CN215066606U - Open-air hydrodynamic force-topography-synchronous measurement integrated device of quality of water - Google Patents
Open-air hydrodynamic force-topography-synchronous measurement integrated device of quality of water Download PDFInfo
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- CN215066606U CN215066606U CN202121047937.6U CN202121047937U CN215066606U CN 215066606 U CN215066606 U CN 215066606U CN 202121047937 U CN202121047937 U CN 202121047937U CN 215066606 U CN215066606 U CN 215066606U
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Abstract
The integrated device comprises an unmanned ship system and a shore station system, wherein the unmanned ship system comprises a motion driving system, an ADCP system, a water quality instrument system, a GPS system and a first network bridge, the course and the navigational speed of the unmanned ship are controlled after the motion driving system receives an instruction, the ADCP system collects terrain and hydrodynamic data, the water quality instrument system collects water quality parameters, the GPS system provides position information, the collection frequency is synchronous with the ADCP and the water quality instrument, and the first network bridge transmits the data collected by the unmanned ship system to the shore station system and receives the instruction of the shore station to control the unmanned ship. The shore station system comprises a second network bridge and a central processing system, the second network bridge receives information of the unmanned ship system and sends the information to the unmanned ship system, and the central processing system integrates the acquired information and dynamically plans and controls the air route and instruments. The device can draw the average water depth flow velocity, the three-dimensional terrain and the plane water quality distribution map of a measurement area, and is convenient for the related research of hydrodynamic force and water quality.
Description
Technical Field
The utility model belongs to river lake health monitoring equipment field involves an open-air hydrodynamic force-topography-quality of water synchronous measurement integrated device.
Background
The traditional method for measuring water quality, hydrodynamic force and terrain of rivers and lakes mostly adopts a manual ship-riding mode, hydrodynamic force and water depth data are measured by using ADCP, water quality parameters are obtained by manual sampling, the method has high danger, low acquisition efficiency and large measurement error, meanwhile, the traditional method for measuring water quality mainly adopts a mode of fixed-point monitoring of water quality measuring points or a mode of returning human samples to a laboratory for analysis, the mode consumes more manpower and material resources and is difficult to meet the requirements of regional real-time dynamic monitoring, a measurement platform of the prior unmanned ship generally only carries the ADCP alone to measure river section flow and hydrodynamic force or carries a portable water quality instrument alone to measure water quality, although flow, hydrodynamic force and water quality data are obtained, the data of the ADCP and the portable water quality instrument are mutually independent, accurate matching and integration cannot be carried out, and great inconvenience is brought to a post-processing method for comparing the hydrodynamic force with the water quality data,
the traditional hydrology and water quality monitoring and measuring mode is that a manual boat is used for measuring river sections and sampling water samples, but the traditional mode is low in manual boat taking collecting efficiency, small in measuring point quantity, large in measuring error and high in danger, and the accuracy of a manually-taken air route of the boat is insufficient under a complex field environment.
The main means of water quality monitoring at present is the fixed point monitoring of water quality monitoring station or the mode of artifical sampling, and although portable water quality appearance development is rapid at present, at present to the application method of portable water quality appearance still mainly with regard to water quality appearance fixed point measurement as the owner, can not accurately acquire the water quality distribution condition on the regional two-dimensional plane that needs the measurement.
The space-time distribution rule of water quality and hydrodynamic force condition change have a great relation, an unmanned ship measuring platform in the current market can only carry on the ADCP alone or carry on the portable water quality instrument alone, and the measured data of the ADCP and the data of the portable water quality instrument are mutually independent, so that the accurate unification on the sampling frequency and the geographic position can not be realized, and great inconvenience is brought to the related research of post-processing and comprehensiveness.
SUMMERY OF THE UTILITY MODEL
The purpose of this patent is in order to overcome prior art's not enough, provides a field hydrodynamic force-topography-quality of water synchronous measurement integrated device based on ADCP and portable quality of water appearance. The device can be applicable to the measurement under the complicated field environment, carries on ADCP and portable water quality appearance simultaneously to two equipment can use same GPS equipment, can obtain every positional information who measures the section rather than hydrodynamic force, quality of water, depth of water information that corresponds simultaneously, have solved present water quality and have measured and can only obtain single-point data and quality of water data and the inaccurate problem of hydrodynamic force data space-time matching.
