CN113884131B - Intelligent ship for marine environment monitoring - Google Patents
Intelligent ship for marine environment monitoring Download PDFInfo
- Publication number
- CN113884131B CN113884131B CN202111106225.1A CN202111106225A CN113884131B CN 113884131 B CN113884131 B CN 113884131B CN 202111106225 A CN202111106225 A CN 202111106225A CN 113884131 B CN113884131 B CN 113884131B
- Authority
- CN
- China
- Prior art keywords
- top surface
- environment
- ship
- upper computer
- plate
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Testing Or Calibration Of Command Recording Devices (AREA)
Abstract
The invention provides an intelligent ship for marine environment monitoring, which comprises a ship body, an upper computer and an environment monitoring mechanism, wherein the environment monitoring mechanism comprises a connecting column, an annular frame body, an adjusting mechanism, a moving trolley, a stress detection mechanism and an environment detector, after the ship body moves to a position to be monitored, the environment detector can collect environment data of marine seawater below the ship body, so that guidance effects are provided for resource exploration, disaster prediction and the like, the environment detector can be damaged to different degrees due to the impact of garbage, sea ice, fish shoals and the like in the sea, and the environment detector is arranged on the moving trolley, the moving trolley drives the environment detector to move, the condition that the environment detector is impacted is detected by the stress detection mechanism, then the position of the environment detector is adjusted, the environment detector with more impact is moved to the position with less impact, the damage degree of all the environment detector is the same, and unified replacement and maintenance are convenient.
Description
Technical Field
The invention relates to the field of marine environment monitoring, in particular to an intelligent ship for marine environment monitoring.
Background
The marine environment monitoring mainly comprises the steps of monitoring and investigating ecological health environments such as marine water bodies, sediments, marine organisms, marine atmosphere, weather, hydrology, sea ice and the like, marine disaster prediction, marine resource utilization and management, marine environment scientific research and the like can be carried out through monitoring the marine environment, the marine environment monitoring is generally realized through an environment monitoring ship, an environment detector is installed on the ship body of the environment monitoring ship, then the environment monitoring ship sails to an area to be monitored on the sea surface, and the environment detector carries out data acquisition on the marine environment of the area to be monitored, as shown by an unmanned ship (hereinafter referred to as D1) for marine environment monitoring with the publication number of CN112874705A, the top of the ship body is fixedly connected with a connection plate, one end of the connection plate is provided with a rotating mechanism, the marine detector of the first transmission rod is fixedly connected with a submarine detector, and the submarine detector of the D1 can be put into the sea to be monitored for carrying out marine data acquisition, so as to carry out environment monitoring.
However, not only there are shoal of fish in the ocean, but also there are solid objects such as ocean rubbish, sea ice, etc., when the environmental monitoring ship stays in the area to be monitored for environmental monitoring, the monitoring equipment will not be damaged due to the impact of the shoal of fish, rubbish and sea ice, and the damage degree of the monitoring equipment at different positions of the ship body may be different due to uncertainty of the flows of the shoal of fish, rubbish and sea ice at different positions in the long term, however, when the monitoring equipment is replaced and maintained, all the monitoring equipment on the ship body is generally replaced to ensure the consistency of data acquisition, but if the damage degree of the submarine detectors at different positions is different, the monitoring equipment which can be partially used cannot be fully utilized, so that the use cost is continuously increased.
Disclosure of Invention
Therefore, the intelligent ship for marine environment monitoring provided by the invention can correspondingly adjust the positions of the environment detectors according to the impact degree of the environment detectors, so that the damage degree of all the environment detectors is consistent, unified scrapping and replacement treatment are realized, and the use cost is reduced.
