CN119800936A - An intelligent detection system for oil boom deployment data - Google Patents
An intelligent detection system for oil boom deployment data Download PDFInfo
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- CN119800936A CN119800936A CN202411995655.7A CN202411995655A CN119800936A CN 119800936 A CN119800936 A CN 119800936A CN 202411995655 A CN202411995655 A CN 202411995655A CN 119800936 A CN119800936 A CN 119800936A
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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
- Y02A20/204—Keeping clear the surface of open water from oil spills
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Abstract
The invention discloses an intelligent detection system for distribution data of an oil containment boom, and belongs to the field of river spilled oil recovery. The intelligent data distribution system comprises a catamaran body part, a water flow speed detection part, a river depth detection part, a river width detection part and a main control unit part, wherein the catamaran body part provides mounting positions for the water flow speed detection part, the river depth detection part, the river width detection part and the main control unit part, the catamaran body part, the water flow speed detection part, the river depth detection part and the river width detection part are connected with the main control unit part, the catamaran body part drives the oil fence to distribute the movement of the intelligent data detection system, the water flow speed detection part detects the water flow speeds at different depths, the river depth detection part detects the river depth in a specified river basin range, and the river width detection part detects the river width in the specified river basin range. According to the intelligent data acquisition platform for distributing the data of the oil fence is built by skillfully arranging the water flow speed detection part, the river depth detection part and the river width detection part, so that a data foundation is built for river oil spill work.
Description
Technical Field
The invention relates to the field of river spilled oil recovery, in particular to an intelligent detection system for distribution data of an oil containment boom.
Background
In the traditional river oil spill recovery engineering, after a worker generally determines a river oil spill recovery operation point according to principles of approaching an oil spill point, flattening the terrain, smoothing the river channel and the like, the number of required oil fence types and the final arrangement angle of the oil fence are determined according to self experience and the water flow characteristics of the river surface, so that in a river oil spill accident, the oil fence plays a critical role, however, the oil fence is protected from being subjected to targeted oil distribution by means of water flow data, when the water flow data is measured according to a traditional measuring method, the situation that the data error is large occurs, more situations that the measurement of partial river areas is difficult occur, the subsequent oil collecting work is difficult to advance, and even the situation that the oil collecting fails occurs.
Therefore, an intelligent detection system for the distribution data of the integrated oil fence is necessary to be studied.
Disclosure of Invention
The invention provides an intelligent detection system for oil fence layout data, which constructs an intelligent acquisition platform for the oil fence layout data by skillfully arranging a water flow speed detection part, a river depth detection part and a river width detection part, and establishes a data foundation for river oil spill work.
The technical scheme of the invention is as follows:
The invention provides an intelligent detection system for oil fence layout data, which comprises a catamaran body part 1, a water flow speed detection part 2, a river depth detection part 3, a river width detection part 4 and a main control unit part 1-4, wherein the catamaran body part 1 provides mounting positions for the water flow speed detection part 2, the river depth detection part 3, the river width detection part 4 and the main control unit part 1-4, the catamaran body part 1, the water flow speed detection part 2, the river depth detection part 3 and the river width detection part 4 are connected with the main control unit part 1-4, the motion of the intelligent detection system for oil fence layout data is driven by the catamaran body part 1, the water flow speeds under different depths are detected by the water flow speed detection part 2, the depth within a specified river basin range is detected by the river depth detection part 3, and the river width within the specified river basin range is detected by the river width detection part 4.
Further, the catamaran hull part 1 comprises a propulsion module 1-1, a hull floating body part 1-2 and a hull top cover part 1-3, wherein the propulsion module 1-1 is divided into a first propulsion module and a second propulsion module which adopt forward and reverse propellers to provide propulsion power for the hull, the hull floating body part 1-2 comprises a hull left floating body 14 and a hull right floating body 15, both floating bodies are provided with propulsion module mounting grooves for mounting the first propulsion module and the second propulsion module respectively, the hull top cover part 1-3 comprises a left top sealing cover 16, a right top sealing cover 17 and a connecting top cover 18, the left top sealing cover 16 is connected with the hull left floating body 14, the right top sealing cover 17 is connected with the hull right floating body 15, and the top of the left top sealing cover 16 and the right top sealing cover 17 are connected by the connecting top cover 18.
Further, the main control unit part 1-4 comprises a first single chip microcomputer 19, a WIFI module 20, a first communication module 21, a motor driver 22, a first battery module 23, a ranging module acquisition board 24 and a spliced semi-sealed outer cladding 25, wherein the spliced semi-sealed outer cladding 25 is installed in an installation groove of the hull floating body part 1-2 in the catamaran hull part 1, the spliced semi-sealed outer cladding 25 provides an installation position for the first battery module 23 and provides an inlet and an outlet of a connecting line, the first battery module 23 is used for supplying power, the first single chip microcomputer 19 serves as a main control main board, and the WIFI module 20, the first communication module 21, the motor driver 22 and the ranging module acquisition board 24 which are fixed on the spliced semi-sealed outer cladding 25 are respectively connected with the first single chip microcomputer 19.
Further, the water flow speed detection part 2 comprises a rotary immersion device 2-1, a telescopic immersion device 2-2 and a speed measurement main body device 2-3, wherein the rotary immersion device 2-1 is a first-stage control device of the water flow speed detection part 2 and is arranged at the middle installation groove positions of the inner sides of a left hull floating body 14 and a right hull floating body 15 in the hull floating body part 1-2, the telescopic immersion device 2-2 is used as a second-stage control device, one end of the telescopic immersion device 2-2 is connected with the rotary immersion device 2-1 to realize simultaneous rotation with the rotary immersion device 2-1, the other end of the telescopic immersion device 2-2 is connected with the speed measurement main body device 2-3, and the two-stage control devices jointly control the positions of the speed measurement main body device 2-3, so that the speed measurement main body device can detect water flow speeds at different positions.