In order to solve the technical problem, the patent is realized by the following technical scheme: the field hydrodynamic force-terrain-water quality synchronous measurement integrated device comprises an unmanned ship system and a shore station system, wherein the unmanned ship system comprises an unmanned ship, a motion driving system, a water diversion device, an ADCP system, a water quality instrument system, a GPS device, a first network bridge and a power supply, a cabin is arranged on the unmanned ship, a waterproof cabin cover is arranged on the cabin, the ADCP system and the water quality instrument system are arranged in the cabin, the water quality instrument system comprises a water quality instrument and a water quality instrument matching device, the ADCP system comprises an ADCP and an ADCP matching device, a detection port is arranged at the bottom of the unmanned ship cabin 1, water inlet probes of the ADCP and the water quality instrument penetrate through the detection port at the bottom of the cabin and extend into water, the motion driving system comprises a propeller with a propeller and a steering device, the propeller with the propeller is arranged at the rear end of the unmanned ship, and the first network bridge and the steering device are arranged at the rear end of the unmanned ship, The GPS device and the power supply are both arranged on the unmanned ship; the first bridge comprises a receiving bridge for receiving the instruction signal and a sending bridge for sending data;
the water diversion device is positioned at the bottom of the unmanned ship and comprises a first water breaking plate, a second water breaking plate, a first streamline water diversion plate and a second streamline water diversion plate, wherein the first streamline water diversion plate and the second streamline water diversion plate are respectively arranged in front of water inlet probes of an ADCP system and a water quality instrument system, the rear end of the first water breaking plate is connected with the front end of the first streamline water diversion plate, and the rear end of the second water breaking plate is connected with the front end of the second streamline water diversion plate;
the water quality instrument matching device comprises a left fixing hoop, a right fixing hoop, adjusting screws, sliding rails and connectors, wherein the left fixing hoop and the right fixing hoop are of semicircular structures and are arranged oppositely, the left fixing hoop and the right fixing hoop simultaneously encircle the water quality instrument and are fixedly connected through bolts and nuts, the two connectors are respectively arranged in the two vertically arranged sliding rails and can move up and down along the sliding rails, the left fixing hoop and the right fixing hoop are respectively connected with the two connectors, and the two sliding rails are respectively provided with the adjusting screws for locking the connectors on the sliding rails;
the ADCP matching device comprises a left fixing hoop, a right fixing hoop, adjusting screws, a graduated scale, slide rails and connectors, wherein the left fixing hoop and the right fixing hoop are of semicircular structures and are oppositely arranged, the left fixing hoop and the right fixing hoop simultaneously encircle the ADCP and are fixedly connected through bolts and nuts, the two connectors are respectively arranged in the two vertically arranged slide rails and can move up and down along the slide rails, the left fixing hoop and the right fixing hoop are respectively connected with the two connectors, the two slide rails are respectively provided with the adjusting screws for locking the connectors to the slide rails, and the side walls of the slide rails are respectively provided with the graduated scale;
the ADCP, the receiving network bridge, the sending network bridge, the water quality instrument, the GPS device and the motion driving system are all connected with a power supply through wires; the motion driving system, the ADCP, the water quality instrument and the GPS device are respectively connected with the receiving network bridge through data lines, and the ADCP, the water quality instrument and the GPS device are respectively connected with the sending network bridge through data lines;
the shore station system comprises a second network bridge and a central processing system, and the central processing system is connected with the second network bridge through a data line.
The device also comprises another GPS device which is arranged on the unmanned ship or on the shore.
And the inner walls of the left fixing hoop and the right fixing hoop are respectively provided with a flexible lining.
The power source includes at least one removable rechargeable battery.
The unmanned ship system further comprises a wire arranging channel 4, and lines connected among the ADCP, the network bridge, the water quality instrument, the GPS device and the power supply are all contained in the wire arranging channel.
The first streamline-type water diversion plate and the second streamline-type water diversion plate are both V-shaped plates, and two side edges are both arc-shaped and convex outwards.
Compared with the prior art, the advantage of this patent is:
1. the tradition is measured quality of water, hydrodynamic force and the topography of river, lake, adopts artifical mode of taking advantage of ship more, utilizes ADCP to measure hydrodynamic force and depth of water data, and artifical sampling carries out the acquirement of quality of water parameter, and this kind of mode is dangerous high, collection efficiency is low, measuring error is big, consequently one of the beneficial effect of this patent is for using unmanned measuring platform to carry out system integration to ADCP and portable water quality appearance, realizes quality of water, hydrodynamic force and the automatic integration of measuring of topography that can go on in step.
