the sampling water into the sampling bottle 6; after sampling water is collected, the screwing manipulator 31 descends to screw the bottle cap back on the bottle body, and the collection action of the sampling bottle 6 is completed.
The water intake unit 4 adopted in this embodiment mainly includes a peristaltic pump 41 and a water intake arm 42. The water taking arm 42 is rotatably arranged on the ship body, a passage for the circulation of the sampling water is arranged in the water taking arm 42, when the water taking arm 42 rotates to a set position, the bottle cap of the sampling bottle 6 is unscrewed by the screwing manipulator 31, and the peristaltic pump 41 outputs the extracted sampling water to the sampling bottle 6 after the bottle cap is screwed through the passage of the water taking arm 42. One end of the water taking arm 42 is rotatably connected with an output shaft of a motor 422 through a rotating shaft, and the other end is provided with a guide pipe 421 below the passage for introducing collected water into the collection 6. In this embodiment, a hose (not shown) is additionally provided between the output of the peristaltic pump 41 and the water intake arm 42.
The sampling bottle aggregate unit 2 adopted by the embodiment is arranged at the bottom of the ship body and used for collecting the sampling bottle 6 filled with collected water. The aggregate unit 2 of the present embodiment is a rectangular semi-closed cavity, see fig. 1.
The control driving device according to the present embodiment controls the operations of the rotary block 14, the material holding robot 33, the twisting robot 31, the discharge plate 15, and the peristaltic pump 41. In this embodiment, the control driving device is a control core board which is designed autonomously by taking STM32F4 as a core, and is provided with a stepping motor, the stepping motor controls and drives the sliding table to ascend and descend through an S-shaped curve acceleration and deceleration algorithm, the stepping motor performs S-shaped curve acceleration and deceleration algorithm control, as shown in fig. 4, an acceleration curve equation is shown in formula (1), as shown in fig. 5,
Fcurrent＝Fmin+(Fmax-Fmin)/(1+e^(-Flexible*(i-num)/num)) (1)
the Fcurrent in the formula (1) is (length, in this embodiment, length is assigned as 1000) a single frequency value in 1000 points, Fmin is the starting frequency, Fmax is the maximum frequency, Flexible × i-num/num is the stretching change of the S-shaped curve, Flexible represents that the S-shaped curve interval takes a value of 4-6, i is the index in the loop calculation process, and num is length/2. Finally, the time and angular displacement of the acceleration process can be estimated, taking the orange curve in fig. two as an example: CalculateModelLine (Freq, Period, 1000, 64000, 500, 8) is an example (assuming no if (CountForAcc + +) conditional restriction in interrupts): time: the value of the first point of Period is 10000000/500 ═ 20000, the value of the last point is 10000000/64000 ═ 156, the average value is 10000 or so, the average time Tn of timer interruption is 10000/10000000 ═ 1ms, 1000 points, and the total time is 1s, of course, the acceleration time with a large starting frequency is shorter, for example, Fmin ═ 16000Hz, and Fmax ═ 64000, the acceleration process can be completed in about 40 ms. Angular displacement: 1.8 (single step) 1000 (steps)/4 (subdivision) 450 ° deceleration curve equation, calculated as above, see fig. 6, as follows:
Fcurrent＝Fmin-(Fmax-Fmin)/(1+e^(-Flexible*(i-num)/num))
furthermore, the control driving device also comprises a steering engine, and the steering engine controls the clamping operation of the material holding manipulator and the twisting manipulator and the rotation of the water taking arm through a PID algorithm. The steering engine is controlled by PID algorithm according to formula (1) and according to ukAdjusting steering engine PWM value
In the formula (2), Kp- > P, Ki- > I, Kd- > D, ek- > the error of this time, and ek-1- > the last error.
The bottle cap of the sampling bottle of the embodiment is provided with the two-dimensional code for distinguishing the bottle. The bottles are distinguished through the two-dimensional codes at the bottle caps, and information such as time, position coordinates and water taking depth of water samples taken by the bottles marked by the two-dimensional codes is recorded in a database.
