CN113844591B - Buoy for monitoring seawater quality - Google Patents
Buoy for monitoring seawater quality Download PDFInfo
- Publication number
- CN113844591B CN113844591B CN202111198592.9A CN202111198592A CN113844591B CN 113844591 B CN113844591 B CN 113844591B CN 202111198592 A CN202111198592 A CN 202111198592A CN 113844591 B CN113844591 B CN 113844591B
- Authority
- CN
- China
- Prior art keywords
- unit
- buoy
- water
- monitoring
- control unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000012544 monitoring process Methods 0.000 title claims abstract description 51
- 239000013535 sea water Substances 0.000 title claims abstract description 36
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 97
- 238000004804 winding Methods 0.000 claims description 24
- 238000000034 method Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 9
- 238000005192 partition Methods 0.000 claims description 7
- 230000004927 fusion Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000003344 environmental pollutant Substances 0.000 description 1
- 239000003129 oil well Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 231100000719 pollutant Toxicity 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/18—Buoys having means to control attitude or position, e.g. reaction surfaces or tether
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/18—Water
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B2022/006—Buoys specially adapted for measuring or watch purposes
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Medicinal Chemistry (AREA)
- Food Science & Technology (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a buoy for monitoring seawater quality, which comprises a buoyancy unit, a counterweight unit, a monitoring unit, a thrust unit, a position balancing unit, a satellite navigation unit and a control unit, and is characterized in that: the buoyancy unit is connected with the counterweight unit through a rope; one side of the buoyancy unit is connected with the thrust unit; the buoyancy unit is also provided with a satellite navigation unit and a control unit; the buoy for monitoring the seawater quality has the advantages of accurate monitoring, intelligence, strong applicability and the like, and also has the functional characteristics of real-time and stable monitoring data and the like.
Description
Technical Field
The invention belongs to the field of marine water quality monitoring equipment, and particularly relates to a buoy for monitoring the quality of seawater.
Background
Marine pollution is a worldwide problem, and many factors are caused by marine pollution, including inflow of land pollutants, leakage occurring in petroleum transportation, spills and blowouts of submarine oil wells in exploitation, nuclear leakage and the like. In order to perform targeted monitoring on the ocean water quality, a buoy with a water quality monitoring instrument is often adopted for real-time monitoring, however, in the process of performing water quality monitoring by adopting the buoy, an operator can hardly accurately grasp the environment where the buoy is located due to the complex sea environment, and adjust the submergence depth of the buoy and the longitude and latitude position where the buoy is located.
The invention provides a buoy for monitoring seawater quality, which utilizes a buoy carrying water quality monitoring instrument to monitor related indexes of seawater in real time, and simultaneously coordinates and coordinates among a buoyancy unit, a counterweight unit, a monitoring unit, a thrust unit, a position balancing unit, a satellite navigation unit and a control unit to timely master the submergence depth of the buoy in the seawater and the longitude and latitude positions of the buoy and make even adjustment. The intelligent monitoring system has the advantages of accurate monitoring, intelligence, strong applicability and the like, and also has the functional characteristics of real-time and stable monitoring data and the like.
Disclosure of Invention
The invention aims to provide a buoy for monitoring seawater quality, which is accurate in data monitoring, suitable for a complex marine working environment and capable of timely grasping and timely adjusting the position of the buoy.
