CN106801445B

CN106801445B - Automatic river channel cleaning ship based on Internet of things technology and method thereof

Info

Publication number: CN106801445B
Application number: CN201710050402.6A
Authority: CN
Inventors: 顾正华; 周欣
Original assignee: Nantong Anzhong Water Technology Co ltd
Current assignee: Nantong Anzhong Water Technology Co ltd
Priority date: 2017-01-23
Filing date: 2017-01-23
Publication date: 2022-04-01
Anticipated expiration: 2037-01-23
Also published as: CN106801445A

Abstract

The invention discloses an automatic river channel cleaning ship based on the technology of Internet of things and a method thereof. The cleaning ship is fully automatically operated by a remote control center, can automatically navigate and work, simultaneously comprises two functions of dredging the river bottom and cleaning the river surface garbage, and the two functions can be separately and independently carried out or jointly carried out; by automatically dredging and cleaning the surface garbage of the river water, the river channel keeps the initial underwater topography and recovers the normal function, thereby achieving the purpose of recovering and maintaining the water environment of the river channel and the health of the river. The invention has the advantages of low operating cost, simple structure, investment saving, convenient operation, obvious economic and social benefits and the like, and has great research and popularization values under the background of rapid development of urbanization and crisis of energy and water environment.

Description

Automatic river channel cleaning ship based on Internet of things technology and method thereof

Technical Field

The invention belongs to the field of water environment treatment, and particularly relates to an automatic river channel cleaning ship based on the technology of the Internet of things and a method thereof.

Background

The water environment is an important component of natural ecological environment, but along with the acceleration of the development of industry and agriculture and the urbanization process, the deterioration of the water environment becomes a fact that the struggle is not met. Water environment improvement and restoration have also been put into agenda by governments at all levels and their related functional departments, and good methods for improving water environments, particularly for restoring urban river water environments, are constantly being explored in practice. The plain areas have low terrain, poor water body fluidity of the river channels and weak self-cleaning capability, dead water is easy to form, a large amount of sludge is generated at the river bottoms, and a large amount of garbage floats on the river surfaces, so that the river channels have serious negative effects on local water ecological environment, river navigation, inhabitant accommodation adaptability, industrial and agricultural development and the like in the long-term past. In order to remove river bottom sludge and river surface garbage, a method of manual salvage and manual sludge pumping is adopted at present, and the method is a traditional method for river channel cleaning. The traditional river channel cleaning method is high in operation cost, low in cleaning efficiency, high in labor intensity of cleaners, long in operation time and greatly influenced by weather, and therefore more economical and practical river channel efficient cleaning technologies are urgently needed to be found.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides an automatic river channel cleaning ship based on the Internet of things technology and a method thereof. The invention adopts the following specific technical scheme:

automatic river course cleaning boat based on internet of things includes: the device comprises a sucker, a stirring device, a telescopic rod, a silt inlet hose, a digital elastic reel, a silt inlet valve, a bidirectional dredge pump, a silt outlet valve, a silt discharge valve, a silt outlet hose, a silt discharge pipe, a telescopic rod driving device, a silt storage box, a fixed column, a rear pressure sensor, an overflow hole, a silt cleaning cabin, a water pump, a cleaning cabin, a buoy, a water inlet hole, a front pressure sensor, an equal inertia water delivery branch pipe, a water delivery main pipe, a water outlet hose, a filter screen, a connecting rod, a terrain detector, an obstacle detector, a satellite navigation system signal receiver, a propeller driving device, a rudder and a rudder driving device; the inside of the sucker is provided with a stirring device, the sucker is connected with a telescopic rod, a telescopic rod driving device is arranged above the telescopic rod, a silt inlet hose is arranged inside the telescopic rod and wound on a digital elastic reel, the head end of the silt inlet hose is connected with the sucker, and the tail end of the silt inlet hose is connected with a silt inlet valve on a bidirectional dredge pump; one end of the silt discharge hose is connected to a silt discharge valve of the bidirectional dredge pump, the other end of the silt discharge hose is arranged in the center of the bottom of the silt storage tank, and a silt discharge pipe with a silt discharge valve is arranged at the top of the bidirectional dredge pump; fixing columns are installed on two sides of the silt storage box, and a satellite navigation system signal receiver is installed at the top of the silt storage box; a rear pressure sensor is arranged at the bottom of the dredging cabin; the floating barrel and the filter screen in the cleaning cabin are connected through a connecting rod, the water inlet hole is connected with the equal inertia water delivery branch pipes, the equal inertia water delivery branch pipes are collected together and then connected with a water delivery main pipe, the water delivery main pipe is connected with a water suction pump, the other end of the water suction pump is connected with a water outlet hose, and the tail end of the water outlet hose is placed on the filter screen; the front pressure sensor is arranged at the bottom of the cleaning cabin; the bottom of the ship body is provided with a terrain detector, the bow is provided with an obstacle detector, and the propeller, the propeller driving device, the rudder and the rudder driving device are arranged in the stern in a centralized manner.

Based on this technical solution, there can be provided several preferable embodiments described below, and the following technical features can be combined with each other without any conflict, and are not limited.

Preferably, the data exchange unit, the water suction pump, the power distribution unit and the self-contained power supply are arranged in the cleaning pump room; the telescopic rod driving device, the digital elastic reel and the bidirectional dredge pump are arranged in the dredging pump room.