The technical scheme of the invention is realized as follows:
the utility model provides an intelligent ship for marine environment monitoring, includes hull, host computer and environment monitoring mechanism, the host computer sets up on the hull, environment monitoring mechanism sets up in the hull bottom, and it includes spliced pole, annular framework, guiding mechanism, travelling car, atress detection mechanism and environment detector, the spliced pole top is connected with the hull bottom surface, and its bottom is connected with annular framework top surface, guiding mechanism includes rotary platform, transition framework and first rotating electrical machines, rotary platform is located annular framework center department, transition framework one end is connected with annular framework inner wall, and the other end is located rotary platform one side, first rotating electrical machines sets up in the hull bottom, and its output shaft is connected with rotary platform top surface, annular framework top surface, transition framework top surface and rotary platform top surface are provided with the track of intercommunication each other, the travelling car moves in the track; the environment detector comprises a net frame body and a sensor group, wherein the net frame body is arranged on the top surface of the mobile trolley, the sensor group is arranged inside the net frame body, the stress detection mechanism comprises a stress plate, a spring, an action rod and a piezoelectric ceramic plate, the piezoelectric ceramic plate is arranged outside the net frame body, the stress plate is connected with the outer side of the net frame body through the spring, the action rod is arranged on the side wall of the stress plate and is positioned on one side of the piezoelectric ceramic plate, and the upper computer is respectively connected with the mobile trolley, the first rotating motor, the sensor group and the piezoelectric ceramic plate.
Preferably, the travelling car includes removal main part and electronic universal wheel, the removal main part sets up in the track, electronic universal wheel sets up in the removal main part bottom, the host computer is connected with electronic universal wheel electricity.
Preferably, the travelling car still includes rotor plate and second rotating electrical machines, the rotor plate sets up at the removal main part top surface, the screen frame body is connected with the rotor plate top surface, the second rotating electrical machines sets up inside the removal main part, and its output shaft stretches out to the removal main part top to be connected with the rotor plate bottom surface, the host computer is connected with the second rotating electrical machines electricity.
Preferably, the adjusting mechanism further comprises a positioning mechanism, the positioning mechanism comprises an infrared transmitting tube, an infrared receiving tube and a reflecting mirror surface, the infrared transmitting tube and the infrared receiving tube are symmetrically arranged on the side wall of the moving main body, which is close to the rotating platform, and the infrared transmitting tube and the infrared receiving tube incline towards each other, the reflecting mirror surface is arranged on the side wall, away from the annular frame body, of the track of the top surface of the rotating platform, and the upper computer is respectively electrically connected with the infrared transmitting tube and the infrared receiving tube.
Preferably, the adjusting mechanism further comprises a weighing sensor, the weighing sensor is arranged in a track on the top surface of the rotary platform, and the upper computer is electrically connected with the weighing sensor.
Preferably, the stress detection mechanism comprises a state holding mechanism, the state holding mechanism comprises a magnetic plate and an electromagnet, the magnetic plate is arranged inside the stress plate, the electromagnet is arranged inside the net frame body, the magnetism of the electromagnet is the same as that of the magnetic plate, and the upper computer is connected with the electromagnetic iron.
Preferably, a path planning unit, a comparison unit and a storage unit are arranged in the upper computer, a positioning module is arranged on the ship body, the positioning module is in data connection with the upper computer, the storage unit is in data connection with the piezoelectric ceramic plates and is used for receiving the impact direction and the impact times of the net frame body at different positions, the comparison unit is respectively in data connection with the storage unit and the path planning unit, the comparison unit reads the data in the storage unit and outputs the impact probability at different positions, and the path planning unit performs path planning on the ship body according to the output result of the comparison unit, so that the ship body sails to different positions from small to large according to the impact probability.
Preferably, the ship further comprises a hydraulic rod, the hydraulic rod is arranged on the bottom surface of the ship body, an output shaft of the hydraulic rod is connected with the top surface of the connecting column and the top surface of the first rotating motor, and the upper computer is electrically connected with the hydraulic rod.
Preferably, the sensor group includes a temperature sensor, a flow rate sensor, a pressure sensor, a turbidity sensor, and a depth sensor.
Compared with the prior art, the invention has the beneficial effects that:
the invention provides an intelligent ship for marine environment monitoring, which is used for collecting environmental parameters in marine seawater, driving a ship body to a position to be monitored in an automatic or manual operation mode, starting a moving trolley, driving an environment detector to move to a designated position by the moving trolley, collecting the seawater environmental parameters by a sensor group, arranging a stress detection mechanism on the outer side of a net frame body, detecting the impact of fish shoals, garbage, sea ice and other foreign matters on the net frame body in the process of collecting environmental data, and correspondingly adjusting the position of the environment detector, so that the environment detector with fewer impact times is moved to the position with more impact times, ensuring the consistent damage degree of all the environment detectors, and further carrying out unified replacement or maintenance.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only preferred 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.
