Overwater monitoring and polling integrated equipment with intelligent navigation system

Abstract

The invention relates to the technical field of water area monitoring, in particular to overwater monitoring and routing inspection integrated equipment with an intelligent navigation system, which comprises a waterproof shell, a propeller arranged at the bottom of the waterproof shell, and an annular protection mechanism positioned on the periphery of the propeller, the bottom screen plate is fixed to the bottom of the annular protection mechanism; the elastic buffer mechanism is connected between the annular protection mechanism and the waterproof shell; and the intelligent navigation system is arranged in the waterproof shell. By arranging the annular protection mechanism, the bottom net plate and the elastic buffer mechanism, the propeller can be surrounded and protected, aquatic plants or other sundries in water are not prone to making contact with the propeller, so that the aquatic plants or other sundries are not prone to being wound on the propeller, the propeller is not prone to being damaged, it is guaranteed that inspection work can be normally carried out, and the use effect is good.

Description

Technical Field

[0001] The present invention relates to the technical field of water area monitoring, and in particular to an integrated water monitoring and inspection device with an intelligent navigation system. Background Art

[0002] In order to ensure the safety of waterway traffic and water environment, it is necessary to make full use of information, digital and intelligent means to monitor water areas, so as to be able to respond to water safety and emergency response capabilities under complex environmental conditions around the clock, and maximize water safety.

[0003] After searching, the Chinese patent with announcement number CN214776418U discloses an intelligent monitoring and inspection robot on water, including a waterproof shell, a propeller is arranged at the bottom of the waterproof shell, a load-bearing tower is installed at the top center of the waterproof shell, a wind speed and direction sensor is fixed on the upper end of the load-bearing tower, a spherical high-definition camera, an audible and visual alarm and a human body sensor are installed on the side wall of the load-bearing tower, solar panels are installed around the top edge of the waterproof shell, a 4G antenna is also arranged on the side wall of the load-bearing tower, an ultrasonic detector is installed on the top of the waterproof shell, a battery, a controller, a serial port server and an anchor reel are installed on the lower side of the waterproof shell, and a water quality detector reel is installed on the top inner wall of the waterproof shell. The present invention integrates unmanned boats and Internet of Things technologies, and can realize the functions of all-weather dynamic monitoring and early warning.

[0004] The above scheme can use the propeller to move the device on the water and conduct inspections. However, during the movement, aquatic plants such as water plants in the water are easily entangled in the propeller, causing damage to the propeller, thereby affecting the inspection work. For this reason, we propose an integrated water monitoring and inspection equipment with an intelligent navigation system to effectively solve the above-mentioned drawbacks. Summary of the invention

[0005] The purpose of the present invention is to provide an integrated water monitoring and inspection device with an intelligent navigation system, which is used to solve the problem mentioned in the above background technology that aquatic plants are easily entangled on the propeller, causing damage to the propeller.

[0006] The present invention is realized by the following technical scheme: an integrated water monitoring and inspection device with an intelligent navigation system, comprising a waterproof housing, a propeller is arranged at the bottom of the waterproof housing, and further comprising:

[0007] An annular protection mechanism, wherein the annular protection mechanism is located at the periphery of the propeller;

[0008] A bottom mesh plate, wherein the bottom mesh plate is fixed to the bottom of the annular protective mechanism;

[0009] An elastic buffer mechanism, wherein the elastic buffer mechanism is connected between the annular protective mechanism and the waterproof housing;

[0010] An intelligent navigation system is installed in a waterproof housing.

[0011] Optionally, a supporting tower is installed at the top center of the waterproof shell, a wind speed and direction sensor is fixed to the upper end of the supporting tower, and a spherical high-definition camera is installed on the side wall of the supporting tower; a plurality of ultrasonic detectors are installed at circumferential intervals on the top of the waterproof shell.

[0012] Optionally, a ring-shaped floating body is fixed in the middle of the waterproof shell, the inner diameter of the ring-shaped protective mechanism is larger than the outer diameter of the floating body, and the upper end surface of the ring-shaped protective mechanism is higher than the upper end surface of the floating body.