Preferably, the solar energy mobile phone further comprises a solar panel, a data exchange unit, an input wire, an output wire, a data wire, a power distribution unit, a self-contained power supply, a rotatable camera and a warning intercom device; the solar cell panel is arranged on the roof of the dredging pump room, the roof of the cleaning pump room and the silt storage box, the solar cell panel and the self-contained power supply are connected to the power distribution unit through input electric wires, and the power distribution unit supplies power to the water suction pump, the bidirectional mud suction pump, the telescopic rod driving device, the stirring device, the rotatable camera, the warning intercom device, the propeller driving device and the rudder driving device through output electric wires; the control unit is connected with the data exchange unit through a data line, and the control unit and the data exchange unit carry out information transmission through a network; the ship-leaning bow end of the clean pump house roof is provided with a rotatable camera and a warning intercom device.

Preferably, the diameter of the sucking disc of the cleaning ship is the same as the width of the automatic cleaning ship, the telescopic rod is positioned in the center of the sucking disc, the horizontal distance between the terrain detector positioned at the bottom of the ship and the telescopic rod is the diameter of the sucking disc, and the satellite navigation system signal receiver and the terrain detector at the bottom of the ship are on the same vertical line.

Preferably, the dredging cabin and the cleaning cabin are both provided with overflow holes higher than the river surface, and the size and the height of the overflow holes in the same cabin are the same; the water surface of the dredging cabin of the cleaning ship in work is level to the overflow hole; the silt storage box is arranged in the dredging cabin and is limited to horizontally move by the two fixing columns, the silt storage box is suspended above the water surface of the dredging cabin when being empty, and sinks along the fixing columns along with the increase of the amount of silt in the silt storage box, water in the dredging cabin overflows into a river channel from an overflow hole after being extruded by the silt storage box, and the silt storage box just touches the rear pressure sensor when being completely immersed in water.

Preferably, the water surface of the cleaning cabin of the cleaning ship in work is equal to the overflow hole; in the clean cabin was arranged in to the flotation pontoon, through the filter screen of connecting rod fixed stay top, the flotation pontoon keeps sealed and suspension on the clean cabin surface of water to along with the increase of rubbish in the filter screen and sink, water in the clean cabin receives the flotation pontoon extrusion after the overflow hole spill into the river course, just in time touch preceding pressure sensor when the flotation pontoon is totally immersed in the water.

Preferably, the draft control line is higher than the river surface, the water inlet is slightly lower than the river surface, the water inlet is funnel-shaped, and the equal inertia water delivery branch pipes are designed by equal inertia.

Preferably, when the cleaning boat does not work, the telescopic rod is fixed on the stern in a shrinkage mode, and the silt inlet hose is wound on the digital elastic reel.

Preferably, the size and the height of each overflow hole on the cleaning ship are the same and are all higher than the river surface.

Preferably, the bidirectional dredge pump of the cleaning ship can run reversely, and can be used for sucking in silt on a river bed and discharging silt in the silt storage tank.

Preferably, the cleaning device is also provided with a wharf matched with the cleaning ship, a control unit, a control center, a garbage container and a sludge container, wherein the control unit is placed in the control center, and the control center, the garbage container and the sludge container are arranged on the wharf.

Another object of the present invention is to provide an automatic river channel cleaning method using the above cleaning vessel, which comprises the following steps: before the cleaning ship starts to work, water in the dredging cabin and the cleaning cabin needs to be supplemented, and the water surface of the dredging cabin and the water surface of the cleaning cabin are always kept level with the overflow hole; when the cleaning ship starts to work, the control unit firstly acquires original topographic data of a corresponding position of a riverbed according to geographic information positioned by a satellite navigation system signal receiver, compares the data with actual topographic data measured by a topographic detector, and starts to perform dredging work if the difference value between the former and the latter exceeds a threshold value; when dredging is started, the silt inlet valve and the silt outlet valve are kept open, the silt discharging valve is closed, the telescopic rod driving device receives an action instruction of the control unit from the data exchange unit, the telescopic rod is controlled to pull out the silt inlet hose in the digital elastic reel to extend downwards, the suction disc is positioned on the surface of a silt layer at a corresponding position, the suction disc starts to advance, the internal stirring device starts to rotate, the bidirectional mud pump starts to work simultaneously, silt flows into the silt storage box through the silt inlet hose and the silt outlet hose under the suction effect of the bidirectional mud pump, and when the suction disc advances to a river bed and the dredging work at the current position is finished, the control unit records the current geographical position information; the control unit determines the next dredging action of the telescopic rod according to the dredging information measured by the terrain detector and the satellite navigation system signal receiver, and meanwhile, the cleaning ship moves forwards by a distance of the diameter of the sucking disc randomly to continue dredging work; the control unit determines to finish dredging according to information sent back by the back pressure sensor through the data exchange unit, closes the bidirectional dredge pump and the dredging valve, and retracts the telescopic rod and the dredging hose; cleaning the surface garbage of the river water by the cleaning ship while dredging, opening a water suction pump, sucking the river water and the garbage into an equal inertia water delivery branch pipe from a water inlet, discharging the inertia water delivery branch pipe into a filter screen through a water delivery main pipe and a water outlet hose, keeping the filtered garbage in the filter screen, and enabling the filtered river water to flow into a cleaning cabin and overflow into a river channel through overflow holes; along with the rubbish in the filter screen constantly increases, the flotation pontoon sinks gradually, and the water in the clean cabin receives the extrusion and spills into the river course from the overflow hole, and when the flotation pontoon touched preceding pressure sensor, the control unit passed through the information decision that the data exchange unit returned according to preceding pressure sensor and ended river surface body rubbish cleaning work, closed suction pump simultaneously.