Further, the rotary immersion device 2-1 comprises a first rotary immersion device and a second rotary immersion device which are symmetrically installed, and further comprises a four-claw fixed rotating shaft 33, wherein the four-claw fixed rotating shaft 33 is divided into a male four-claw fixed rotating shaft and a female four-claw fixed rotating shaft, the first rotary immersion device and the second rotary immersion device have the same structure, and are described by the first rotary immersion device, and the first rotary immersion device comprises a gear outer package box 26, a second motor 27, a first gear set large gear 28, a first gear set small gear 29, a second deep groove ball bearing 30, a connecting rotating shaft 31 and a fifth deep groove ball bearing 32; the second motor 27 fixed on the outer side of the gear outer casing 26 is connected with the first gear set pinion 29 installed in the gear outer casing 26, the first gear set pinion 29 is meshed with the first gear set bull gear 28 installed on the connecting rotating shaft 31, the second deep groove ball bearing 30 fixed on the gear outer casing 26 is used for being connected with one end of the connecting rotating shaft 31, the gear outer casing 26 is fixed in an inner reserved installation groove of the left hull floating body 14 in the hull floating body part 1-2, the middle part of the connecting rotating shaft 31 is supported through the fifth deep groove ball bearing 32 installed on the left hull floating body 14, the other end of the connecting rotating shaft 31 is in matched connection with reserved hole sites on one side of the male four-claw fixed rotating shaft, a round shaft which is uniformly distributed is arranged on the other side of the four-claw fixed rotating shaft 33, the round shaft is tightly matched with the installation hole on one side of the female four-claw fixed rotating shaft on the opposite side after penetrating out from one end of the inner track top cover 35 of the telescopic immersed device 2-2, and the other side of the female four-claw fixed rotating shaft is connected with one end of the connecting rotating shaft 31 of the second rotary immersed device.
Further, the telescopic immersion device 2-2 comprises a segmented inner rail 34, an inner rail top cover 35, a segmented outer rail 36, an outer rail top cover 37, an outer rail base 38, an upper limit valve 39, a rack 40, a motor full package shell 41, a third motor 42, a gear 43 and a third deep groove ball bearing 44; the sectional inner rail 34 is a main body of telescopic movement, an inner rail top cover 35 is arranged on one side of the sectional inner rail 34 close to the rotary immersion device 2-1, an upper movement limiting valve 39 is arranged on the upper and lower sides of one end of the inner rail top cover 35 close to the sectional inner rail 34, one side of the sectional inner rail 34 far away from the rotary immersion device 2-1 is connected with one side of a motor full-package shell 41, the sectional outer rail 36 is a movement part of telescopic movement, the length of the sectional outer rail 36 is larger than that of the sectional inner rail 34, a rack 43 is fixedly arranged on the inner side of the sectional outer rail 36, the rack 43 is meshed with a gear 40 arranged on a third motor 42 in the motor full-package shell 41, the purpose of rack-telescopic movement is achieved, the output end of the third motor 42 is connected with a third deep groove ball bearing 44, a supporting force is provided, one end of the sectional outer rail 36 close to the rotary immersion device 2-1 is connected with the outer rail 37, the upper movement limiting valve 39 is arranged on the inner rail top cover 35 and used for moving, the inner rail 36 is fixedly arranged on the inner rail top cover 35, the inner side of the sectional outer rail 36 is fixedly connected with a gear 40 arranged on the inner side of the rotary immersion device 2-1, the inner rail is matched with a speed measuring device 3, the inner rail is matched with a base of the rotary immersion device 2-3, and the base of the rotary immersion device 2-3 is matched with the base seat of the rotary immersion device 2-3, the base is arranged on the inner rail 3, and the base of the base is matched with the base of the rotary immersion device 2-3 The speed measuring body device 2-3 rotates around the fixed rotating shaft 33.
Further, the speed measuring main device 2-3 comprises a streamline impeller blade 45, a rigid nylon connecting shaft 46, a fourth deep groove ball bearing 47, a matched bearing waterproof end cover 48, a second oil absorbing felt 49, a shading blade 50, an opposite-type infrared sensor 51, a second communication module 52, a second battery module 53, a second singlechip 54, a closed waterproof shell 55, a second gear set big gear 56, a second gear set small gear 57 and a small gear shaft 58, wherein the rigid nylon connecting shaft 46 is supported by the high-speed waterproof fourth deep groove ball bearing 47 arranged in the closed waterproof shell 55, the streamline impeller blade 45 is directly connected with the second gear set big gear 56 in a gear set arranged in the closed waterproof shell 55 through the rigid nylon connecting shaft 46 so as to perform power transmission, the rigid nylon connecting shaft 46 is tightly matched with the bearing waterproof end cover 48 outside the closed waterproof shell 55 and is subjected to waterproof treatment through the second oil absorbing felt 49, the second gear set big gear 56 is meshed with the second gear set small gear 57 arranged on the gear 58, the pinion 58 is distributed on the shading blade 50, and the infrared sensor is used for transmitting infrared sensor data to the second singlechip module 53 to the second singlechip module 5, and the infrared sensor is connected to the infrared sensor 53 at the same distance below the second power supply unit, and the infrared sensor is connected to the second singlechip module 51.