[0013] Optionally, the annular protective mechanism includes a V-shaped mesh plate located at the front side of the waterproof shell in the direction of travel and a tail mesh plate located at the rear side of the waterproof shell in the direction of travel, and two side mesh plates are fixed in parallel and at intervals between the V-shaped mesh plate and the tail mesh plate, and the V-shaped mesh plate, the tail mesh plate and each side mesh plate are respectively fixed on the top of the bottom mesh plate.

[0014] Optionally, the elastic buffer mechanism includes first buffer components located on the left and right sides of the waterproof shell in the traveling direction and fixed to the waterproof shell, and each first buffer component is respectively connected to the corresponding side mesh plate.

[0015] Optionally, the first buffer component includes a first fixing plate fixed on the side wall of the waterproof shell, a first connecting plate is fixed on the inner side of the side mesh plate, a plurality of first connecting rods are fixed on the first connecting plate in parallel and spaced apart, each first connecting rod moves horizontally through the first fixing plate, and each first connecting rod is sleeved with a first buffer spring located between the first connecting plate and the first fixing plate.

[0016] Optionally, the annular protection mechanism includes an annular protection mesh plate fixed to the top of the bottom mesh plate, and the annular protection mesh plate is located on the periphery of the propeller.

[0017] Optionally, the elastic buffer mechanism includes second buffer components located at the front and rear sides of the waterproof shell in the traveling direction and fixed to the waterproof shell, and each second buffer component is connected to the annular protective mesh plate.

[0018] Optionally, the second buffer member includes a second fixing plate fixed to the side wall of the waterproof housing, and the second fixing plate is L-shaped;

[0019] A second connecting plate is fixed on the inner side of the annular protective mesh plate, and a plurality of second connecting rods are fixed on the second connecting plate in parallel and at intervals. Each second connecting rod moves horizontally through the second fixed plate, and each second connecting rod is sleeved with a second buffer spring located between the second connecting plate and the second fixed plate.

[0020] Optionally, the intelligent navigation system is composed of a real-time information collection module, a map construction module, a positioning module, an inspection path planning module, an intelligent obstacle avoidance module and a remote control module;

[0021] The signal output end of the real-time information acquisition module is connected to the signal input end of the map construction module, and the signal output end of the map construction module, the signal output end of the positioning module, the signal output end of the intelligent obstacle avoidance module and the output end of the remote control module are respectively connected to the signal input end of the inspection path planning module.

[0022] Compared with the prior art, the present invention provides an integrated water monitoring and inspection device with an intelligent navigation system, which has the following beneficial effects:

[0023] The present invention can surround and protect the propeller by arranging an annular protection mechanism, a bottom mesh plate and an elastic buffer mechanism, so that aquatic plants or other debris in the water are not easy to contact with the propeller, and thus are not easy to be entangled on the propeller, making the propeller not easy to be damaged, ensuring that the inspection work can be carried out normally, and the use effect is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure in the first embodiment;

[0025] Figure 2 It is a structural schematic diagram of the annular protection mechanism in the first embodiment;

[0026] Figure 3 It is a schematic diagram of the overall structure in the second embodiment;

[0027] Figure 4 It is a structural schematic diagram of the annular protection mechanism in the second embodiment;

[0028] Figure 5 It is a framework diagram of the intelligent navigation system of the present invention.