The technical scheme adopted by the invention for achieving the purpose is as follows: the utility model provides a buoy for monitoring sea water quality, its includes buoyancy unit, counter weight unit, monitoring unit, thrust unit, position balancing unit, satellite navigation unit and control unit, its characterized in that: the buoyancy unit is connected with the counterweight unit through a rope; one side of the buoyancy unit is connected with the thrust unit; the buoyancy unit is also provided with a satellite navigation unit and a control unit;
The buoyancy unit comprises a floating shell, the floating shell is of a hollow structure, guide grooves are uniformly formed in the surface of the floating shell, a cylinder is detachably arranged in the floating shell, the cylinder is divided into an upper cylinder cavity and a lower cylinder cavity through a transverse partition plate, the lower cylinder cavity is a water tank, a water pump is arranged at the bottom of the water tank, a plurality of water pipes are uniformly distributed at the bottom of the water tank, a plurality of pressure sensors are further arranged at the bottom of the water tank, a pressure air tank is arranged in the upper cylinder cavity, and the pressure air tank is communicated with the lower cylinder cavity through an air duct; the upper cylinder cavity is internally provided with a winding wheel and a winding wheel driving device, the winding wheel driving device drives the winding wheel to rotate clockwise or anticlockwise so as to realize winding or paying-off, and the rope passes through the partition plate and the bottom wall of the cylinder;
A monitoring unit is arranged on the outer side of the bottom wall of the cylinder, and the monitoring unit comprises a water quality monitor;
The position balancing unit is arranged at the bottom end of the cylinder and comprises a plurality of fan blades which are uniformly hinged at the bottom end of the cylinder, and the position, adjacent to the hinged end, of the fan blades is connected with the cylinder through a spring;
The satellite navigation unit is used for acquiring the position information of the buoy; the satellite navigation unit comprises a signal receiver, a data transmitter and a signal processor, wherein the data transmitter is used for receiving satellite signals and transmitting the received satellite signals to the signal receiver, the signal receiver transmits signals to the signal processor, the signal processor processes the signals, compares the acquired actual position information of the buoy with target position information to acquire difference information, and transmits the difference information to the control unit; the control unit sends an adjustment instruction to the buoyancy unit, and the buoyancy unit responds to the instruction of the control unit to adjust the longitude and latitude position of the buoy.
Further, the reel driving device includes a biaxial motor; the thrust unit comprises a propeller and a propeller outer cover, one end of the double-shaft motor is connected with the propeller, and the other end of the double-shaft motor is connected with the reel through a worm gear.
Further, the device also comprises an environment detection unit, wherein the environment detection unit is connected with the buoyancy unit; the environment detection unit comprises an ultrasonic sensor and a binocular camera; the ultrasonic sensors are uniformly distributed around the side wall of the cylinder, and the side wall of the cylinder is also provided with an electronic sounder; the environment detection unit is used for collecting obstacle information around the water area where the buoy is located; the ultrasonic sensor is used for identifying the distance between an obstacle and the buoy, the binocular camera is used for acquiring image information around the water area where the buoy is located, the ultrasonic sensor is used for transmitting the measured distance information and the shot image information to the obstacle avoidance control system respectively, the obstacle avoidance control system is used for carrying out data fusion on the information, and when the measured distance is smaller than a first safe distance and the image information shows that the obstacle is a movable obstacle, the obstacle avoidance control system starts an electronic generator, and the electronic generator continuously sends out sound to drive the obstacle; when the obstacle avoidance control system displays that the distance between the movable obstacle and the buoy is smaller than a second safety distance, the obstacle avoidance control system calculates the driving force required for avoiding the movement of the obstacle buoy according to the distance between the movable obstacle and the buoy and transmits an execution instruction to the double-shaft motor; the first safe distance is greater than the second safe distance.
Further, the pressure sensor is used for monitoring the water pressure in the water tank and transmitting the water pressure signal to the control unit so as to represent the submerging depth of the lower end of the buoy; the air duct is provided with a first electromagnetic valve for controlling the gas to be led out, and the water pipe is provided with a second electromagnetic valve; when the depth of the lower end of the buoy submerging into the sea water exceeds a preset depth, the control unit controls the first electromagnetic valve to open and ventilate the lower cylinder cavity, the control unit controls the second electromagnetic valve to open and controls the water pump to discharge water in the water tank through the water pipe, and the control unit controls the winding driving device to drive the winding wheel to rotate so as to realize paying-off of the rope; when the depth of the lower end of the buoy submerging into the sea water does not reach the preset depth, the control unit controls the first electromagnetic valve to be closed, the control unit controls the water pump to add water into the water tank, and meanwhile controls the winding driving device to drive the winding roller to rotate so as to achieve winding of the rope.
Further, the cylinder is in sealing connection with the floating shell.
Further, a filter screen is arranged at the section of the water pipe.
Further, a storage battery is further arranged in the upper cylinder cavity, and the storage battery is connected with the double-shaft motor.
