A floating combined energy supply self-stabilizing water monitoring platform

Abstract

The utility model discloses a floating combined energy supply self-stabilizing water monitoring platform, including an unmanned ship subsystem, a control subsystem and a measuring subsystem. The control subsystem can autonomously control the unmanned ship subsystem and the measuring subsystem according to a preset program or manually remotely control the unmanned ship subsystem and the measuring subsystem to realize the movement and measuring operation of the measuring platform and transmit the data in real time. The unmanned ship subsystem includes a buoyancy body, a load-bearing frame, a combined energy supply system and a propulsion module. The control subsystem includes a central control module, a wireless communication module, a satellite positioning module and an obstacle detection module. The combined energy supply system includes a battery, a solar power generation module and a wave power generation module. The measuring subsystem includes a self-stabilizing module and an above-water detection module. The utility model has a modular design, is convenient for assembly, disassembly and transportation, has strong self-sufficient endurance, has a high degree of integration of data collection means, has strong obstacle detection and avoidance capabilities, and takes into account both the platform's maneuverability and the instrument's attitude stability.

Description

Technical Field

[0001] The utility model relates to the field of water conservancy project safety monitoring, in particular to a floating combined energy supply self-stabilizing water monitoring platform. Background Art

[0002] In water conservancy projects, especially the construction, operation and management of dams, the measurement of reservoir water hydrological data, dam body temperature, abnormal dam body deformation and dam surface integrity is currently mostly carried out by combining manual measurement with unpowered instruments, such as manual measurement of dam body deformation, visual inspection of dam surface cracks, and deployment of hydrological buoys to measure reservoir water hydrological data. However, since water conservancy projects are usually large in scale, manual measurement methods are heavy and inefficient, while automated measurement often measures less information, has a small coverage range, and lacks obstacle avoidance methods, making it difficult to obtain various hydrological and dam body information comprehensively, safely and effectively.

[0003] With the development of electronic technology, many intelligent monitoring platforms have emerged in the field of water conservancy facility safety monitoring, such as the monitoring method for deformation of high rockfill dam body (CN110864662A), which uses a method of setting monitoring units from multiple directions and combining a data processing platform to monitor the deformation of high rockfill dam body, the intelligent detection method for dam body based on the collaboration of multiple water-air robots (CN116382328A), which monitors underwater faults of dam body, and the remote real-time monitoring of pore water pressure and water temperature of dam body and dam foundation by an online dam safety intelligent monitoring system based on a mobile platform (CN206514990U). Although the above inventions and utility models have realized the automation and intelligence of various information measurement work in water conservancy facilities to a certain extent, and improved the measurement efficiency, the existing monitoring platform has poor self-sufficiency and endurance, lacks the ability to detect obstacles, has high initial investment costs, and usually cannot take into account both the mobility of the monitoring platform and the attitude stability of the measuring instrument, and often relies on other means to collect hydrological data.

[0004] In response to the problems of poor self-sufficiency and endurance and weak obstacle detection and avoidance capabilities of existing technical means, a floating combined energy supply and self-stabilizing water monitoring platform was designed. The propulsion device and obstacle detection device were used to arbitrarily and safely adjust the spatial position of the instrument, and the autonomous control device was used to realize the autonomous execution of complex measurement work. The modular instrument can also realize flexible switching of various measurement tasks. Utility Model Content

[0005] The utility model aims to provide a floating combined energy supply self-stabilizing water monitoring platform to solve the technical problems of poor self-sufficiency and endurance, weak obstacle detection and avoidance capabilities, and inability to balance the platform's maneuverability and instrument attitude stability in existing technical means.

[0006] The utility model is realized by the following technical solutions:

[0007] A floating combined energy supply self-stabilizing water monitoring platform comprises an unmanned ship subsystem, a control subsystem and a measuring subsystem. The control subsystem can autonomously control the unmanned ship subsystem and the measuring subsystem according to a preset program or manually remotely control the unmanned ship subsystem and the measuring subsystem to realize the movement and measuring operation of the measuring platform and transmit the data in real time. The unmanned ship subsystem comprises a buoyancy body, a load-bearing frame, a combined energy supply system and a propulsion module. The control subsystem comprises a central control module, a wireless communication module, a satellite positioning module and an obstacle detection module. The combined energy supply system comprises a battery, a solar power generation module and a wave power generation module. The measuring subsystem comprises a self-stabilizing module and an water detection module.

[0008] Furthermore, the buoyancy body comprises a circular ring body made of foam plastic, and the circular ring body is provided with four groups of connecting rings, an anti-collision ring and an anti-collision beam.

