CN114755061A

CN114755061A - Unmanned ship device for automatic water quality sampling

Info

Publication number: CN114755061A
Application number: CN202210491475.XA
Authority: CN
Inventors: 赖俊翔; 刘熊; 李�杰; 马继先; 蓝彩碧; 梁智勇
Original assignee: Liuzhou Shenying Technology Co ltd; Guangxi Academy of Sciences
Current assignee: Liuzhou Shenying Technology Co ltd; Guangxi Academy of Sciences
Priority date: 2022-05-07
Filing date: 2022-05-07
Publication date: 2022-07-15

Abstract

The invention discloses an unmanned ship device for automatically sampling water quality, which comprises a ship body and a control terminal, wherein a driving device is arranged on the bottom side wall of the ship body, a placing plate is connected to the bottom side wall of the ship body through a lifting device, a distance detecting device is arranged on the bottom side wall of the ship body and is positioned on the upper side of the placing plate, the distance detecting device is used for detecting the distance between the bottom side wall of the ship body and the placing plate, a suction device is fixedly connected to the bottom side wall on the inner side of the ship body, a water suction hose is fixedly connected to the water suction end of the suction device, a water suction nozzle is fixedly connected to one end, away from the suction device, of the water suction hose, and the water suction nozzle is fixedly connected to the upper side of the placing plate. The invention has reasonable design and ingenious concept, can adjust the water sampling depth when sampling the water quality, can collect the water quality of a plurality of sample points, and greatly improves the detection effect of water quality sampling.

Description

Unmanned ship device for automatic water quality sampling

Technical Field

The invention relates to the technical field of water quality sampling, in particular to an unmanned ship device for automatically sampling water quality.

Background

In the field of water environment monitoring, a representative water quality sample needs to be obtained first to obtain real, accurate and complete water quality monitoring data. When water samples are collected for surface water bodies such as rivers, lakes, reservoirs, offshore areas and the like, not only a water quality sample of a shoreside sampling point needs to be collected, but also a water quality sample far away from the shoreside sampling point needs to be collected. In the manual collection process of water quality samples, a sampling person needs to take a ship to go to a sampling point to complete collection. The manual operation is close to the water surface and is influenced by conditions such as climate, water flow and the like, and the danger coefficient is large; the labor and the time are consumed, the cost of ship use, fuel power and the like is high, and the consumption of manpower and material resources is high; the operation is complex, the single sampling time is long, the time consumption between different sampling points is long, and the timeliness of water sample analysis is influenced; the difference of the sample collection quality can be caused by habit difference in the operation of personnel, which is not beneficial to the analysis and comparison of water quality; when the sampling point is in a narrow or special terrain with insufficient water depth, common ships and personnel are difficult to reach and finish sampling.

However, when the existing unmanned ship device for automatic water quality sampling is used for water quality sampling, the water quality sampling depth cannot be adjusted, and when the existing unmanned ship device for automatic water quality sampling is used for sample collection, only the water quality of one sample point can be collected, multi-point sampling cannot be performed, and the device needs to be further improved.

Disclosure of Invention

The invention provides an unmanned ship device for automatically sampling water quality, which aims to solve the problems in the background technology.

In order to achieve the purpose, the invention adopts the following technical scheme:

an unmanned ship device for automatic water quality sampling comprises a ship body and a control terminal, wherein a driving device is arranged on the bottom side wall of the ship body, a placing plate is connected onto the bottom side wall of the ship body through a lifting device, a distance detecting device is arranged on the bottom side wall of the ship body and is positioned on the upper side of the placing plate, the distance detecting device is used for detecting the distance between the bottom side wall of the ship body and the placing plate, a suction device is fixedly connected onto the inner side bottom side wall of the ship body, a water suction hose is fixedly connected onto the water suction end of the suction device, a water suction nozzle is fixedly connected onto one end, away from the suction device, of the water suction hose, the water suction nozzle is fixedly connected onto the upper side of the placing plate, a water outlet hose is fixedly connected onto the water outlet end of the suction device, a horizontal transverse plate is fixedly connected onto the inner side wall of the ship body, a linear motor is fixedly connected onto the bottom side wall of the transverse plate, one end of the water outlet hose, which is far away from the suction device, is fixedly connected to a rotor end of the linear motor and is arranged vertically downwards, a plurality of sampling pipes which are sequentially arranged in a linear and equidistant manner are fixedly connected to the inner bottom side wall of the ship body, the plurality of sampling pipes are positioned right below the linear motor, and a central controller and a wireless signal transmission module are fixedly connected to the upper side of the transverse plate;

