CN206900619U - The autonomous underwater vehicle of the water quality for the monitoring river that river length uses - Google Patents
The autonomous underwater vehicle of the water quality for the monitoring river that river length uses Download PDFInfo
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- CN206900619U CN206900619U CN201720723090.6U CN201720723090U CN206900619U CN 206900619 U CN206900619 U CN 206900619U CN 201720723090 U CN201720723090 U CN 201720723090U CN 206900619 U CN206900619 U CN 206900619U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 161
- 238000012544 monitoring process Methods 0.000 title claims abstract description 31
- 239000004020 conductor Substances 0.000 claims abstract description 50
- 238000003860 storage Methods 0.000 claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 23
- 238000004457 water analysis Methods 0.000 claims abstract description 12
- 229910001416 lithium ion Inorganic materials 0.000 claims description 44
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical compound [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 41
- 239000000463 material Substances 0.000 claims description 35
- 238000009434 installation Methods 0.000 claims description 30
- 238000007667 floating Methods 0.000 claims description 11
- 239000002131 composite material Substances 0.000 claims description 5
- 239000012491 analyte Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 4
- 239000002253 acid Substances 0.000 claims description 3
- 239000010941 cobalt Substances 0.000 claims description 3
- 229910017052 cobalt Inorganic materials 0.000 claims description 3
- GUTLYIVDDKVIGB-UHFFFAOYSA-N cobalt atom Chemical group [Co] GUTLYIVDDKVIGB-UHFFFAOYSA-N 0.000 claims description 3
- SMBQBQBNOXIFSF-UHFFFAOYSA-N dilithium Chemical compound [Li][Li] SMBQBQBNOXIFSF-UHFFFAOYSA-N 0.000 claims description 3
- LBSANEJBGMCTBH-UHFFFAOYSA-N manganate Chemical compound [O-][Mn]([O-])(=O)=O LBSANEJBGMCTBH-UHFFFAOYSA-N 0.000 claims description 3
- 239000005955 Ferric phosphate Substances 0.000 claims description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 2
- RTAQQCXQSZGOHL-UHFFFAOYSA-N Titanium Chemical compound [Ti] RTAQQCXQSZGOHL-UHFFFAOYSA-N 0.000 claims description 2
- 238000005138 cryopreservation Methods 0.000 claims description 2
- 229940032958 ferric phosphate Drugs 0.000 claims description 2
- WBJZTOZJJYAKHQ-UHFFFAOYSA-K iron(3+) phosphate Chemical compound [Fe+3].[O-]P([O-])([O-])=O WBJZTOZJJYAKHQ-UHFFFAOYSA-K 0.000 claims description 2
- 229910000399 iron(III) phosphate Inorganic materials 0.000 claims description 2
- 229910052744 lithium Inorganic materials 0.000 claims description 2
- 239000003344 environmental pollutant Substances 0.000 abstract description 8
- 231100000719 pollutant Toxicity 0.000 abstract description 8
- 239000000126 substance Substances 0.000 description 5
- 241000192700 Cyanobacteria Species 0.000 description 4
- 239000003643 water by type Substances 0.000 description 4
- KRHYYFGTRYWZRS-UHFFFAOYSA-M Fluoride anion Chemical compound [F-] KRHYYFGTRYWZRS-UHFFFAOYSA-M 0.000 description 3
- QAOWNCQODCNURD-UHFFFAOYSA-L Sulfate Chemical compound [O-]S([O-])(=O)=O QAOWNCQODCNURD-UHFFFAOYSA-L 0.000 description 3
- QGZKDVFQNNGYKY-UHFFFAOYSA-N Ammonia Chemical compound N QGZKDVFQNNGYKY-UHFFFAOYSA-N 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
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- 238000005259 measurement Methods 0.000 description 2
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- RWSOTUBLDIXVET-UHFFFAOYSA-N Dihydrogen sulfide Chemical compound S RWSOTUBLDIXVET-UHFFFAOYSA-N 0.000 description 1
- LSDPWZHWYPCBBB-UHFFFAOYSA-N Methanethiol Chemical compound SC LSDPWZHWYPCBBB-UHFFFAOYSA-N 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- YUWBVKYVJWNVLE-UHFFFAOYSA-N [N].[P] Chemical compound [N].[P] YUWBVKYVJWNVLE-UHFFFAOYSA-N 0.000 description 1
- 239000004411 aluminium Substances 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 description 1
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- 229910052729 chemical element Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 125000001309 chloro group Chemical group Cl* 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000005494 condensation Effects 0.000 description 1
- 238000009833 condensation Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 230000029087 digestion Effects 0.000 description 1