[0009] Furthermore, the load-bearing frame includes a cross-shaped member and a hollow cylindrical member, and the hollow cylindrical member is welded and fixed to the cross-shaped member.

[0010] Furthermore, the obstacle detection module includes an ultrasonic obstacle avoidance sensor and an optical camera.

[0011] Furthermore, the solar power generation module includes four photovoltaic panels.

[0012] Furthermore, the wave energy power generation module is an oscillating water column type power generation device, and the wave energy power generation module includes a hollow cavity, an air turbine and a generator.

[0013] Furthermore, the self-stabilizing module includes an actuator, a MEMS gyroscope, a tilt sensor and a group of servo motors.

[0014] Furthermore, the above-water detection module includes a three-dimensional laser scanner and an optical camera, and the above-water detection module is fixed on the top of the self-stabilizing module.

[0015] Furthermore, the cross-shaped member is connected to the buoyancy body via a first screw.

[0016] Furthermore, the obstacle detection module, the wave energy power generation module and the propulsion module are all fixed to the connecting ring by a second screw, and the solar power generation module is fixed to the cross-shaped member by a third screw.

[0017] Compared with the prior art, the utility model has an unmanned boat subsystem including a buoyancy body, a load-bearing frame, a combined energy supply system and a propulsion module, a control subsystem including a central control module, a wireless communication module, a satellite positioning module and an obstacle detection module, a combined energy supply system including a battery, a solar power generation module and a wave power generation module, and a measurement subsystem including a self-stabilizing module and an above-water detection module, so that the monitoring platform has strong self-sufficiency and endurance, strong obstacle detection and avoidance capabilities, and takes into account the platform's maneuverability and instrument attitude stability capabilities, and has the following beneficial effects:

[0018] 1. This monitoring platform uses multiple sensors to collaborate with each other, effectively solving the problem of difficulty in monitoring obstacles in complex water environments such as turbid water. Combined with the power module, it realizes any safe movement on the horizontal plane, ensuring the safety of the monitoring platform while taking into account the cost, and greatly expanding the measurement coverage.

[0019] 2. This monitoring platform has achieved basic energy self-sufficiency through various means, which has improved the self-sufficiency and endurance of the monitoring platform and extended the maintenance cycle.

[0020] 3. This measurement platform adopts a modular design, which is convenient for assembly, disassembly and transportation. It can carry various types of measuring instruments to measure a variety of water targets and has high versatility. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a structural schematic diagram of the utility model floating combined energy supply self-stabilizing water monitoring platform;

[0023] Figure 2 It is a schematic diagram of the internal structure of the floating combined energy supply self-stabilizing water monitoring platform of the utility model.

[0024] In the figure: 1-propulsion module; 2-wave energy generation module; 3-self-stabilization module; 4-water detection module; 5-ring body; 6-connecting ring; 7-anti-collision ring; 8-anti-collision beam; 9-cross-shaped component; 10-hollow cylindrical component; 11-obstacle detection module; 12-photovoltaic power generation panel. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0026] like Figure 1 and Figure 2 The utility model shown is a floating combined energy supply self-stabilizing water monitoring platform, including an unmanned ship subsystem, a control subsystem and a measuring subsystem. The control subsystem can autonomously control the unmanned ship subsystem and the measuring subsystem according to a preset program or manually remotely control the unmanned ship subsystem and the measuring subsystem to realize the movement and measurement operations of the measuring platform and transmit the data in real time. The unmanned ship subsystem includes a buoyancy body, a load-bearing frame, a combined energy supply system and a propulsion module 1. The control subsystem includes a central control module, a wireless communication module, a satellite positioning module and an obstacle detection module 11. The combined energy supply system includes a battery, a solar power generation module and a wave power generation module 2. The measurement subsystem includes a self-stabilizing module 3 and an water detection module 4. The unmanned boat subsystem includes a buoyancy body, a load-bearing frame, a combined energy supply system and a propulsion module 1; the control subsystem includes a central control module, a wireless communication module, a satellite positioning module and an obstacle detection module 11; the combined energy supply system includes a battery, a solar power generation module and a wave power generation module 2; the measurement subsystem includes a self-stabilization module 3 and an above-water detection module 4, so that the monitoring platform has strong self-sufficiency and endurance capabilities, strong obstacle detection and avoidance capabilities, and takes into account the platform's maneuverability and instrument attitude stability capabilities.