The water sample automatic acquisition device of unmanned ship of this embodiment still includes two-dimensional code identification scanning device, and two-dimensional code identification scanning device sets up on twisting the manipulator, through carrying out the identification scanning to the two-dimensional code of bottle lid department, uses opencv storehouse discernment QR two-dimensional code, frames out the two-dimensional code in the picture to use open source storehouse Zxing to decode, cooperation Zbar algorithm discerns two-dimensional code information. Initializing an algorithm, constructing a scanner ImageScanner object, initializing the scanner by using a set _ config () method, loading an Image, reading a picture file by using ImageMagick and OpenCV, converting the picture file into a gray Image, constructing an Image Image object, calling a construction function of the Image object to initialize the Image, calling scan () of the Image scanner object, and processing the Image. Scanning images, wherein a scanner object public method scan () is mainly a zbar _ scan _ image () function, the function firstly carries out configuration verification on an incoming image, then the incoming image is firstly scanned line by line, and a scanning path is Z-shaped. The main scanning function is zbar _ scan _ y (), one pixel point is used as an increment to scan one pixel point by point in one line in the function, filtering is completed, edge gradient is solved, gradient threshold value self-adaption is carried out, the edge is determined, and the edge is converted into a light and shade width stream; where the process _ edge () function is called after the edge is determined. Inside the process _ edge () function, the current edge is subtracted from the last saved edge to obtain a width, and the width is saved in the scanner structure variable scn and the edge information of the current time is saved. Processing the bright and dark width stream stored in the scanner structure variable scn, wherein the processing function is zbar _ decode _ width (scn- > decoder, scn- > width), the internal processing object of the function is the width stream currently stored in the current line, the code scanning characteristic is extracted by calculating the width information among the widths, the detection standards of several one-dimensional codes are sequentially passed through, the type member in the scanner structure variable scn is updated when the code scanning type meeting the standard is found, and the lock member is updated to increase the confidence coefficient of the current type judgment (the identification can be realized by setting the bar codes of other types to be closed). If the current characteristic is met, the current width flow is judged not to be the QR code, if the current width flow is not met, the current width flow is described to be a self-defined line segment structure containing information such as end points at two ends, length and the like, and the structural variable of the transverse line segment meeting the conditions is stored into a transverse line segment set of a container lines. The column-by-column scanning of the whole image is the same as the row-by-row scanning, the scanning path is in an N shape, the edge is found by processing through zbar _ scan _ y () and process _ edge (), the longitudinal light and shade height stream is finally obtained, the longitudinal line segment which accords with the QR code is stored in a longitudinal line segment set of lines by processing through zbar _ decode _ width (scn- > decoder, scn- > width) function. And (3) QR code analysis, wherein the entry of a QR code analysis module is a function _ zbar _ QR _ decode (iscn- > QR, iscn, img). And (3) solving the centers of three positioning patterns of the QR code, screening the horizontal and longitudinal line segment sets which are solved before, clustering and solving the cross points. The function returns how many intersection points are found in total, and if the number of intersection points is less than three, the image cannot be subjected to QR code analysis. And then, carrying out self-adaptive binarization processing on the image, and carrying out code word reading on the QR code as a main decoding component. The function firstly sequences the found cross points according to the order of the hour, and affine change is carried out on the three points to obtain the width (the number of occupied pixels) of the QR code module. The function return value is the number of versions of the QR code, the version code word and the module width of the QR code are obtained (calculated according to two points on the same side of three intersection points, and the affine change includes a homography affine affinity and a full matrix affine affinity), all the obtained results are calculated and compared, and finally the version result of the QR code is obtained, and whether the obtained result number is more than or equal to 7 needs to be judged. If yes, the obtained version information is the coded information, and the version number also needs to be decoded; if the number is less than 7, the result is the version number of the QR code. And (3) obtaining the format information of the QR code, wherein after the format information is obtained, all the functional areas of the QR code are identified and decoded so far, and then analyzing the data area of the QR code. The image is subjected to an elimination mask process, a positioning pattern in the image is identified, and the region of the QR code except for the functional region is converted into a bit stream of 0 and 1. And checking and correcting the extracted bit stream by using a Reed-Solomon error correction algorithm, and finally outputting a final identification bit stream. The function nqrdata ═ qr _ code _ data _ list _ extract _ text (& qrlist, iscn, img); and analyzing and judging the solved bit stream, judging which coding mode the current QR code belongs to, decoding and outputting the bit stream after finding the corresponding coding mode, and finally solving the decoding result of the QR code. After the two-dimensional code is identified, information such as the place, time and depth of water taking of the two-dimensional code is recorded and is remotely uploaded to a database.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. The utility model provides an unmanned ship's water sample automatic acquisition device which characterized in that includes:
the sampling bottle feeding unit comprises a storage hopper, a feeding groove, a rotating block and a discharging plate, wherein the storage hopper stores a plurality of sampling bottles, and the sampling bottles fall on the discharging plate after being pushed by the rotating block arranged in the feeding groove through the feeding groove;
the bottle cap screwing unit comprises a material holding manipulator, a screwing manipulator and a sliding table, wherein the screwing manipulator is fixed on the sliding table, the sliding table is arranged on the ship body in a lifting manner, and the material holding manipulator is arranged above the discharging plate and is used for clamping and discharging sampling bottles on the discharging plate;
the water taking unit comprises a peristaltic pump and a water taking arm, the water taking arm is rotatably arranged on the ship body, a passage is arranged in the water taking arm, and the peristaltic pump outputs extracted sampling water to a sampling bottle through the passage when the water taking arm rotates to a set position;
the sampling bottle collecting unit is arranged at the bottom of the ship body and is used for collecting sampling bottles filled with collected water;
and the control driving device controls the operations of the rotating block, the material holding manipulator, the twisting manipulator, the discharging plate and the peristaltic pump.