the suction device, the distance detection device, the linear motor and the wireless signal transmission module are all electrically connected with the central controller, and the wireless signal transmission module is in wireless signal connection with the control terminal.

Specifically, the driving device comprises a rotating column, the rotating column is rotatably connected to the lower side wall of the ship body through a bearing, the bottom of the rotating column is fixedly connected with a rotating box, a horizontally arranged baffle is fixedly connected in the rotating box, a first servo motor is fixedly connected to the upper side of the baffle, a first rotating rod is fixedly connected to an output shaft of the first servo motor, the first rotating rod penetrates through the side wall of the rotating box, the first rotating rod is rotatably connected to the side wall of the rotating box, a second gear is fixedly connected to the upper end of the first rotating rod, a first gear is fixedly connected to the side wall of the second gear in a meshed manner, the first gear is fixedly connected to the side wall of the rotating column, a second servo motor is fixedly connected to the inner side wall of the rotating box, a second rotating rod is fixedly connected to an output shaft of the second servo motor, and the second rotating rod is horizontally arranged, the second dwang runs through the lateral wall that rotates the case, the second dwang rotates to be connected on the lateral wall that rotates the case, the one end fixedly connected with screw of second dwang, first servo motor and second servo motor all are connected with central controller electricity each other.

Specifically, elevating gear is including fixed case, fixed case fixed connection is on the end lateral wall of hull, fixedly connected with is the third servo motor that the level set up on the inside wall of fixed case, third servo motor's output end fixedly connected with third dwang, the third dwang runs through the lateral wall of fixed case, the third dwang rotates to be connected on the lateral wall of fixed case, is located two baffles of fixedly connected with on the external third dwang of fixed case, is located fixedly connected with stay cord on the external third dwang of fixed case, a plurality of connection ropes of bottom fixedly connected with of stay cord, it is a plurality of the bottom difference fixed connection of connection rope is on placing the turning of board everywhere, third servo motor and central controller electricity interconnection.

Specifically, fixedly connected with balancing weight on the bottom lateral wall of placing the board, the balancing weight is the pyramid setting.

Specifically, the ship body is arranged in a round table shape with a wide upper part and a narrow lower part.

Specifically, the distance detection device is an infrared laser distance sensor.

Specifically, the suction device is a quantitative water pump.

Specifically, the central controller is a PLC.

Specifically, the wireless signal transmission module is any one or a combination of any several of a G communication module, a bluetooth module, a WiFi module, a GSM module, a CDMA module, a WCDMA module, a TD-SCDMA module, a Zigbee module, and a LoRa module.

Specifically, the control terminal is a tablet computer.

Compared with the prior art, the invention has the beneficial effects that:

remove the hull to appointed position through long-range, then control third servo motor drives the suction nozzle and carries out the oscilaltion, the aquatic degree of depth of water suction nozzle is surveyed to the distance detecting device, when the suction nozzle reachs appointed degree of depth, steerable suction device passes through the suction nozzle with the rivers of this degree of depth department and the hose that absorbs water flows out from the water hose, steerable linear electric motor drives the top that the outflow end of water hose is located one of them sampling pipe this moment, make the rivers of adoption enter into the sampling pipe, the device reasonable in design, think about ingeniously, when carrying out the water sampling, can adjust the water sampling degree of depth, and can collect the quality of water of a plurality of sample points, the detection effect of water sampling has been improved greatly.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings. The detailed description of the present invention is given in detail by the following examples and the accompanying drawings.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:

fig. 1 is a schematic front sectional structural view of an unmanned ship device for automatic water quality sampling according to the present invention;