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012851 eutrophication Methods 0.000 description 1
- 229910001385 heavy metal Inorganic materials 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- GPRLSGONYQIRFK-UHFFFAOYSA-N hydron Chemical compound [H+] GPRLSGONYQIRFK-UHFFFAOYSA-N 0.000 description 1
- 150000002500 ions Chemical class 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910000069 nitrogen hydride Inorganic materials 0.000 description 1
- RECVMTHOQWMYFX-UHFFFAOYSA-N oxygen(1+) dihydride Chemical compound [OH2+] RECVMTHOQWMYFX-UHFFFAOYSA-N 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 150000003568 thioethers Chemical class 0.000 description 1
- 239000010936 titanium Substances 0.000 description 1
- 229910052719 titanium Inorganic materials 0.000 description 1
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Classifications
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- 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
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- Closed-Circuit Television Systems (AREA)
Abstract
The autonomous underwater vehicle of the water quality for the monitoring river that river length uses is the utility model is related to, belongs to Intelligent unattended submariner device applied technical field.Autonomous underwater vehicle navigates by water in river, turbidity, pollutant, the image of blow-off line of video camera shooting water body, the radio communication device that image information is sent to land by conductor wire, Wireless Telecom Equipment first, radio antenna first receive in the water on the anterior top surface of autonomous underwater vehicle.The pollutant data message measured is inputted water quality information by conductor wire respectively and gathers storage device by the PH sensor at video camera rear, water analysis sensor and water quality monitoring sensor in water, and the radio communication device that the data message exported from water quality information collection storage device is sent to land by electronic computer first, Wireless Telecom Equipment second and radio antenna second receives.River length is analyzed and studied according to the image information and data message that receive, takes specific aim measure to administer pollution of estuary.
Description
Technical field
The autonomous underwater vehicle of the water quality for the monitoring river that river length uses is the utility model is related to, belongs to Intelligent unattended submariner device
Applied technical field.
Background technology
On May 29th, 2007 to afternoon June 3, Wuxi Taihu Lake blue-green algae concentrate outburst, have impact on the life of two a population of one million
Drinking water.The neighbouring blue-green algae bulk deposition of the water head site of running water, substantial amounts of NH3, mercaptan, thioether are generated during anaerobic digestion
And the smell substance such as hydrogen sulfide.Global warming, the exceeded eutrophication of nitrogen phosphorus, the work in Taihu Lake periphery small towns in lake water
Industry, agricultural and sanitary sewage are discharged into Taihu Lake by river course, and these are all the reason for causing blue-green algae to concentrate outburst.Arrive thenceforth
2017, Wuxi will spend substantial amounts of man power and material to salvage blue-green algae every year.Because water be present in the part river course towards Taihu Lake
It is seriously polluted, renovated for a long time without desilting, it is serious plus the illegal blowdown of Some Enterprises, agricultural non-point source pollution, controlled to implement
The responsibility of pollution of estuary is managed, Wuxi City is pioneering ' river length system ', and Wuxi City party and government chief leading cadre has served as 64 rivers respectively
River is grown, really every pollution treatment carrying out measures in place.2008, Jiangsu Province promoted river length system, set up city, county, town, the four of village
Level ' river length system ' management system, enhances the responsibility to stream entering lake water quality reaching standard.Central Committee of the Communist Party of China's office on December 11st, 2016
The Room, the General Office of the State Council have printed and distributed " opinion on river length system of carrying out in an all-round way ", determine to promote river length system in the whole nation.