FIG. 1 is a schematic diagram of a marine environmental monitoring intelligent ship according to the present invention;
FIG. 2 is a schematic diagram of an environmental monitoring mechanism of the intelligent ship for marine environmental monitoring according to the present invention;
FIG. 3 is an enlarged view of FIG. 2 at A;
FIG. 4 is a schematic diagram of the connection of a mobile cart and an environmental probe of an intelligent ship for marine environmental monitoring according to the present invention;
FIG. 5 is a schematic diagram of a connection structure between a stress detection mechanism and a net frame of an intelligent ship for marine environment monitoring;
FIG. 6 is a schematic diagram of an internal unit of an upper computer of the intelligent ship for marine environment monitoring according to the present invention;
in the figure, 1 is a ship body, 2 is an upper computer, 3 is a connecting column, 4 is an annular frame, 5 is a moving trolley, 6 is an environment detector, 7 is a rotating platform, 8 is a transition frame, 9 is a first rotating motor, 10 is a track, 11 is a net frame, 12 is a sensor group, 13 is a stress plate, 14 is a spring, 15 is an action rod, 16 is a piezoelectric ceramic plate, 17 is a moving body, 18 is an electric universal wheel, 19 is a rotating plate, 20 is a second rotating motor, 21 is an infrared transmitting tube, 22 is an infrared receiving tube, 23 is a reflecting mirror surface, 24 is a weighing sensor, 25 is a magnetic plate, 26 is an electromagnet, 27 is a path planning unit, 28 is a comparing unit, 29 is a storage unit, and 30 is a hydraulic rod.
Detailed Description
For a better understanding of the technical content of the present invention, a specific example is provided below, and the present invention is further described with reference to the accompanying drawings.
Referring to fig. 1 to 6, the intelligent ship for marine environment monitoring provided by the invention comprises a ship body 1, an upper computer 2 and an environment monitoring mechanism, wherein the upper computer 2 is arranged on the ship body 1, the environment monitoring mechanism is arranged at the bottom of the ship body 1 and comprises a connecting column 3, an annular frame body 4, an adjusting mechanism, a moving trolley 5, a stress detection mechanism and an environment detector 6, the top end of the connecting column 3 is connected with the bottom surface of the ship body 1, the bottom end of the connecting column is connected with the top surface of the annular frame body 4, the adjusting mechanism comprises a rotating platform 7, a transition frame body 8 and a first rotating motor 9, the rotating platform 7 is positioned at the center of the annular frame body 4, one end of the transition frame body 8 is connected with the inner wall of the annular frame body 4, the other end of the transition frame body is positioned at one side of the rotating platform 7, the first rotating motor 9 is arranged at the bottom of the ship body 1, the output shaft of the first rotating motor is connected with the top surface of the rotating platform 7, the top surface of the annular frame body 4, the top surface of the transition frame body 8 and the top surface of the rotating platform 7 are provided with mutually communicated tracks 10, and the moving trolley 5 moves in the tracks 10; the environment detector 6 comprises a screen frame 11 and a sensor group 12, the screen frame 11 is arranged on the top surface of the mobile trolley 5, the sensor group 12 is arranged inside the screen frame 11, the stress detection mechanism comprises a stress plate 13, a spring 14, an action rod 15 and a piezoelectric ceramic plate 16, the piezoelectric ceramic plate 16 is arranged on the outer side of the screen frame 11, the stress plate 13 is connected with the outer side of the screen frame 11 through the spring 14, the action rod 15 is arranged on the side wall of the stress plate 13 and is positioned on one side of the piezoelectric ceramic plate 16, and the upper computer 2 is respectively electrically connected with the mobile trolley 5, the first rotating motor 9, the sensor group 12 and the piezoelectric ceramic plate 16.