The intelligent ship has the advantages that a singlechip is designed in a main control part, automation and modularized control are carried out on the whole measuring process, data are measured integrally, a motor driver is used for controlling a self-designed catamaran carrying a double-screw motor to enable an unmanned ship to move into a designated river, a telescopic immersion device is placed into water through a rotary immersion device, the immersion device can control the submerging depth of the immersion type water flow detection device, the immersion type water flow detection device is used for measuring the water flow speed, after the water flow speed measuring operation is completed, an intelligent ship moves at a uniform speed in a water area, the width of two banks of a river is measured simultaneously through S21C ranging module acquisition plates and four STP-23 ranging modules carried on two sides of a ship body, and meanwhile, a guide KS104 carried on the bottom of the small ship is used for measuring the depth of the river on a moving path of the small ship remotely. The method and the device are beneficial to quickly and efficiently collecting the data of the spilled oil river basin when the spilled oil of the river occurs, avoid the situation that the distribution data of the oil containment boom has large deviation and the oil collection fails due to difficult and inaccurate measurement of the artificial data, and effectively avoid the failure of the emergency rescue operation.
Drawings
FIG. 1 is an overall control flow diagram of the present invention;
FIG. 2 is a schematic diagram of the structure of the present invention;
FIG. 3 is a schematic view of a hull base portion of the present invention;
FIG. 4 is the right side of the present invention a schematic view of the interior and exterior of the hull;
FIG. 5 is a schematic view of a propulsion module of the present invention in semi-section;
figure 6 is a hull of the present invention a top cover part schematic;
FIG. 7 is a master control of the present invention a cell section schematic;
FIG. 8 is a schematic view of a water flow rate detection section of the present invention;
FIG. 9 is a schematic view of a portion of a rotary and telescopic immersion apparatus of the present invention;
FIG. 10 is an exploded schematic view of the telescoping immersion apparatus of the present invention;
FIG. 11 is an internal schematic view of the subject speed measuring device of the present invention;
FIG. 12 is a schematic view of a speed measuring body housing of the present invention;
FIG. 13 is a schematic view of a river depth detection section of the present invention;
FIG. 14 is a schematic view of a river width detection section of the present invention;
FIG. 15 is a flow rate calibration flow chart of the present invention;
FIG. 16 is a flow chart of overall functional control of the present invention;
FIG. 17 is a schematic view of the structure of the oil boom of the present invention;
FIG. 18 is a schematic view of an oil fence deployment process embodying the present invention;
FIG. 19 is a flow chart illustrating the transition of the detection system to oil fence deployment in accordance with the present invention;
The reference numerals in the figures are: 1-catamaran hull part, 2-water flow rate detection part, 3-river depth detection part, 4-river width detection part, 5-positive propeller, 6-propeller connection shaft, 7-rigid coupling, 8-coupling set screw, 9-first motor, 10-waterproof hull, 11-bearing end cap, 12-first deep groove ball bearing, 13-first oil suction felt, 14-hull left floating body, 15-hull right floating body, 16-left top seal cap, 17-right top seal cap, 18-connection top cap, 19-first single chip microcomputer, 20-WIFI module, 21-first communication module, 22-motor drive, 23-first battery module, 24-ranging module acquisition board, 25-spliced semi-sealed outer shell, 26-gear outer shell, 27-second motor, 28-first gear set large gear, 29-first gear set pinion, 30-second deep groove ball bearing, 31-connection shaft, 32-fifth groove ball bearing, 33-track fixed jaw, 34-inner shell, 35-third-track type motor, 35-inner shell, 37-groove ball bearing, 42-fourth-track type outer shell, 46-type motor drive, 24-side shell, 25-split joint outer shell, 26-gear outer shell, 27-second motor, 28-first gear set, 29-first gear set, 30-second deep groove ball bearing, 31-ball bearing, 32-joint, fourth gear set, 33-type inner shell, 34-type inner shell, 35-joint, 35-type motor, 35-type inner shell, and fourth-shell, 35-type outer shell, and fourth-type ball bearing, 49-second oil blanket, 50-shading blade, 51-correlation formula infrared sensor, 52-second communication module, 53-second battery module, 54-second singlechip, 55-closed waterproof shell, 56-second gear train gear wheel, 57-second gear train gear wheel, 58-pinion axostylus axostyle, 59-ultrasonic sensor, 60-supporting rubber waterproof half shell of sensor, 61-range finding module, 62-rubber leather sheath waterproof half shell.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be arbitrarily combined with each other.
The following description of embodiments of the invention is given in connection with the accompanying drawings:
The intelligent data detection system for the oil fence comprises a catamaran body part 1, a water flow speed detection part 2, a river depth detection part 3, a river width detection part 4 and a main control unit part 1-4, wherein the catamaran body part 1 provides mounting positions for the water flow speed detection part 2, the river depth detection part 3 and the river width detection part 4, the river depth detection part 3 is mounted at the bottom of the catamaran body part 1, the river width detection parts 4 are mounted on two sides of the catamaran body part 1, the water flow speed detection parts 2 are mounted on two sides of the catamaran body part 1 in a connecting mode, the catamaran body part 1, the water flow speed detection part 2, the river depth detection part 3 and the river width detection part 4 are connected with the main control unit part 1-4, the catamaran body part 1 drives the intelligent data detection system to move, the water flow speed under different depths is detected by the water flow speed detection part 2, the depth within a specified river basin range is detected by the river depth detection part 3, the river width detection part 4 is used for detecting the depth within the specified river basin range, the water flow speed within the main control unit 1-4 is finally moved to the main control unit part 1-4, and the data information is transmitted to the display end by the main control unit and is displayed.