[0029] In the figure: 1. Waterproof shell; 2. Propeller; 3. Annular protection mechanism; 301. V-shaped mesh plate; 302. Tail mesh plate; 303. Side mesh plate; 304. Annular protection mesh plate; 4. Bottom mesh plate; 5. Elastic buffer mechanism; 501. First fixed plate; 502. First connecting plate; 503. First connecting rod; 504. First buffer spring; 505. Second fixed plate; 506. Second connecting plate; 507. Second connecting rod; 508. Second buffer spring; 6. Intelligent navigation system; 601. Real-time information acquisition module; 602. Map building module; 603. Positioning module; 604. Inspection path planning module; 605. Intelligent obstacle avoidance module; 606. Remote control module; 7. Carrying tower; 8. Wind speed and direction sensor; 9. Spherical high-definition camera; 10. Ultrasonic detector; 11. Floating body. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Example 1: Please refer to Figure 1 , Figure 2 and Figure 5 , an integrated water monitoring and inspection equipment with an intelligent navigation system, comprising a waterproof shell 1, a propeller 2 is provided at the bottom of the waterproof shell 1, and the waterproof shell 1 is moved on the water by the propeller 2. In addition, a load-bearing tower 7 is installed at the top center of the waterproof shell 1, a wind speed and direction sensor 8 is fixed to the upper end of the load-bearing tower 7, and a spherical high-definition camera 9 is installed on the side wall of the load-bearing tower 7; a plurality of ultrasonic detectors 10 are installed at intervals along the circumferential direction on the top of the waterproof shell 1. In this embodiment, it should be noted that the waterproof shell 1, the propeller 2, the wind speed and direction sensor 8, the spherical high-definition camera 9 and the ultrasonic detector 10 are all existing technologies and will not be described in detail here.

[0032] This embodiment also includes: an annular protective mechanism 3, a bottom mesh plate 4, an elastic buffer mechanism 5 and an intelligent navigation system 6. In this embodiment, the bottom mesh plate 4 is fixed to the bottom of the annular protective mechanism 3, and can cooperate with the annular protective mechanism 3 to surround and protect the thruster 2. In addition, a ring-shaped floating body 11 is fixed to the middle of the waterproof shell 1, so that the waterproof shell 1 can float on the water surface. The inner diameter of the annular protective mechanism 3 is larger than the outer diameter of the floating body 11, and the upper end surface of the annular protective mechanism 3 is higher than the upper end surface of the floating body 11, so that the upper end surface of the annular protective mechanism 3 can be higher than the water surface, so that aquatic plants or debris in the water are not easy to enter the annular protective mechanism 3.

[0033] The annular protection mechanism 3 is described in detail below:

[0034] The annular protection mechanism 3 is located at the periphery of the propeller 2, and can protect the propeller 2, so that aquatic plants or debris in the water are not easily entangled on the propeller 2. Specifically, the annular protection mechanism 3 includes a V-shaped mesh plate 301 located at the front side of the waterproof housing 1 in the driving direction and a tail mesh plate 302 located at the rear side of the waterproof housing 1 in the driving direction. Two side mesh plates 303 are fixed in parallel and at intervals between the V-shaped mesh plate 301 and the tail mesh plate 302. The V-shaped mesh plate 301, the tail mesh plate 302, and each side mesh plate 303 are respectively fixed on the top of the bottom mesh plate 4. Through the cooperation of the V-shaped mesh plate 301, the tail mesh plate 302, each side mesh plate 303 and the bottom mesh plate 4, an enclosing structure with an open upper end can be formed to protect the propeller 2, so that aquatic plants and debris in the water are not easily entangled on the propeller 2. Furthermore, the V-shaped mesh plate 301 is located at the front side of the waterproof housing 1 in the travel direction, which can reduce the resistance of the annular protection mechanism 3 in the water and prevent aquatic plants and debris in the water from accumulating on the outside of the V-shaped mesh plate 301 .

[0035] The elastic buffer mechanism 5 is described in detail below:

[0036] The elastic buffer mechanism 5 is connected between the annular protection mechanism 3 and the waterproof shell 1. In this embodiment, the elastic buffer mechanism 5 includes first buffers located on the left and right sides of the waterproof shell 1 in the driving direction and fixed to the waterproof shell 1, and each first buffer is connected to the corresponding side mesh plate 303. When the annular protection mechanism 3 collides with debris in the water, the impact force on the annular protection mechanism 3 can be buffered by each first buffer. Specifically, the first buffer includes a first fixing plate 501 fixed to the side wall of the waterproof shell 1, a first connecting plate 502 is fixed to the inner side of the side mesh plate 303, and a plurality of first connecting rods 503 arranged in parallel and at intervals are fixed on the first connecting plate 502. Each first connecting rod 503 moves through the first fixing plate 501 in the horizontal direction, and a first buffer spring 504 located between the first connecting plate 502 and the first fixing plate 501 is sleeved on each first connecting rod 503. When the waterproof housing 1 travels in the water, when the V-shaped mesh plate 301 collides with harder debris in the water, it can drive the first connecting plate 502 to approach the first fixing plate 501 , so that the impact force is buffered by the first buffer spring 504 .