The intelligent ship for marine environment monitoring is used for collecting and monitoring marine seawater environment data, wherein a ship body 1 runs to a position to be monitored in an unmanned or manual driving mode, then an environment monitoring mechanism is used for collecting and monitoring the marine area environment below the ship body 1, the environment monitoring mechanism comprises a net frame body 11 and a sensor group 12, the sensor group 12 is arranged in the net frame body 11, after the net frame body 11 is integrally arranged in seawater and communicated with the outside, the seawater flows into the net frame body 11, the sensor group 12 can collect the seawater environment data and send the seawater environment data to an upper computer 2 for storage, and therefore the intelligent ship can be used for environment analysis, resource utilization, disaster prediction and the like.
When the sea water is subjected to data acquisition, the ship body 1 stays at the same position for a period of time to ensure that the acquired data are complete and accurate, the sea water flows, so that garbage floating in the sea, sea ice, shoal of fish in the sea and the like collide with the environment detector 6, the environment detector 6 is damaged, the damage is accumulated for a long time to influence the use of the environment detector 6, therefore, the environment detector 6 is arranged to be adjustable in position, the annular frame 4, the transition frame 8 and the rotary platform 7 are arranged below the ship body 1, the rotary platform 7 and the annular frame 4 are arranged concentrically, one end of the transition frame 8 is connected with the annular frame 4, the other end of the rotary platform 7 is positioned on one side of the rotary platform 7, the annular frame 4 is provided with an annular rail 10, the transition frame 8 and the rotary platform 7 are provided with vertical rails 10, the rails 10 are communicated with each other, the mobile trolley 5 can move on the rails 10, and can move the sensor group 11 and 12 in the rails 10 on the annular frame 4, and the sensor group 5 can move the environment detector 6 in the rails 10 when the environment detector 6 is required to move, and the environmental detector 6 can be adjusted to different in the different positions, and the environmental detector 6 can be prevented from being damaged.
For the principle of position adjustment of the environment detectors 6, the invention is provided with a stress detection mechanism for detecting the condition of external impact on each environment detector 6 in the process of carrying out environment monitoring on the ship body 1, the outer side of the net frame 11 is provided with the piezoelectric ceramic plate 16, one side of the piezoelectric ceramic plate 16 is provided with the stress plate 13, the stress plate 13 is connected with the outer side of the net frame 11 through the spring 14, when the stress plate 13 is impacted by garbage, sea ice and fish shoals, the stress plate 13 moves towards the direction of the net frame 11, the action rod 15 arranged on the stress plate is contacted with the piezoelectric ceramic plate 16, the piezoelectric ceramic plate 16 is triggered to generate an electric signal and sends the electric signal to the upper computer 2, the upper computer 2 records the times and the directions of the impact on the net frame 11, and after a certain time, the upper computer 2 can drive the mobile trolley 5 to change the position, and the environment detector 6 with fewer times of impact is transferred to the position with more times of impact.
For the position adjustment of the mobile trolleys 5, firstly, 4 mobile trolleys 5 are preferably selected to detect seawater data in four different directions, when the position of the environment detector 6 needs to be adjusted, two of the mobile trolleys 5 are moved to one side of the transition frame 8, the mobile trolleys 5 are moved to the rotary platform 7 through the track 10 of the transition frame 8, then the upper computer 2 controls the remaining two mobile trolleys 5 on the annular frame 4 to move to corresponding positions, meanwhile, the rotary platform 7 is driven to rotate through the first rotary motor 9, and after the mobile trolleys 5 on the rotary platform 7 are rotated to corresponding positions, the mobile trolleys 5 are controlled to move from the transition frame 8 to the annular frame 4 again, so that the position adjustment of all the mobile trolleys 5 is realized.
Specifically, the position principle of the adjustment moving trolley 5 is: after sorting according to the number of times of being impacted before adjustment, the moving trolley 5 in the least impacted position is adjusted to the most impacted position, the moving trolley 5 in the second least impacted position is adjusted to the second most impacted position, and the like are adjusted.