Preferably, the catamaran hull part 1 comprises a propulsion module 1-1, a hull float part 1-2, a hull top cover part 1-3; as shown in fig. 2 and 5, the propulsion module 1-1 is divided into a left propulsion module and a right propulsion module, the two parts are only different in forward and reverse directions of the propeller, the forward propulsion module is described by the forward propulsion module, the forward propulsion module specifically comprises a forward propeller 5, a propeller connection rotating shaft 6, a 4mm rotation 2.3mm rigid coupling 7, a 4mm rotation 2.3mm rigid coupling fixing screw 8, a first motor 9, a waterproof housing 10, a bearing end cover 11, a deep groove ball bearing 12 and a first oil absorption felt 13, the forward propeller 5 is connected with the first motor 9 through the propeller connection rotating shaft 6, the motor and the forward propeller perform 1:1 power transmission, the forward propulsion module is connected with an output shaft of the first motor 9 through the 4mm rotation 2.3mm rigid coupling 7, the first motor 9 is wrapped at one end inside the waterproof housing 10 close to one end of the hull floating body part 1-2, the waterproof housing 10 is internally provided with a rotation space of the 4mm rotation 2.3mm rigid coupling 7, when the first motor 9 rotates, the waterproof housing is guaranteed to be embedded into the waterproof housing 10, the waterproof housing is not to be interfered by the bearing end cover 12, the other end cover 12 is embedded into the waterproof housing 10, the waterproof housing is prevented from being connected with the end cover 12, the deep groove ball bearing is prevented from being embedded into the end cover 12, the waterproof housing is prevented from being connected with the other end cover, the end cover is provided with the other end cover 11, and the end cover is prevented from being connected with the other end cover, the waterproof housing is connected with the other end cover is provided with the waterproof housing, and the other end cover is provided with the end cover, and the end cover is connected with the waterproof housing end cover, and the waterproof housing is a sealing end cover, and the waterproof end is a sealing part is provided with the waterproof sealing part is a sealing device, and a sealing device is a sealing device. Illustratively, a schematic diagram of propulsion module 1-1 is shown in semi-section of waterproof enclosure 10 as shown in fig. 5.
As shown in fig. 3, the hull floating body portion 1-2 provides mounting positions for each portion of the whole system, including a hull left floating body 14 and a hull right floating body 15, both floating bodies are provided with a propulsion module mounting groove and are respectively matched with the waterproof shell 10 in the propulsion module 1-1, six evenly distributed limiting blocks in the middle of the waterproof shell 10 are tightly matched with the propulsion module mounting groove, so that the waterproof shell 10 can be ensured not to rotate, and when the waterproof shell 10 is connected, an oil absorption felt is clamped at the connection part between the waterproof shell 10 and the tail part of the hull left floating body 14 and the hull right floating body 15 so as to ensure the waterproof property of the waterproof shell.
As shown in fig. 6, the hull top cover part 1-3 is installed at the top of the hull floating body part 1-2, and the whole hull top cover part 1-3 comprises a left top sealing cover 16, a right top sealing cover 17 and a connecting top cover 18, wherein the left top sealing cover 16 is connected with the hull left floating body 14, the right top sealing cover 17 is connected with the hull right floating body 15, the top of the left top sealing cover 16 and the right top sealing cover 17 is connected by the connecting top cover 18, so that on one hand, the connection of the left part and the right part of the catamaran is ensured, and on the other hand, the smooth waterproof connection of the lines can be ensured at the left part and the right part.
Preferably, as shown in fig. 4 and 7, the main control unit part 1-4 includes a first single chip microcomputer 19, a WIFI module 20, a first communication module 21, a TB6612FNG motor driver 22, a first battery module 23, an S21C ranging module acquisition board 24, and a spliced semi-sealed outer casing 25, wherein the spliced semi-sealed outer casing 25 is installed in an installation groove of the hull floating body part 1-2, the spliced semi-sealed outer casing 25 provides an installation position for the first battery module 23 and provides an inlet and an outlet of a connecting line, the first single chip microcomputer 19 is used as a main control main board, the WIFI module 20, the first communication module 21, the TB6612FNG motor driver 22 and the S21C ranging module acquisition board 24 which are fixed on the spliced semi-sealed outer casing 25 are respectively connected with the first single chip microcomputer 19, so that the purpose of controlling each module by the main control main board is achieved, and the first single chip microcomputer 19 is also connected with an ultrasonic sensor 59 in the river width detecting part 4. The WIFI module 20 starts an AP mode to serve as a WIFI releasing unit, receives a signal from the mobile terminal, and accordingly remotely controls operation of the trolley. Meanwhile, the first communication module 21 is controlled by the first singlechip 19 and then is connected and communicated with the second communication module 52 in the speed measuring main body device 2-3, so that the control of the speed measuring main body device 2-3 and the detection of the water flow speed are achieved. The TB6612FNG motor driver 22 is connected with the first singlechip 19 and controlled by the first singlechip 19, and is connected with the first motor 9 of the propulsion module 1-1, the second motor 27 of the rotary immersion device 2-1 and the third motor 42 of the telescopic immersion device 2-2, the rotation speed and the rotation direction of the first motor 9 of the propulsion module 1-1 are controlled by the TB6612FNG motor driver 22 so as to provide travelling power for the whole boat, the TB6612FNG motor driver 22 controls the second motor 27 of the rotary immersion device 2-1 so as to achieve the purpose of controlling the position and the posture of the whole rotary immersion device 2-1, the S21C distance measuring module acquisition board 24 is fixed at the set position of the spliced semi-sealed outer cladding 25 and used for being connected with the first singlechip 19, and is connected with the STP-23 module 61 in the STP depth detection part 3 through an external leading interface, so that data acquired by the STP-23 distance measuring module 61 are directly converted into real data through the S21C module acquisition board 24 and transmitted to the first singlechip 19, and the purpose of measuring the STP is achieved.