2. The traditional mode of measuring water quality mainly for water quality measurement point fixed point monitoring or manpower sampling and bringing back to laboratory analysis consumes more manpower and material resources, is difficult to satisfy the demand of regional real-time dynamic monitoring, and the patent provides the use of a portable water quality instrument and a data processing method to obtain the two-dimensional water quality space-time distribution characteristic of regional global situation, and provides a new means for the field of water environment monitoring.
3. At present, the measurement platform of the unmanned ship generally only carries out ADCP alone to measure river section flow and hydrodynamic force or carries out portable water quality instrument alone to measure water quality, although flow, hydrodynamic force and water quality data are obtained, the data of ADCP and portable water quality instrument are mutually independent, accurate matching integration can not be carried out, the post-processing method for comparing hydrodynamic force with water quality data brings great inconvenience, the unmanned ship integration platform provided by the patent carries out data integration with ADCP and portable water quality instrument, and the contrastive analysis of water dynamic force and water quality parameters in the data processing process is greatly optimized.
4. ADCP and quality of water appearance all can directly link through bluetooth wireless connection, deployment off-line task or cable and carry out the operation measurement, but bluetooth wireless signal transmission distance is shorter and the signal is unstable, and deployment off-line task then can not real-time supervision hydrodynamic water quality condition, and although cable directly links data transmission and stabilizes, it is not portable and transmission distance is shorter, is not fit for unmanned ship operation. At present wireless network bridge transmission distance can reach 10KM far away, and signal transmission is stable and postpone lowly, and the wide application has been in unmanned ship's intelligent control, consequently, the utility model discloses a carry out wireless transmission with ADCP and quality of water appearance data through the network bridge interface between computer and instrument, realize unmanned ship flight path planning, ADCP and quality of water appearance measured data's remote synchronous transmission control.
5. The probe of ADCP is located ADCP's bottom, need during the measurement with ADCP certain degree of depth into water just can accurate transmission and received signal, the measuring probe of quality of water appearance also need go into certain degree of depth into water equally, two kinds of instruments all avoid instrument bottom sensor touching hard thing to lead to damaging in installation and device recovery process moreover. The utility model discloses a design a device adjusting device, can be in the installation in a flexible way protect ADCP and the probe of quality of water appearance, install in unmanned cabin after again with the instrument move down, and can accurately confirm the ADCP probe degree of depth of entry. And the streamline water diversion plate at the bottom of the unmanned ship makes the surface water flow of the ADCP and the water quality instrument stable in the measuring process, and improves the measuring accuracy.
Drawings
FIG. 1 is a schematic diagram of an integrated field hydrodynamic force-terrain-water quality synchronous measurement device;
FIG. 2 is a schematic structural view of an unmanned ship;
FIG. 3 is a schematic structural view of the bottom of the unmanned ship;
FIG. 4 is a schematic structural diagram of a water quality instrument matching device;
FIG. 5 is a schematic diagram of the structure of an ADCP kit;
in the figure, a cabin 1, a first detachable rechargeable battery 2, a second detachable rechargeable battery 3, a wire arranging channel 4, a first GPS device 5, a second GPS device 6, a portable water quality instrument 7, a first right fixing hoop 8, a first left fixing hoop 9, a first adjusting screw 10, a first right sliding rail 11, a first right connector 12, a first fixing block 13, a screw 14, a receiving bridge 15, a sending bridge 16, an ADCP17, a second right fixing hoop 18, a second left fixing hoop 19, a second adjusting screw 20, a graduated scale 21, a second right sliding rail 22, a second right connector 23, a second fixing block 24, a screw 25, a steering device 27, a propeller 28, a first water breaking plate 29, a first flow type water diversion plate 30, a second water breaking plate 31, a second flow type water diversion plate 32, an unmanned ship system 33, a shore station system 34, a first bridge 35, a second bridge 36, a central processing system 37, a GPS devices 38, a central processing system 37, and the like, Water quality meter system 39, ADCP system 40, motion drive system 41.