Preferably, the mobile cart 5 comprises a mobile main body 17 and an electric universal wheel 18, the mobile main body 17 is arranged in the track 10, the electric universal wheel 18 is arranged at the bottom of the mobile main body 17, the upper computer 2 is electrically connected with the electric universal wheel 18, the mobile cart 5 further comprises a rotating plate 19 and a second rotating motor 20, the rotating plate 19 is arranged on the top surface of the mobile main body 17, the net frame 11 is connected with the top surface of the rotating plate 19, the second rotating motor 20 is arranged inside the mobile main body 17, an output shaft of the second rotating motor 20 extends out to the upper side of the mobile main body 17 and is connected with the bottom surface of the rotating plate 19, and the upper computer 2 is electrically connected with the second rotating motor 20.
Since the travelling car 5 needs to move from the annular frame 4 to the transition frame 8, the present invention achieves steering of the travelling car 5 in the form of electric universal wheels 18.
Because the screen frame 11 does not bear the impact in a single direction, when adjusting the position of the environmental detector 6, the direction of the environmental detector 6 needs to be adjusted, the adjustment principle is the same as the adjustment principle of the position of the whole environmental detector 6, the stress detection mechanism detects the number and the direction of the impact borne by the environmental detector 6, the upper computer 2 can control the second rotating motor 20 to drive the rotating plate 19 to rotate, so that the direction of the screen frame 11 is changed, and the side of the screen frame 11 with less impact is rotated to the side with more impact, thereby reducing the damage degree of the screen frame 11 to the greatest extent.
Preferably, the adjusting mechanism further comprises a positioning mechanism, the positioning mechanism comprises an infrared transmitting tube 21, an infrared receiving tube 22 and a reflecting mirror surface 23, the infrared transmitting tube 21 and the infrared receiving tube 22 are symmetrically arranged on the side wall of the moving body 17, which is close to the rotating platform 7, and the infrared transmitting tube 21 and the infrared receiving tube 22 incline towards each other, the reflecting mirror surface 23 is arranged on the side wall, away from the annular frame body 4, of the track 10 on the top surface of the rotating platform 7, and the upper computer 2 is respectively electrically connected with the infrared transmitting tube 21 and the infrared receiving tube 22.
In order to ensure that the mobile trolley 5 accurately moves to one side of the transition frame 8, the invention is provided with the symmetrical infrared transmitting tube 21 and the symmetrical infrared receiving tube 22 on the mobile main body 17, and the side wall of the track 10 of the rotary platform 7 is provided with the reflecting mirror surface 23, when the mobile main body 17 moves to one side of the transition track 10, infrared light emitted by the infrared transmitting tube 21 is transmitted by the reflecting mirror surface 23 and then received by the infrared receiving tube 22, and at the moment, the mobile main body 17 is positioned at one side of the transition frame 8, so that the upper computer 2 can control the mobile main body 17 to move into the track 10 of the transition frame 8.
Preferably, the adjusting mechanism further comprises a load cell 24, the load cell 24 is arranged in the track 10 on the top surface of the rotary platform 7, and the upper computer 2 is electrically connected with the load cell 24.
When the travelling car 5 moves onto the rotary platform 7, it is sensed by the load cell 24 provided whether the travelling car 5 is moved into position.
Preferably, the stress detection mechanism comprises a state holding mechanism, the state holding mechanism comprises a magnetic plate 25 and an electromagnet 26, the magnetic plate 25 is arranged inside the stress plate 13, the electromagnet 26 is arranged inside the net frame 11, the magnetism of the electromagnet is the same as that of the magnetic plate 25, and the upper computer 2 is electrically connected with the electromagnet 26.
In order to prevent that rivers from causing impact to atress board 13 at the in-process of navigation, host computer 2 control electro-magnet 26 circular telegram area magnetism to reject the magnetic plate 25 in the atress board 13, thereby rivers can't strike atress board 13 and remove, prevent the erroneous judgement of monitoring, after hull 1 removes the monitoring position, host computer 2 can cut off the power supply of electro-magnet 26, thereby can carry out the atress and detect.