Having that the working sense of responsibility of river length is very strong, his hand takes pen, and another hand takes notebook, walking along the river,
The pollution condition of record river paragraph by paragraph.This river the length color on eye observation river surface and its change, smell with one's nose by the river
The smell that river distributes, work very tired.However, he does not still know that causes pollution of estuary has that several chemical element,
Whether more serious than the river on top layer the pollution condition of the river of river course bottom is, though this river length is tiredly dry, work effect
Rate is not high, and working effect is also not ideal enough.
Utility model content
In place of the purpose of this utility model is to overcome above-mentioned deficiency, the nothing of the water quality of the monitoring river used using river length
People's submariner device.
Autonomous underwater vehicle be by being remotely controlled or be controlled automatically at the utensil of underwater navigation, can also climb up on top of the water on use channel radio
Letter antenna sends the information gathered under water, is the intellectualizing system for carrying out underwater operation.Autonomous underwater vehicle can be divided into distance type
Autonomous underwater vehicle and self-action autonomous underwater vehicle, it is mainly used in gathering the task such as underwater information and communication.At present, autonomous underwater vehicle
Based on military, technology is quite ripe, and starts to turn to civilian.The hull of autonomous underwater vehicle is Torpedo Shape, using aluminium
Material or composite manufacture shell.Power set use Three Degree Of Freedom propeller, and power is provided by chargeable lithium ion battery.
Navigation and control, the propeller that its propulsion system is moved by generation different directions are formed, and sail control device control is waved, wave
Gush, lift, the motion of pitching and yaw direction, being designed with balance wing in right water, balance wing in left water, autonomous underwater vehicle can be prevented
Roll, there is self-correcting function.Mission payload has video camera in water, collision avoidance feeler lever, sail control device, water quality information collection storage
Cryopreservation device, PH sensor, water analysis sensor, water quality monitoring sensor, radio antenna first, Wireless Telecom Equipment first,
Electronic computer first, radio antenna second, Wireless Telecom Equipment second, electricpropulsion installation, propeller.Communication aspects equipped with
Big Dipper global positioning system.This autonomous underwater vehicle is equipped with water surface radio communication.The miniature self-service submariner device for monitoring water quality is more
Number navigation in small and medium sized rivers, riverbank, on ship, on bridge using handheld launch and recovery.Minority navigation is in the Yellow River, the Changjiang river
Etc. the large-scale autonomous underwater vehicle in big river course crane can be used to launch and reclaim.
On the anterior top surface of autonomous underwater vehicle respectively the installation contact PH sensor of water body, water analysis sensor,
Water quality monitoring sensor, it can effectively monitor the water quality condition of river.PH sensor is for detecting hydrogen ion concentration in measured object
And the sensor of corresponding usable output signal is converted into, the measurement range of PH sensor is 0-14PH.Accuracy is positive and negative
0.02PH, resolution ratio reaches 0.01PH, because pH value will not occur for the acid-base value of polluted river less than 2 and pH value is more than 12
Situation, so the utility model is PH2 using the scope of measurement PH values --- PH12 PH sensor.PH sensor will perceive
To water body acid-base value PH numerical value be converted into electric signal pass through conductor wire input water quality information gather storage device, water analysis
Sensor by it is perceiving, analyze come Heavy Metals in Waters ion, ammonia nitrogen, total phosphorus numerical information be converted into electric signal,
Water quality information is inputted by conductor wire and gathers storage device.Water quality monitoring sensor by it is perceiving, detect come water body
Turbidity, chlorine residue, suspension, fluoride, the numerical information of sulfate be converted into electric signal and input water quality information by conductor wire
Gather storage device.Electrometer is inputted by conductor wire from whole water quality data information of water quality information collection storage device output
Calculation machine first is handled, and then Wireless Telecom Equipment second is inputted by conductor wire, by above Wireless Telecom Equipment second
