KR100217024B1 - Vertical automatic reciprocating device for water quality measuring instrument and control method - Google Patents

Abstract

The present invention provides a water quality automatic measuring device vertical reciprocating device and a control method thereof.

The apparatus has a floating means 11 and a wire rope 12, and is stably wound around the wire rope 12 by means of a servo motor 15 via a winch 13 and at least one guide roller 17. And the rotary encoder 16, the timer, the CPU 40, the storage means 41, 42, and the motor control unit 50 so as to facilitate the release thereof, and the current depth value Dc is the number of constant depth intervals Di. When the servo motor 15 is stopped, the servo motor 15 is rotated forward again after the measurement time interval Ti to control the water quality measuring device 1 to descend, and the servo motor 15 is rotated at the lowest depth. Nevertheless, when there is no increase in the current depth value Dc, the servo motor 15 can be rotated in reverse to raise the water quality measuring device 1, and the highest point of the water quality measuring device 1 is raised. Stop the servo motor 15 and turn the servo motor 15 again after a fixed measurement time interval Ti. Control means capable of controlling the servo motor 15 so as to repeatedly transmit and measure water quality; Program monitoring means (45) configured to enable and reset the reset signal of the system when a missing of the program monitoring signal from the program monitoring signal line (P1-3) is detected; And a power cut-off unit 46 configured to cut off power when a continuous and frequent reset signal is generated due to an error in the system.

Description

Vertical automatic reciprocating device for water quality measuring instrument and control method

The present invention relates to a vertical automatic reciprocating device for water quality measuring device and a control method thereof, and more particularly, to a vertical water reciprocating device for reciprocating vertically by automatically repeating a water quality measuring device that measures water quality automatically to a minimum depth or several times. In an apparatus, when an error occurs in system or program execution due to internal or external influences, the error state can be recovered by resetting the system in hardware or software, and further, the system can be continuously reset due to a fatal error. When repeated, the present invention relates to a water quality automatic measuring device vertical reciprocating device and a control method thereof, which can protect the system by turning off the system and stopping the system.

The recent automatic measuring device for observing the vertical change of the lake water quality is configured to automatically measure the water temperature, dissolved oxygen, etc. by various sensors or instruments, store it in its own storage means, pull it out and retrieve the stored data. One example already marketed is YSI 6000 of YSI.

This automatic water quality measuring instrument has the advantage of storing the measurement data because the memory device suitable for long-term monitoring amount is built in the system itself. The measurable items in this instrument include dissolved oxygen, temperature, electrical conductivity, salinity, total dissolved solids, ORP, turbidity, water depth, ammonium content, pH and nitrate.

However, the current automatic water quality measuring machine itself is not capable of moving, so it is time-consuming and efficient to obtain data because a person has to work by moving the measuring instrument according to the depth to find out the change according to the depth. There is a difficult problem. In some cases, the ship may not be able to measure at an important time because the ship is not free.

In addition, if the system is down when an error occurs in the system or program due to internal or external influences, the system should be turned off and on again. Or the vertical reciprocating device causes a failure, there is a problem such as incorrect water quality measurement is made.

In addition, when the water quality automatic measuring device operates the vertical reciprocating device in the early stage, and then goes down due to a system error in the state of automatic water quality measurement which is operated automatically for a long time, it causes trouble in measuring water quality. There is also.

Accordingly, the present invention is to solve the above-described problems, the water quality automatic measuring device is intermittently lowered to a minimum depth at a constant measurement depth interval below the water for continuous or repeated measurement according to the depth of the water quality, and stopped during the measurement time interval In a vertical automatic reciprocating device for measuring water quality, which can be repeatedly measured by rising to the upper part or taking out measurement data by lifting an automatic water quality measuring device, an error occurs in system or program execution due to internal or external influences. It can be operated automatically and unattended by automatically restoring the error state by resetting the system in hardware or software at a time. Furthermore, when the system is repeatedly reset due to fatal error, the system is turned off. To stop the system To provide a water hohal automatic meter vertical reciprocating device and a control method that has the purpose.

1 is a block diagram schematically showing the configuration of the automatic water meter vertical reciprocating device according to an embodiment of the present invention.

2 is a top plan view of the water meter automatic reciprocating device of FIG.

3 is a block diagram showing an example of the configuration of a control system of the water quality automatic measuring device vertical reciprocating device of FIG.

FIG. 4 is a circuit diagram showing an example of a specific motor control unit, power supply unit, and power cutoff unit of the control system of FIG.

5 is a flowchart of a program according to an embodiment of the control method of the present invention.

6 (a) and 6 (b) are program flow diagrams of an interrupt scheme of depth and time according to an embodiment of the control method of the present invention.

* Explanation of symbols for main parts of the drawings

1: Automatic water quality measuring instrument 10: Vertical reciprocating device

11: Floating means (bar line) 11 ': Fixed hook

11 measuring instrument lifting device 12 wire rope

13: winch 14: reducer

15 electric motor (servo motor) 16 motorary encoder

17, 17 ', 17: guide roller 18: limit switch operating means

19: limit switch 20: housing

21: steel cable 30: control box

30 ': operation panel 40: CPU

41: ROM (memory means) 42: RAM (memory means)