Preferably, a path planning unit 27, a comparing unit 28 and a storage unit 29 are arranged in the upper computer 2, a positioning module is arranged on the ship body 1, the positioning module is in data connection with the upper computer 2, the storage unit 29 is in data connection with the piezoelectric ceramic plate 16 and is used for receiving the direction and the times of the impact of the net frame 11 at different positions, the comparing unit 28 is respectively in data connection with the storage unit 29 and the path planning unit 27, the comparing unit 28 reads the data in the storage unit 29 and outputs the impact probability at different positions, and the path planning unit 27 performs path planning on the ship body 1 according to the output result of the comparing unit 28, so that the ship body 1 sails to different positions from small to large according to the impact probability.
When monitoring marine environment, the ship body 1 generally has a fixed sailing route, the ship body 1 firstly arrives at a first place to collect environmental data, then moves to a next place to collect environmental data, and after the sailing of the whole path is completed, the path planning unit 27 provided by the invention can re-plan the path, firstly, the storage unit 29 can store the impacted conditions of all the environmental detectors 6 at different collecting places, then the comparison unit 28 compares the conditions to obtain the ordering of the places, the ordering of the places is carried out according to the impacting probability, then the path planning unit 27 can control the ship body 1 to take a sailing from the position with the smallest impacting probability, and carry out the path planning according to the impacting probability from small to large, so that the situation that the environmental detectors 6 cannot collect data due to the fact that the impacting times of the first half of the period are more when the environment detectors 6 travel to the second half period is avoided.
Preferably, the hydraulic pressure pole 30 is arranged on the bottom surface of the ship body 1, the output shaft of the hydraulic pressure pole 30 is connected with the top surface of the connecting column 3 and the top surface of the first rotating motor 9, and the upper computer 2 is electrically connected with the hydraulic pressure pole 30.
The hydraulic rod 30 can adjust the height positions of the annular frame body 4 and the rotary platform 7, so that the device is suitable for detection of different depths.
Preferably, the sensor set 12 includes a temperature sensor, a flow rate sensor, a pressure sensor, a turbidity sensor, and a depth sensor.
The ocean environment data are collected through the plurality of sensors, so that theoretical basis can be provided for ocean environment protection, resource development and disaster prediction.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (6)
1. The utility model provides an intelligent ship for marine environment monitoring, its characterized in that includes hull, host computer and environment monitoring mechanism, the host computer sets up on the hull, environment monitoring mechanism sets up in the hull bottom, and it includes spliced pole, annular framework, guiding mechanism, travelling car, atress detection mechanism and environment detector, the spliced pole top is connected with the hull bottom surface, and its bottom is connected with annular framework top surface, guiding mechanism includes rotary platform, transition framework and first rotating electrical machines, rotary platform is located annular framework center department, transition framework one end is connected with annular framework inner wall, and the other end is located rotary platform one side, first rotating electrical machines sets up in the hull bottom, and its output shaft is connected with rotary platform top surface, annular framework top surface and rotary platform top surface are provided with the track of mutual intercommunication, the travelling car moves in the track; the environment detector comprises a screen frame body and a sensor group, wherein the screen frame body is arranged on the top surface of a mobile trolley, the sensor group is arranged inside the screen frame body, the stress detection mechanism comprises a stress plate, a spring, an action rod and a piezoelectric ceramic plate, the piezoelectric ceramic plate is arranged on the outer side of the screen frame body, the stress plate is connected with the outer side of the screen frame body through the spring, the action rod is arranged on the side wall of the stress plate and is positioned on one side of the piezoelectric ceramic plate, the upper computer is respectively electrically connected with the mobile trolley, a first rotating motor, the sensor group and the piezoelectric ceramic plate, the mobile trolley comprises a mobile main body and an electric universal wheel, the mobile main body is arranged in a track, the electric universal wheel is arranged at the bottom of the mobile main body, the upper computer is electrically connected with the electric universal wheel, the adjusting mechanism further comprises a positioning mechanism, the positioning mechanism comprises an infrared transmitting tube, an infrared receiving tube and a reflecting mirror surface, wherein the infrared transmitting tube and the infrared receiving tube are symmetrically arranged on the side wall of the moving main body, which is close to the rotating platform, and the infrared transmitting tube and the infrared receiving tube incline towards each other, the reflecting mirror surface is arranged on the side wall of the track, which is far away from the annular frame body, of the top surface of the rotating platform, the upper computer is respectively and electrically connected with the infrared transmitting tube and the infrared receiving tube, a path planning unit, a comparing unit and a storage unit are arranged in the upper computer, a positioning module is arranged on the ship body, the positioning module is in data connection with the upper computer, the storage unit is in data connection with the piezoelectric ceramic sheet and is used for receiving the impact direction and the impact times of the net frame body at different positions, the comparing unit is respectively in data connection with the storage unit and the path planning unit, the comparing unit reads the data in the storage unit, and outputting the probability of being impacted at different positions, wherein the path planning unit performs path planning on the sailing of the ship body according to the result output by the comparison unit, so that the ship body sails to different positions from small to large according to the impact probability.