Meanwhile, the use method based on the buoy for monitoring the seawater quality is also provided, and the method comprises the following steps:
S1, throwing the buoy in a fixed-point monitoring area of a sea area; the control unit controls the water pump to work according to the set depth of the lower end of the buoy submerging in the seawater, and the seawater is injected into the water tank, and also controls the reel driving device to work, and the reel driving device drives the reel to rotate clockwise or anticlockwise so as to control the depth of the lower end of the buoy submerging in the water;
S2, the control unit controls the position balancing unit, a plurality of fan blades of the position balancing unit are completely opened, and after the fan blades are completely opened, the plane where the fan blades are positioned is perpendicular to the axis of the cylinder;
S3, the monitoring unit monitors the seawater information of the water area, and transmits the monitoring information to the control unit in real time for storage and analysis;
And S4, in the working process, the satellite navigation unit also monitors the position information of the buoy in real time, and when the deviation value of the monitored actual position information of the buoy and the target position exceeds a preset deviation value, the control unit starts the thrust unit to adjust the position of the buoy.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the buoy for monitoring the seawater quality is arranged in the ocean, and the water quality monitor is carried on the buoy, so that the water quality environment in the ocean is monitored timely; meanwhile, a cylinder is detachably arranged in the floating shell of the buoy, the cylinder is divided into an upper cylinder cavity and a lower cylinder cavity by a transverse partition plate, the lower cylinder cavity is a water tank, a pressure air tank and a reel are arranged in the upper cylinder cavity, and the air tank, the water tank and the reel are controlled by a control unit, so that the buoyancy of the whole buoyancy unit is adjusted, and the submerging depth of the buoy is accurately adjusted; meanwhile, the satellite navigation unit is used for accurately grasping the longitude and latitude information of the floating body, and controlling the thrust unit to operate so as to accurately adjust the position of the floating body; meanwhile, an environment detection unit is also arranged to prevent the floating body from being avoided by obstacles in the sea area, and the obstacle avoidance is realized by adopting a mode of combining an electronic generator and the position escape of the floating body; and meanwhile, the balance unit at the bottom end of the cylinder is arranged, namely a plurality of fan blades are uniformly hinged at the bottom end of the cylinder, and the positions of the fan blades adjacent to the hinged ends are connected with the cylinder through springs, so that stable balance of the positions of the buoys is realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a buoy for monitoring the quality of seawater according to the present invention;
FIG. 2 is a schematic view of the connection structure of the cylinder and the counterweight unit according to the invention
FIG. 3 is a schematic view of the internal structure of the cylinder according to the present invention;
fig. 4 is a schematic structural view of a thrust unit according to the present invention.
Reference numerals illustrate: 1. the floating shell 2, the cylinder 3, the baffle 4, the rope 5, the counterweight unit 6, the pressure gas tank 7, the gas guide pipe 8, the first electromagnetic valve 9, the water pump 10, the water pipe 11, the second electromagnetic valve 12, the reel 13, the double-shaft motor 14 and the propeller.
Detailed Description
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Example 1:
1-4, a buoy for monitoring the quality of seawater, comprising a buoyancy unit, a counterweight unit, a monitoring unit, a thrust unit, a position balancing unit, a satellite navigation unit and a control unit, wherein the buoyancy unit is connected with the counterweight unit through a rope 4; one side of the buoyancy unit is connected with the thrust unit; the buoyancy unit is also provided with a satellite navigation unit and a control unit;
The buoyancy unit comprises a floating shell 1, wherein the floating shell 1 is of a hollow structure, and guide grooves are uniformly formed in the surface of the floating shell 1, so that the purpose of water guiding is achieved, and the resistance is reduced; the inside of the floating shell 1 is detachably provided with a cylinder 2, and the cylinder 2 is in sealing connection with the floating shell 1 so as to prevent seawater from entering the floating shell 1.