43: input means (keyboard) 44: display means

45: program monitoring means 46: power cut off

50: motor control unit 51: on / off control unit

52: forward and reverse conversion unit 60: power supply unit

In order to achieve the above object, a water quality automatic measuring device vertical reciprocating device according to an embodiment of the present invention, for automatically measuring the water quality intermittently under the water at a constant depth interval to raise the upper A water quality automatic measuring device comprising: floating means such as a bar line that can support the device on the water surface and keep it fixed at a fixed position; A winch installed on the floating means and having a wire rope which is unwound or wound in a forward and reverse rotation under the floating means, and the automatic water quality meter is fixed to a free end of the wire rope; A servo motor installed on the floating means and connected to the winch via a speed reducer to rotate the winch forward and backward; At least one guide roller connected to a rotary encoder for stable winding and discharging of the wire rope unwinding and winding from the winch, and generating an electric pulse signal according to the depth of diving of the water quality measuring instrument as the amount of rotation; A CPU for executing a predetermined program configured to interrupt the signal output from the rotary encoder and the timer and to achieve control of the control means, and storage means for storing the program and storing data generated by the program. And a motor control unit for controlling the on / off and forward / reverse rotation directions of the servo motor according to an on / off control signal (first motor drive signal) and a direction control signal from the CPU. Obtain the current depth and stop the servo motor when the current depth corresponds to the natural water drainage of the constant depth interval, and after the constant measurement time interval by the timer, rotate the servo motor forward again to lower the water quality measuring instrument. To control the motor and, at the lowest depth, the current depth When there is no increase in this value, the servo motor can be controlled to reverse the servo motor to raise the water quality measuring instrument, and stop the servo motor at the highest point of the rising water quality measuring instrument and restart it after a constant measurement time interval. Control means for controlling the servo motor to rotate the servo motor forward and measure water quality repeatedly; Program monitoring means configured to periodically enable a program monitoring signal from the CPU to the program monitoring signal line and to reset the reset signal of the system when the program monitoring signal is missed; And a power cut-off unit connected to the reset terminal of the program monitoring unit and the power unit, the power cut-off unit configured to cut off the power when a frequent reset signal occurs continuously due to an error of the system.

In addition, the present invention is characterized in that the base is connected to the reset means and is turned off when the reset signal is applied, the first transistor to which the Vcc power is applied to the collector, and the base is connected to the collector of the first transistor and the Vcc is connected to the collector. The second transistor, which is turned on when the power is applied and the base is high, and the Vcc power applied to the collector when the first transistor is shut off, is charged by the frequent reset signal by charging before driving the second transistor. After charging to the driving voltage, the capacitor connected in parallel with the first transistor to drive the second transistor and the second transistor are turned on when the second transistor is turned on to cut off the power supply by disconnecting the power connection contact of the power supply, and A first relay which is turned off by disconnecting the power supply and returns to connect the power connection contact of the power supply unit; A power connection contact is connected at on and returns to cut off a power connection contact at off, a power connection contact is connected in series with the power connection contact of the first relay, and a power connection contact with the power connection of the first relay A second relay to be turned on when the contact is connected; After the power is cut off by turning on the first relay and turned off, the second power is turned off by the instantaneous on operation in a state in which the power connection contact of the first relay is connected due to the off state of the first relay which is returned to the power cutoff. A start connected in parallel with the power connection contact of the second relay to turn on the relay and connect the power connection contact of the second relay to keep the second relay on until the first relay is turned on to apply power. Provided is a system error monitoring system characterized by a power cutoff portion including a switch. That is, the power of the system is turned off due to the off of the second relay and the start switch is turned on so that the second relay is turned on so that the power of the system is turned on.

In addition, the present invention, the initialization step of setting the current depth of the water quality automatic measuring device and the time immediately before the current time to 0 by software; (2) the reverse direction control signal and the first motor immediately after the initialization step (3) an upper limit monitoring step for determining whether the limit switch is operated at the highest point; (4) a no-in in the upper limit monitoring step; A timer error monitoring step of determining whether the immediately preceding time and the present time are the same and resetting the system at the same time, and if not, replacing the immediately preceding time with the present time and returning to the rising step; (5) the upper limit If yes in the monitoring step, the control unit generates a forward rotation direction control signal and a second motor drive signal to a position where the limit switch is turned off again. A measurement preparation step of constantly rotating the servo motor to lower the automatic measuring device and setting the present depth, the present time, and the immediately preceding time to zero; (6) setting the measured time interval, the measurement depth interval, and the minimum depth from the storage means. (7) a water quality measurement step of stopping the water quality meter and measuring the water quality during the measurement time interval; (8) to lower the water quality meter by a predetermined measurement depth interval after the measurement time interval; (9) a first repeating step of repeating the steps (7) and (8) until the present depth is equal to the minimum depth; And (10) an interrupt step of obtaining, by the CPU, a pulse signal from the rotary encoder and a timer circuit to obtain a current depth and a current time regardless of the above steps. Provide a method.

In this case, independently or in parallel with the timer error monitoring step, it is determined whether the current time and the previous time are the same, and the system is reset on the same stage, and if not, the program is executed by replacing the immediately previous time with the current time. It may include a monitoring step.

The method further includes a second repetition step of returning to the ascending step so that the previous steps can be repeatedly performed when the present depth is equal to the minimum depth during the execution of the first repetition step. Changes in water quality can be measured over time.

Hereinafter, exemplary embodiments of the present invention will be described with reference to the accompanying drawings.

Another automatic water meter vertical reciprocating device according to one embodiment of the present invention is schematically shown in FIG. 1 and FIG.

In FIG. 1, the water quality automatic vertical reciprocating device is basically a winch 13 via a floating means 11 such as a bar line, a winch 13 installed on the floating means 11, and a speed reducer 14. Three guide rollers (17, 17 ', 17) including a servo motor (15) connected to the winch (13) and a guide roller (17) to which the rotary encoder (16) is connected. And a control means embedded in the limit switch 19 and the control box 30 to control the servo motor 15 according to the method of the present invention.