Further, as shown in fig. 8-12, the water flow speed detecting part 2 comprises a rotary immersion device 2-1, a telescopic immersion device 2-2 and a speed measuring main body device 2-3, wherein the rotary immersion device 2-1 is a first-stage control device of the water flow speed detecting part 2 and is distributed at the position of a middle installation groove inside a left hull body 14 and a right hull body 15 in the hull body part 1-2, the telescopic immersion device 2-2 is used as a second-stage control device, one end of the telescopic immersion device 2-2 is connected with the rotary immersion device 2-1, the rotary immersion device 2-1 rotates simultaneously, the other end of the telescopic immersion device 2-2 is connected with the speed measuring main body device 2-3, and the two-stage control devices jointly control the positions of the speed measuring main body device 2-3, so that the speed measuring main body device can detect water flow speeds at different positions.
As shown in fig. 8and 9, the rotary immersion device 2-1 preferably includes a first rotary immersion device, a second rotary immersion device, and a four-jaw fixed rotating shaft 33, wherein the four-jaw fixed rotating shaft 33 is divided into a male four-jaw fixed rotating shaft and a female four-jaw fixed rotating shaft, the first rotary immersion device and the second rotary immersion device have the same structure, and are described as a first rotary immersion device, the first rotary immersion device includes a gear outer case 26, a second motor 27, a first gear set large gear 28, a first gear set small gear 29, a second deep groove ball bearing 30, a connecting rotating shaft 31, and a fifth deep groove ball bearing 32, and a gear set formed by the first gear set large gear 28 and the first gear set small gear 29 is a 1:4 gear set; the second motor 27 fixed outside the gear outer casing 26 is connected with the first gear set pinion 29 installed in the gear outer casing 26, the first gear set pinion 29 is meshed with the first gear set bull gear 28 installed on the connecting rotating shaft 31, the second deep groove ball bearing 30 fixed on the gear outer casing 26 is used for connecting one end of the connecting rotating shaft 31, the gear outer casing 26 is fixed in an inner reserved installation groove of the left hull floating body 14 in the hull floating body part 1-2, the middle part of the connecting rotating shaft 31 is supported by a fifth deep groove ball bearing 32 installed on the left hull floating body 14, the other end of the connecting rotating shaft 31 is in matched connection with reserved hole sites on one side of a public four-claw fixed rotating shaft, four evenly distributed round shafts are arranged on the other side of the four-claw fixed rotating shaft 33, are tightly matched with installation holes on one side of a female four-claw fixed rotating shaft on the opposite side after penetrating out from one end of an inner track top cover 35 of the telescopic immersing device 2-2, the other side of the female four-claw fixed rotating shaft is connected with one end of a connecting rotating shaft 31 of the second rotary immersion device, when the four circular shafts bear the gravity generated by the self weight of the telescopic immersion device 2-2 when the second motor 27 rotates together, the problems of slipping, shaft breakage and the like during single-shaft rotation can be effectively avoided, the main function of the female four-claw fixed rotating shaft is to provide enough torque to support the telescopic immersion device 2-2 to perform rotary motion and immersing the telescopic immersion device into water in a vertical posture in a horizontal posture, the second rotary immersion device connected with the other side of the female four-claw fixed rotating shaft is connected with the first rotary immersion device, the two rotary immersion devices are symmetrically arranged based on the telescopic immersion device 2-2, and the two motors in the first rotary immersion device and the second rotary immersion device which are symmetrically arranged rotate simultaneously in a reverse direction when the female four-claw fixed immersion device works so as to provide enough torque.
