CN105867374A - Surface water restoring robot - Google Patents
Surface water restoring robot Download PDFInfo
- Publication number
- CN105867374A CN105867374A CN201610221290.1A CN201610221290A CN105867374A CN 105867374 A CN105867374 A CN 105867374A CN 201610221290 A CN201610221290 A CN 201610221290A CN 105867374 A CN105867374 A CN 105867374A
- Authority
- CN
- China
- Prior art keywords
- hull
- control unit
- monomer
- chinampa
- surface water
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
Abstract
The invention discloses a surface water restoring robot which comprises a boat body and a power assembly on the boat body. The bottom of the boat body is provided with a telescopic aeration pipe. The telescopic aeration pipe is communicated with a blower fan in the boat body. The bottom of the boat body is provided with a dissolved oxygen probe and an ammonia nitrogen probe. The dissolved oxygen probe and the ammonia nitrogen probe output detecting signals to a data acquisition unit. The data acquisition unit transmits a parameter signal to a control unit. The control unit outputs a driving signal to the blower fan. The surface water restoring robot has data processing systems such as data acquisition system, data reflection system and data feedback system, thereby realizing automatic operation of the whole boat body. Each system of the boat body is operated automatically, and automatic robot cruise is performed. An aeration system device realizes functions of supplying oxygen to water body, loosening mud at water bed, and realizing purification by means of self microbes of the water body.
Description
Technical field
The present invention relates to water body purification process field.
Background technology
The most domestic closest to prior art be a kind of Ship Structure for waste water control, it is provided that
A kind of simple in construction, can carry out dynamic filtration to the water body polluted, and collects the floating garbage in water body, simultaneously
Algal grown in suppression water body.But this kind of Ship Structure is relatively simple, rubbish salvaging can only be carried out, press down
The mode of the sewage disposals such as algal grown processed, and technicalization is inadequate.
Additionally, be commonly used in the hull of waste water control at present, it is impossible to realize automatic cruising, make the shifting of hull
Move and be somewhat limited.Abatement functions is the most single, prior art cannot gather and process data,
Cause automaticity relatively low, need certain human input.Furthermore, the improvement of prior art water body is single-minded
Property is the strongest.
Summary of the invention
The technical problem to be solved is to realize a kind of automaticity height, it is possible to effectively process water body
The repair robot of water quality.
To achieve these goals, the technical solution used in the present invention is: surface water repair robot, including
Power assembly on hull and hull, described hull bottom is provided with flexible aeration tube, described flexible aeration tube
Aerator in connection hull, described hull bottom is provided with dissolved oxygen probe and ammonia nitrogen probe, described dissolved oxygen
Probe and ammonia nitrogen probe output detectable signal are to data acquisition unit, and described data acquisition unit is by parameter signal
Being delivered to control unit, described control unit output drive signal is to aerator.
Described hull top is provided with solar energy photovoltaic panel, described solar energy photovoltaic panel output electric energy to accumulator,
Described accumulator is the electrical equipment on surface water repair robot and power assembly is powered.
Described power assembly includes being fixed on hull bottom by motor-driven rotating disk and the spray being fixed on rotating disk
Mechanism of qi.
Described hull is provided with communication unit, and described control unit is communicated with Surveillance center by communication unit,
Described hull is provided with GPS unit, and described GPS unit output framing signal is to control unit.
Described hull is formed around detection radar and photographic head, described detection radar and photographic head output detection letter
Number and video signal to control unit, described hull is provided with alarm, and the output of described control unit drives letter
Number to alarm, described hull is formed around position signalling lamp, and described hull bottom is provided with detectoscope,
Described detectoscope output induced signal is to control unit.
Being fixed with at least one chinampa monomer around described hull, described chinampa monomer is wedge shaped and little by density
Material in water makes, and the upper surface of described chinampa monomer is inclined-plane, the end face position that described chinampa monomer is higher
Put and be fixed on hull, described chinampa monomer is uniformly provided with multiple implantation hole for planting aquatic plants,
Described implantation hole is vertically arranged through for chinampa monomer upper and lower surface.
Described implantation hole has bending structure in middle part, and implantation hole cross section is regular hexagon or positive eight limits
Shape, the angle of inclination of described chinampa monomer is less than 40 degree, and monomer bottom, described chinampa is provided with a circle anti-collision ring,
Described anti-collision ring is the rubber ring that cross section is C-shaped, is provided with microbe carrier in described rubber ring, described crashproof
Through hole it is evenly distributed with on circle.
Described chinampa monomer upper and lower surface is all covered with one layer of sol layer, and described sol layer is by gel
The nano-crystalline titanium dioxide self-cleaning film that method is prepared in surface of aluminum plate.
Monomer both sides, described chinampa are provided with the string bag for placing balancing weight, and the described string bag is by extending rope with floating
Island monomer connects, and monomer both sides, chinampa are provided with the retainer ring for stationary rope, and described adjacent chinampa is single
Being interconnected and fixed between body, and connected by least two connecting rod, described connecting rod two ends are vertically provided with
Pressure reductor, described pressure reductor is provided with the rope for being fixed in retainer ring.
Being provided with heating ring in the monomer of described chinampa, described heating ring connects accumulator, described confession through supply line
Electric line is provided with relay, and described relay is controlled break-make by control unit, and described chinampa monomer is provided with
Temperature sensor, described temperature sensor output temperature signal is to control unit, and described heating ring is obliquely installed,
The incline direction of described heating ring is identical with the inclined-plane incline direction of chinampa monomer and angle with angle of inclination, institute
State temperature sensor and be positioned at the circular position of heating ring.
The present invention can realize the automatic cruising of hull, and surface water is carried out diversification process, can administer many
Plant pollutant.And this technology has the automatic integrated system of advanced person, measurement and control probe, collects and send out
Data can be collected and process by injection device.Furthermore, the special earth's surface water pollution control of this technology sets
Meter and process, specific aim is stronger.
Additionally, repair robot have collection, reflect, the data handling system such as feedback, facilitate whole hull
Automation mechanized operation；The each system automation of hull operates, robot automatic cruising；Aerating system device, both
Can be that water body provides oxygen, can evoke again underwater mud, the microorganism by water body self purifies.
Accompanying drawing explanation
Labelling in the content expressed every width accompanying drawing in description of the invention below and figure is briefly described:
Fig. 1 surface water repair robot structural representation；
Labelling in above-mentioned figure is: 1, chinampa monomer；2, implantation hole；3, dissolved oxygen probe；4, ammonia nitrogen is visited
Head；5, rotating disk；6, jet plane；7, flexible aeration tube；8, aerator；9, solar energy photovoltaic panel；10、
Accumulator；11, communication unit；12, data acquisition unit；13, control unit.
Detailed description of the invention
Water repair robot in earth's surface includes the power assembly on hull and hull as shown in Figure 1, and hull bottom sets
Having flexible aeration tube 7, flexible aeration tube 7 connects the aerator 8 in hull, and flexible aeration tube 7 is provided with many,
Every flexible aeration tube 7 can connect total aerated conduit, is connected with aerator 8 by total aerated conduit, this
Outward, hull bottom is provided with dissolved oxygen probe 3 and ammonia nitrogen probe 4, the water quality shape in employing water body that can be real-time
Condition, dissolved oxygen probe 3 and ammonia nitrogen probe 4 output detectable signal are to data acquisition unit 12, data acquisition list
The parameter signal that unit 12 gathers is delivered to control unit 13, and control unit 13 output drive signal is to aerator
8, thus aeration purification work is carried out in real time according to water quality condition.
Use safety in order to ensure equipment, be provided with detectoscope, detectoscope output sense in hull bottom
Induction signal, can be with the real-time detection depth of water and the most whether have barrier to control unit 13, can be in elongation
Detect before flexible aeration tube 7, it is to avoid flexible aeration tube 7 touches barrier and causes damage.
During surface water repair robot cruise operation, after suspending in the place that hull arrival alignment system is formulated,
Control unit 13 control to be arranged on the flexible aeration tube 7 in side of a ship portion, hull front end automatically under stretch, dissolved oxygen thereon
Oxygen content in probe 3 and ammonia nitrogen probe 4 detection water body and ammonia-nitrogen content, set when the numerical value detected arrives
During fixed number value, aerator is started working aeration, and meanwhile can also evoke underwater mud, plays sewage
The effect of Aerobic Pond in process, processes the pollutant in water body by the microbial decomposition in mud, works as water body
In ammonia nitrogen less than after setting value, data feedback to console data center to aerator and flexible aeration tube 7
Quit work instruction, and the two quits work immediately, and flexible aeration tube 7 of retracting.