[0037] The intelligent navigation system 6 is described in detail below:

[0038] The intelligent navigation system 6 is installed in the waterproof housing 1. Specifically, the intelligent navigation system 6 is composed of a real-time information acquisition module 601, a map construction module 602, a positioning module 603, an inspection path planning module 604, an intelligent obstacle avoidance module 605 and a remote control module 606; the signal output end of the real-time information acquisition module 601 is connected to the signal input end of the map construction module 602, and the signal output end of the map construction module 602, the signal output end of the positioning module 603, the signal output end of the intelligent obstacle avoidance module 605 and the output end of the remote control module 606 are respectively connected to the signal input end of the inspection path planning module 604.

[0039] The real-time information acquisition module 601 can collect images of the surrounding environment through the spherical high-definition camera 9, and detect obstacles in the surrounding environment through the ultrasonic detector 10, so as to avoid obstacles through the intelligent obstacle avoidance module 605. When inspecting and monitoring the water area, the real-time information acquisition module 601 collects the situation of the surrounding water area in real time, and sends the signal to the map construction module 602 to build a surrounding map model; at the same time, the positioning module 603 sends the location of the waterproof shell 1 in real time, so that the driving path of the equipment can be formulated through the inspection path planning module 604. When the equipment is traveling on the path formulated, it can automatically avoid obstacles through the intelligent obstacle avoidance module 605, or be controlled by the remote control module 606.

[0040] Example 2: Please refer to Figure 3 to Figure 4The difference between this embodiment and the first embodiment is that:

[0041] The annular protection mechanism 3 includes an annular protection mesh plate 304 fixed to the top of the bottom mesh plate 4. The annular protection mesh plate 304 is located at the periphery of the propeller 2. Through the cooperation of the annular protection mesh plate 304 and the bottom mesh plate 4, the propeller 2 is surrounded and protected, making it difficult for aquatic plants or debris in the water to contact the propeller 2.

[0042] In this embodiment, the elastic buffer mechanism 5 includes second buffer members located at the front and rear sides of the waterproof housing 1 in the travel direction and fixed to the waterproof housing 1, and each second buffer member is connected to the annular protective mesh plate 304. When the annular protective mesh plate 304 collides with debris in the water, the impact force on the annular protective mesh plate 304 can be buffered by each second buffer member.

[0043] Specifically, the second buffer member includes a second fixing plate 505 fixed on the side wall of the waterproof housing 1, and the second fixing plate 505 is L-shaped; a second connecting plate 506 is fixed on the inner side of the annular protective mesh plate 304, and a plurality of second connecting rods 507 arranged in parallel and at intervals are fixed on the second connecting plate 506, each second connecting rod 507 moves through the second fixing plate 505 in the horizontal direction, and a second buffer spring 508 located between the second connecting plate 506 and the second fixing plate 505 is sleeved on each second connecting rod 507. When the waterproof housing 1 is traveling in the water, when the annular protective mesh plate 304 collides with harder debris in the water, it can drive the second connecting plate 506 to approach the second fixing plate 505, so that the impact force received is buffered by the second buffer spring 508.

[0044] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An integrated water monitoring and inspection device with an intelligent navigation system, comprising a waterproof housing (1), a propeller (2) being arranged at the bottom of the waterproof housing (1), characterized in that: Also includes: an annular protection mechanism (3), wherein the annular protection mechanism (3) is located on the periphery of the propeller (2); A bottom mesh plate (4), wherein the bottom mesh plate (4) is fixed to the bottom of the annular protection mechanism (3); An elastic buffer mechanism (5), wherein the elastic buffer mechanism (5) is connected between the annular protection mechanism (3) and the waterproof housing (1); An intelligent navigation system (6), wherein the intelligent navigation system (6) is installed in the waterproof housing (1).

2. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 1 is characterized by: A bearing tower (7) is installed at the center of the top of the waterproof shell (1), a wind speed and direction sensor (8) is fixed to the upper end of the bearing tower (7), and a spherical high-definition camera (9) is installed on the side wall of the bearing tower (7); and a plurality of ultrasonic detectors (10) are installed at intervals along the circumferential direction on the top of the waterproof shell (1).

3. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 1 is characterized in that: A ring-shaped floating body (11) is fixed in the middle of the waterproof shell (1), the inner diameter of the ring-shaped protective mechanism (3) is larger than the outer diameter of the floating body (11), and the upper end surface of the ring-shaped protective mechanism (3) is higher than the upper end surface of the floating body (11).

4. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 1 is characterized in that: The annular protection mechanism (3) comprises a V-shaped mesh plate (301) located at the front side of the waterproof housing (1) in the direction of travel and a rear mesh plate (302) located at the rear side of the waterproof housing (1) in the direction of travel; two side mesh plates (303) are fixed in parallel and at intervals between the V-shaped mesh plate (301) and the rear mesh plate (302); the V-shaped mesh plate (301), the rear mesh plate (302) and the side mesh plates (303) are respectively fixed to the top of the bottom mesh plate (4).

5. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 4 is characterized in that: The elastic buffer mechanism (5) comprises first buffer components located on the left and right sides of the waterproof housing (1) in the direction of travel and fixed to the waterproof housing (1), and each first buffer component is connected to a corresponding side mesh plate (303).

6. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 5 is characterized by: The first buffer component comprises a first fixing plate (501) fixed on the side wall of the waterproof shell (1), a first connecting plate (502) fixed on the inner side of the side mesh plate (303), a plurality of first connecting rods (503) arranged in parallel and at intervals are fixed on the first connecting plate (502), each first connecting rod (503) is movable in the horizontal direction through the first fixing plate (501), and a first buffer spring (504) located between the first connecting plate (502) and the first fixing plate (501) is sleeved on each first connecting rod (503).

7. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 1 is characterized by: The annular protection mechanism (3) comprises an annular protection mesh plate (304) fixed to the top of the bottom mesh plate (4); the annular protection mesh plate (304) is located on the periphery of the propeller (2).

8. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 7 is characterized by: The elastic buffer mechanism (5) comprises second buffer components located at the front and rear sides of the waterproof housing (1) in the travel direction and fixed to the waterproof housing (1), and each second buffer component is connected to the annular protective mesh plate (304).

9. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 8, characterized in that: The second buffer member comprises a second fixing plate (505) fixed on the side wall of the waterproof housing (1), and the second fixing plate (505) is L-shaped; A second connecting plate (506) is fixed on the inner side of the annular protective mesh plate (304), and a plurality of second connecting rods (507) arranged in parallel and at intervals are fixed on the second connecting plate (506). Each second connecting rod (507) moves in a horizontal direction and passes through the second fixed plate (505), and a second buffer spring (508) located between the second connecting plate (506) and the second fixed plate (505) is sleeved on each second connecting rod (507).

10. The integrated water monitoring and inspection equipment with an intelligent navigation system according to claim 1, characterized in that: The intelligent navigation system (6) is composed of a real-time information collection module (601), a map construction module (602), a positioning module (603), an inspection path planning module (604), an intelligent obstacle avoidance module (605) and a remote control module (606); The signal output end of the real-time information acquisition module (601) is connected to the signal input end of the map construction module (602), and the signal output end of the map construction module (602), the signal output end of the positioning module (603), the signal output end of the intelligent obstacle avoidance module (605) and the output end of the remote control module (606) are respectively connected to the signal input end of the inspection path planning module (604).

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