FIG. 2 is a schematic diagram of a control system in an unmanned ship device for automatic water quality sampling according to the present invention;

FIG. 3 is a schematic view of the interconnection structure of the placing plate, the pulling rope, the connecting rope and the counterweight block in the unmanned ship device for automatic water quality sampling according to the present invention;

fig. 4 is a schematic structural diagram of a ship body in the unmanned ship device for automatically sampling water quality, which is provided by the invention;

FIG. 5 is a schematic view of a portion A of FIG. 1;

fig. 6 is a partially enlarged structural diagram of B in fig. 1.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a water suction hose; 2. a suction device; 3. a distance detecting device; 4. a linear motor; 5. a central controller; 6. a water outlet hose; 7. a wireless signal transmission module; 8. a transverse plate; 9. a sampling tube; 10. a hull; 11. pulling a rope; 12. connecting ropes; 13. a water suction nozzle; 14. placing the plate; 15. a balancing weight; 16. rotating the column; 17. a rotating box; 18. a propeller; 19. a fixed box; 20. a third rotating rod; 21. a baffle plate; 22. a third servo motor; 23. a first gear; 24. a first servo motor; 25. a partition plate; 26. a second servo motor; 27. a second rotating lever; 28. a first rotating lever; 29. a second gear; 30. and controlling the terminal.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention. The invention is more particularly described in the following paragraphs with reference to the accompanying drawings by way of example. Advantages and features of the present invention will become apparent from the following description and from the claims. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 6, in an embodiment of the present invention, an unmanned ship device for automatically sampling water quality includes a ship body 10 and a control terminal 30, wherein the ship body 10 is disposed in a round table shape with a wide top and a narrow bottom, a driving device is disposed on a bottom side wall of the ship body 10, a placing plate 14 is connected to the bottom side wall of the ship body 10 through a lifting device, a distance detecting device 3 is disposed on the bottom side wall of the ship body 10, the distance detecting device 3 is disposed on an upper side of the placing plate 14, the distance detecting device 3 is used for detecting a distance between the bottom side wall of the ship body 10 and the placing plate 14, a suction device 2 is fixedly connected to an inner bottom side wall of the ship body 10, a water suction end of the suction device 2 is fixedly connected to a water suction hose 1, one end of the water suction hose 1 away from the suction device 2 is fixedly connected to a water suction nozzle 13, the water nozzle 13 is fixedly connected to an upper side of the placing plate 14, a water outlet end of the suction device 2 is fixedly connected to a water outlet hose 6, a horizontal plate 8 is fixedly connected to the inner side wall of the ship body 10, a linear motor 4 is fixedly connected to the bottom side wall of the horizontal plate 8, one end, away from the suction device 2, of a water outlet hose 6 is fixedly connected to the rotor end of the linear motor 4 and is vertically arranged downwards, a plurality of sampling pipes 9 which are sequentially arranged in a linear equidistant mode are fixedly connected to the inner bottom side wall of the ship body 10, the sampling pipes 9 are located right below the linear motor 4, and a central controller 5 and a wireless signal transmission module 7 are fixedly connected to the upper side of the horizontal plate 8;

the suction device 2, the distance detection device 3, the linear motor 4 and the wireless signal transmission module 7 are electrically connected with the central controller 5, and the wireless signal transmission module 7 is in radio signal connection with the control terminal 30.