2. The intelligent ship for marine environmental monitoring according to claim 1, wherein the mobile trolley further comprises a rotating plate and a second rotating motor, the rotating plate is arranged on the top surface of the mobile main body, the net frame body is connected with the top surface of the rotating plate, the second rotating motor is arranged inside the mobile main body, an output shaft of the second rotating motor extends out of the upper side of the mobile main body and is connected with the bottom surface of the rotating plate, and the upper computer is electrically connected with the second rotating motor.
3. The intelligent ship for marine environmental monitoring according to claim 1, wherein the adjusting mechanism further comprises a weighing sensor, the weighing sensor is arranged in a track on the top surface of the rotary platform, and the upper computer is electrically connected with the weighing sensor.
4. The intelligent ship for marine environment monitoring according to claim 1, wherein the stress detection mechanism comprises a state holding mechanism, the state holding mechanism comprises a magnetic plate and an electromagnet, the magnetic plate is arranged inside the stress plate, the electromagnet is arranged inside the net frame body, the magnetism of the electromagnet is the same as that of the magnetic plate, and the upper computer is in ferroelectric connection with the electromagnet.
5. The intelligent ship for marine environmental monitoring according to claim 1, further comprising a hydraulic rod, wherein the hydraulic rod is arranged on the bottom surface of the ship body, the output shaft of the hydraulic rod is connected with the top surface of the connecting column and the top surface of the first rotating motor, and the upper computer is electrically connected with the hydraulic rod.
6. The intelligent marine vessel for marine environmental monitoring of claim 1, wherein said sensor group comprises a temperature sensor, a flow rate sensor, a pressure sensor, a turbidity sensor, and a depth sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106225.1A CN113884131B (en) | 2021-09-22 | 2021-09-22 | Intelligent ship for marine environment monitoring |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111106225.1A CN113884131B (en) | 2021-09-22 | 2021-09-22 | Intelligent ship for marine environment monitoring |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113884131A CN113884131A (en) | 2022-01-04 |
| CN113884131B true CN113884131B (en) | 2023-10-20 |
Family
ID=79009705
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111106225.1A Active CN113884131B (en) | 2021-09-22 | 2021-09-22 | Intelligent ship for marine environment monitoring |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113884131B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552570A (en) * | 2018-12-03 | 2019-04-02 | 华东师范大学 | A kind of unmanned boat for marine environmental monitoring |
| CN208818732U (en) * | 2018-09-03 | 2019-05-03 | 苏州华兴源创科技股份有限公司 | A kind of conducting device and test macro for piezoelectric ceramics test |
| CN209624762U (en) * | 2018-11-27 | 2019-11-12 | 唐山哈船科技有限公司 | A kind of radar for marine environment detection |
| CN110435829A (en) * | 2019-09-18 | 2019-11-12 | 合肥学院 | A kind of river water quality monitoring unmanned boat |
| CN110655288A (en) * | 2019-11-20 | 2020-01-07 | 徐州得铸生物科技有限公司 | Circumferential laminated biological reaction device and use method thereof |
| CN211855440U (en) * | 2020-06-02 | 2020-11-03 | 舟山市海大科学技术研究院有限责任公司 | Ocean environment monitoring system based on wave energy |
| CN113030938A (en) * | 2021-02-26 | 2021-06-25 | 中经建研设计有限公司 | Marine environment exploration device |