Radio antenna second sends the radio communication that radio wave communicates information to land when autonomous underwater vehicle emerges
Antenna receives.When collision avoidance feeler lever before autonomous underwater vehicle runs into hard foreign matter, collision information can be passed through conductor wire
Sail control device, sail control device meeting adjust automatically course, navigation of detouring are inputted, and navigation route information is passed through into conduction
Line inputs Wireless Telecom Equipment first, and image information inputs radio communication by conductor wire in the water that video camera is shot in water in water
Equipment first, by the radio antenna first in Wireless Telecom Equipment first when autonomous underwater vehicle emerges, by water
The radio antenna that image information and navigation route information are sent to land receives, and the radio antenna of land will connect
Wireless Telecom Equipment, electronic computer second and the water quality information that the full detail received inputs land by built-in conductor wire store up
Processing unit is deposited to be handled and stored.In the middle part and rear portion of autonomous underwater vehicle, lithium ion battery second by conductor wire to
Floating body is powered, and under power, the volume of this special floating body can become big as needed or diminish.Lithium ion battery second
Power is provided to electricpropulsion installation by conductor wire, drives propeller rotation to produce thrust by electricpropulsion installation, promotes nothing
People's submariner device navigates by water in water body.The utility model uses low-voltage powerline carrier communication transmission line as conductor wire, this to lead
Electric wire can be conductive, and can transmission information.
In order to solve the above-mentioned technical problem, the utility model is achieved through the following technical solutions：
By autonomous underwater vehicle 1, material shell 2, floating body 3, electricpropulsion installation 4, propeller 5, collision avoidance feeler lever 6, boat
Video camera 10, water quality information collection storage device 11, PH sensings in row control device 7, conductor wire 8, lithium ion battery first 9, water
Device 12, water analysis sensor 13, water quality monitoring sensor 14, radio antenna first 15, Wireless Telecom Equipment first 16, You Shui
Balance wing 18, electronic computer first 19, radio antenna second 20, Wireless Telecom Equipment second 21, lithium in middle balance wing 17, left water
Ion battery second 22 collectively constitutes；
Autonomous underwater vehicle 1 is navigated by water in river 27, in the outer surface on the right side of the material shell 2 of autonomous underwater vehicle 1
Balance wing 17 in the upper right water of installation, installs in left water on the outer surface in the left side of the material shell 2 of autonomous underwater vehicle 1 and puts down
Weigh the wing 18, video camera 10 in water is installed on the anterior top surface of the material shell 2 of autonomous underwater vehicle 1, in unmanned submariner
PH sensor 12, water quality are installed in the rear of video camera 10 successively on the anterior top surface of the material shell 2 of device 1, in water
Analyte sensors 13, water quality monitoring sensor 14, in PH sensor 12, water analysis sensor 13 and water quality monitoring sensor 14
Lower section, material shell 2 inside installation water quality information collection storage device 11, at the rear of collision avoidance feeler lever 6, composite wood
Expect installation sail control device 7 in shell 2, sail control device 7 is located at lithium ion battery first 9 and water quality information collection storage dress
11 front is put, lithium ion battery first 9 is located at the lower section of water quality information collection storage device 11, in the upper of sail control device 7
Side's installation Wireless Telecom Equipment first 16, installs radio antenna first 15, radio communication above Wireless Telecom Equipment first 16
Equipment first 16 is arranged on the inside of material shell 2, and radio antenna first 15 is arranged on the outer surface of material shell 2
On, the lower half installation floating body 3 of the postmedian in material shell 2, lithium ion battery second is installed in the top of floating body 3
22, in the top of lithium ion battery second 22, installation Wireless Telecom Equipment second 21, nothing is installed above Wireless Telecom Equipment second 21
Line communication antenna second 20, Wireless Telecom Equipment second 21 are arranged on the inside of material shell 2, and radio antenna second 20 is installed
On the outer surface of the outside of material shell 2, installed in the front of Wireless Telecom Equipment second 21 and lithium ion battery second 22