Preferably, the control unit and the telescopic rod driving device, the bidirectional dredge pump, the digital elastic reel, the water pump, the rear pressure sensor, the front pressure sensor, the propeller driving device, the rudder driving device, the satellite navigation system signal receiver, the rotatable camera, the warning intercom device, the terrain detector and the obstacle detector are subjected to information interaction through the data exchange unit, and the control unit and the data exchange unit are subjected to information transmission through the internet.

Preferably, the propeller is controlled by a propeller driving device, the rudder is controlled by a rudder driving device, and the power of the telescopic rod driving device, the bidirectional dredge pump, the digital elastic reel, the water suction pump, the stirring device, the rotatable camera, the warning intercom device, the propeller driving device and the rudder driving device is complementarily provided by the solar cell panel and the self-contained power supply under the control of the power distribution unit.

Preferably, when the cleaning ship works, the obstacle detector synchronously detects obstacles around the ship body, when the distance between the obstacle detector and the obstacles is smaller than a safety threshold value, the control unit sends an instruction to brake the cleaning ship, analyzes and processes the real-time information transmitted back by the obstacle detector, judges whether the obstacles are in a moving state or a static state, executes a detouring instruction on the obstacles in the static state, continuously sends a warning instruction on the obstacles in the moving state through the warning intercom device, and switches to the control center to remotely control the cleaning ship according to image information transmitted back by the rotatable camera and voice information transmitted back by the warning intercom device if necessary.

Preferably, the control unit can perform intelligent compensation adjustment on the navigation state of the cleaning ship according to the real-time weather condition, so that the ship body can always keep stable self-navigation under the influence of certain storms; when the cleaning ship cannot be automatically adjusted in severe weather, the control unit controls the cleaning ship to automatically return, and if necessary, workers in the control center remotely control the cleaning ship to return according to image information transmitted back by the rotatable camera.

Preferably, when the cleaning ship stops at a wharf, the sludge is discharged, the sludge discharge valve and the sludge discharge valve are kept open, the sludge inlet valve is closed, the bidirectional sludge pump automatically rotates reversely under the instruction of the control unit, the sludge in the sludge storage tank is discharged into the sludge container through the sludge discharge hose through the sludge discharge pipe, and the sludge discharge is stopped at proper time according to the information monitored by the rotatable camera; the garbage and the sludge on the cleaning ship are respectively arranged in a garbage container and a sludge container for subsequent treatment.

Preferably, the rotating speed of the stirring device must be selected to ensure that the sludge layer can reach a better loosening state on one hand and the organisms of the shells cannot be damaged on the other hand; the telescopic speed of the telescopic rod and the moving speed of the cleaning boat must be reasonable during dredging, and fish can be allowed to escape.

Preferably, when the sucker of the cleaning ship is blocked in the dredging process, the telescopic rod cannot continue to move downwards, and the control unit records the geographic information of the current position of the sucker and the current information of the digital elastic reel for analyzing and processing the shape of the obstacle in the later period and sends a next dredging instruction.

Preferably, the cleaning ship can select two cleaning paths, wherein one cleaning path is a random cleaning path generated by the control unit under the condition of avoiding the recently cleaned position according to the recorded historical cleaning information; the other is a cleaning path designated manually.

Preferably, the cleaning boat can be used for single cleaning operation of river channel dredging or cleaning of river surface body garbage, and can also be used for joint cleaning operation of river channel dredging and cleaning of river surface body garbage.

The invention constructs a full-automatic river channel cleaning ship by combining a networking technology and a ship unmanned technology, simultaneously comprises two functions of river bottom sludge cleaning and river surface garbage cleaning, and treats the river channel needing to be cleaned. The invention has the advantages of low operating cost, simple structure, investment saving, convenient operation, remarkable economic and social benefits and the like, has great research and popularization values under the background of rapid development of urbanization and crises of energy and water environment, can effectively improve the water quality and appearance of rivers in plain areas, maintains the initial topography of the river channels, increases the flowing water environment capacity of the plain rivers, and has little influence on the ecology and shipping of the rivers.

Drawings

FIG. 1 is a schematic vertical view of an automatic river channel cleaning ship based on the technology of Internet of things;

FIG. 2 is a schematic top view of an automatic river channel cleaning ship based on the Internet of things technology;

FIG. 3 is a schematic cross-sectional view of a dredging cabin of an automatic river channel cleaning ship based on the technology of Internet of things;

fig. 4 is a schematic cross-sectional view of a cleaning cabin of an automatic river channel cleaning ship based on the internet of things technology.

Reference numerals in fig. 1 to 4 are respectively: a riverbed 1, a silt layer 2, a suction cup 3, an expansion link 4, a silt inlet hose 5, a digital elastic reel 6, a draft control line 7, a silt inlet valve 8, a bidirectional dredge pump 9, a silt discharge valve 10, a silt discharge hose 11, a silt discharge pipe 12, a silt discharge valve 13, an expansion link driving device 14, a fixed column 15, a silt removal pump room 16, a silt storage tank 17, an overflow hole 18, a silt removal cabin 19, a solar panel 20, a rear pressure sensor 21, a data exchange unit 22, a water pump 23, an input electric wire 24, a self-contained power supply 25, a power distribution unit 26, a cleaning cabin 27, a buoy 28, a water inlet hole 29, a front pressure sensor 30, an equal inertia water delivery branch pipe 31, a water delivery main pipe 32, a water level 33 in the silt removal cabin, a water level 34 in the cleaning cabin, river water 35, a filter screen 36, a connecting rod 37, a terrain detector 38, a stirring device 39, an obstacle detector 40, a rudder 41, a propeller 42, a propeller driving device 43, a silt inlet control device and a silt control device, Rudder drive device 44, data line 45, dock 46, control unit 47, control center 48, garbage container 49, silt container 50, satellite navigation system signal receiver 51, output wire 52, rotatable camera 53, warning intercom 54, clean pump house 55, water hose 56.

Detailed Description

The invention will be further elucidated and described with reference to the drawings and the detailed description. The technical features of the embodiments of the present invention can be combined correspondingly without mutual conflict.

As shown in fig. 1, 2, 3 and 4, an automatic river channel cleaning ship based on internet of things technology comprises: the device comprises a suction cup 3, a stirring device 39, an expansion link 4, a silt inlet hose 5, a digital elastic reel 6, a silt inlet valve 8, a bidirectional dredge pump 9, a silt outlet valve 13, a silt discharge valve 10, a silt outlet hose 11, a silt discharge pipe 12, an expansion link driving device 14, a silt cleaning pump room 16, a silt storage tank 17, a fixed column 15, a rear pressure sensor 21, an overflow hole 18, a silt cleaning room 19, a water suction pump 23, a cleaning pump room 55, a data exchange unit 22, a cleaning room 27, a buoy 28, a water inlet 29, a front pressure sensor 30, an equal inertia water delivery branch pipe 31, a water delivery main pipe 32, a water outlet hose 56, a filter screen 36, a connecting rod 37, a terrain detector 38, an obstacle detector 40, a satellite navigation system signal receiver 51, a propeller 42, a propeller driving device 43, a rudder 41 and a driving device 44; the inside of the sucker 3 is provided with a stirring device 39, the sucker 3 is connected with a telescopic rod 4, a telescopic rod driving device 14 is arranged above the telescopic rod 4, the inside of the telescopic rod 4 is provided with a silt inlet hose 5, the silt inlet hose 5 is wound on a digital elastic reel 6, the head end of the silt inlet hose is connected with the sucker 3, and the tail end of the silt inlet hose is connected with a silt inlet valve 8 on a bidirectional dredge pump 9; one end of the silt discharge hose 11 is connected with a silt discharge valve 13 of the bidirectional dredge pump 9, the other end is arranged in the center of the bottom of the silt storage tank 17, and a silt discharge pipe 12 with a silt discharge valve 10 is arranged at the top of the bidirectional dredge pump 9; the two sides of the silt storage box 17 are provided with fixed columns 15, and the top of the silt storage box is provided with a satellite navigation system signal receiver 51; the bottom of the desilting cabin 19 is provided with a rear pressure sensor 21; the float 28 and the filter screen 36 in the cleaning cabin 27 are connected through a connecting rod 37, the water inlet 29 is connected with the equal inertia water delivery branch pipes 31, the equal inertia water delivery branch pipes 31 are converged together and then connected with the water delivery main pipe 32, the water delivery main pipe 32 is connected with the water suction pump 23, the other end of the water suction pump 23 is connected with a water outlet hose 56, and the tail end of the water outlet hose 56 is placed on the filter screen 36; the cabin bottom of the cleaning cabin 27 is provided with a front pressure sensor 30; the bottom of the hull is provided with a terrain detector 38, the bow is provided with an obstacle detector 40, and a propeller 42, a propeller driving device 43, a rudder 41 and a rudder driving device 44 are collectively arranged in the stern.

As shown in fig. 1 and 2, the automatic river channel cleaning ship based on the internet of things technology further comprises a solar panel 20, a data exchange unit 22, an input wire 24, an output wire 52, a data wire 45, a power distribution unit 26, a self-contained power supply 25, a rotatable camera 53 and a warning intercom device 54; the solar panel 20 is arranged on the roof of the dredging pump room 16, the roof of the cleaning pump room 55 and the silt storage box 17, the solar panel 20 and the self-contained power supply 25 are connected to the power distribution unit 26 through the input electric wires 24, and the power distribution unit 26 supplies power to the water suction pump 23, the bidirectional mud pump 9, the telescopic rod driving device 6, the stirring device 39, the rotatable camera 53, the warning intercom device 54, the propeller driving device 43 and the rudder driving device 44 through the output electric wires 52; the telescopic rod driving device 6, the bidirectional dredge pump 9, the digital elastic reel 6, the water pump 23, the front pressure sensor 30, the rear pressure sensor 21, the propeller driving device 43, the rudder driving device 44, the terrain detector 38, the satellite navigation system signal receiver 51 and the obstacle detector 40 are connected with the data exchange unit 22 through a data line 45; the cleaning pump house 55 is provided with a rotatable camera 53 and a warning intercom 54 at the ship-like bow on the roof.

The data exchange unit 22, the suction pump 23, the power distribution unit 26 and the self-contained power supply 25 are arranged in the cleaning pump room 55; the telescopic rod driving device 14, the digital elastic reel 6 and the bidirectional dredge pump 9 are arranged in a dredging pump room 16.

The diameter of the sucking disc 3 of clearance ship is the same with the width of automatic clearance ship, and telescopic link 4 is in the center of sucking disc 3, and the horizontal distance that is located the topography detector 38 of hull bottom and telescopic link 4 is the diameter size of sucking disc 3, and satellite navigation system signal receiver 51 is on same vertical line with the topography detector 38 of hull bottom, and can be waterproof. Therefore, the cleaning boat can detect whether the next target position needs cleaning and the thickness of the sludge layer in advance when the suction disc 3 cleans the sludge. After the silt of a department of clearance, can be according to the condition that has detected, directly through the height of telescopic link 4 adjustment sucking disc 3, carry out continuous processing to next silt.

The dredging cabin 19 and the cleaning cabin 27 are both provided with overflow holes 18 higher than the river surface 35, and the size and the height of the overflow holes 18 in the same cabin are the same. The water surface 33 of the desilting cabin of the cleaning ship in work is level with the overflow hole 18; the silt storage box 17 is arranged in the silt removing cabin 19 and is limited to move horizontally by two vertical fixing columns 15, most of the silt storage box 17 is suspended above the water surface 33 of the silt removing cabin when being empty, and sinks along the fixing columns 15 along with the increase of the silt amount in the silt storage box 17, water in the silt removing cabin 19 overflows into a river channel from an overflow hole 18 after being extruded by the silt storage box 17, and the silt storage box 17 just touches the rear pressure sensor 21 when being completely immersed in the water, so that the silt amount in the silt storage box 17 is fed back, and the linkage control is realized. When the silt storage tank 17 touches the rear pressure sensor 21, the silt storage capacity can be considered to be saturated, and at this time, corresponding information can be fed back to the control center 48 through the data exchange unit 22, so that the cleaning boat is controlled to stop sucking silt, the boat body is returned to the wharf, the silt is emptied, and then the silt cleaning is started again.

The water surface 34 of the cleaning cabin of the cleaning ship in work is level with the overflow hole 18; the floating pontoon 28 is arranged in the cleaning cabin 27, the filter screen 36 above the filter screen is fixedly supported through the connecting rod 37, the floating pontoon 28 keeps sealed, most of the water floats on the water surface 34 of the cleaning cabin and sinks along with the increase of the garbage in the filter screen 36, the water in the cleaning cabin 27 is extruded by the floating pontoon 28 and then overflows into a river channel from the overflow hole 18, the floating pontoon 28 just touches the front pressure sensor 30 when being completely immersed in the water, therefore, the amount of the garbage on the filter screen 36 is fed back, and the linkage control is realized. When the float 28 touches the front pressure sensor 30, it is considered that the amount of waste is saturated, and corresponding information can be fed back to the control center 48 via the data exchange unit 22, controlling the cleaning vessel to stop feeding water, and returning the hull to the dock, emptying the waste and then restarting the cleaning of the waste.

The river surface 35 is lower than the draft control line 7 and slightly higher than the water inlet 29, the water inlet 29 is funnel-shaped, and the equal inertia water delivery branch pipes 31 adopt equal inertia design. The two-way dredge pump 9 of the cleaning vessel can run in reverse, and can be used for sucking in the sludge on the riverbed 1 and discharging the sludge in the sludge storage tank 17.

When the cleaning boat does not work, the telescopic rod 4 is fixed on the stern in a contracting mode, and the silt inlet hose 5 is wound on the digital elastic reel 6. The digital elastic reel 6 is a reel with elastic shrinkage prestress, and after silt cleaning is finished, the silt inlet hose 5 can retract under the action of elasticity; in addition, in order to realize automatic control, the reel is of a type which can digitally measure the stretching length of the silt inlet hose 5.

The present invention may be provided with a dock 46, a control center 48, a refuse container 49 and a sludge container 50 associated with the cleaning vessel. The control unit 47 is placed in a control centre 48, which control centre 48, a refuse container 49 and a sludge container 50 are mounted on the quay 46. The control center 48 is mainly used for monitoring the operation state of the cleaning ship and can be manually controlled under special conditions.

The method for cleaning the river channel or other water areas by the automatic river channel cleaning ship based on the Internet of things technology comprises the following steps: when the cleaning ship starts to work, the control unit 47 firstly obtains original topographic data of the corresponding position of the riverbed 1 according to the geographic information positioned by the satellite navigation system signal receiver 51, compares the data with the actual topographic data measured by the topographic detector 38, and starts to perform dredging work if the difference between the former and the latter exceeds a threshold value; when dredging is started, the silt inlet valve 8 and the silt outlet valve 13 are kept open, the silt discharging valve 10 is closed, the telescopic rod driving device 14 receives an action instruction of the control unit 47 from the data exchange unit 22, the telescopic rod 4 is controlled to pull out the silt inlet hose 5 in the digital elastic reel 6 to extend downwards, the suction cup 3 is positioned on the surface of the silt layer 2 at a corresponding position, the suction cup 3 starts to advance, the internal stirring device 39 starts to rotate, the bidirectional dredge pump 9 starts to work simultaneously, silt flows into the silt storage tank 17 through the silt inlet hose 5 and the silt outlet hose 11 under the suction effect of the bidirectional dredge pump 9, and when the suction cup 3 advances to the river bed 1 and the dredging work at the current position is finished, the control unit 47 records the current geographical position information; the control unit 47 determines the next dredging action of the telescopic rod 4 according to the dredging information measured by the terrain detector 38 and the satellite navigation system signal receiver 51, and simultaneously, the cleaning ship moves forwards by the diameter distance of one sucker (3) randomly to continue the dredging work; along with the gradual increase of the sludge in the sludge storage tank 17, the sludge storage tank (17) begins to sink, if the sludge storage tank 17 touches the rear pressure sensor 21, the control unit 47 determines to finish the dredging work according to the information sent back by the rear pressure sensor 21 through the data exchange unit 22, and simultaneously closes the two-way sludge pump 9 and the sludge inlet valve 8, and retracts the telescopic rod 4 and the sludge inlet hose 5; the cleaning ship cleans the surface garbage of the river water while dredging, at the moment, the water suction pump 23 is opened, the river water and the garbage are sucked into the equal inertia water delivery branch pipes 31 from the water inlet 29 and then discharged into the filter screen 36 through the water delivery main pipe 32 and the water outlet hose 56, the filtered garbage is left in the filter screen 36, and the filtered river water flows into the cleaning cabin and overflows into the river channel through the overflow holes 18; the floating barrel 28 sinks gradually as the garbage in the filter screen 36 increases, at this time, the water in the cleaning cabin 27 is squeezed to overflow from the overflow hole 18 into the river channel, when the floating barrel 28 touches the front pressure sensor 30, the control unit 47 determines to end the cleaning of the garbage on the surface of the river according to the information sent back by the front pressure sensor 30 through the data exchange unit 22, and simultaneously, the water pump 23 is turned off.

The control unit 47 interacts information with the telescopic rod driving device 6, the bidirectional dredge pump 9, the digital spring reel 6, the water pump 23, the rear pressure sensor 21, the front pressure sensor 30, the propeller driving device 43, the rudder driving device 44, the satellite navigation system signal receiver 51, the rotatable camera 53, the warning intercom device 54, the terrain detector 38 and the obstacle detector 40 through the data exchange unit 22, and the control unit 47 and the data exchange unit 22 transmit information through the internet.

The propeller 42 is controlled by the propeller driving device 43, the rudder 41 is controlled by the rudder driving device 44, and the power of the telescopic rod driving device 6, the bidirectional dredge pump 9, the digital resilient reel 6, the water suction pump 23, the agitating device 39, the rotatable camera 53, the warning intercom device 54, the propeller driving device 43 and the rudder driving device 44 is complementarily provided by the solar cell panel 20 and the self-contained power supply 25 under the control of the power distribution unit 26.

The bow of the cleaning ship is provided with an obstacle detector 40, when the cleaning ship works, the obstacle detector 40 synchronously detects obstacles, when the distance between the obstacle detector 40 and the obstacles is smaller than a safety threshold value, the control unit 47 sends an instruction to brake the cleaning ship, analyzes and processes the real-time information transmitted by the obstacle detector 40, judges whether the obstacles are in a moving state or a static state, executes a detour instruction for the obstacles in the static state, continuously sends a warning instruction for the obstacles in the moving state through a warning intercom device 54, and if necessary, a worker in the control center 48 remotely controls the cleaning ship according to image information and voice information transmitted by the rotatable camera 53 and the warning intercom device 54.

In addition, before the cleaning ship starts to work, water in the dredging cabin 19 and the cleaning cabin 27 needs to be supplemented, and the water level 33 of the dredging cabin and the water level 34 of the cleaning cabin are always kept level with the overflow hole 18.

The control unit 47 can perform intelligent compensation adjustment on the navigation state of the cleaning ship according to real-time weather conditions, so that the ship body can always keep stable self-navigation under the influence of certain storms; when the cleaning ship cannot be automatically adjusted in severe weather, the control unit 47 controls the cleaning ship to automatically return, and if necessary, workers in the control center 48 remotely control the cleaning ship to return according to the image information transmitted back by the rotatable camera 53.

The cleaning boat can automatically discharge silt, when the cleaning boat stops at the wharf 46 to start silt discharge, the silt discharge valve 10 and the silt discharge valve 13 are kept open, the silt inlet valve 8 is closed, the bidirectional dredge pump 9 automatically rotates reversely under the instruction of the control unit 47, silt in the silt storage tank 17 is discharged into the silt container 50 through the silt discharge hose 11 through the silt discharge pipe 12, and silt discharge is stopped timely according to information monitored by the rotatable camera 53.

The garbage and sludge on the cleaning ship are respectively arranged in a garbage container 49 and a sludge container 50, so that the subsequent treatment is convenient.

The rotating speed of the stirring device 39 must be selected to ensure that the sludge layer 2 can reach a better loosening state on one hand and no damage is caused to the organisms of the shells on the other hand; the telescopic speed of the telescopic rod 4 and the moving speed of the cleaning boat must be reasonable during dredging, and fish can be allowed to escape.

When the sucking disc 3 of clearance ship meets the hindrance at the desilting in-process, telescopic link 4 can't continue to visit down, then the geographic information of sucking disc 3 current position and the current information record of digital elasticity reel 6 are got down to the control unit 47 for later stage barrier shape analysis processes sends next desilting instruction simultaneously.

The cleaning ship has two cleaning paths which can be selected, one is a random cleaning path generated by the control unit 47 under the condition of avoiding the recently cleaned position according to the recorded historical cleaning information; the other is a cleaning path designated manually.

The invention can be used for single cleaning operation of river channel dredging or river surface garbage cleaning, and can also be used for common cleaning operation of river channel dredging and river surface garbage cleaning.

The solar cell panel is used as a main power supply mode, and the self-contained power supply is used as an auxiliary power supply mode, so that the solar cell panel has the characteristics of low carbon, environmental protection, saving and high efficiency. In the automatic cleaning process of the river channel, the protection of fish and shellfish in the river channel is fully considered, and the threat to the ecological environment of the river channel can not be caused. The invention is suitable for rural rivers and urban rivers; the method is suitable for single plain rivers and lakes and plain river networks. The invention can dredge the river channel on the premise of low cost, obviously improve the water quality of plain rivers, increase the local water resource bearing capacity and generate great economic and social benefits.

The above-described embodiment is only a preferred embodiment of the present invention, but it is not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, for example, the buoy and the cleaning chamber may be designed in a cylindrical shape or a rectangular shape. Therefore, the technical scheme obtained by adopting the mode of equivalent replacement or equivalent transformation is within the protection scope of the invention.

Claims

1. The utility model provides an automatic river course cleaning boat based on internet of things, its characterized in that includes: sucking disc (3), agitating unit (39), telescopic link (4), advance silt hose (5), digital elasticity reel (6), advance silt valve (8), two-way dredge pump (9), go out silt valve (13), arrange silt valve (10), go out silt hose (11), arrange silt pipe (12), telescopic link drive arrangement (14), store up silt case (17), fixed column (15), back pressure sensor (21), overflow hole (18), desilting cabin (19), suction pump (23), clean cabin (27), flotation pontoon (28), inlet opening (29), preceding pressure sensor (30), inertia water delivery branch pipe (31), water delivery house steward (32), go out water hose (56), filter screen (36), connecting rod (37), topography detector (38), obstacle detector (40), satellite navigation system signal receiver (51), propeller (42), propeller drive arrangement (43), A rudder (41) and a rudder drive device (44); a stirring device (39) is arranged in the sucker (3), the sucker (3) is connected with a telescopic rod (4), a telescopic rod driving device (14) is arranged above the telescopic rod (4), a silt inlet hose (5) is arranged in the telescopic rod (4), the silt inlet hose (5) is wound on a digital elastic reel (6), the head end of the silt inlet hose is connected with the sucker (3), and the tail end of the silt inlet hose is connected with a silt inlet valve (8) on a bidirectional dredge pump (9); one end of the silt discharge hose (11) is connected to a silt discharge valve (13) of the bidirectional dredge pump (9), the other end is arranged in the center of the bottom of the silt storage tank (17), and a silt discharge pipe (12) with a silt discharge valve (10) is arranged at the top of the bidirectional dredge pump (9); fixed columns (15) are installed on two sides of the silt storage box (17), and a satellite navigation system signal receiver (51) is installed at the top of the silt storage box; the bottom of the desilting cabin (19) is provided with a rear pressure sensor (21); a float bowl (28) in the cleaning cabin (27) is connected with a filter screen (36) through a connecting rod (37), a water inlet hole (29) is connected with an inertia water delivery branch pipe (31), the inertia water delivery branch pipes (31) are converged together and then connected with a water delivery main pipe (32), the water delivery main pipe (32) is connected with a water suction pump (23), the other end of the water suction pump (23) is connected with a water outlet hose (56), and the tail end of the water outlet hose (56) is placed on the filter screen (36); the bottom of the cleaning cabin (27) is provided with a front pressure sensor (30); a terrain detector (38) is arranged at the bottom of the ship body, a barrier detector (40) is arranged at the bow of the ship body, and a propeller (42), a propeller driving device (43), a rudder (41) and a rudder driving device (44) are intensively arranged in the stern of the ship;

overflow holes (18) higher than the river surface (35) are formed in the dredging cabin (19) and the cleaning cabin (27), and the size and the height of the overflow holes (18) in the same cabin are the same; the water surface (33) of the dredging cabin of the cleaning ship in work is level to the overflow hole (18); the silt storage tank (17) is arranged in the silt removing cabin (19) and is limited to move horizontally by two fixed columns (15), the silt storage tank (17) is suspended above the water surface (33) of the silt removing cabin when being empty and sinks along the fixed columns (15) along with the increase of the silt amount in the silt storage tank (17), water in the silt removing cabin (19) overflows into a river channel from an overflow hole (18) after being extruded by the silt storage tank (17), and the silt storage tank (17) just touches a rear pressure sensor (21) when being completely immersed in water;

the water surface (34) of a cleaning cabin of the cleaning ship in work is level with the overflow hole (18); the floating pontoon (28) is arranged in the cleaning cabin (27), the filter screen (36) above the floating pontoon (28) is fixedly supported through the connecting rod (37), the floating pontoon (28) keeps sealed and is suspended above the water surface (34) of the cleaning cabin and sinks along with the increase of garbage in the filter screen (36), water in the cleaning cabin (27) overflows into a river channel from the overflow hole (18) after being extruded by the floating pontoon (28), and the floating pontoon (28) just touches the front pressure sensor (30) when being completely immersed in the water.

2. The automatic river channel cleaning ship based on the Internet of things technology according to claim 1, further comprising a solar panel (20), a data exchange unit (22), an input wire (24), an output wire (52), a data wire (45), a power distribution unit (26), a self-contained power supply (25), a rotatable camera (53) and a warning intercom device (54); the solar cell panel (20) is arranged on the roof of the dredging pump room (16), the roof of the cleaning pump room (55) and the silt storage box (17), the solar cell panel (20) and the self-contained power supply (25) are connected to the power distribution unit (26) through the input electric wire (24), and the power distribution unit (26) supplies power to the water suction pump (23), the bidirectional dredge pump (9), the telescopic rod driving device (6), the stirring device (39), the rotatable camera (53), the warning intercom device (54), the propeller driving device (43) and the rudder driving device (44) through the output electric wire (52); the device comprises a telescopic rod driving device, a bidirectional dredge pump (9), a digital elastic reel (6), a water pump (23), a front pressure sensor (30), a rear pressure sensor (21), a propeller driving device (43), a rudder driving device (44), a terrain detector (38), a satellite navigation system signal receiver (51) and an obstacle detector (40), wherein the data line (45) is connected with a data exchange unit (22), and a control unit (47) and the data exchange unit (22) are in information transmission through a network; the ship-leaning bow end of the roof of the clean pump house (55) is provided with a rotatable camera (53) and a warning intercom device (54).

3. The automatic river channel cleaning ship based on the internet of things technology as claimed in claim 1, wherein the diameter of the suction cup (3) of the cleaning ship is the same as the width of the automatic cleaning ship, the telescopic rod (4) is located in the center of the suction cup (3), the horizontal distance between the terrain detector (38) located at the bottom of the ship and the telescopic rod (4) is the diameter of the suction cup (3), and the satellite navigation system signal receiver (51) and the terrain detector (38) at the bottom of the ship are on the same vertical line.

4. The automatic river channel cleaning ship based on the Internet of things technology according to claim 1, wherein the draft control line (7) is higher than the river surface (35), the water inlet hole (29) is slightly lower than the river surface (35), the water inlet hole (29) is funnel-shaped, and the equal-inertia water delivery branch pipe (31) is designed to have equal inertia; when the cleaning boat does not work, the telescopic rod (4) is fixed on the stern in a contracting way, and the silt inlet hose (5) is wound on the digital elastic reel (6).

5. An automatic cleaning method for river channels by using the cleaning ship of claim 1, characterized in that before the cleaning ship starts working, water in the cleaning cabin (19) and the cleaning cabin (27) needs to be supplemented, and the water level (33) of the cleaning cabin and the water level (34) of the cleaning cabin are always kept level with the overflow holes (18); when the cleaning ship starts to work, a control unit (47) firstly acquires original topographic data of a corresponding position of a riverbed (1) according to geographic information positioned by a satellite navigation system signal receiver (51), compares the original topographic data with actual topographic data measured by a topographic detector (38), and starts to perform dredging work if the difference value between the original topographic data and the actual topographic data exceeds a threshold value; when dredging is started, the silt inlet valve (8) and the silt outlet valve (13) are kept open, the silt discharging valve (10) is closed, the telescopic rod driving device (14) receives an action command of the control unit (47) from the data exchange unit (22), the telescopic rod (4) is controlled to pull out the silt inlet hose (5) in the digital elastic reel (6) to extend downwards, the suction disc (3) is positioned on the surface of the silt layer (2) at a corresponding position, the suction disc (3) starts to advance, the internal stirring device (39) starts to rotate, the two-way mud pump (9) starts to work simultaneously, silt flows into the silt storage tank (17) through the silt inlet hose (5) and the silt outlet hose (11) under the suction force of the two-way mud pump (9), and when the suction disc (3) advances to the river bed (1), when the desilting work of the current position is finished, the control unit (47) records the current geographical position information; the control unit (47) determines the next dredging action of the telescopic rod (4) according to the dredging information measured by the terrain detector (38) and the satellite navigation system signal receiver (51), and simultaneously the cleaning ship moves forwards by the distance of the diameter of one sucker (3) randomly to continue dredging work; along with the gradual increase of the sludge in the sludge storage tank (17), the sludge storage tank (17) begins to sink, if the sludge storage tank (17) touches the rear pressure sensor (21), the control unit (47) determines to finish the dredging work according to the information sent back by the rear pressure sensor (21) through the data exchange unit (22), and simultaneously closes the two-way sludge pump (9) and the sludge inlet valve (8), and retracts the telescopic rod (4) and the sludge inlet hose (5); cleaning the surface garbage of the river water while dredging the cleaning ship, opening a water suction pump (23), sucking the river water and the garbage into an equal inertia water delivery branch pipe (31) from a water inlet (29), discharging the river water and the garbage into a filter screen (36) through a water delivery main pipe (32) and a water outlet hose (56), remaining the filtered garbage in the filter screen (36), and enabling the filtered river water to flow into a cleaning cabin and overflow into a river channel through an overflow hole (18); the floating barrel (28) sinks gradually along with the increase of the garbage in the filter screen (36), water in the cleaning cabin (27) is extruded to overflow into a river channel from the overflow hole (18), when the floating barrel (28) touches the front pressure sensor (30), the control unit (47) determines to finish the cleaning work of the garbage on the surface of the river according to the information returned by the front pressure sensor (30) through the data exchange unit (22), and meanwhile, the water suction pump (23) is closed.

6. The method as claimed in claim 5, characterized in that when the cleaning vessel is in operation, the obstacle detectors (40) simultaneously detect obstacles around the hull, when the distance between the obstacle detectors (40) and the obstacles is less than a safety threshold, the control unit (47) instructs braking of the cleaning vessel, and performs analysis processing based on real-time information transmitted back by the obstacle detectors (40), determines whether the obstacle is in a moving state or a stationary state, executes a detour instruction for the obstacle in the stationary state, continuously transmits a warning instruction for the obstacle in the moving state via the warning intercom device (54), and switches to remote control of the cleaning vessel by the control center (48) based on image information transmitted back by the rotatable camera (53) and voice information transmitted back by the warning intercom device (54) if necessary.

7. A method according to claim 5, characterized in that when the cleaning ship is parked at the dock (46), the sludge discharge is started, the sludge discharge valve (10) and the sludge discharge valve (13) are kept open, the sludge inlet valve (8) is closed, the bidirectional sludge pump (9) is automatically reversed under the command of the control unit (47), the sludge in the sludge storage tank (17) is discharged from the sludge discharge pipe (12) to the sludge container (50) through the sludge discharge hose (11), and the sludge discharge is stopped in due time according to the information monitored by the rotatable camera (53); the waste and sludge on the cleaning vessel are loaded into a waste container (49) and a sludge container (50), respectively, for subsequent treatment.

8. A method as claimed in claim 5, characterized in that when the suction cup (3) of the cleaning boat encounters an obstacle during the dredging process, the telescopic rod (4) cannot be extended further, and the control unit (47) records the geographic information of the current position of the suction cup (3) and the current information of the digital spring reel (6) for later obstacle shape analysis and processing, and sends out a next dredging instruction.