Detailed Description
The present patent is described in further detail below with reference to the following detailed description and accompanying drawings:
ADCP is called Acoustic Doppler Current Profilers, namely an Acoustic Doppler Current profiler, is a novel flow measuring device developed in the early 80 s of the twentieth century, and utilizes the Doppler effect principle to measure the flow velocity. The ADCP breaks through the traditional mechanical rotation-based sensing current meter due to the superiority of the principle, uses an acoustic wave transducer as a sensor, the acoustic wave transducer emits acoustic pulse waves, the acoustic pulse waves are back-scattered by back-scattering objects such as sediment particles, plankton and the like which are unevenly distributed in a water body, the acoustic pulse waves are received by the acoustic wave transducer, and the current is measured and calculated by measuring Doppler frequency shift. The ADCP can directly obtain the terrain of a measuring section and a three-dimensional flow velocity profile, and has the characteristics of small flow field disturbance, short testing duration, large speed measuring range and the like. The method is widely used for flow field structure survey, flow velocity and flow test and the like of oceans and estuaries at present.
The water quality analyzer is suitable for: the water quality monitoring system comprises a water source monitoring device, an environment-friendly monitoring station, a municipal water treatment process, municipal pipe network water quality supervision, rural tap water monitoring and other fields, wherein a portable water quality instrument with mature technology can monitor various water quality parameters, and water quality information of a corresponding position can be known by combining position information of a GPS.
Example 1
As shown in fig. 1, a field water quality hydrodynamic force measuring ship system is mainly divided into an unmanned ship system 33 and a shore station system 34. The unmanned ship system mainly comprises a first network bridge 35, a GPS device 38, a water quality instrument system 39, an ADCP system 40 and a motion driving system 41, wherein the first network bridge 35 is connected with the GPS device 38, the water quality instrument system 39 and the ADCP system 40 in a bidirectional mode, ADCP data, water quality instrument data and position information collected by the unmanned ship are transmitted to a shore station, meanwhile, an instruction sent by the shore station is received, the GPS device 38, the water quality instrument system 39 and the ADCP system 40 are controlled, a course is adjusted, and operations of the ADCP and the water quality instrument are carried out.
The shore station system 34 mainly comprises a second network bridge 36 and a central processing system 37, wherein the second network bridge 36 mainly has the functions of receiving information collected by the first network bridge 35 on the unmanned ship, transmitting the information to the central processing system 37, and transmitting instructions of the central processing system to the first network bridge 35 of the unmanned ship system. The central processing system (computer) comprises a data integration system and an instruction input system, wherein the data integration system is used for integrating GPS data, ADCP data and water quality instrument data acquired by the unmanned ship system to obtain hydrodynamic force, water depth data and water quality data corresponding to each position at the same time; the main function of the instruction input system is to send an instruction to the second network bridge 36, so that the dynamic planning of the air route and the dynamic control of the ADCP and the water quality instrument are realized by the shore station system according to the actual situation.
The first network bridge is positioned on the unmanned ship system, the second network bridge is positioned on the shore station, the main functions of the two network bridges are to realize data exchange between the shore station and the unmanned ship system, ADCP data, water quality instrument data and position information acquired by the unmanned ship can be synchronously transmitted to the shore station, and meanwhile, instructions sent by the shore station are transmitted to the unmanned ship system, an air route is adjusted, and operations of the ADCP and the water quality instrument are carried out.
As shown in fig. 2, the unmanned ship system comprises an unmanned ship, an ADCP system, a water quality instrument system, a motion driving system, a water diversion device, a first bridge, a positioning system (GPS device) and a power supply, wherein the first bridge comprises a receiving bridge 15 for receiving a command signal and a sending bridge 16 for sending data, the water quality instrument system comprises a water quality instrument and a water quality instrument matching device, the ADCP system comprises an ADCP and an ADCP matching device, the ADCP system, the water quality instrument system and the like are placed in an unmanned ship cabin 1, a waterproof cabin cover can be opened before use, the ADCP17 and the water quality instrument 7 are placed in the unmanned ship, the waterproof cabin cover is closed to prevent water from entering the cabin 1 in the measurement process, a detection port is arranged at the bottom of the unmanned ship cabin 1, and water inlet probes of the ADCP and the water quality instrument penetrate through the detection port at the bottom of the cabin to enter the water. The power supply system comprises a first detachable rechargeable battery 2, a second detachable rechargeable battery 3 and a cable channel 4, the batteries 2 and 3 can supply power to other devices of the unmanned ship through the cable channel 4, and the cable channel 4 can also accommodate related wiring of other equipment. The main function of the receiving network bridge 15 is to receive the command signal sent by the shore station network bridge, and the main function of the sending network bridge 16 is to send the data of the ADCP, the water quality meter and the GPS on the unmanned ship to the shore station.