Preferably, as shown in fig. 10, the telescopic immersion device 2-2 comprises a segmented inner rail 34, an inner rail top cover 35, a segmented outer rail 36, an outer rail top cover 37, an outer rail base 38, an upper motion limit valve 39, a 0.5 die rack 40, a motor full package shell 41, a third motor 42, a 0.5 die gear 43 and a third deep groove ball bearing 44; the segmented inner rail 34 is a telescopic main body, is internally provided with a cylindrical through hole, and is used for guiding a lead wire of the third motor 42 into the hull floating body part 1-2 through a lead hole on the hull top cover part 1-3 after being led out, so as to be connected with the TB6612FNG motor driver 22 in the main control unit part 1-4; the sectional inner rail 34 is installed in multiple sections according to the required length, the side of the sectional inner rail 34, which is close to the rotary immersion device 2-1, is provided with an inner rail top cover 35, the upper and lower parts of one end of the inner rail top cover 35, which is close to the sectional inner rail 34, are respectively provided with an upper movement limit valve 39 (a slot of the upper movement limit valve 39 is matched with a clamping groove on the inner rail top cover 35) for preventing the sectional outer rail 36 from moving to cause derailment, the side of the sectional inner rail 34, which is far away from the rotary immersion device 2-1, is installed with one side of the motor full package shell 41 through concave-convex matching (i.e. matched with a cylinder) for fixing a force transmission part, the sectional outer rail 36 is a moving part which moves in a telescopic manner, the sectional outer rail 36 can be installed in multiple sections according to the required length, the length of the sectional outer rail 36 is larger than that of the sectional inner rail 34, the inner side of the sectional outer rail 36 is fixedly provided with a 0.5 die rack 43,0.5 and a 0.5 die rack 40 installed on the third motor 42 in the motor full package shell 41, the speed measuring device comprises a first motor 42, a second motor 42, a third deep groove ball bearing 44, a sectional outer rail 36, a sectional outer rail head cover 37, a speed measuring main body device 2-3, a speed measuring main body device 2-2 and a speed measuring main body device 2-3, wherein the output end of the first motor 42 is connected with the third deep groove ball bearing 44 to provide supporting force to ensure that deviation does not occur in gear rotation, one end of the sectional outer rail 36, which is close to the rotary immersion device 2-1, is connected with the outer rail head cover 37, so that the outer rail head cover 37 can be matched with an upper limit valve 39 installed on the inner rail head cover 35 in motion, the length design of the rack 43 of 0.5 is matched, the sectional outer rail 36 can be ensured not to derail, one end of the sectional outer rail 36, which is far away from the rotary immersion device 2-1, is connected with an outer rail base 38, the outer rail base 38 is provided with a slot, is matched with a top clamping slot of the closed waterproof shell 55 in the speed measuring main body device 2-3, the speed measuring main body device 2-2 is driven to rotate around a fixed rotating shaft 33, and the speed measuring main body device 2-3 is driven to move around the fixed rotation shaft 33, and the speed measuring main body device 2-3 moves to a vertical water level.
11 And 12, the speed measuring main device 2-3 comprises a streamline impeller blade 45, a rigid nylon connecting shaft 46, a fourth deep groove ball bearing 47, a matched bearing waterproof end cover 48, second oil absorption felts 49 and 12 equidistant shading blades 50, a correlation infrared sensor 51, a second communication module 52, a second battery module 53, a second singlechip 54, a closed waterproof shell 55, a second gear set big gear 56, a second gear set small gear 57 and a small gear shaft 58, wherein a gear set formed by the second gear set big gear 56 and the second gear set small gear 57 is a 2:1 gear set; the rigid nylon connecting shaft 46 is supported by a high-speed waterproof fourth deep groove ball bearing 47 arranged in the sealed waterproof shell 55, the streamline impeller blade 45 is directly connected with a second gear set large gear 56 in the gear set arranged in the sealed waterproof shell 55 through the rigid nylon connecting shaft 46 so as to transmit power, the rigid nylon connecting shaft 46 is tightly pressed and matched by a bearing waterproof end cover 48 outside the sealed waterproof shell 55 and is waterproof treated through a second oil absorption felt 49, the second gear set large gear 56 and a meshed second gear set small gear 57 form the gear set, the second gear set small gear 57 is arranged on a gear shaft lever 58, a Ji Bufang opposite-type infrared sensor 51 is arranged below a 12 equidistant shading blade 50,12 on the small gear shaft lever 58, the opposite-type infrared sensor 51 is connected with a second singlechip 54 to process and store data, then the data is remotely transmitted to a main control main board in the main control unit parts 1-4 through a second communication module 52, the second battery module 53 is beside to supply power for the whole system, the modules are all fixed at dedicated positions inside the enclosed waterproof housing 55.
Through the technical scheme, the work flow of the water flow speed detection part 2 is provided by firstly issuing an instruction by the first singlechip 19 in the main control unit part 1-4, so that the second motors 27 in the left and right ship body rotary immersion devices 2-1 connected with the TB6612FNG motor driver 22 are communicated and provide power, the second motors 27 drive the pinion 29 of the first gear set to rotate, the pinion 29 of the first gear set transmits power to the connecting rotating shaft 31 through the gear set, the other side also reversely rotates, and finally the two second motors 27 enable the connecting rotating shaft 31 to obtain torsion force, so that the water flow speed detection part 2 is rotated. When the telescopic immersed device 2-2 in the water flow speed detection part 2 rotates from the horizontal position to the vertical position (the horizontal position is parallel to the water surface), the first singlechip 19 in the main control unit part 1-4 drives the TB6612FNG motor driver 22 to control the third motor 42 in the telescopic immersed device 2-2 to rotate, the third motor 42 is connected with the 0.5 die gear 43 to rotate and then perform translational motion on the 0.5 die rack 40, so that the whole segmented outer track 36 part extends to achieve the purpose of extension, and at the moment, the first singlechip 19 in the main control unit part 1-4 can receive signals from the third motor 42 to judge the driving distance of the outer track, so that the position of the speed measuring main body device 2-3 is obtained. When the specified position is reached, the first single chip microcomputer 19 in the main control unit part 1-4 receives feedback and communicates with the first communication module 21, the first communication module 21 receives a transmission signal and then communicates with the second communication module 52 in the speed measuring main body device 2-3, the second communication module 52 carries out signal connection to the second single chip microcomputer 54 in the speed measuring main body device 2-3, and as the speed measuring main body device 2-3 is in water flow, the streamline impeller blade 45 can receive the water flow impact force to rotate, so that the connected 12 equidistant shading blades 50 rotate, the blade rotation can pass through the opposite type infrared sensor 51 below, the opposite type infrared sensor 51 records the passing times of the blades in a certain time and feeds back to the second single chip microcomputer 54, the second single chip microcomputer 54 stores multiple times of data and then feeds back to the first single chip microcomputer 19 in the main control unit part 1-4 through the second communication module 52, and then the number of times of blade rotation is converted into the water flow speed through a built-in program, and finally the water flow speed at the preset depth is obtained.