2. The automatic water sample collecting device of the unmanned ship according to claim 1, wherein the control driving device comprises a stepping motor, and the stepping motor controls and drives the sliding table to ascend and descend through an S-shaped curve acceleration and deceleration algorithm.
3. The automatic water sample collecting device of the unmanned ship according to claim 2, wherein the stepping motor performs S-shaped curve acceleration control according to formula (1), performs S-shaped curve deceleration control according to formula (2), and performs acceleration processing using 1000 points (length).
Fcurrent＝Fmin+(Fmax-Fmin)/(1+e^(-Flexible*(i-num)/num)) (1)
Fcurrent＝Fmin-(Fmax-Fmin)/(1+e^(-Flexible*(i-num)/num)) (2)
In the formula, Fcurrent is a single frequency value in 1000 points (length), Fmin is an initial frequency, Fmax is a maximum frequency, flexile: (i-num)/num is used for stretching and changing the S-shaped curve, flexile represents that the S-shaped curve interval takes a value of 4-6, i is an index in the loop calculation process, and num is length/2.
4. The unmanned ship's water sample automatic acquisition device of claim 1, characterized in that the control drive arrangement includes the steering wheel, the steering wheel controls the centre gripping operation of holding material manipulator, twisting manipulator and the rotation of water intaking arm through PID algorithm control.
5. The unmanned ship's water sample automatic acquisition device of claim 4, characterized in that the steering engine carries out PID algorithm control according to formula (1), and according to ukAdjusting steering engine PWM value
In the formula (2), Kp- > P, Ki- > I, Kd- > D, ek- > the error of this time, and ek-1- > the last error.
6. The unmanned ship's water sample automatic acquisition device of claim 1 characterized in that be equipped with on the bottle lid of sampling bottle and be used for carrying out the two-dimensional code distinguished to the sampling bottle.
7. The unmanned ship's water sample automatic acquisition device of claim 1, characterized by also includes two-dimensional code discernment scanning device, two-dimensional code discernment scanning device sets up on twisting the manipulator, discerns the scanning to the two-dimensional code of bottle lid department, uses opencv storehouse discernment QR two-dimensional code, frames out the two-dimensional code in the picture to use open source storehouse Zxing to decode, adopt Zbar algorithm to discern the two-dimensional code information, the record contains the information of water intaking place, time, the degree of depth, and uploads to the remote data bank.
8. The unmanned ship's water sample automatic acquisition device of claim 1, characterized in that the storage hopper is an inverted triangle prism, the discharge port at the lower end of the storage hopper is connected with the feeding trough through a curved circuitous trough, and the sampling bottle is pushed out through the discharge port of the circuitous trough and falls onto the rotating surface of the rotating block.
9. The unmanned ship's water sample automatic acquisition device of claim 8, characterized in that the turning block is a fan-shaped block, and the turning block is when pushing the sampling bottle on the rotation face to the stripper and carrying out the separation to the sampling bottle in the circuitous groove, and the turning block resets the next sampling bottle and gets into the feeding tank through the storage hopper.
10. The unmanned ship's water sample automatic acquisition device of claim 1, characterized in that one end of the water intaking arm is rotatably connected with an output shaft of a motor through a rotating shaft, and the other end is provided with a draft tube below the passageway for introducing the gathered water into the gathering bottle.
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| CN114112541A (en) * | 2021-12-25 | 2022-03-01 | 盐城工学院 | Automatic water quality sampling device for unmanned ship |
| CN115468806A (en) * | 2022-09-28 | 2022-12-13 | 山东省海洋资源与环境研究院(山东省海洋环境监测中心、山东省水产品质量检验中心) | Seawater collecting and processing device |
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