The ADCP17 of the main body device of the ADCP system mainly acquires flow velocity and water depth information by adopting a bottom tracking method. The water quality instrument system is mainly a water quality instrument 7, can be placed into a fixed-point measurement type water quality instrument, and can also be placed into a portable water quality instrument, and then is fixed through a device adjusting system.
The motion driving system comprises a propeller with a propeller and a steering device, the propeller with the propeller 28 and the steering device 27 are arranged at the rear end of the unmanned ship, and after the network bridge receives a signal, the forward speed and the direction of the unmanned ship 1 are controlled by adjusting the working speed and the angle of the propeller 28 through adjusting the steering device 27.
The positioning device mainly comprises a first GPS device 5 and a second GPS device 6 which are mutually independent, and two using modes are provided, wherein one mode is that the first GPS device 5 is arranged on the unmanned ship system, the second GPS device 6 is detached and fixed on a shore station, and the second GPS device 6 is used for correcting the position of the first GPS device 5 on the unmanned ship system; another way to use is for both the first GPS device 5 and the second GPS device 6 to be mutually aligned on the unmanned ship system. The signal output frequency of the positioning device is kept to be the same as the data acquisition frequency of the ADCP and the water quality instrument, and each piece of position information is guaranteed to correspond to one piece of ADCP data and one piece of water quality data.
As shown in fig. 3, the water diversion device is located at the bottom of the unmanned ship and is divided into a first water breaking plate 29, a second water breaking plate 31, a first streamline water diversion plate 30 and a second streamline water diversion plate 32, and mainly has the main effects that after the water breaking plates 29 and 31 separate most of water flow in front of the probe for water inflow of the ADCP17 and the water quality instrument 7, the water flow passes through the streamline water blocking plates 30 and 32, so that the advancing resistance can be reduced, the water flow in contact with the water quality instrument is relatively smooth, the precision of the ADCP and the water quality instrument in the actual measurement process is improved, the streamline water diversion plate is preferably a V-shaped plate, and two side edges of the V-shaped plate are both arc-shaped and convex outwards.
As shown in fig. 4, the water quality instrument matching device mainly comprises a left fixing hoop 9, a right fixing hoop 8, a first adjusting screw 10, a left sliding rail, a right sliding rail 11, a left connector and a right connector 12, wherein the left fixing hoop 9 and the right fixing hoop 8 are semicircular rings, two sides of each semicircular ring respectively extend outwards to form a fixing block 13, the size of each semicircular ring is matched with that of the water quality instrument, the semicircular rings are used for encircling the water quality instrument together, the left fixing hoop 9 and the right fixing hoop 8 penetrate through the fixing block 13 through bolt and nuts to be connected and fixed, and the water quality instrument is fixed after the screws 14 are screwed to prevent the water quality instrument from falling off in the measuring process. First left fixed hoop 9, first right fixed hoop 8 are connected with first left connector, first right connector 12 respectively, first right connector is located in the first right slide rail, and first left connector is located in the first left slide rail, and all can reciprocate along the slide rail, be equipped with on two slide rails and be used for locking the connector in the first adjusting screw of slide rail, first adjusting screw offsets with the outer wall of connector, loosen first adjusting screw 10 after, first right connector 12 can reciprocate through first right slide rail 11, adjusting screw 10 can be fixed with first right connector 12, fix the height at needs with the quality of water appearance. Before the water quality instrument is used, the water quality parameters are calibrated by using the standard liquid of the related water quality parameters, and in the calibration process, the water quality instrument needs to be kept as static as possible, and after the connector 12 is fixed by adjusting to a proper height, the water quality instrument can be calibrated, so that the calibration accuracy is improved.