Electronic computer first 19, electricpropulsion installation 4 is installed at the rear portion of autonomous underwater vehicle 1, electricpropulsion installation 4 is arranged on composite wood
Expect the inside of shell 2, propeller 5 is arranged on the rotary shaft for the outside that material shell 2 is reached from electricpropulsion installation 4
Top, the full detail sent from the radio antenna first 15 and radio antenna second 20 of autonomous underwater vehicle 1 pass through wireless
The radio antenna 23 that electric wave is sent to land is received, and the channel radio of land is installed below radio antenna 23
Believe equipment 24, electronic computer second 25 is installed below Wireless Telecom Equipment 24 on land, in electronic computer second 25
Water quality information storing treater 26 is installed below, there is river 27 beside land, autonomous underwater vehicle 1 in river 27 sometimes
Pull the plug collection storage water quality information, emerges sometimes and sends the radio wave of water quality information；
Sail control device 7 is connected by conductor wire 8 with lithium ion battery first 9, and sail control device 7 passes through conductor wire 8
It is connected with Wireless Telecom Equipment first 16, lithium ion battery first 9 is connected by conductor wire 8 with video camera in water 10, and radio communication is set
Standby first 16 is connected by conductor wire 8 with video camera in water 10, and lithium ion battery first 9 passes through conductor wire 8 and Wireless Telecom Equipment first
16 connections, lithium ion battery first 9 gather storage device 11 with water quality information by conductor wire 8 and are connected, water quality information collection storage
Device 11 is connected by conductor wire 8 with PH sensor 12, and water quality information collection storage device 11 passes through conductor wire 8 and water analysis
Sensor 13 is connected, and water quality information collection storage device 11 is connected by conductor wire 8 with water quality monitoring sensor 14, water quality information
Collection storage device 11 is connected by conductor wire 8 with electronic computer first 19, and electronic computer first 19 is by conductor wire 8 and wirelessly
Communication equipment second 21 is connected, and electronic computer first 19 is connected by conductor wire 8 with lithium ion battery second 22, lithium ion battery second 22
It is connected by conductor wire 8 with floating body 3, lithium ion battery second 22 is connected by conductor wire 8 with electricpropulsion installation 4, is electric-only propulsion
Device 4 is connected by power transmission shaft with propeller 5, and the radio antenna 23 of land passes through built-in conductor wire and the nothing of land
Line communication equipment 24 is connected, and the Wireless Telecom Equipment 24 of land is connected by built-in conductor wire with electronic computer second 25, electricity
Sub- computer second 25 is connected by built-in conductor wire with water quality information storing treater 26.
Lithium ion battery first 9 and lithium ion battery second 22 are cobalt acid lithium lithium ion battery or manganate lithium ion battery or titanium
Sour lithium ion battery or ferric phosphate lithium ion battery；Video camera 10 is to be imaged in CCD water in video camera or CMOS water in water
Machine；The length of material shell 2 is 30 centimeters -360 centimeters；A diameter of 10 centimeters of the cross section of material shell 2-
120 centimeters；The scope that PH sensor 12 detects the pH value of river is PH2-PH12.
Compared with prior art, the beneficial effects of the utility model are：1. the operating efficiency for monitoring the water quality of river is high, nothing
People's submariner device, which navigates by water, arrives that waters, and the water quality condition in this waters measures clear immediately.2. carry out multinomial water quality simultaneously to refer to
Target monitors.3. autonomous underwater vehicle dive into water after gathered data information and image information, can float to the water surface with wireless
The radio antenna that communication mode sends information to land receives.4. river length can quickly see the water quality information in river course
Data and water body realtime graphic.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model.
Embodiment
River length is selected according to the water pollution situation of the length in river course, the width of water body of river, the depth of river, river
With length and volume are suitable, mission payload is complete, sensor and the advanced autonomous underwater vehicle of equipment, autonomous underwater vehicle is launched
Into river, river length is navigated by water with wireless communication means remotely pilotless submariner device in river, is passed by PH sensor, water analysis
Sensor and water quality monitoring sensor gather the related data information of river.