The cylinder 2 is divided into an upper cylinder cavity and a lower cylinder cavity by a transverse circular partition plate 3, the lower cylinder cavity is formed into a water tank, a water pump 9 is arranged at the bottom of the water tank, a plurality of water pipes 10 are uniformly distributed at the bottom of the water tank, and the water pipes 10 are used for introducing water into the water tank or discharging the water in the water tank to the outside of the water tank;
The bottom of the water tank is also provided with a plurality of pressure sensors, and the pressure sensors are used for measuring the pressure of water in the water tank; a pressure air tank 6 is arranged in the upper cylinder cavity, and the pressure air tank 6 is communicated with the lower cylinder cavity through an air duct 7; a reel 12 and a reel driving device are further arranged in the upper cylinder cavity, the reel driving device drives the reel 12 to rotate clockwise or anticlockwise so as to realize wire winding or paying-off, the reel driving device comprises a double-shaft motor 13, and the rope 4 passes through the partition plate 3 and the bottom wall of the cylinder;
A monitoring unit is arranged on the outer side of the bottom wall of the cylinder 2, and comprises a water quality monitor; the water quality monitor can be provided with a plurality of indicators, and the monitored indicators can be adjusted according to the needs;
The position balancing unit is arranged at the bottom end of the cylinder and comprises a plurality of fan blades which are uniformly hinged at the bottom end of the cylinder, and the position, adjacent to the hinged end, of the fan blades is connected with the cylinder 2 through a spring;
The satellite navigation unit is used for acquiring the position information of the buoy; the satellite navigation unit comprises a signal receiver, a data transmitter and a signal processor, wherein the data transmitter is used for receiving satellite signals and transmitting the received satellite signals to the signal receiver, the signal receiver transmits signals to the signal processor, the signal processor processes the signals, compares the acquired actual position information of the buoy with target position information to acquire difference information, and transmits the difference information to the control unit; the control unit sends an adjustment instruction to the buoyancy unit, and the buoyancy unit responds to the instruction of the control unit to adjust the longitude and latitude position of the buoy.
The thrust unit is used for adjusting the longitude and latitude position of the buoy, and comprises a propeller 14 and a propeller housing, one end of the double-shaft motor 13 is connected with the propeller 14, so that the propeller 14 is driven, and the position of the buoy is adjusted; the other end of the double-shaft motor 13 is connected with the reel 12 through a worm gear and a worm, the reel is driven to rotate, paying-off or winding is achieved, a power device is saved due to the fact that the double-shaft motor 13 is used, a storage battery is further arranged in the upper cylinder cavity, and is connected with the double-shaft motor 13 to provide an electric power source for the double-shaft motor 13.
The buoyancy unit is connected with the buoyancy unit; the environment detection unit comprises an ultrasonic sensor and a binocular camera; the ultrasonic sensors are uniformly distributed around the side wall of the cylinder, and the side wall of the cylinder is also provided with an electronic sounder; the environment detection unit is used for collecting obstacle information around the water area where the buoy is located; the ultrasonic sensor is used for identifying the distance between an obstacle and the buoy, the binocular camera is used for acquiring image information around the water area where the buoy is located, the ultrasonic sensor is used for transmitting the measured distance information and the shot image information to the obstacle avoidance control system respectively, the obstacle avoidance control system is used for carrying out data fusion on the information, and when the measured distance is smaller than a first safe distance and the image information shows that the obstacle is a movable obstacle, the obstacle avoidance control system starts an electronic generator, and the electronic generator continuously sends out sound to drive the obstacle; when the obstacle avoidance control system displays that the distance between the movable obstacle and the buoy is smaller than the second safety distance, the obstacle avoidance control system calculates the driving force required for avoiding the movement of the obstacle buoy according to the distance between the movable obstacle and the buoy, transmits an execution instruction to the double-shaft motor 13, pushes the buoy, and adjusts the position of the buoy to avoid the obstacle. The first safe distance is greater than the second safe distance.
The pressure sensor is used for monitoring the water pressure in the water tank and transmitting the water pressure signal to the control unit so as to convert and characterize the submerging depth of the buoy into seawater; the air duct 7 is provided with a first electromagnetic valve 8 for controlling the air to be led out, and the water pipe 10 is provided with a second electromagnetic valve 11; when the depth of the buoy submerging in seawater exceeds a preset depth, the control unit controls the first electromagnetic valve 8 to open, the gas in the pressure gas tank is ventilated into the lower cylinder cavity, the control unit controls the second electromagnetic valve 11 to open, the water pump 9 is controlled to discharge water in the water tank through the water pipe 10, and the control unit controls the winding driving device to drive the winding wheel to rotate so as to realize paying off of the rope; when the depth of the buoy submerging in the seawater does not reach the preset depth, the control unit controls the first electromagnetic valve 8 to be closed, the control unit controls the water pump 9 to pump water into the water tank, and simultaneously controls the winding driving device to drive the winding roller to rotate so as to realize winding of the rope; and in order to avoid the water pipe to be blocked, a filter screen is arranged at the section of the water pipe.