| CN213636863U (en) * | 2020-12-24 | 2021-07-06 | 陕西惠齐电力科技开发有限公司 | Gas tank embeds atmospheric pressure monitoring devices looped netowrk cabinet |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109552567B (en) * | 2018-11-30 | 2020-02-07 | 浙江海洋大学 | Ocean monitoring buoy of improvement structure |
-
2021
- 2021-09-22 CN CN202111106225.1A patent/CN113884131B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208818732U (en) * | 2018-09-03 | 2019-05-03 | 苏州华兴源创科技股份有限公司 | A kind of conducting device and test macro for piezoelectric ceramics test |
| CN209624762U (en) * | 2018-11-27 | 2019-11-12 | 唐山哈船科技有限公司 | A kind of radar for marine environment detection |
| CN109552570A (en) * | 2018-12-03 | 2019-04-02 | 华东师范大学 | A kind of unmanned boat for marine environmental monitoring |
| CN110435829A (en) * | 2019-09-18 | 2019-11-12 | 合肥学院 | A kind of river water quality monitoring unmanned boat |
| CN110655288A (en) * | 2019-11-20 | 2020-01-07 | 徐州得铸生物科技有限公司 | Circumferential laminated biological reaction device and use method thereof |
| CN211855440U (en) * | 2020-06-02 | 2020-11-03 | 舟山市海大科学技术研究院有限责任公司 | Ocean environment monitoring system based on wave energy |
| CN213636863U (en) * | 2020-12-24 | 2021-07-06 | 陕西惠齐电力科技开发有限公司 | Gas tank embeds atmospheric pressure monitoring devices looped netowrk cabinet |
| CN113030938A (en) * | 2021-02-26 | 2021-06-25 | 中经建研设计有限公司 | Marine environment exploration device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113884131A (en) | 2022-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101313546B1 (en) | Camera robot of buoy type | |
| CN106585904A (en) | Water surface cleaning robot | |
| KR101313545B1 (en) | Self power generating robot of buoy type | |
| CN105129063A (en) | Wind-energy and luminous energy complementation water surface robot | |
| CN105446336A (en) | Robot inspection system and inspection method for cold region transformer substation | |
| CN105564603A (en) | Hybrid power water surface cleaning robot | |
| CN104908897B (en) | A kind of autonomous cruise spilled oil on water surface recycling machine people | |
| KR101313306B1 (en) | Buoy type robot for monitoring conditions | |
| KR20110027020A (en) | Mobile water quality measuring system | |
| CN110481720A (en) | A kind of refuse on water surface intelligence ship and its control system | |
| CN112462020A (en) | Wind-solar complementary twin-hull unmanned water quality monitoring ship | |
| CN111565024A (en) | Solar cell panel fault detection and operation efficiency prediction device and method | |
| CN113884131B (en) | Intelligent ship for marine environment monitoring | |
| CN112526995A (en) | Hanging rail type inspection robot system and detection method thereof | |
| CN209064325U (en) | It transfinites intelligent detecting warning device for ship lift navigation shipping draft | |
| CN206537455U (en) | A kind of buoy collision detecting system | |
| RU2344962C1 (en) | Self-contained near-bottom buoy station | |
| CN109110074A (en) | It transfinites intelligent detecting warning device for ship lift navigation shipping draft | |
| CN116652902A (en) | Intelligent inspection robot for rail-mounted tunnel | |
| CN113881550A (en) | Marine environment monitoring system based on ship and wireless sensor network | |
| CN204937448U (en) | A kind of wind light mutual complementing water surface robot | |
| CN214647406U (en) | Amphibious unmanned ship for ocean observation | |
| CN211033005U (en) | Estuary wetland sediment sample intelligent acquisition device based on unmanned aerial vehicle | |
| CN113524155A (en) | GIS equipment room inspection robot with manipulator | |
| CN111102969A (en) | Synchronous adjacent recording device for ocean noise source |
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 |