Referring to fig. 6, the driving device includes a rotation column 16, the rotation column 16 is rotatably connected to the lower sidewall of the hull 10 through a bearing, a rotation box 17 is fixedly connected to the bottom end of the rotation column 16, a horizontally disposed partition 25 is fixedly connected to the inside of the rotation box 17, a first servo motor 24 is fixedly connected to the upper side of the partition 25, a first rotation rod 28 is fixedly connected to an output shaft of the first servo motor 24, the first rotation rod 28 penetrates through the sidewall of the rotation box 17, the first rotation rod 28 is rotatably connected to the sidewall of the rotation box 17, a second gear 29 is fixedly connected to the upper end of the first rotation rod 28, a first gear 23 is engaged with the sidewall of the second gear 29, the first gear 23 is fixedly connected to the sidewall of the rotation column 16, a second servo motor 26 is fixedly connected to the inside sidewall of the rotation box 17, a second rotation rod 27 is fixedly connected to an output shaft of the second servo motor 26, the second rotation rod 27 is horizontally disposed, the second rotating rod 27 penetrates through the side wall of the rotating box 17, the second rotating rod 27 is rotatably connected to the side wall of the rotating box 17, one end of the second rotating rod 27 is fixedly connected with the propeller 18, the first servo motor 24 and the second servo motor 26 are both electrically connected with the central controller 5, when the ship body 10 is remotely controlled to reach a designated position for sampling, the second servo motor 26 can be controlled to drive at first, the second servo motor 26 can drive the second rotating rod 27 to rotate, the second rotating rod 27 can drive the propeller 18 to rotate, the propeller 18 can rotate in water and further move the ship body 10, meanwhile, the first servo motor 24 is controlled to drive the first rotating rod 28 to rotate, the first rotating rod 28 can drive the rotating column 16 to rotate through the first gear 23 and the second gear 29, the rotating column 16 can drive the propeller 18 to rotate through the rotating box 17, when the propeller 18 rotates around the rotation column 16, the direction in which the ship body 10 moves can be changed, and the first servo motor 24 and the second servo motor 26 can drive the propeller 18 to turn and drive, so that the ship body 10 can be moved to a designated position.

Referring to fig. 5, the lifting device includes a fixed box 19, the fixed box 19 is fixedly connected to the bottom side wall of the hull 10, a third servo motor 22 horizontally disposed is fixedly connected to the inner side wall of the fixed box 19, an output end of the third servo motor 22 is fixedly connected to a third rotating rod 20, the third rotating rod 20 penetrates through the side wall of the fixed box 19, the third rotating rod 20 is rotatably connected to the side wall of the fixed box 19, two baffles 21 are fixedly connected to the third rotating rod 20 outside the fixed box 19, a pull rope 11 is fixedly connected to the third rotating rod 20 outside the fixed box 19, a plurality of connecting ropes 12 are fixedly connected to the bottom end of the pull rope 11, the bottom end of each connecting rope 12 is fixedly connected to the four corners of the placing plate 14, the third servo motor 22 is electrically connected to the central controller 5, the third servo motor 22 can be controlled to start, the third servo motor 22 can rotate with the third rotating rod 20, the third rotating rod 20 rotates to roll the pulling rope 11, and the rolling of the pulling rope 11 can drive the suction nozzle 13 to ascend and descend through the connecting rope 12 and the placing plate 14.

Referring to fig. 3, a weight block 15 is fixedly connected to a bottom side wall of the placing plate 14, the weight block 15 is disposed in a quadrangular pyramid shape, and the weight block 15 can make a center of the placing plate 14 downward, so that the placing plate 14 can move vertically more stably.

Referring to fig. 2, the distance detecting device 3 is an infrared laser distance sensor.

Referring to fig. 2, the suction device 2 is a quantitative water pump, and the volume of the sampling liquid smaller than the volume of the sampling tube 9 can be accurately sucked by the quantitative water pump.

Referring to fig. 2, the central controller 5 is a PLC.

Referring to fig. 2, the wireless signal transmission module 7 is any one or a combination of any several of a 5G communication module, a 4G communication module, a bluetooth module, a WiFi module, a GSM module, a CDMA2000 module, a WCDMA module, a TD-SCDMA module, a Zigbee module, and a LoRa module.

Referring to fig. 1, the control terminal 30 is a tablet computer.