Specifically, the method based on the use of a buoy for monitoring the quality of seawater comprises the following steps:
S1, throwing the buoy in a fixed-point monitoring area of a sea area; the control unit controls the water pump to work according to the set depth of the lower end of the buoy submerging in the seawater, and the seawater is injected into the water tank, and also controls the reel driving device to work, and the reel driving device drives the reel to rotate clockwise or anticlockwise so as to control the depth of the lower end of the buoy submerging in the water;
S2, the control unit controls the position balancing unit, a plurality of fan blades of the position balancing unit are completely opened, and after the fan blades are completely opened, the plane where the fan blades are positioned is perpendicular to the axis of the cylinder;
S3, the monitoring unit monitors the seawater information of the water area, and transmits the monitoring information to the control unit in real time for storage and analysis;
And S4, in the working process, the satellite navigation unit also monitors the position information of the buoy in real time, and when the deviation value of the monitored actual position information of the buoy and the target position exceeds a preset deviation value, the control unit starts the thrust unit to adjust the position of the buoy.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (4)
1. The utility model provides a buoy for monitoring sea water quality, its includes buoyancy unit, counter weight unit, monitoring unit, thrust unit, position balancing unit, satellite navigation unit and control unit, its characterized in that: the buoyancy unit is connected with the counterweight unit through a rope; one side of the buoyancy unit is connected with the thrust unit; the buoyancy unit is also provided with a satellite navigation unit and a control unit; the buoyancy unit comprises a floating shell, the floating shell is of a hollow structure, guide grooves are uniformly formed in the surface of the floating shell, a cylinder is detachably arranged in the floating shell, the cylinder is divided into an upper cylinder cavity and a lower cylinder cavity through a transverse partition plate, the lower cylinder cavity is a water tank, a water pump is arranged at the bottom of the water tank, a plurality of water pipes are uniformly distributed at the bottom of the water tank, a plurality of pressure sensors are further arranged at the bottom of the water tank, a pressure air tank is arranged in the upper cylinder cavity, and the pressure air tank is communicated with the lower cylinder cavity through an air duct; the upper cylinder cavity is internally provided with a winding wheel and a winding wheel driving device, the winding wheel driving device drives the winding wheel to rotate clockwise or anticlockwise so as to realize winding or paying-off, and the rope passes through the partition plate and the bottom wall of the cylinder; a monitoring unit is arranged on the outer side of the bottom wall of the cylinder, and the monitoring unit comprises a water quality monitor; the position balancing unit is arranged at the bottom end of the cylinder and comprises a plurality of fan blades which are uniformly hinged at the bottom end of the cylinder, and the position, adjacent to the hinged end, of the fan blades is connected with the cylinder through a spring; the satellite navigation unit is used for acquiring the position information of the buoy; the satellite navigation unit comprises a signal receiver, a data transmitter and a signal processor, wherein the data transmitter is used for receiving satellite signals and transmitting the received satellite signals to the signal receiver, the signal receiver transmits signals to the signal processor, the signal processor processes the signals, compares the acquired actual position information of the buoy with target position information to acquire difference information, and transmits the difference information to the control unit; the control unit sends an adjustment instruction to the buoyancy unit, and the buoyancy unit responds to the instruction of the control unit to adjust the longitude and latitude position of the buoy; the pressure sensor is used for monitoring the water pressure in the water tank and transmitting the water pressure signal to the control unit so as to represent the submergence depth of the lower end of the buoy; the air duct is provided with a first electromagnetic valve for controlling the gas to be led out, and the water pipe is provided with a second electromagnetic valve; when the depth of the lower end of the buoy submerging into the sea water exceeds a preset depth, the control unit controls the first electromagnetic valve to open and ventilate the lower cylinder cavity, the control unit controls the second electromagnetic valve to open and controls the water pump to discharge water in the water tank through the water pipe, and the control unit controls the reel driving device to drive the reel to rotate so as to pay off the rope; when the depth of the lower end of the buoy submerging into the sea water does not reach the preset depth, the control unit controls the first electromagnetic valve to be closed, the control unit controls the water pump to add water into the water tank, and simultaneously controls the reel driving device to drive the winding roller to rotate so as to realize winding of the rope; the reel drive device includes a biaxial motor; the thrust unit comprises a propeller and a propeller outer cover, one end of the double-shaft motor is connected with the propeller, and the other end of the double-shaft motor is connected with the reel through a worm gear; the buoyancy unit is connected with the buoyancy unit; the environment detection unit comprises an ultrasonic sensor and a binocular camera; the ultrasonic sensors are uniformly distributed around the side wall of the cylinder, and the side wall of the cylinder is also provided with an electronic sounder; the environment detection unit is used for collecting obstacle information around the water area where the buoy is located; the ultrasonic sensor is used for identifying the distance between an obstacle and the buoy, the binocular camera is used for acquiring image information around the water area where the buoy is located, the ultrasonic sensor is used for transmitting the measured distance information and the shot image information to the obstacle avoidance control system respectively, the obstacle avoidance control system is used for carrying out data fusion on the information, and when the measured distance is smaller than a first safe distance and the image information shows that the obstacle is a movable obstacle, the obstacle avoidance control system starts an electronic generator, and the electronic generator continuously sends out sound to drive the obstacle; when the obstacle avoidance control system displays that the distance between the movable obstacle and the buoy is smaller than a second safety distance, the obstacle avoidance control system calculates the driving force required for avoiding the movement of the obstacle buoy according to the distance between the movable obstacle and the buoy and transmits an execution instruction to the double-shaft motor; the first safety distance is greater than the second safety distance; the cylinder is in sealing connection with the floating shell.