[0027] The buoyancy body comprises a circular ring body 5 made of foam plastic, and the circular ring body 5 is provided with four groups of connecting rings 6, anti-collision rings 7 and anti-collision beams 8, so that the manufacturing cost of the buoyancy body is low, the connecting structure is simple, the structure is stable, and the supporting stability of the buoyancy body is improved.

[0028] The load-bearing frame includes a cross-shaped member 9 and a hollow cylindrical member 10. The hollow cylindrical member 10 is welded and fixed to the cross-shaped member 9, so that the structure of the load-bearing frame is simple and stable, and the measuring equipment and the control equipment are easy to install.

[0029] As a specific implementation, the obstacle detection module 11 includes an ultrasonic obstacle avoidance sensor and an optical camera.

[0030] As a specific implementation, the solar power generation module includes four photovoltaic panels 12 .

[0031] As a specific implementation, the wave energy power generation module 2 is an oscillating water column type power generation device, and the wave energy power generation module 2 includes a hollow cavity, an air turbine and a generator.

[0032] As a specific implementation, the self-stabilizing module 3 includes an actuator, a MEMS gyroscope, a tilt sensor and a group of servo motors.

[0033] As a specific implementation, the above-water detection module 4 includes a three-dimensional laser scanner and an optical camera, and the above-water detection module 4 is fixed on the top of the self-stabilizing module 3 .

[0034] In a specific implementation, the cross-shaped member 9 is connected to the buoyancy body by a first screw, so as to facilitate a stable connection of the cross-shaped member 9 .

[0035] In a specific implementation, the obstacle detection module 11, the wave energy power generation module 2 and the propulsion module 1 are all fixed to the connecting ring 6 by a second screw, which facilitates the stable connection of the obstacle detection module 11, the wave energy power generation module 2 and the propulsion module 1. The solar power generation module is fixed to the cross-shaped member 9 by a third screw, which facilitates the stable connection of the solar power generation module.

[0036] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A floating combined energy supply self-stabilizing water monitoring platform, characterized by: It includes an unmanned ship subsystem, a control subsystem and a measurement subsystem. The control subsystem can autonomously control the unmanned ship subsystem and the measurement subsystem according to a preset program or manually remotely control the unmanned ship subsystem and the measurement subsystem to realize the movement and measurement operations of the measurement platform and transmit the data in real time. The unmanned ship subsystem includes a buoyancy body, a load-bearing frame, a combined energy supply system and a propulsion module. The control subsystem includes a central control module, a wireless communication module, a satellite positioning module and an obstacle detection module. The combined energy supply system includes a battery, a solar power generation module and a wave power generation module. The measurement subsystem includes a self-stabilization module and an above-water detection module.

2. The floating combined energy supply self-stabilizing water monitoring platform according to claim 1 is characterized by: The buoyancy body comprises a circular ring body made of foam plastics, and the circular ring body is provided with four groups of connecting rings, an anti-collision ring and an anti-collision beam.

3. The floating combined energy supply self-stabilizing water monitoring platform according to claim 2 is characterized by: The load-bearing frame includes a cross-shaped component and a hollow cylindrical component, and the hollow cylindrical component is welded and fixed to the cross-shaped component.

4. The floating combined energy supply self-stabilizing water monitoring platform according to claim 1 is characterized by: The obstacle detection module includes an ultrasonic obstacle avoidance sensor and an optical camera.

5. The floating combined energy supply self-stabilizing water monitoring platform according to claim 1 is characterized by: The solar power generation module includes four photovoltaic panels.

6. The floating combined energy supply self-stabilizing water monitoring platform according to claim 1 is characterized by: The wave energy power generation module is an oscillating water column type power generation device, and the wave energy power generation module comprises a hollow cavity, an air turbine and a generator.

7. The floating combined energy supply self-stabilizing water monitoring platform according to claim 1 is characterized by: The self-stabilizing module includes an actuator, a MEMS gyroscope, a tilt sensor and a group of servo motors.

8. The floating combined energy supply self-stabilizing water monitoring platform according to claim 1 is characterized by: The above-water detection module comprises a three-dimensional laser scanner and an optical camera, and the above-water detection module is fixed on the top of the self-stabilizing module.

9. The floating combined energy supply self-stabilizing water monitoring platform according to claim 3 is characterized by: The cross-shaped member is connected to the buoyancy body through a first screw.

10. The floating combined energy supply self-stabilizing water monitoring platform according to claim 3 is characterized by: The obstacle detection module, the wave energy power generation module and the propulsion module are all fixed to the connection ring by a second screw, and the solar power generation module is fixed to the cross-shaped component by a third screw.

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