The utility model will be further described with reference to the embodiment in accompanying drawing below：
There is a chemical plant to bury lower floor water of the dark drainage pipeline in underground to river up to two meters of river bank in river depth
The polluters such as fluoride, sulfate are stealthily discharged in body.Water colour on the length observation river surface of river, it was found that different as clues and traces
Shape, but do not grasp the positive evidence that water environment is destroyed in the chemical plant.River length transmitting autonomous underwater vehicle is remotely controlled into river
The rapid submariner of autonomous underwater vehicle chases after to suspicious waters, water quality monitoring Sensor monitoring to certain density fluoride and sulfate
Track shoots the image for stealing sewer of dark drainage pipeline with video camera in water to the increasing end-of-the-pipe of pollutant concentration,
The image information collected is converted into electric signal Wireless Telecom Equipment first is inputted by conductor wire, when the floating upper water of autonomous underwater vehicle
During face, radio wave is sent by the radio antenna first in Wireless Telecom Equipment first image information is sent to land
On radio antenna receive.PH sensor, water analysis sensor and water quality monitoring sensor point on autonomous underwater vehicle
The pollutant data conversion each measured is not gathered into electric signal input water quality information collection storage device from water quality information
The data message of storage device output inputs electronic computer first by conductor wire and stored, when autonomous underwater vehicle floats on the surface of the water,
Radio wave is launched by radio antenna second from the data message of electronic computer first output, data message is sent to land
The radio antenna of ground is received, and full detail is inputted land by the radio antenna of land by built-in conductor wire
Wireless Telecom Equipment storage, then input electronic computer second handled, from electronic computer second output it is treated
Full detail inputs water quality information storing treater by built-in conductor wire.River length is from water quality information storing treater
To total data information and image information, the situation for stealing sewer to the private buried lower hidden pipe in the chemical plant has comprehensive understanding.
River length is decide on the spot, notifies environmentally friendly law enfrocement official to order chemical plant to dig out the private ground down blow hidden pipe buried, and in accordance with the law to stealing blowdown
The behavior of water is punished, and effectively protects the cleaning of river.
Autonomous underwater vehicle day and night normals cruise in the river in river course, finds and traces various forms of pollution sources,
Upper strata water body, middle level water body, the multinomial scientific evidence in lower floor's water body and the material picture of river are gathered, passes through side wireless communication
Formula, data message and image information are inputted into electronic computer second and water quality information storing treater is stored and handled.
On the basis of substantial amounts of river information is accumulated, the water body Internet of Things of river is progressively built, the pollution treatment to the river in river course is entered
Row intelligent management.Autonomous underwater vehicle improves the operating efficiency of river length, allows river length to have using information-based, electronization scientific method
Imitate the water quality of management and control river.Autonomous underwater vehicle will turn into the healthy bodyguard of river.
It is as follows now to enumerate embodiment：
Embodiment one：
River length launches miniature self-service submariner device into the river of river using light-duty transmitter, and miniature self-service submariner device is answered
The length of condensation material shell is 80 centimeters, and a diameter of 25 centimeters of the cross section of material shell, power set, which are equipped with, to be used
The electricpropulsion installation of DC brushless motor, powered by cobalt acid lithium lithium ion battery.Using underwater GPS navigation.Appoint
Load of being engaged in includes video camera, collision avoidance feeler lever, sail control device, water quality information storing treater, PH sensor, water quality in water
Analyte sensors, water quality monitoring sensor, radio antenna first, Wireless Telecom Equipment first, electronic computer first, radio communication
Antenna second, Wireless Telecom Equipment second, electricpropulsion installation, propeller.CCD on the anterior top surface of autonomous underwater vehicle
Video camera to polluted-water, pollutant and is hidden the blow-off line in water and taken pictures in water in water, obtains image information.Nobody is latent
Device navigate by the data message of the pollutant gathered in water body and image information, the mode with radio communication, is sent to land
Electronic computer second and water quality information storing treater in, for river grow comprehensively control river water quality, take improvement river
The measure of pollution.