As shown in fig. 5, the ADCP supporting device includes a second left fixing hoop 19, a second right fixing hoop 18, a second left connector, a second right connector 23, a second left slide rail and a second right slide rail 22 which are vertically arranged, wherein the second left fixing hoop 19 and the second right fixing hoop 18 are two semicircular rings, two sides of the semicircular rings respectively extend outwards to form a fixing block 24, the size is matched with the size of the ADCP, and the ADCP supporting device is used for connecting and fixing the ADCP through the fixing block 24 after being combined together, screwing a screw 25, fixing the ADCP firmly, and preventing the instrument from falling off in the measuring process. The second right connector 23 is arranged in a second right slide rail 22, the second left connector is arranged in a second left slide rail and can move up and down along the slide rail, the second left fixing hoop 19 and the second right fixing hoop 18 are respectively connected with the second left connector and the second right connector 23, second adjusting screws used for locking the connectors on the slide rails are arranged on the second left slide rail and the second right slide rail 22, the adjusting screws penetrate through the slide rail wall to abut against the outer wall of the connectors, after the second adjusting screws 20 are loosened, the second right connector 23 can move up and down through the second right slide rail 22, the second adjusting screws 20 can fix the second right connector 23, and the ADCP is fixed at a required height. All can be equipped with scale 21 on the lateral wall of above-mentioned slide rail, and scale 21 can provide the depth of entrying that needs measuring instrument bottom in the ADCP measurement process.
Application method
The use mode and the data processing method of the field hydrodynamic force-terrain-water quality synchronous measurement integrated device comprise the following specific use methods:
the unmanned ship carrying the ADCP and the water quality instrument is placed in a water area to be measured and then automatically controlled by a computer, firstly, a measuring section, an initial point and a return point of the unmanned ship are arranged on the computer according to the measuring area, in order to meet the requirements of two-dimensional water quality field and terrain data interpolation, the time saving and the result accuracy of the maximum utility can be realized when the unmanned ship route is determined to be in a common Z shape according to the field actual measurement experience and the distance between two adjacent sections is kept less than one tenth of the river width W, in addition, in order to ensure the accuracy of hydrodynamic measurement, the section path should be as vertical as possible to the water flow direction. Then setting the sampling interval of the ADCP, the water quality instrument and the GPS as 1s and setting the sampling interval as synchronous acquisition, clicking a computer screen to start after the setting of other system parameters is finished, transmitting a control signal to a bridge through a network cable by a computer and then transmitting the control signal to the unmanned ship through wireless transmission, in order to ensure the accuracy of a measurement result, the ship speed should be kept constant and should not exceed the flow rate of water under an ideal state, the ship speed cannot exceed 1.5 times of the flow rate of water under a special condition, ADCP, the water quality instrument and GPS data measured by the unmanned ship in the measurement process are transmitted back to the computer through the bridge, the computer control system adjusts the ship speed in real time through the average flow rate of returned points, the unmanned ship automatically returns to a set return point after the measurement is finished, and all original data are automatically stored in a designated file folder for later processing.
In terms of data processing:
during on-site real-time measurement, the screen outputs data collected by the ADCP, such as the longitude and latitude (X/Y) of a plane coordinate, the three-dimensional flow velocity and the water depth of the underwater unit of the point coordinate, and water quality parameters of the water depth corresponding to the point coordinate, such as temperature, dissolved oxygen, turbidity, conductivity and the like, synchronously measured by the water quality instrument.
After the unmanned ship finishes measuring all planned routes, the system automatically adopts a common Kriging interpolation method commonly used in geology statistics, reads measurement coordinates, water depth and water quality data, models autocorrelation according to the relative position relation of a measured point and an unknown point, performs linear unbiased estimation on the unknown point, predicts the water depth and water quality of the unknown point in a measurement area, and finally draws a water depth average flow velocity, three-dimensional terrain and plane water quality distribution diagram of the measurement area.
In addition, in order to facilitate comprehensive evaluation of the health of rivers and lakes, data post-processing synchronously outputs a three-dimensional flow velocity distribution diagram of the section along the water depth direction and a section suspended matter concentration distribution diagram calculated according to the signal-to-noise ratio output by the ADCP.
The non-illustrated portions of the disclosure referred to in this patent are prior art or are implemented using prior art.
Claims (6)
1. The field hydrodynamic force-terrain-water quality synchronous measurement integrated device is characterized in that: the unmanned ship system comprises an unmanned ship, a motion driving system, a water distribution device, an ADCP system, a water quality instrument system, a GPS device, a first network bridge and a power supply, wherein a cabin is arranged on the unmanned ship, a waterproof cabin cover is arranged on the cabin, the ADCP system and the water quality instrument system are arranged in the cabin, the water quality instrument system comprises a water quality instrument and a water quality instrument matching device, the ADCP system comprises the ADCP and the ADCP matching device, a detection port is arranged at the bottom of the unmanned ship cabin 1, water inlet probes of the ADCP and the water quality instrument penetrate through the detection port at the bottom of the cabin and extend into water, the motion driving system comprises a propeller with a propeller and a steering device, the propeller with the propeller and the steering device are arranged at the rear end of the unmanned ship, and the first network bridge, the GPS device and the power supply are arranged on the unmanned ship; the first bridge comprises a receiving bridge for receiving the instruction signal and a sending bridge for sending data;
the water diversion device is positioned at the bottom of the unmanned ship and comprises a first water breaking plate, a second water breaking plate, a first streamline water diversion plate and a second streamline water diversion plate, wherein the first streamline water diversion plate and the second streamline water diversion plate are respectively arranged in front of water inlet probes of an ADCP system and a water quality instrument system, the rear end of the first water breaking plate is connected with the front end of the first streamline water diversion plate, and the rear end of the second water breaking plate is connected with the front end of the second streamline water diversion plate;
the water quality instrument matching device comprises a left fixing hoop, a right fixing hoop, adjusting screws, sliding rails and connectors, wherein the left fixing hoop and the right fixing hoop are of semicircular structures and are arranged oppositely, the left fixing hoop and the right fixing hoop simultaneously encircle the water quality instrument and are fixedly connected through bolts and nuts, the two connectors are respectively arranged in the two vertically arranged sliding rails and can move up and down along the sliding rails, the left fixing hoop and the right fixing hoop are respectively connected with the two connectors, and the two sliding rails are respectively provided with the adjusting screws for locking the connectors on the sliding rails;
the ADCP matching device comprises a left fixing hoop, a right fixing hoop, adjusting screws, a graduated scale, slide rails and connectors, wherein the left fixing hoop and the right fixing hoop are of semicircular structures and are oppositely arranged, the left fixing hoop and the right fixing hoop simultaneously encircle the ADCP and are fixedly connected through bolts and nuts, the two connectors are respectively arranged in the two vertically arranged slide rails and can move up and down along the slide rails, the left fixing hoop and the right fixing hoop are respectively connected with the two connectors, the two slide rails are respectively provided with the adjusting screws for locking the connectors to the slide rails, and the side walls of the slide rails are respectively provided with the graduated scale;
the ADCP, the receiving network bridge, the sending network bridge, the water quality instrument, the GPS device and the motion driving system are all connected with a power supply through wires; the motion driving system, the ADCP, the water quality instrument and the GPS device are respectively connected with the receiving network bridge through data lines, and the ADCP, the water quality instrument and the GPS device are respectively connected with the sending network bridge through data lines;
the shore station system comprises a second network bridge and a central processing system, and the central processing system is connected with the second network bridge through a data line.
2. The field hydrodynamic force-terrain-water quality synchronous measurement integrated device according to claim 1, characterized in that: the device also comprises another GPS device which is arranged on the unmanned ship or on the shore.
3. The field hydrodynamic force-terrain-water quality synchronous measurement integrated device according to claim 1, characterized in that: and the inner walls of the left fixing hoop and the right fixing hoop are respectively provided with a flexible lining.
4. The field hydrodynamic force-terrain-water quality synchronous measurement integrated device according to claim 1, characterized in that: the power source includes at least one removable rechargeable battery.
5. The field hydrodynamic force-terrain-water quality synchronous measurement integrated device according to claim 1, characterized in that: the unmanned ship system further comprises a wire arranging channel 4, and lines connected among the ADCP, the network bridge, the water quality instrument, the GPS device and the power supply are all contained in the wire arranging channel.
6. The field hydrodynamic force-terrain-water quality synchronous measurement integrated device according to claim 1, characterized in that: the first streamline-type water diversion plate and the second streamline-type water diversion plate are both V-shaped plates, and two side edges are both arc-shaped and convex outwards.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121047937.6U CN215066606U (en) | 2021-05-17 | 2021-05-17 | Open-air hydrodynamic force-topography-synchronous measurement integrated device of quality of water |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121047937.6U CN215066606U (en) | 2021-05-17 | 2021-05-17 | Open-air hydrodynamic force-topography-synchronous measurement integrated device of quality of water |
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| CN215066606U true CN215066606U (en) | 2021-12-07 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115144554A (en) * | 2022-06-02 | 2022-10-04 | 河海大学 | Multi-index monitoring system for terrain self-adaptive water body |
| CN115144554B (en) * | 2022-06-02 | 2023-07-25 | 河海大学 | Topography self-adaptation water body multi-index monitoring system |
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