Preferably, as shown in fig. 13, the river depth detecting portion 3 is a guiding KS104 remote waterproof ultrasonic sensor 59, a sensor matching rubber waterproof half-shell 60 is fixed at the bottom of the hull floating body portion 1-2, a reserved mounting position is reserved at the bottom of the hull left floating body 14 and the hull right floating body 15 respectively, only one sensor needs to be mounted in actual working, and the other sensor reserved hole directly uses the rubber waterproof half-shell 60 to block the notch portion, so that the river depth of a part of river bottom cannot be measured due to the problem of the width of the hull in some special terrains is avoided, and a plurality of mounting positions are increased.
Preferably, as shown in fig. 14, the river width detecting part 4 is a STP-23 ranging module 61, and the ranging module is matched with a rubber leather sheath waterproof half shell 62 to be fixed on the outer side edge of the hull floating body part 1-2, a plurality of groups of reserved position openings are reserved on the hull, the number of groups of ranging modules can be configured according to the precision requirement, and the purpose is to avoid that the river width of a part of a special topography cannot be measured due to the problem of the length of the hull, so that a plurality of installation positions are increased. Each group is two, one is arranged on the outer side edge of the left floating body 14 of the ship body, the other is arranged on the outer side edge of the right floating body 15 of the ship body, and the two groups are correspondingly arranged. The STP-23 ranging module 61 is connected with the S21C ranging module acquisition board 24 of the main control unit part 1-4, and the S21C ranging module acquisition board 24 can directly convert the electronic data measured by the STP-23 ranging module 61 into real river width data and send the data to the first singlechip 19 of the main control unit part 1-4, so that the river width in the flow area is measured.
Among the above, the first singlechip, second singlechip adopt M48Z-M3 STM32F103C8T6, first communication module, second communication module adopt NRF24L01, first battery module, second battery module can adopt 7-12V lithium cell, and the WIFI module adopts ATK-ESP8266. The first motor, the second motor and the third motor can adopt 12V high-speed waterproof direct current speed reducing motors, and the fourth deep groove ball bearings and the fifth deep groove ball bearings adopt waterproof deep groove ball bearings.
The mobile terminal is connected with the WIFI module 20 in the main control unit part 1-4 in a communication way to send signals, and after the WIFI module receives the signals, the first singlechip 19 receives the signals, so that each part of the ship system can make corresponding action, and the purpose of remotely controlling the ship is achieved.
By applying the technical scheme, the communication part for controlling the motor and data transmission specifically comprises:
1. the mobile terminal is connected with a WIFI module 20 carried in a first singlechip 19 of the main control board to realize communication.
2. The communication protocol is set so that the first singlechip 19 can receive different commands of the mobile terminal through the WIFI module 20, the commands are stored in the interrupt function, and the first singlechip 19 processes each event by setting the priority.
3. The first singlechip 19 is connected with a TB6612FNG22 motor driver, and the driver is connected with a first motor 9 of the propulsion module 1-1, a second motor 27 in the rotary immersion device 2-1 and a third motor 42 in the telescopic immersion device 2-2.
In the whole implementation process, before the speed measuring main body device measures the speed, the speed measuring main body device needs to be calibrated in speed measurement, and the method comprises the following specific steps:
step1, mounting a speed measuring main body device 2-3 on a handheld rod to be used as a handheld speed measuring instrument;
Step 2, building an ideal simulated river course, wherein the river course can adjust the river depth, and the water flow speed are controlled through a circulating device;
step3, placing the handheld velocimeter in a simulation environment, reading data transmitted by the correlation type infrared sensor 51 in the velocimeter at different water flow speeds every second, circularly reading 20-50 times at each speed, and recording;
step 4, averaging the data transmitted by the correlation infrared sensor 51 circularly read at the same flow rate every second to obtain the average value of the data transmitted by the correlation infrared sensor 51 at different flow rates every second;
Step 5, linearly fitting the average value of data transmitted by the correlation infrared sensor 51 every second under different flow rates and the water flow speed, and constructing a sixth polynomial according to the fitting result to obtain a relational expression of the average data of the correlation infrared sensor every second and the water flow speed, so as to achieve the aim of calibration;
and 6, placing the handheld velocimeter in a river in a real environment, carrying out flow velocity measurement, comparing with a third-party velocimeter, comparing for a plurality of times, and correcting an experimental fitting formula to obtain a relational expression of average data per second and water velocity of the corrected correlation infrared sensor so as to be more approximate to the measurement of the real water flow.
The above-described flow can be referred to fig. 15. Referring to fig. 16 and 19, after calibration, a fitting formula is written into a velocity measurement code, and the velocity measurement main body device 2-3 can measure velocity in a river, and the specific steps of the method are as follows:
Step 1, a mobile terminal issues an instruction, and after receiving the instruction through a WIFI module 20, a first singlechip 19 controls a first motor 9 of a ship propeller to rotate through a TB6612FNG motor driver 22, so that a small ship is controlled to move to a proper position of a working water area;
Step 2, establishing connection through communication, and controlling the rotating speed of the first motor 9 through the moving end so as to quantitatively set the movement speed of the boat, so that the boat is in a static state relative to the river;
Step 3, controlling the operation of a second motor 27 in the rotary immersion device 2-1 through the connection of the mobile end with the first singlechip 19, so that the telescopic immersion device 2-2 is converted from a horizontal posture to a vertical posture;
Step 4, connecting a mobile end with the first singlechip 19 to control the operation of the third motor 42 in the telescopic immersion device 2-2, and controlling the speed measuring main body device 2-3 to submerge to a required position;
And 5, transmitting data to the first singlechip 19 in the main control unit part 1-4 by the correlation type infrared sensor 51 in the speed measuring main body device 2-3 through the second communication module 52, storing the data, converting the data into a water flow speed value according to a calibration data formula after the data are completely collected, and transmitting the water flow speed value to the mobile terminal for drawing and displaying.