Embodiment two：
The autonomous underwater vehicle that river length is matched from the scale of construction with river, or river customizes special unmanned submariner
Device.River length launches large-scale autonomous underwater vehicle into the river in great river using crane, outside the composite of large-scale autonomous underwater vehicle
The length of shell is 260 centimeters, and a diameter of 75 centimeters of the cross section of material shell, power set are equipped with and use brush DC
The electricpropulsion installation of motor, is powered by manganate lithium ion battery.Using underwater GPS navigation.Mission payload bag
Include video camera in water, collision avoidance feeler lever, sail control device, water quality information storing treater, PH sensor, water analysis sensing
Device, water quality monitoring sensor, radio antenna first, Wireless Telecom Equipment first, Wireless Telecom Equipment first, electronic computer first,
Radio antenna second, Wireless Telecom Equipment second, electricpropulsion installation, propeller.Installed in the anterior top of autonomous underwater vehicle
Video camera to polluted-water, pollutant and is hidden the blow-off line in water and taken pictures in water in CMOS water on face, obtains image
Information.Autonomous underwater vehicle is by the data message of the pollutant gathered in water body and image information, the mode with radio communication, hair
It is sent in the electronic computer second and water quality information storing treater of land, the water quality for controlling river comprehensively is grown for river, is adopted
Take the measure for administering pollution of estuary.
Claims (6)
1. the autonomous underwater vehicle of the water quality for the monitoring river that river length uses, it is characterized in that, by autonomous underwater vehicle（1）, composite
Shell（2）, floating body（3）, electricpropulsion installation（4）, propeller（5）, collision avoidance feeler lever（6）, sail control device（7）, conductor wire
（8）, lithium ion battery first（9）, video camera in water（10）, water quality information collection storage device（11）, PH sensor（12）, water quality
Analyte sensors（13）, water quality monitoring sensor（14）, radio antenna first（15）, Wireless Telecom Equipment first（16）, right water
Middle balance wing（17）, balance wing in left water（18）, electronic computer first（19）, radio antenna second（20）, radio communication sets
Standby second（21）, lithium ion battery second（22）Collectively constitute；
Autonomous underwater vehicle（1）Navigation is in river（27）In, in autonomous underwater vehicle（1）Material shell（2）Right side it is outer
Balance wing in right water is installed on surface（17）, in autonomous underwater vehicle（1）Material shell（2）Left side outer surface on pacify
Fill balance wing in left water（18）, in autonomous underwater vehicle（1）Material shell（2）Anterior top surface on install water in image
Machine（10）, in autonomous underwater vehicle（1）Material shell（2）Anterior top surface on, the video camera in water（10）Rear
PH sensor is installed successively（12）, water analysis sensor（13）, water quality monitoring sensor（14）, in PH sensor（12）, water
Matter analyte sensors（13）With water quality monitoring sensor（14）Lower section, material shell（2）Inside installation water quality information
Gather storage device（11）, in collision avoidance feeler lever（6）Rear, material shell（2）Interior installation sail control device（7）, boat
Row control device（7）Positioned at lithium ion battery first（9）Storage device is gathered with water quality information（11）Front, lithium ion battery first
（9）Storage device is gathered positioned at water quality information（11）Lower section, in sail control device（7）Top installation Wireless Telecom Equipment
First（16）, in Wireless Telecom Equipment first（16）Above install radio antenna first（15）, Wireless Telecom Equipment first（16）Peace
Mounted in material shell（2）Inside, radio antenna first（15）Installed in material shell（2）Outer surface on,
In material shell（2）The lower half installation floating body of interior postmedian（3）, in floating body（3）Top installation lithium ion battery
Second（22）, in lithium ion battery second（22）Top installation Wireless Telecom Equipment second（21）, in Wireless Telecom Equipment second（21）'s
Radio antenna second installed above（20）, Wireless Telecom Equipment second（21）Installed in material shell（2）Inside, wirelessly
Communication antenna second（20）Installed in material shell（2）Outside outer surface on, in Wireless Telecom Equipment second（21）And lithium
Ion battery second（22）Front installation electronic computer first（19）, in autonomous underwater vehicle（1）Rear portion installation be electric-only propulsion dress
Put（4）, electricpropulsion installation（4）Installed in material shell（2）Inside, propeller（5）Installed in from be electric-only propulsion dress