2. A buoy for monitoring the quality of seawater as claimed in claim 1, wherein: a filter screen is arranged at the section of the water pipe.
3. A buoy for monitoring the quality of seawater as claimed in claim 2, wherein: and a storage battery is further arranged in the upper cylinder cavity and connected with the double-shaft motor.
4. A method of using a buoy for monitoring the quality of seawater based on any one of claims 1-3, characterized in that: the method comprises the following steps:
S1, throwing the buoy in a fixed-point monitoring area of a sea area; the control unit controls the water pump to work according to the set depth of the lower end of the buoy submerging in the seawater, and the seawater is injected into the water tank, and also controls the reel driving device to work, and the reel driving device drives the reel to rotate clockwise or anticlockwise so as to control the depth of the lower end of the buoy submerging in the water;
S2, the control unit controls the position balancing unit, a plurality of fan blades of the position balancing unit are completely opened, and after the fan blades are completely opened, the plane where the fan blades are positioned is perpendicular to the axis of the cylinder;
S3, the monitoring unit monitors the seawater information of the water area, and transmits the monitoring information to the control unit in real time for storage and analysis;
And S4, in the working process, the satellite navigation unit also monitors the position information of the buoy in real time, and when the deviation value of the monitored actual position information of the buoy and the target position exceeds a preset deviation value, the control unit starts the thrust unit to adjust the position of the buoy.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198592.9A CN113844591B (en) | 2021-10-14 | 2021-10-14 | Buoy for monitoring seawater quality |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111198592.9A CN113844591B (en) | 2021-10-14 | 2021-10-14 | Buoy for monitoring seawater quality |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113844591A CN113844591A (en) | 2021-12-28 |
| CN113844591B true CN113844591B (en) | 2024-05-24 |
Family
ID=78978365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111198592.9A Active CN113844591B (en) | 2021-10-14 | 2021-10-14 | Buoy for monitoring seawater quality |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113844591B (en) |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200449774Y1 (en) * | 2009-11-30 | 2010-08-09 | 사단법인 한국해양구조단 | A Marker Buoy Unit for Safety of a Disaster at Sea |
| KR20130024359A (en) * | 2011-08-31 | 2013-03-08 | 고려대학교 산학협력단 | Plankton counter using autonomous buoy |
| CN105842412A (en) * | 2016-03-24 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | Water environment vertical distribution comprehensive on-line monitoring buoy and monitoring system |
| CN107585263A (en) * | 2017-07-21 | 2018-01-16 | 青岛航讯科技有限公司 | A kind of orientable deep-sea of sink-float certainly is tethered at test platform |
| CN108216492A (en) * | 2017-12-22 | 2018-06-29 | 国家***第海洋研究所 | A kind of high-precision subsurface buoy array 1 system for realizing oceanographic data area monitoring |
| CN108614310A (en) * | 2018-04-27 | 2018-10-02 | 国家***第海洋研究所 | A kind of meteorological profile observation system and its application method with autonomous elevating function |
| KR101911756B1 (en) * | 2018-05-04 | 2018-10-25 | (주)에디넷 | The system for real-time remote monitoring buoys on the sea |
| CN208206958U (en) * | 2018-06-15 | 2018-12-07 | 山东中瑞电气有限公司 | Ocean water quality remote measuring and controlling system based on more buoy sensing nodes |
| CN109878639A (en) * | 2018-09-28 | 2019-06-14 | 上海海洋大学 | Modularization pinpoints profile buoy |