In addition, the operation panel 30 'for operating the control means may be provided with a waterproof cover, or may be provided with a communication port for controlling the control means by connecting a computer such as a PC.

The floating means 11 supports the water quality automatic measuring device vertical reciprocating device 10 fixedly on the surface of the water, and as shown in FIG. 2 through a hook 11 'attached around the steel cable ( 21) is fixed to the ground or piers, etc., and is fixed at a fixed position on the surface of the water. If it is difficult to fix the steel cable 21 away from the ground or the piers, it may be provided with a pin.

In addition, the floating means 11 may be provided with a lifting tool 11 for lifting and diving of the automatic water quality meter at a position for stabilization of the floating means 11 as shown in FIGS. 1 and 2. have.

The winch 13 has a wire rope 12 which is installed on the floating means 11 and is unwound or wound around the floating means 11 by forward and reverse rotation, and the wire rope 12. The free end of the water quality meter (1) is connected.

The servo motor 15 is configured to rotate the winch 13 forward and backward by being connected to the winch 13 to transmit rotational force via the speed reducer 14.

The guide rollers 17, 17 ′, 17 are installed to guide the stable winding or release of the wire rope 12, which is unwound and wound from the winch 13, and connected to either of them to rotate the rotary encoder 16. A, the rotation amount of the guide roller 17 without changing the diameter can be configured to generate an electric pulse signal corresponding to the depth of diving of the water quality measuring instrument 1, and furthermore, the lowest of the water quality measuring instrument 1 Since the tension is not generated by the movement of the servo motor 15 to the wire rope 12 without the movement of the water quality measuring device 91 when it is no longer lowered in depth, the rotational force is applied to the guide roller 17. It is configured not to generate an electric signal because the slip is generated without.

As shown in FIG. 3, the control means includes memory means 41 and 42, a motor control part 50, a program monitoring means 45 and a CPU 40, a ROM 41 and a RAM 42. It is configured to include a power interruption unit 46.

The CPU 40 interrupts a signal output from the rotary encoder 16 and a built-in timer, and performs a predetermined program to be described below, which is configured to achieve a control purpose of the control means and a system error monitoring purpose of the present invention. The storage means 41, 42 of the ROM 41 and the RAM 42 are configured to store the program and to store data generated by the program.

The motor control unit 50 may be composed of an on / off control unit 51 and a reverse conversion unit 52 as shown in FIGS. 3 and 4, and an on / off control signal from the CPU 40. Predetermined control of the water quality automatic measuring device vertical reciprocating device by controlling the on / off and forward / reverse rotation direction of the servo motor 15 according to the first motor drive signal and the second motor drive signal and the direction control signal of rising and falling. Configured to achieve the method.

Specifically, in FIG. 4A, the on / off control unit 51 is connected to the W1 motor drive signal line P1-0 of the output port of the CPU 40. As shown in FIG. It may be configured to be an on signal for driving the servo motor 15 when the first motor drive signal from 40 is low. In this configuration, the initial value of the CPU 40 becomes high when the power is initially applied. If the CPU 40 drives the servo motor 15 in the high state, the motor does not execute the motor drive command in the program. The phenomenon of being driven can be prevented.

The limit switch 19 is operated on the first motor drive signal line P1-0 so as to cut off the application of the first motor drive signal to the servo motor F15 at the highest position of the water quality measuring instrument 1. 19 are connected. Thus, when the first motor drive signal line P1-0 is cut off by the limit switch 19, the water quality meter 1 can be lowered to the position where the limit switch 19 is turned off. The on / off control unit 51 has a second motor drive signal line P1-4 separated from the first motor drive signal line P1-0, so that a second motor drive signal from the CPU 40 is provided. Is configured to drive the servo motor 15 via its second motor drive signal line P1-4.

In FIG. 4, the limit switch 19 is connected to the limit switch state line P1-2 of the input / output port of the CPU 40 so that the operation of the limit switch 19 is monitored by a program in the CPU 40. do.

In addition, the inverse conversion unit 52 is connected to the inverse conversion signal line P1-1 of the output port of the CPU 40, and when the direction control signal from the CPU 40 is high, the automatic water quality measuring instrument 1 It is preferable to be configured to be a reverse rotation signal for raising (). That is, when the servo motor 15 is rotated in reverse to raise the automatic water quality measuring device 1, when it is configured to descend after rising, the inconvenience and time of waiting for a long time are eliminated, and the automatic water quality measuring device ( The risk of losing 1) can be prevented.

Since the control means is configured as described above, the current depth value Dc is obtained by the outer diameter of the guide roller 17, and the current depth value Dc corresponds to the natural water multiple of the constant depth interval Di. The servo motor 15 is stopped, and the servo motor 15 is controlled to lower the water quality measuring device 1 by rotating the servo motor 15 forward again after a predetermined measurement time interval Ti by a timer. When the servo motor 15 is rotated at the lowest depth and there is no increase in the current depth value Dc, the servo motor 15 is rotated in reverse to raise the water quality measuring instrument 1. The servo motor 15 is stopped at the highest point of the rising automatic water quality measuring instrument 1, and the servo motor 15 is rotated forward again after a predetermined measurement time interval Ti to repeat the water quality. Remove the servo motor 15 to measure Being able to, as an example of the program flow chart in a control method is illustrated in Figure 5.

Further, as shown in FIGS. 6 (a) and 6 (b), an external interrupt terminal EXT INT of the CPU 40 is configured and connected to interrupt the signal output from the rotary encoder 16. Then, a predetermined program described later is executed by the control means so that the control method is achieved.