Put（4）Reach material shell（2）Outside rotary shaft top, from autonomous underwater vehicle（1）Radio antenna
First（15）With radio antenna second（20）The full detail sent is sent to the radio communication day of land by radio wave
Line（23）Receive, in radio antenna（23）Below install land Wireless Telecom Equipment（24）, nothing on land
Line communication equipment（24）Below install electronic computer second（25）, in electronic computer second（25）Below water quality information is installed
Storing treater（26）, there is river beside land（27）, autonomous underwater vehicle（1）In river（27）In pull the plug sometimes
Collection storage water quality information, emerges and sends the radio wave of water quality information sometimes；
Sail control device（7）Pass through conductor wire（8）With lithium ion battery first（9）Connection, sail control device（7）Pass through conduction
Line（8）With Wireless Telecom Equipment first（16）Connection, lithium ion battery first（9）Pass through conductor wire（8）With video camera in water（10）Even
Connect, Wireless Telecom Equipment first（16）Pass through conductor wire（8）With video camera in water（10）Connection, lithium ion battery first（9）By leading
Electric wire（8）With Wireless Telecom Equipment first（16）Connection, lithium ion battery first（9）Pass through conductor wire（8）Gather and store up with water quality information
Cryopreservation device（11）Connection, water quality information collection storage device（11）Pass through conductor wire（8）With PH sensor（12）Connection, water quality letter
Breath collection storage device（11）Pass through conductor wire（8）With water analysis sensor（13）Connection, water quality information collection storage device
（11）Pass through conductor wire（8）With water quality monitoring sensor（14）Connection, water quality information collection storage device（11）Pass through conductor wire
（8）With electronic computer first（19）Connection, electronic computer first（19）Pass through conductor wire（8）With Wireless Telecom Equipment second（21）Even
Connect, electronic computer first（19）Pass through conductor wire（8）With lithium ion battery second（22）Connection, lithium ion battery second（22）By leading
Electric wire（8）With floating body（3）Connection, lithium ion battery second（22）Pass through conductor wire（8）With electricpropulsion installation（4）Connection, it is electronic
Propulsion plant（4）Pass through power transmission shaft and propeller（5）Connection, the radio antenna of land（23）By built-in conductor wire with
The Wireless Telecom Equipment of land（24）Connection, the Wireless Telecom Equipment of land（24）Calculated by built-in conductor wire and electronics
Machine second（25）Connection, electronic computer second（25）Pass through built-in conductor wire and water quality information storing treater（26）Connection.
2. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 uses, it is characterized in that, it is described
Lithium ion battery first（9）With lithium ion battery second（22）It is cobalt acid lithium lithium ion battery or manganate lithium ion battery or lithium titanate
Lithium ion battery or ferric phosphate lithium ion battery.
3. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 uses, it is characterized in that, it is described
Video camera in water（10）It is video camera in video camera or CMOS water in CCD water.
4. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 uses, it is characterized in that, it is described
Material shell（2）Length be 30 centimeters -360 centimeters.
5. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 uses, it is characterized in that, it is described
Material shell（2）A diameter of 10 centimeters -120 centimeters of cross section.
6. the autonomous underwater vehicle of the water quality for the monitoring river that river length according to claim 1 uses, it is characterized in that, it is described
PH sensor（12）The scope for detecting the pH value of river is PH2-PH12.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720723090.6U CN206900619U (en) | 2017-06-21 | 2017-06-21 | The autonomous underwater vehicle of the water quality for the monitoring river that river length uses |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720723090.6U CN206900619U (en) | 2017-06-21 | 2017-06-21 | The autonomous underwater vehicle of the water quality for the monitoring river that river length uses |
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| CN206900619U true CN206900619U (en) | 2018-01-19 |
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| CN201720723090.6U Expired - Fee Related CN206900619U (en) | 2017-06-21 | 2017-06-21 | The autonomous underwater vehicle of the water quality for the monitoring river that river length uses |
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| Country | Link |
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