Hull top is provided with solar energy photovoltaic panel 9, and solar energy photovoltaic panel 9 exports electric energy to accumulator 10, storage
Battery 10 is the electrical equipment on surface water repair robot and power assembly is powered, such surface water repair machine
All energy sourceses of device people in solar energy, more energy-conserving and environment-protective
Power assembly includes being fixed on hull bottom by motor-driven rotating disk 5 and the spray being fixed on rotating disk 5
Mechanism of qi 6.Controlled by rotating disk 5, it is simple to circulating at water body inner circular, hull is provided with GPS unit and communicates
Unit 11, GPS unit output framing signal positions to control unit 13 for hull, and control unit 13 is passed through
Communication unit 11 communicates with Surveillance center, by communication unit 11 and GPS unit, it is possible to achieve hull
Remotely control and automatic cruising function.
For guaranteeing the safety of automatic cruising, hull is formed around detection radar and photographic head, detection radar and
Photographic head output detectable signal and video signal are to control unit 13, and detection radar can detect around hull and be
No have barrier, and the picture signal around hull can be delivered to Surveillance center by photographic head, it is simple to work people
Member remotely controls hull work and monitoring water body water surface situation.
Hull is provided with alarm, and control unit 13 output drive signal, to alarm, can cruise at hull
Breaking down or run into the warning of barrier alarm, hull is formed around position signalling lamp in addition, it is simple to night
Robot noticed by other ships on the water surface.
In order to improve the water treatment capacity of surface water repair robot, and improve its aesthetic, at hull
Around at least being fixed with a chinampa monomer 1 to constitute, chinampa monomer uses animal, plant, microbial knot
The method closed, adds the complicated variety of ecosystem, defines more stable ecosystem.
Chinampa monomer 1 is wedge shaped and is made less than the material of water by density, and the upper surface of chinampa monomer 1 is oblique
Face, when being fixed on hull, the end face of chinampa monomer 1 higher position is fixed on hull.
Being uniformly provided with multiple implantation hole 2 for planting aquatic plants on chinampa monomer 1, implantation hole 2 vertically sets
Put through for chinampa monomer 1 upper and lower surface, can serve as planting aquatic plants, by through screening, domestication
Absorb the aquatic or terrestrial plant that organic pollutants ability is stronger, implant prefabricated floating carrier plantation
In hole 2, also can choose the most different plants, build a kind of garden landscape waterborne with stereovision.On
The inclined-plane on surface can be perched on chinampa monomer 1 for Amphibian, and the angle of inclination of chinampa monomer 1 is less than
40 degree, it is ensured that the land and water amphibian in surface water body turnover Tiny ecosystem biological floating island cluster accessible enter
Go out, it is provided that an artificial natural habitat, in animal, plant, the absorption of microorganism, ingest, inhale
Under attached, decomposition so that water pollution is repaired.
After plant survival, root system naturally extends and is suspended in water body, can not only absorb in water more than needed
Nitrogen P elements, and oxygen in water can be increased by photosynthesis and other modes, it is also the fish in water
Shrimp, microorganism provide growth and the condition of attachment.
Chinampa monomer 1 upper and lower surface is all covered with one layer of sol layer, and sol layer is at aluminum by gel method
Nano-crystalline titanium dioxide self-cleaning film prepared by plate surface.Sol layer is for some insecticides, Rana nigromaculata, Cipangopaludina chinensis etc.
Animal habitat, can form a small-sized ecosystem at the water surface.
Implantation hole 2 has bending structure in middle part, and implantation hole 2 cross section is regular hexagon or positive eight limits
Shape, when the initial stage that can increase transplants water plant for cultivating, it can be attached to implantation hole 2 very easily
In, will not sink, crooked, improve success rate and the survival rate of plantation, bending structure is in plantation in addition
After success, water plant can preferably and chinampa monomer 1 constitutes an overall structure, and whole plant is inlayed
In implantation hole 2.
In order to be provided with the string bag for placing balancing weight in chinampa monomer 1 both sides, can place similar in the string bag
The mass of stone, the string bag by extend rope be connected with chinampa monomer 1, can according to the depth of water of fixed area,
Regulation extends the length of rope, so can realize the function that tradition is cast anchor, allow surface water repair robot fix
Work at a certain fixed position.Chinampa monomer 1 both sides are provided with the retainer ring for stationary rope simultaneously, convenient
Connection between chinampa monomer 1 is fixed.
Chinampa cluster connects fixing side by side by multiple chinampas monomer 1, passes through between adjacent chinampa monomer 1
At least two connecting rod connects, and connecting rod two ends are vertically provided with pressure reductor, and pressure reductor is provided with for being fixed on
Rope in retainer ring, the connected mode that soft or hard combines, can effectively avoid hitting between chinampa monomer 1
Hit, also can reduce the impact on chinampa monomer 1 of the water wave simultaneously, impinge upon chinampa owing to pressure reductor can reduce
Pressure on monomer 1, it is to avoid chinampa monomer 1 is knocked damage, and being flexible coupling of rope, can make chinampa
Unit rocks with water wave, reduces the impact on chinampa monomer 1 of the water wave, and rope makes connecting rod sagging simultaneously,
Avoiding in knockout process, pressure reductor interferes with retainer ring.
For improving anti-collision effect further, chinampa monomer 1 bottom is provided with a circle anti-collision ring, and anti-collision ring is cross section
C-shaped rubber ring, is provided with microbe carrier in rubber ring, anti-collision ring is evenly distributed with logical, has anti-
While hitting function, also constitute an annular microorganism structure, by water plant, aquatic animal, micro-
Biological and bio-carrier etc. effectively combines.
For some special environments, chinampa monomer 1 can possess heating function, for plant, animal, micro-life
Thing provides a more preferable good growth and habitat, is provided with heating ring in chinampa monomer 1, heats ring energy
Enough making to heat more uniform, heating ring connects accumulator 10 through supply line, and supply line is provided with relay
Device, relay is controlled break-make by control unit 13, and chinampa monomer 1 is provided with temperature sensor, temperature sensing
Device output temperature signal, to control unit 13, so can heat opportunity by control unit 13 Based Intelligent Control,
Ensure that chinampa monomer 1 is in a suitable isoperibol.
In order to make heating more uniform, heating ring is obliquely installed, and heats incline direction and the angle of inclination of ring
Identical with the inclined-plane incline direction of chinampa monomer 1 and angle, temperature sensor simultaneously is positioned at the circle of heating ring
Position, it is possible to collect temperature data more accurately.
Above in conjunction with accompanying drawing, the present invention is exemplarily described, it is clear that the present invention implements not by upper
State the restriction of mode, if the various unsubstantialities that the method design that have employed the present invention is carried out with technical scheme
Improvement, or the most improved design by the present invention and technical scheme directly apply to other occasion, all exists
Within protection scope of the present invention.
Claims (10)
1. surface water repair robot, including the power assembly on hull and hull, it is characterised in that: described
Hull bottom be provided with flexible aeration tube, the aerator in described flexible aeration tube connection hull, described hull
Bottom is provided with dissolved oxygen probe and ammonia nitrogen probe, described dissolved oxygen probe and ammonia nitrogen probe output detectable signal extremely
Data acquisition unit, parameter signal is delivered to control unit, described control unit by described data acquisition unit
Output drive signal is to aerator.
Surface water repair robot the most according to claim 1, it is characterised in that: described hull top
Being provided with solar energy photovoltaic panel, described solar energy photovoltaic panel output electric energy is to accumulator, and described accumulator is earth's surface
Electrical equipment and power assembly on water repair robot are powered.
Surface water repair robot the most according to claim 1 and 2, it is characterised in that: described power
Assembly includes being fixed on hull bottom by motor-driven rotating disk and the jet plane being fixed on rotating disk.
Surface water repair robot the most according to claim 3, it is characterised in that: set on described hull
Having communication unit, described control unit is communicated with Surveillance center by communication unit, and described hull is provided with GPS
Unit, described GPS unit output framing signal is to control unit.
Surface water repair robot the most according to claim 4, it is characterised in that: described hull surrounding
It is provided with detection radar and photographic head, described detection radar and photographic head output detectable signal and video signal to control
Unit processed, described hull is provided with alarm, and described control unit output drive signal is to alarm, described
Hull is formed around position signalling lamp, and described hull bottom is provided with detectoscope, and described detectoscope is defeated
Go out induced signal to control unit.
Surface water repair robot the most according to claim 1 or 5, it is characterised in that: described hull
Around be fixed with at least one chinampa monomer, described chinampa monomer wedge shaped and by density less than the material system of water
Making, the upper surface of described chinampa monomer is inclined-plane, and the endface position that described chinampa monomer is higher is fixed on hull
On, described chinampa monomer is uniformly provided with multiple implantation hole for planting aquatic plants, described implantation hole
It is vertically arranged through for chinampa monomer upper and lower surface.
Surface water repair robot the most according to claim 6, it is characterised in that: described implantation hole exists
Middle part has bending structure, and implantation hole cross section is regular hexagon or octagon, described chinampa monomer
Angle of inclination less than 40 degree, monomer bottom, described chinampa is provided with a circle anti-collision ring, and described anti-collision ring is cross section
C-shaped rubber ring, is provided with microbe carrier, described anti-collision ring is evenly distributed with logical in described rubber ring
Hole.
8. according to the surface water repair robot described in claim 6 or 7, it is characterised in that: described chinampa
Monomer upper and lower surface is all covered with one layer of sol layer, and described sol layer is in surface of aluminum plate by gel method
The nano-crystalline titanium dioxide self-cleaning film of preparation.
Surface water repair robot the most according to claim 8, it is characterised in that: described chinampa monomer
Both sides are provided with the string bag for placing balancing weight, and the described string bag is connected with chinampa monomer by extending rope, and floating
Monomer both sides, island are provided with the retainer ring for stationary rope, are connected with each other solid between described adjacent chinampa monomer
Fixed, and connected by least two connecting rod, described connecting rod two ends are vertically provided with pressure reductor, described decompression
Plate is provided with the rope for being fixed in retainer ring.
Surface water repair robot the most according to claim 9, it is characterised in that: described chinampa is single
The internal heating ring that is provided with, described heating ring connects accumulator through supply line, and described supply line is provided with and continues
Electrical equipment, described relay is controlled break-make by control unit, and described chinampa monomer is provided with temperature sensor, institute
Stating temperature sensor output temperature signal to control unit, described heating ring is obliquely installed, described heating ring
Incline direction is identical with the inclined-plane incline direction of chinampa monomer and angle with angle of inclination, described temperature sensor
It is positioned at the circular position of heating ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610221290.1A CN105867374A (en) | 2016-04-11 | 2016-04-11 | Surface water restoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610221290.1A CN105867374A (en) | 2016-04-11 | 2016-04-11 | Surface water restoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105867374A true CN105867374A (en) | 2016-08-17 |
Family
ID=56637448
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610221290.1A Pending CN105867374A (en) | 2016-04-11 | 2016-04-11 | Surface water restoring robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN105867374A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106342744A (en) * | 2016-11-04 | 2017-01-25 | 安徽工业大学 | Movable solar oxygenation system and oxygenation method |
| CN108033565A (en) * | 2017-12-12 | 2018-05-15 | 浙江红欣园林艺术有限公司 | Full-automatic water ecology improved device based on plant technology |
| CN109292993A (en) * | 2018-11-13 | 2019-02-01 | 北京城市排水集团有限责任公司 | A kind of ecological floating island and its application method |
| CN111718074A (en) * | 2020-06-30 | 2020-09-29 | 南京信息工程大学 | Self-inspection gyroscope based on bioremediation |
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| CN205721356U (en) * | 2016-04-11 | 2016-11-23 | 浙江祺日环境科技有限公司 | Novel surface water repair robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109292993A (en) * | 2018-11-13 | 2019-02-01 | 北京城市排水集团有限责任公司 | A kind of ecological floating island and its application method |
| CN109292993B (en) * | 2018-11-13 | 2024-03-29 | 北京城市排水集团有限责任公司 | Ecological floating island and use method thereof |
| CN111718074A (en) * | 2020-06-30 | 2020-09-29 | 南京信息工程大学 | Self-inspection gyroscope based on bioremediation |
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Application publication date: 20160817 |