The control means may comprise a predetermined input means 43 and a display means 44 to be configured to manually control the motor control unit 50 via the CPU 40, in which case the program is It can be configured to monitor the manual signal from the input means 43. The configuration of the other well-known CPU 40, the configuration of the I / O port, the control signal line, the input / output interface, and the like can be used in various forms, so the detailed description and illustration thereof are omitted here.

The program monitoring means 45 is connected to the program monitoring signal line P1-3 of the input / output port of the CPU 40 in FIG. 4 so that a program monitoring signal is applied from the CPU 40 and the program monitoring signal is programmed. When it is not detected by the monitoring means 45, it is configured to reset the system via the reset means 55, wherein the display means (LED2) is turned on.

On the other hand, Figure 4 shows the configuration of the power supply section and the charging section 60 as an example, the power supply of the water meter automatic vertical reciprocating device of the present invention can be used to rectify the alternating current, in FIG. It is equipped with a rechargeable battery (BT1) that can be operated for 3 days in case of a power failure in case of a bolt, and is configured to supply and cut off Vcc power and 5 volt CPU power through a main switch (MAIN SW). At the time of supply, the display means LED1 is turned on at the same time. As described above, it may be possible to supply or charge power using a solar cell or the like.

The power cut-off unit 46 is configured to cut off power between the output terminal of the power supply unit 60 and the system so as to protect the system from frequent and frequent reset states.

In the system error monitoring system of the vertical reciprocating mobile device, the water quality automatic measurement of the present invention is configured such that the Vcc power supply and the CPU power supply to the control means are cut off or connectable.

That is, the power cut-off unit 46 includes the first transistor Q10, the second transistor Q11, the capacitor C2, the first relay RELAY 1, the second relay RELAY 2, and the start switch START SW. It is configured to include).

The first transistor Q10 is turned off when the base is connected to the reset means 55 and the reset signal is applied, and the Vcc power is applied to the collector, and the second transistor Q11 is connected to the first transistor Q11. The base is connected to the collector of transistor Q10 and Vcc power is applied to the collector to conduct when the base is high.

The capacitor C2 is charged prior to the driving of the second transistor Q11 by the Vcc power applied to the collector when the first transistor Q10 is cut off, so that a predetermined driving voltage is generated by a frequent reset signal. Is connected to the collector in parallel with the first transistor Q10 so as to drive the second transistor Q11 only after being charged.

The first relay (RELAY 1) is turned on when the second transistor (Q11) is turned on to cut off the power supply contact (contacts 3 and 5) to cut off the power supply, and to cut off the power supply of the power supply unit 60. It is configured to connect the power connection contacts (contacts 3 and 5) by returning off.

The second relay RELAY 2 is connected to a power supply contact (contacts 3 and 4) when the power is turned on when the start switch is turned on, and disconnects the power connection contacts (contacts 3 and 4) when the switch is turned off. Returning, the power connection contact (contacts 3, 4) is configured to be connected in series with the power connection contact (contacts 3, 5) of the first relay (RELAY 1). That is, power is applied when the power connection contacts (contacts 3 and 4) of the second relay and the power connection contacts (contacts 3 and 5) of the first relay (FRELAY 1) are connected.

The start switch (START SW) is a second relay (RELAY 2) by the instantaneous operation of the start switch when the power is cut off when the first relay (RELAY 1) is turned off and the second relay (RELAY 2) is turned off Is turned on to connect the power connection contacts (contacts 3 and 4) of the second relay RELAY 2 so that the second relay RELAY 2 is continued until the first relay ERLAY 1 is turned on and the power is turned off. It is configured to be connected in parallel with the power connection contact (contacts 3, 4) of the second relay (RELAY 2) to maintain the ON.

5 and 6 together with the control method of the automatic water meter vertical reciprocating device according to an embodiment of the present invention according to the configuration of the automatic water meter vertical reciprocating device according to the embodiments of the present invention configured as described above Referring to (a) and FIG. 6 (b), the following is described.

5 is a flowchart of a program according to an embodiment of the control method of the present invention, and FIGS. 6 (a) and 6 (b) are measurements for measuring depth and time according to an embodiment of the control method of the present invention. An interrupt program flow chart is shown.

First, in the initialization step 62, the present depth Dc, the present time Tc, and the immediately preceding time To of the variable water quality measuring device 1 are set to zero.

As shown in FIG. 5 and FIG. 4, in the ascending steps 63 and 64 for raising the water quality measuring device 1 immediately after the initialization step, the first motor driving signal and the high first motor driving signal from the CPU 40 are high. Is applied to each of the first motor drive signal line P1-0 and the inverted conversion signal line P1-1 to turn off the transistor Q5, turn off the transistor Q6, and FET transistor FET. The servo motor 15 is reversely rotated via the temperature transistor Q1 of 5), the transistor Q3 off, and the FET transistors FET1, FET4 turned on.

In the upper limit monitoring step 65 for stopping the water quality measuring instrument 1 at the highest point, the water quality measuring instrument 1 is raised to monitor whether the limit switch 19 is operated and the state of the limit switch status line ( CPU 40 detects from P1-2.

When it is no in the upper limit monitoring step 65, that is, when the water quality automatic measuring device 1 has not reached the highest point, timer error monitoring steps 91 to 93 are performed. That is, in step 91, it is determined whether the previous time To and the current time Tc are the same, and at the same time, it is determined that there is an error in the system, and the system is reset. The present time Tc is replaced and the flow returns to the rising steps 63 and 64 to continuously raise the water quality measuring instrument 1.

After that, when the water quality measuring device 1 reaches the highest point, the operation state signal is input from the limit switch 19 so that the upper limit monitoring step 65 becomes YES, the transistor Q6 is turned on and the FET transistor (FET). The sub-motor 15 stops by turning off 5).

At this time, the water quality automatic measuring device 1 to the position where the limit switch 19 is turned off again so that the servo motor 15 can be driven by the first motor driving signal which is blocked by the operation of the limit switch 19 when rising. The measurement preparation steps 66 to 70 are performed in the state where the is lowered. In other words, in step 66 to step 68, the second motor drive signal low and the direction of falling control signal high are applied to the second motor drive signal line P1-4 and the inverse conversion signal line P1-1 to convert the transistor ( The limit switch 19 is turned off via the Q7) off and the FET transistor FET6 and the transistor Q1 off, the transistor Q3 on and the FET transistors FET 2 and FET 3 on. The servo motor 15 is rotated forward to lower the water quality measuring device 1 to the desired position, and the present depth Dc and the present time Tc are set to 0 again (step 70).

After the measurement preparation steps 66 to 70, the measurement time interval Ti, the measurement depth interval Di, and the minimum depth Dm set in the reading step 71 are read out from the storage means 41, 42. In the water quality measurement step 72, the water quality measuring instrument 1 is stopped and the water quality is measured during the read out measurement time interval Ti, that is, until the remainder of Tc / Ti is zero (actually, the program Performing steps 74 to 85, and returning to step 71, and repeating step 72, and if yes in between, it is configured to perform other steps beyond the repeating step. The same applies in the step, but may simply consist of a waiting step as in step 68). At this time, the measured data are stored in the storage means of the water quality measuring instrument 1. This measurement time interval (Ti) is different depending on the type of water quality automatic measuring device (1), in the case of YSI6000 is about 5 minutes can be measured once, so if you want to measure twice at the same depth, about 11 minutes interval is sufficient Do. In addition, the measurement depth interval Di may be initially fixed or may be configured to be arbitrarily set as necessary.

In this way, when the measurement is completed at the highest point (exactly just before the operation of the limit switch 19), the servo motor 15 is rotated forward after the measurement time interval Ti in the descending steps (73 to 75). The automatic measuring device 1 is lowered by a predetermined measurement depth interval Di. That is, by applying the first motor drive signal of the row to the first motor drive signal line (P1-0) in step 73, the water quality is automatically controlled via the transistor Q5 and the FET transistors FET2 and FET3. The servo motor 15 is rotated forward to lower the measuring device 1 by a predetermined measurement depth interval Di, i.e., until the remainder of Dc / Di is zero in step 74. Then, in step 75, the first motor drive signal is turned off, i.e., high, thereby stopping the servo motor 15 to measure the water quality at the next depth during the measurement time interval Ti.

In the first repetition steps 72 to 76, the water quality measurement step 72 and the descending steps 73 to 75 are performed in steps 71 and 77 to 85 until the present depth Dc is equal to the minimum depth Dm. Repeat together. That is, if it is determined in step 76 that the present depth Dc is the same as the minimum depth Dm, and if it is not the same, after performing steps 77 to 85 and step 71, the water quality measuring step 72 and the falling step 73 To 75) are repeated, and at the same time, a second repeating step is executed in which the process returns to immediately after the initializing step 62 for the measurement from the highest point and repeats the above-described steps.

As shown in FIGS. 6 (a) and 6 (b), in the interrupt module performed independently of the above steps, the CPU 40 is connected to an external interrupt line (EXT INT in FIG. 5) and an internal interrupt line. Receives a pulse signal from the rotary encoder 16 and the built-in timer circuit to obtain a present depth Dc and a present time Tc, and the obtained present depth Dc and the present time Tc are described above. Is applied at the stage.

In addition, in FIG. 5, the configuration steps 77 and 78, the manual steps 79 and 80, and the transmission step 81 are further included before the first repetition step.

The environment setting steps 77 and 78 monitor the environment setting signal from the input means 43 (step 77), and when the environment setting signal is detected, in step 78 the measurement time interval Ti and the measurement depth interval Di ) And the minimum depth Dm are set or modified from the input means 43 and stored in the storage means 42. In this case, the correction, the set measurement time interval Ti, the measurement depth interval Di, and the minimum depth Dm are read again, and the water quality measurement step 72 and the descending steps 73 to 75 are repeated.

In the manual steps 79 and 80, the manual signal from the input means 43 is monitored after the environment setting step (step 79), and when it is detected, the servo motor is manually inputted from the input means 43. Operate (15) (step 80). For example, 0 is the return mode to the automatic mode, 1 is the on mode of the servo motor 15, 2 is the off mode of the servo motor 15, 3 is the falling mode, 4 is the rising mode. By setting 5 for the limit switch 19 and 6 for the off mode of the limit switch 19, manual operation can be freely performed irrespective of the above program.

In addition, when the transmission step 81 is included, the current time Tc, the current depth Dc, and the state immediately before the first repetition step may be transmitted to the serial port and displayed on the display means 44.

In addition, according to the present invention, the program execution monitoring step (82 to 85) further includes. That is, in step 83, it is determined whether the current time Tc and the immediately preceding time To are the same, and at the same time, it is assumed that there is an error in the system and the system is reset (step 84). Replace To) with the current time (Tc) to monitor the next program run. The program execution monitoring steps 82 to 85 and the above-described timer error monitoring steps 91 to 93 can monitor an error of the system by software, and may be performed by including only one or both. have.

Further, according to the present invention, the program monitoring means 45 may be provided in FIGS. 3 and 4. In this case, in step 82, the program monitoring signal is generated through the program monitoring signal line P1-3 so that the program monitoring means 45 monitors the program execution in hardware. The enable signal is applied to the reset means 55 to reset the system.

In addition, an example in which the system error monitoring system applicable to the water quality automatic measuring device vertical reciprocating device of the present invention and the control method thereof is applied to the reset means 55 operated by the enable signal from the program monitoring means 45 is described. It is shown in FIG.

5, when the reset signal (enable signal) is applied to the reset means 55, the first transistor Q10 is turned off so that the Vcc power source applied to the collector charges the capacitor C2 once. When the capacitor C2 is charged to the predetermined driving voltage of the second transistor Q11 by the continuous and repetitive reset signal, the second transistor Q11 is driven, and accordingly, the first relay When 1) is turned on, the power connection contact (contacts 3 and 5) of the power supply unit 60 is cut off and the power is cut off.

Thereafter, the power supply unit 60 is turned off by turning off the power supply, and returns to connect the power connection contacts (contacts 3 and 5). However, when the first relay RELAY 1 is turned off, the power is cut off. Then, the second relay RELAY 2 is turned off to maintain the power interruption state.

To connect the power supply in this state, turn on the second relay RELAY 2 by momentarily turning on the start switch START SW connected in parallel with the power connection contacts (contacts 3 and 4) of the second relay RELAY 2. By connecting the power connection contacts (contacts 3 and 4) of the second relay (RELAY 2), the continuous and repetitive reset signals are generated until the first relay (RELAY 1) is turned on, that is, due to a fatal system error. The second relay RELAY 2 is kept on until the power is restored.

In this way, when an error occurs in the system or program execution, the system automatically resets the system by hardware or software, and automatically recovers the error state. In the automatic measuring and storing means of the water, and when the water quality measuring instrument 1 rises, the water quality measuring instrument 1 is raised by turning off or manually operating the main switch MAIN SW. Through the floating means (11) to stably lift, read out the stored data, clear the memory means again, the water quality automatic measuring device through the lifting device (11) to measure the water quality again (1) ), The main switch (MAIN SW) is turned on, or during manual operation, the measurement operation is restarted by inputting 0 to the input means 43. It can be done with copper.

According to the configuration and operation of the water quality automatic measuring device vertical reciprocating device and the control method according to the embodiments of the present invention described above, hardware or software when an error occurs in the system or program execution due to internal or external influences It can be operated automatically or unattended by resetting the system automatically to recover the error condition, and further, by turning off the system when the system is repeatedly reset due to fatal error, several vertical reciprocating movement of the system and the water quality meter The effect is that the device can be protected.

Although one embodiment of the present invention has been described and illustrated above, the present invention is not limited thereto, and the person skilled in the art within the spirit of the present invention to add or omit components or to various changes to It will be apparent to those skilled in the art that applications may be possible and that such additions, omissions, changes, applications, and the like fall within the scope of the present invention.

Claims (6)

In the water meter automatic vertical reciprocating device for intermittently lowering the water quality meter at a constant depth interval below the water surface and for raising the water level for automatic measurement of water quality: supporting the device on the water surface to keep it fixed at a fixed position. Floating means (11), such as bar lines; The wire rope 12 is installed on the floating means 11 and has a wire rope 12 that is unwound or wound in a forward and reverse rotation under the floating means 11, and the water quality is automatically applied to the free end of the wire rope 12. A winch 13 to which the meter 1 is fixed; A servo motor (15) installed on the floating means (11) and connected to the winch (13) via a speed reducer (14) to rotate the winch (13) forward and backward; The rotary encoder 16 which stabilizes winding and release of the wire rope 12 which is unwound and wound from the winch 13 and generates an electric pulse signal according to the depth of diving of the water quality measuring device 1 by the amount of rotation is provided. At least one guide roller 17 connected; A CPU 40 for executing a predetermined program configured to interrupt the rotary encoder 16 and a signal output from a timer and to achieve a control purpose of the control means, and to store the program and generate the program. Memory means 41 and 42 for storing data, on / off and forward / reverse of the servo motor 15 in accordance with an on / off control signal (first motor drive signal) and a direction control signal from the CPU 40. It is configured to include a motor control unit 50 for controlling the rotation direction to obtain the current depth value (Dc) by the outer diameter of the guide roller 17, the current depth value (Dc) is a natural number multiple of the depth interval Di constant The servo motor 15 is stopped so that the servo motor 15 is stopped, and the servo motor 15 is rotated forward again after the constant measurement time interval Ti by the timer to lower the water quality measuring device 1. ), When the servo motor 15 is rotated at the lowest depth and there is no increase in the current depth value Dc, the servo motor 15 is rotated to reverse the servo motor 15 to raise the water quality measuring instrument 1. The servo motor 15 is stopped at the highest point of the rising water quality measuring instrument 1 and the servo motor 15 is rotated forward again after a predetermined measurement time interval Ti to measure the water quality. Control means for controlling the servo motor (15) to be able to do so; Program monitoring means configured to enable and reset the reset signal of the system when a program monitoring signal is periodically applied from the CPU 40 to the program monitoring signal line P1-3 and the omission of the program monitoring signal is detected ( 45); And a power cut-off unit 46 connected to the reset terminal of the program monitoring unit 45 and the power supply unit 60 to cut off the power when a frequent reset signal occurs continuously due to an error of the system. Vertical automatic reciprocating device for measuring water quality, characterized in that. 2. The power supply disconnecting unit (46) according to claim 1, wherein the power cut-off unit (46) is connected to a reset means of reset means enabled by the program monitoring means (45) or the like, and is turned off when a reset signal is applied, A first transistor Q10 to which Vcc power is applied, a second transistor Q11 connected when the base is connected to the collector of the first transistor Q10 and a Vcc power source is applied to the collector, and the base is high; When the first transistor Q10 is cut off, the Vcc power applied to the collector is charged before driving the second transistor Q11, so that the second transistor (after being charged to a predetermined drive voltage by a frequent reset signal). The capacitor C2 connected in parallel with the first transistor Q10 to drive Q11) and the second transistor Q11 are turned on at the time of conduction so that the power connection contacts (contacts 3 and 4) of the power supply unit 60 are turned on. Cut off the power And a first relay (RELAY 1) which is turned off by turning off the power of the power supply unit 60 and returns to connect the power connection contacts (contacts 3 and 4) of the power supply unit 60; The power connection contacts (contacts 3 and 4) are connected when turned on and the power connection contacts (contacts 3 and 4) are returned to turn off when turned off, and the power connection contacts (contacts 3 and 4) are the first relay (RELAY 1). ) Is connected in series with the power connection contacts (contacts 3 and 4) of the power supply, and when the power connection contacts (contacts 3 and 4) and the power connection contacts (contacts 3 and 4) of the first relay (RELAY 1) are connected. OFF of the second relay RELAY 2 that is applied ON and the first relay RE1 that is turned off after the power is cut off by turning on the first relay RELAY 1 and then turned off. Due to the state, the power supply of the second relay (RELAY 2) is turned on by turning on the second relay (RELAY 2) by instantaneous operation while the power connection contacts (contacts 3 and 4) of the first relay (RELAY 1) are connected. By connecting the connecting contacts (contacts 3 and 4), the second relay (RELAY 2) is kept on until the first relay (RELAY 1) is turned on to apply power. Second relay (RELAY 2) the power connection contacts (contacts 3, 4) and the automatic water meter vertical reciprocating device, characterized in that that may further include a start switch (START SW) being connected in parallel to the. Floating means (11), such as bar line that can support the device on the water surface to be kept fixed in a certain position; The wire rope 12 is installed on the floating means 11 and has a wire rope 12 that is unwound or wound in a forward and reverse rotation under the floating means 11, and the water quality is automatically applied to the free end of the wire rope 12. A winch 13 to which the meter 1 is fixed; A servo motor (15) installed on the floating means (11) and connected to the winch (13) via a speed reducer (14) to rotate the winch (13) forward and backward; The rotary encoder 16 which stabilizes winding and release of the wire rope 12 which is unwound and wound from the winch 13 and generates an electric pulse signal according to the depth of diving of the water quality measuring device 1 by the amount of rotation is provided. At least one guide roller 17, 17 ′, 17 connected; And a CPU 40 for interrupting the signal output from the rotary encoder 16 and the timer and executing a predetermined program, and storage means 41 for storing the program and storing data generated by the program. 42 and direction control from the CPU 40 and the on / off control unit 51 for driving the servo motor 15 in parallel with each other by the first and second motor driving signals from the CPU 40. The servo motor 15 is stopped at the highest point of the motor controller 50, which consists of a reverse converter 52 for controlling the reverse rotation direction of the servo motor 15 according to the signal, and the water quality measuring instrument 1 that is raised. By the limit switch 19 actuating means 18 provided near the free end of the wire rope 12 at the rear of the guide roller 17 to turn off the first motor drive signal from the CPU 40. Limit switch (19) In the water quality automatic measuring device vertical reciprocating device configured by: (1) the initialization step of setting the current time (Dc) and the immediately preceding time (To) below the current time (Tc) of the water quality measuring device (1) to zero (62) (2) Ascending step (63, 64) of raising the water quality measuring device (1) by generating the reverse direction control signal and the first motor driving signal immediately after the initializing step and rotating the servo motor (15) in reverse direction. (3) an upper limit monitoring step (65) for determining whether the limit switch (19) is operated at the highest point; (4) the immediately preceding time (To) and the present time (when it is no in the upper limit monitoring step (65)); It is judged whether Tc) is the same, and resets the system at the same time. If not, the timer error monitoring steps 91 to 93 replace the immediately preceding time To with the current time Tc and return to the rising step. (5) If yes in the upper limit monitoring step 65, the limit switch again The servo motor 15 is always rotated forward to generate the forward rotation direction control signal and the second motor drive signal to the position where the position 19 is turned off, and then the present depth Dc. And a measurement preparation step (66 to 70) for setting the current time (Tc) and the immediately before time (To) to 0; (6) setting the measurement time interval Ti, the measurement depth interval Di, and the minimum depth Dm. A reading step (71) for reading from the storage means (41, 42); (7) a water quality measuring step (72) for stopping the water quality measuring instrument (1) and measuring the water quality during the measurement time interval Ti; (8) a lowering step (73 to 75) of forward rotation of the servo motor 15 to lower the water quality measuring device 1 by a predetermined measurement depth Di after the measurement time interval Ti; A first repeating step (72 to 76) of repeating steps (7) and (8) until the present depth (Dc) is equal to the minimum depth (Dm); And (10) an interrupt step in which the CPU 40 receives a pulse signal from the rotary encoder 16 and a timer circuit to obtain a current depth Dc and a current time Tc regardless of the above steps. A control method of a vertical water reciprocating device, characterized in that the automatic water quality measuring device. 4. The apparatus according to claim 3, wherein (11) when the apparatus includes an input means 43 and a display means 44, monitoring the configuration signal after the reading step 71 and measuring when the configuration signal is detected. Further setting steps 77 and 78 for setting or modifying the time interval Ti, the measurement depth interval Di and the minimum depth Dm to the input means 43 and storing them in the storage means 42. May include; (12) It may further include a manual step (79, 80) for monitoring the manual signal after the setting step, and manually operating the servo motor 15 from the input means (43) when it is detected. And; (13) a transmission step 81 for transmitting a current time Tc, a current depth Dc, and a status to a serial port immediately before the first repetition step; (14) Generate a program monitoring signal (step 82), determine whether the current time (Tc) and the previous time (To) are the same (step 83), reset the system at the same time (step 84), and not the same. May further include program execution monitoring steps 82 to 85 by replacing the immediately preceding time To with the current time Tc; And (15) in the case of including one of the steps (11) to (14), the first repetition step of repeating steps (11) to (14) with the steps (6) to (8) ( 71 to 85), and returning to the rising steps 63 and 64 so that the previous steps can be repeatedly performed when the current depth Dc is equal to the minimum depth Dm during the execution of the first repetition step (step 76). The control method of the water quality automatic measuring device vertical reciprocating movement device, characterized in that it can be further included in the second repeating step (63 to 85). Floating means (11), such as bar line that can support the device on the water surface and can be kept fixed in a certain position; It is installed on the floating means 11 and has a wire rope 12 that is unwound or wound in the forward and reverse rotations below the floating means 11, the water quality automatic measuring device at the free end of the wire rope 12 A winch 13 to which 1 is fixed; A servo motor (15) installed on the floating means (11) and connected to the winch (13) via a speed reducer (14) to rotate the winch (13) forward and backward; The rotary encoder 16, which is unwound from the winch 13, winds up a stable winding and release of the wire rope 12, and generates an electric pulse signal according to the depth of diving of the water quality measuring device 1 by the amount of rotation. At least one guide roller (17, 17 ', 17) connected thereto; And a CPU 40 for interrupting the signal output from the rotary encoder 16 and the timer and executing a predetermined program, and storage means 41 for storing the program and storing data generated by the program. 42 and direction control from the CPU 40 and the on / off control unit 51 for driving the servo motor 15 in parallel with each other by the first and second motor drive signals from the CPU 40. The servo motor 15 is stopped at the highest point of the motor controller 50, which consists of a reverse converter 52 for controlling the reverse rotation direction of the servo motor 15 according to the signal, and the water quality measuring instrument 1 that is raised. A limit switch operating means 18 provided near the free end of the wire rope 12 at the rear of the guide roller 17 so as to turn off the first motor drive signal from the CPU 40. With switch 19 In the water quality automatic measuring device vertical reciprocating device configured; (1) an initialization step 62 of setting the present depth Dc, the present time Tc, and the immediately preceding time To of the water quality measuring instrument 1 to zero; (2) rising steps (63, 64) for raising the water quality automatic measuring device (1) by generating a reverse direction control signal and a first motor driving signal immediately after the initializing step and rotating the servo motor (15); (3) an upper limit monitoring step 65 for determining whether the limit switch 19 is operated at the highest point; (4) When the upper limit monitoring step 65 is YES, the water quality measuring device 1 is lowered by generating a forward rotation direction control signal and a second motor driving signal to a position where the limit switch 19 is turned off again. A measurement preparation step (66 to 70) of forward rotation of the servo motor (15) to set the present depth (Dc), the present time (Tc), and the immediately preceding time (To) to zero; (5) a reading step 71 of reading out the set measurement time interval Ti, measurement depth interval Di and minimum depth Dm from the storage means 41, 42; (6) a water quality measuring step 72 of stopping the water quality measuring instrument 1 and measuring the water quality during the measurement time interval Ti; (7) a lowering step (73 to 75) of forward rotation of the servo motor (15) to lower the water quality measuring device (1) by a predetermined measurement depth interval (Di) after the measurement time interval (Ti); (8) It is determined whether the present time Tc and the immediately preceding time To are the same (step 83), and if they are identical, the system is reset (step 84), and if it is not the same, the immediately preceding time To is the present time. It may further include a program performance monitoring step (82 to 85) to replace with (Tc); And (9) a first repeating step (76) of repeating the steps (6) to (8) until the present depth (Dc) is equal to the minimum depth (Dm); And (10) an interrupt step in which the CPU 40 receives a pulse signal from the rotary encoder 16 and a timer circuit to obtain a current depth Dc and a current time Tc regardless of the above steps. A control method of a vertical water reciprocating device, characterized in that the automatic water quality measuring device. The method of claim 5; (11) It is determined whether the previous time To and the current time Tc are the same at the time of the no limit in the upper limit monitoring step 65, and reset the system at the same time, and if the time is not the same, the previous time To It may further include a timer error monitoring step (91 to 93) to replace with the current time (Tc) and to return to the rising step; (12) If the apparatus includes an input means 43 and a display means 44, the reading of the environmental setting signal after the reading step 71 and the measurement time interval Ti when the environmental setting signal is detected, A setting step (77,78) for setting or modifying the measurement depth interval (Di) and the minimum depth (Dm) from the input means (43) and storing in the storage means (42); (13) It may further include a manual step (79, 80) for monitoring the manual signal after the configuration step and the manual operation of the servo motor 15 manually from the input means 43 when the detection is detected; ; (14) a transmission step 81 for transmitting a current time (Tc), a current depth (Dc), and a status to a serial port immediately before the first repetition step; (15) In the case of including one of the steps (11) to (14), the first repetition step includes repeating the steps (6) to (8) and steps (11) to (14) (71 to 85) and returning to the ascending steps 63 and 64 so that the previous steps can be repeatedly performed when the current depth Dc is equal to the minimum depth Dm during the execution of the first repetition step (step 76). It may further comprise a second iteration step; And (16) when the program monitoring unit 45 is provided, the method may further include generating a program monitoring signal 82 through the program monitoring signal line P1-3. Control method of reciprocating mobile device.

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