The working principle of the invention is as follows:

the wireless control signal can be sent by the control terminal 30 and transmitted to the central controller 5 through the wireless signal transmission module 7, and the central controller 5 can control the first servo motor 24, the second servo motor 26, the third servo motor 22, the suction device 2 and the linear motor 4 to drive, so that the first servo motor 24, the second servo motor 26, the third servo motor 22, the suction device 2 and the linear motor 4 can be remotely controlled by the control terminal 30.

When the ship body 10 is remotely controlled to reach a designated position for sampling, the second servo motor 26 can be controlled to drive, the second servo motor 26 can drive the second rotating rod 27 to rotate, the second rotating rod 27 can drive the propeller 18 to rotate, the propeller 18 can rotate in water and then the ship body 10 can move, meanwhile, the first servo motor 24 is controlled to drive the first rotating rod 28 to rotate, the first rotating rod 28 can drive the rotating column 16 to rotate through the first gear 23 and the second gear 29, the rotating column 16 can drive the propeller 18 to rotate through the rotating box 17, when the propeller 18 rotates by taking the rotating column 16 as an axis, the moving direction of the ship body 10 can be changed, the first servo motor 24 and the second servo motor 26 can drive the propeller 18 to rotate and drive, and then the ship body 10 can be moved to the designated position;

when sampling at different depths is carried out, the third servo motor 22 can be controlled to be started, the third servo motor 22 can be started to drive the third rotating rod 20 to rotate, the third rotating rod 20 can rotate to roll the pull rope 11, the pull rope 11 can be rolled to drive the water suction nozzle 13 to lift up and down through the connecting rope 12 and the placing plate 14, the distance detection device 3 can transmit distance data between the bottom side of the ship body 10 and the placing plate 14 to the control terminal 30 through the central controller 5 and the wireless signal transmission module 7, further the underwater depth of the water suction nozzle 13 can be known through the distance data between the bottom side of the ship body 10 and the placing plate 14, when the water suction nozzle 13 reaches a specified depth, the controllable suction device 2 can control water flow at the depth to flow out from the water outlet hose 6 through the water suction nozzle 13 and the water inlet hose 1, at the moment, the controllable linear motor 4 can drive the outflow end of the water outlet hose 6 to be positioned above one of the sampling pipes 9, the adopted water flow enters the sampling pipe 9, the water suction nozzle 13 can be controlled to reach another depth position in the same way, and the linear motor 4 is controlled to drive the outflow end of the water outlet hose 6 to be positioned above another sampling pipe 9, so that the depth sampling is carried out.

The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner; the present invention may be readily implemented by those of ordinary skill in the art as illustrated in the accompanying drawings and described above; however, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the scope of the invention as defined by the appended claims; meanwhile, any changes, modifications, and evolutions of the equivalent changes of the above embodiments according to the actual techniques of the present invention are still within the protection scope of the technical solution of the present invention.

Claims

1. The unmanned ship device for automatic water quality sampling comprises a ship body (10) and a control terminal (30), and is characterized in that a driving device is arranged on the bottom side wall of the ship body (10), a placing plate (14) is connected to the bottom side wall of the ship body (10) through a lifting device, a distance detecting device (3) is arranged on the bottom side wall of the ship body (10), the distance detecting device (3) is positioned on the upper side of the placing plate (14), the distance detecting device (3) is used for detecting the distance between the bottom side wall of the ship body (10) and the placing plate (14), a suction device (2) is fixedly connected to the inner side bottom side wall of the ship body (10), a water suction hose (1) is fixedly connected to the water suction end of the suction device (2), a water suction nozzle (13) is fixedly connected to the upper side of the placing plate (14) at one end of the water suction hose (1) departing from the suction device (2), the water outlet end of the suction device (2) is fixedly connected with a water outlet hose (6), the inner side wall of the ship body (10) is fixedly connected with a horizontal transverse plate (8), the bottom side wall of the transverse plate (8) is fixedly connected with a linear motor (4), one end of the water outlet hose (6), which is far away from the suction device (2), is fixedly connected to the rotor end of the linear motor (4) and is vertically and downwardly arranged, the inner bottom side wall of the ship body (10) is fixedly connected with a plurality of sampling pipes (9) which are sequentially arranged in a linear and equidistant manner, the sampling pipes (9) are positioned under the linear motor (4), and the upper side of the transverse plate (8) is fixedly connected with a central controller (5) and a wireless signal transmission module (7);

the suction device (2), the distance detection device (3), the linear motor (4) and the wireless signal transmission module (7) are electrically connected with the central controller (5), and the wireless signal transmission module (7) is in wireless signal connection with the control terminal (30).