| CN109931985A (en) * | 2019-04-02 | 2019-06-25 | 李伟华 | A kind of self-propulsion type anchoring water quality monitoring system |
| CN209192159U (en) * | 2018-11-30 | 2019-08-02 | 山东交通学院 | The automatic cruising water quality indicator buoy system of view-based access control model navigation |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| CN209821178U (en) * | 2019-02-14 | 2019-12-20 | 盐城工业职业技术学院 | Buoy type water quality monitoring device |
| RU2710831C1 (en) * | 2018-09-13 | 2020-01-14 | Федеральное государственное унитарное предприятие "Крыловский государственный научный центр" | Self-propelled hydroacoustic buoy-beacon and navigation equipment method of sea area |
| JP2020050229A (en) * | 2018-09-28 | 2020-04-02 | 株式会社ブルーオーシャン研究所 | Oceanographic observation buoy |
| CN211167300U (en) * | 2019-11-29 | 2020-08-04 | 中国电子科技集团公司第二十七研究所 | Intelligent water surface comprehensive monitoring buoy device |
| CN111547191A (en) * | 2020-04-22 | 2020-08-18 | 竺羊宝 | Stable form coastal waters floating observation device who conveniently retrieves |
| CN111674506A (en) * | 2020-05-28 | 2020-09-18 | 山西汾西重工有限责任公司 | Buoy device and air route measuring system |
| CN111688866A (en) * | 2020-06-24 | 2020-09-22 | 王学合 | Marine ecological environment monitoring buoy based on remote monitoring |
| CN111924043A (en) * | 2020-07-17 | 2020-11-13 | 厦门斯坦道科学仪器股份有限公司 | Water quality monitoring buoy system and application thereof |
| CN113353197A (en) * | 2021-06-29 | 2021-09-07 | 广东万育产业发展咨询有限公司 | Intelligent buoy communication control method and system based on Beidou satellite system |
-
2021
- 2021-10-14 CN CN202111198592.9A patent/CN113844591B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR200449774Y1 (en) * | 2009-11-30 | 2010-08-09 | 사단법인 한국해양구조단 | A Marker Buoy Unit for Safety of a Disaster at Sea |
| KR20130024359A (en) * | 2011-08-31 | 2013-03-08 | 고려대학교 산학협력단 | Plankton counter using autonomous buoy |
| CN105842412A (en) * | 2016-03-24 | 2016-08-10 | 中国科学院重庆绿色智能技术研究院 | Water environment vertical distribution comprehensive on-line monitoring buoy and monitoring system |
| CN107585263A (en) * | 2017-07-21 | 2018-01-16 | 青岛航讯科技有限公司 | A kind of orientable deep-sea of sink-float certainly is tethered at test platform |
| CN108216492A (en) * | 2017-12-22 | 2018-06-29 | 国家***第海洋研究所 | A kind of high-precision subsurface buoy array 1 system for realizing oceanographic data area monitoring |
| CN108614310A (en) * | 2018-04-27 | 2018-10-02 | 国家***第海洋研究所 | A kind of meteorological profile observation system and its application method with autonomous elevating function |
| KR101911756B1 (en) * | 2018-05-04 | 2018-10-25 | (주)에디넷 | The system for real-time remote monitoring buoys on the sea |
| CN208206958U (en) * | 2018-06-15 | 2018-12-07 | 山东中瑞电气有限公司 | Ocean water quality remote measuring and controlling system based on more buoy sensing nodes |
| RU2710831C1 (en) * | 2018-09-13 | 2020-01-14 | Федеральное государственное унитарное предприятие "Крыловский государственный научный центр" | Self-propelled hydroacoustic buoy-beacon and navigation equipment method of sea area |
| CN109878639A (en) * | 2018-09-28 | 2019-06-14 | 上海海洋大学 | Modularization pinpoints profile buoy |
| JP2020050229A (en) * | 2018-09-28 | 2020-04-02 | 株式会社ブルーオーシャン研究所 | Oceanographic observation buoy |
| CN209192159U (en) * | 2018-11-30 | 2019-08-02 | 山东交通学院 | The automatic cruising water quality indicator buoy system of view-based access control model navigation |
| CN209821178U (en) * | 2019-02-14 | 2019-12-20 | 盐城工业职业技术学院 | Buoy type water quality monitoring device |
| CN109931985A (en) * | 2019-04-02 | 2019-06-25 | 李伟华 | A kind of self-propulsion type anchoring water quality monitoring system |
| CN110346525A (en) * | 2019-07-25 | 2019-10-18 | 广东华中科技大学工业技术研究院 | A kind of movable water quality monitering buoy and its application method |