As the module used for ranging is a mature ranging module in the market, the measurement data of the ranging module is calibrated and integrated before delivery, so the module can be directly used for data acquisition.
Further, the intelligent detection system for the data distributed in the oil fence provided by the invention is used for detecting the width of the river basin, and the method for detecting the width of the river basin comprises the following specific steps:
Step 1, connecting a mobile terminal with a first singlechip 19 to control the operation of a small ship to a starting point part of a river basin;
Step2, connecting a mobile terminal with the first singlechip 19, starting an STP-23 ranging module 61, and starting ranging;
Step3, connecting a mobile terminal with a main control board to control the boat to move forwards, and collecting measurement data of each position in the river basin through an S21C ranging module collecting board 24;
And 4, after the data are completely collected, the first singlechip 19 sends the data to the mobile terminal through the wifi module 20, and the mobile terminal draws and displays the data.
Further, the intelligent detection system for the data distributed in the oil fence provided by the invention is used for detecting the river basin depth, and the method for detecting the river basin depth comprises the following specific steps:
Step 1, connecting a mobile terminal with a first singlechip 19 to control the operation of a small ship to a starting point part of a river basin;
step 2, connecting a mobile end with a first singlechip 19, starting a remote waterproof ultrasonic sensor 59 of a guide KS104 to measure depth;
Step 3, connecting a mobile end with a first singlechip 19 to control the forward movement of the boat, and enabling a remote waterproof ultrasonic sensor 59 of a guide KS104 to collect data of river depth on a path at the same time;
And 4, after the data are completely collected, the first singlechip 19 sends the data to the mobile terminal through the wifi module 20, and the mobile terminal draws and displays the data.
At the mobile end, after integrating the water flow speed, river basin width and depth data, theoretical data can be provided for the distribution control of the oil fence, and the method is specifically described as follows:
Step 1, acquiring water flow velocity sets of different defense distribution areas of an oil fence by reading the water flow velocity sets of different positions in the section of the defense distribution watershed and integrating the water flow velocity sets;
Step 2, carrying out position arithmetic mean square value processing on the speed set to obtain fitting water flow speed data v;
Step 3, the water flow speed data v is put into a formula The defense setting angle alpha of the oil fence can be obtained, and through the data, a worker can set the oil fence in a correct angle into a flowing field;
Step 4, obtaining a river basin depth set by reading river depths at different positions in the section of the river basin, performing position arithmetic mean square value processing on the depth set, and obtaining fitting river depth data H;
Step 5, bringing the defense setting angle alpha, the river width H and the water flow velocity v obtained in the steps 2, 3 and 4 into a formula The stress values F of the oil containment barriers under different numbers can be calculated, wherein Cd represents the containment control shape coefficient (usually takes the value of 2), ρ represents the density of water (1000 kg/m 3), L represents the lengths of the oil containment barriers with different numbers in the water flow direction, and g represents the gravity acceleration;
Step 6, according to the maximum bearing load Q of the winch with the oil fence pulled on site, passing through the formula As shown in fig. 17, for example, 5 oil fences are total, each oil fence is composed of a plurality of oil fences, and the number A of the oil fences composing each oil fence is calculated by the step 6;
Step 7, obtaining a river basin width set by reading river widths at different positions in the defense-setting river basin, performing position arithmetic mean square value processing on the width set, and fitting the obtained river width data W;
Step 8, according to the composition number A of the oil fence obtained in the step 6, the river width obtained in the step 7 and the length L of the existing single oil fence in the field in the water flow direction, the method passes through the formula Obtaining the number C of the oil fence distributed on the river surface, wherein AL=L ', L ' =L ' -sin alpha, L ' is the actual length of each oil fence, and L ' is the stressed length of each oil fence.
According to the steps, each data measured in the intelligent detection system is received through the mobile terminal, each river parameter is converted into a theoretical basis for oil fence arrangement through a built-in program, and conversion application from the detection system to actual engineering can be achieved.
While the present invention has been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (7)
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| CN111411615A (en) * | 2020-05-14 | 2020-07-14 | 西南石油大学 | Foldable mesh fence oil fence for torrent river and laying method thereof |
| US20200385093A1 (en) * | 2017-12-04 | 2020-12-10 | II John Taylor Gordon | Data Retrieval and Transmitting Marine Exploration Vessel Systems |
| CN118442984A (en) * | 2024-04-29 | 2024-08-06 | 黄河水利委员会黄河水利科学研究院 | Movable river hydrologic information monitoring device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200385093A1 (en) * | 2017-12-04 | 2020-12-10 | II John Taylor Gordon | Data Retrieval and Transmitting Marine Exploration Vessel Systems |
| CN111411615A (en) * | 2020-05-14 | 2020-07-14 | 西南石油大学 | Foldable mesh fence oil fence for torrent river and laying method thereof |
| CN118442984A (en) * | 2024-04-29 | 2024-08-06 | 黄河水利委员会黄河水利科学研究院 | Movable river hydrologic information monitoring device and method |
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