2. The unmanned ship device for automatic water quality sampling according to claim 1, wherein the driving device comprises a rotating column (16), the rotating column (16) is rotatably connected to the lower side wall of the ship body (10) through a bearing, a rotating box (17) is fixedly connected to the bottom end of the rotating column (16), a horizontally arranged partition plate (25) is fixedly connected to the inside of the rotating box (17), a first servo motor (24) is fixedly connected to the upper side of the partition plate (25), a first rotating rod (28) is fixedly connected to the output shaft of the first servo motor (24), the first rotating rod (28) penetrates through the side wall of the rotating box (17), the first rotating rod (28) is rotatably connected to the side wall of the rotating box (17), a second gear (29) is fixedly connected to the upper end of the first rotating rod (28), and a first gear (23) is engaged and connected to the side wall of the second gear (29), first gear (23) fixed connection is on the lateral wall that rotates post (16), fixedly connected with second servo motor (26) on the inside wall of rotation case (17), the output shaft fixedly connected with second dwang (27) of second servo motor (26), second dwang (27) are the level setting, the lateral wall that rotates case (17) is run through in second dwang (27), second dwang (27) rotate to be connected on the lateral wall that rotates case (17), one end fixedly connected with screw (18) of second dwang (27), first servo motor (24) and second servo motor (26) all are connected with central controller (5) electricity each other.

3. The unmanned ship device for automatic water quality sampling according to claim 1, wherein the lifting device comprises a fixed box (19), the fixed box (19) is fixedly connected to the bottom side wall of the ship body (10), a third servo motor (22) horizontally arranged is fixedly connected to the inner side wall of the fixed box (19), a third rotating rod (20) is fixedly connected to the output end of the third servo motor (22), the third rotating rod (20) penetrates through the side wall of the fixed box (19), the third rotating rod (20) is rotatably connected to the side wall of the fixed box (19), two baffle plates (21) are fixedly connected to the third rotating rod (20) outside the fixed box (19), a pull rope (11) is fixedly connected to the third rotating rod (20) outside the fixed box (19), and a plurality of connecting ropes (12) are fixedly connected to the bottom end of the pull rope (11), the bottom ends of the connecting ropes (12) are fixedly connected to four corners of the placing plate (14) respectively, and the third servo motor (22) is electrically connected with the central controller (5) mutually.

4. The unmanned ship device for automatic water quality sampling according to claim 1, wherein a counter weight (15) is fixedly connected to the bottom side wall of the placing plate (14), and the counter weight (15) is arranged in a quadrangular pyramid shape.

5. The unmanned ship device for automatic water quality sampling according to claim 1, wherein the ship body (10) is in a truncated cone shape with a wide top and a narrow bottom.

6. The unmanned ship device for automatic water quality sampling according to claim 1, wherein the distance detection device (3) is an infrared laser distance sensor.

7. The unmanned ship device for automatic sampling of water quality according to claim 1, wherein the suction device (2) is a quantitative water pump.

8. The unmanned ship device for automatic sampling of water quality according to claim 1, wherein the central controller (5) is a PLC.

9. The unmanned ship apparatus for automatic water quality sampling according to claim 1, wherein the wireless signal transmission module (7) is any one or combination of any several of a 5G communication module, a 4G communication module, a bluetooth module, a WiFi module, a GSM module, a CDMA2000 module, a WCDMA module, a TD-SCDMA module, a Zigbee module, and a LoRa module.

10. The unmanned ship device for automatic water quality sampling according to claim 1, wherein the control terminal (30) is a tablet computer.