| CN211167300U (en) * | 2019-11-29 | 2020-08-04 | 中国电子科技集团公司第二十七研究所 | Intelligent water surface comprehensive monitoring buoy device |
| CN111547191A (en) * | 2020-04-22 | 2020-08-18 | 竺羊宝 | Stable form coastal waters floating observation device who conveniently retrieves |
| CN111674506A (en) * | 2020-05-28 | 2020-09-18 | 山西汾西重工有限责任公司 | Buoy device and air route measuring system |
| CN111688866A (en) * | 2020-06-24 | 2020-09-22 | 王学合 | Marine ecological environment monitoring buoy based on remote monitoring |
| CN111924043A (en) * | 2020-07-17 | 2020-11-13 | 厦门斯坦道科学仪器股份有限公司 | Water quality monitoring buoy system and application thereof |
| CN113353197A (en) * | 2021-06-29 | 2021-09-07 | 广东万育产业发展咨询有限公司 | Intelligent buoy communication control method and system based on Beidou satellite system |
Non-Patent Citations (3)
| Title |
|---|
| 一种溢油回收无人船设计研究;周铭浩;孙洪源;高博;宋磊;贾风光;;中国水运(下半月);20200115(01);全文 * |
| 北斗卫星导航***在波浪能自供电海洋浮标中的应用;王世明;田园;田卡;;全球定位***;20180815(04);全文 * |
| 无线电遥控水声监测浮标;张光普;梁国龙;刘友永;刘洋;;声学技术;20071015(05);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113844591A (en) | 2021-12-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108216492B (en) | High-precision submerged buoy array system for realizing marine data area monitoring | |
| CN108189969B (en) | Deep sea anchor system subsurface buoy system based on satellite communication data real-time transmission | |
| US10611447B2 (en) | Autonomous underwater system for a 4D environmental monitoring | |
| CN108045530A (en) | A kind of submarine cable detection underwater robot and operational method | |
| CN210639082U (en) | Three-dimensional water quality monitoring system based on unmanned ship | |
| CN106080987B (en) | Extra large cable synchronous unwrapping wire submariner device under water | |
| CN108375625B (en) | Jacket corrosion detection equipment without magnetic field interference and corrosion detection method | |
| CN108120429A (en) | A kind of autonomous underwater robot pinpoints profile measurement method for a long time | |
| JP2005300393A (en) | Remote control automatic water quality measuring device | |
| CN109186868B (en) | Sealing performance detection device for polar region seabed fishing robot | |
| CN112478108A (en) | Method for removing submarine cable obstacles by submarine cable robot | |
| Xiang et al. | Research progresses on equipment technologies used in safety inspection, repair, and reinforcement for deepwater dams | |
| RU2563074C1 (en) | Underwater robotic complex | |
| CN111983687A (en) | Networking suspended marine environment acoustic characteristic measuring device and method thereof | |
| CN113844591B (en) | Buoy for monitoring seawater quality | |
| CN210555523U (en) | Recoverable seabed monitoring platform of long continuation of journey formula | |
| CN205449549U (en) | Water sample collection system and collector under water based on autonomic underwater vehicle | |
| CN114609353B (en) | Automatic sinking-floating ocean profile temperature, salt, depth and turbidity monitoring device | |
| CN207683723U (en) | A kind of section Stratified Sampling unmanned boat | |
| RU2468959C1 (en) | Submersible robotised complex for measurements and repair of waterworks | |
| RU110066U1 (en) | REPLACEABLE ROBOTIC COMPLEX FOR CARRYING OUT MEASURING AND UNDERWATER TECHNICAL WORKS | |
| CN110296676B (en) | Remote control ship for accurately detecting underwater elevation of river channel | |
| CN209290619U (en) | A kind of experimental provision of oil sac formula Argo buoy buoyancy accuracy control method | |
| CN111086613A (en) | Unmanned underwater vehicle and method for monitoring river water quality | |
| CN106167076B (en) | Unmanned measurement investigation platform waterborne for data acquisition difficulty waters |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |