CN107021188A - Multifunctional river channel administers hull robot - Google Patents
Multifunctional river channel administers hull robot Download PDFInfo
- Publication number
- CN107021188A CN107021188A CN201710109176.4A CN201710109176A CN107021188A CN 107021188 A CN107021188 A CN 107021188A CN 201710109176 A CN201710109176 A CN 201710109176A CN 107021188 A CN107021188 A CN 107021188A
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- China
- Prior art keywords
- unit
- river
- hull robot
- rubbish
- garbage
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F9/00—Multistage treatment of water, waste water or sewage
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
- E02F5/285—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways with drag buckets or scraper plates
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/001—Processes for the treatment of water whereby the filtration technique is of importance
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F1/00—Treatment of water, waste water, or sewage
- C02F1/28—Treatment of water, waste water, or sewage by sorption
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W10/00—Technologies for wastewater treatment
- Y02W10/30—Wastewater or sewage treatment systems using renewable energies
- Y02W10/33—Wastewater or sewage treatment systems using renewable energies using wind energy
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W10/00—Technologies for wastewater treatment
- Y02W10/30—Wastewater or sewage treatment systems using renewable energies
- Y02W10/37—Wastewater or sewage treatment systems using renewable energies using solar energy
Abstract
Hull robot is administered the present invention relates to a kind of Multifunctional river channel, including：Hull robot main body, garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration unit, control centre；The control centre is wirelessly connected with aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration unit, control centre is by receiving the pollutant data that random detection unit is sent, instruction is sent to aeration oxygen replenishing unit, automatic fitration unit, control its open and close, the instruction for opening corresponding medicine unit valve is sent to intelligence dispensing unit, make the herbal sprinkling of correspondence medicine unit into river course, realize the processing to pollutant.The of the invention disposable pollutant thoroughly removed in river course, is generation mode using solar energy and wind energy, solve electric power of equipment supply rely on accumulator capacity or must closely electric power facility the problem of, with automatic cruising and obstacle avoidance function.
Description
Technical field
Hull robot is administered the present invention relates to river sewage processing technology field, more particularly to a kind of Multifunctional river channel.
Background technology
In daily life, pollution of estuary problem is very serious, and what is particularly existed in river course is a large amount of solid
Contain in body rubbish, white garbage etc., the solidity particle existed in river and bulky grain organic pollution agglomerate, the mud of river bed
Some oxynitrides, dissolved oxygen, COD, BOD etc., produce to living environment biological in river course and have a strong impact on, in prior art
In, following manner mainly is taken to the cleaning of pollution of river thing：
One is by the way of artificially collecting, by manually rowing the boat or using marine salvage equipment can be with meat to Ha Noi on riverbank
Solid refuse, white garbage, pasture and water for arriving soon etc. are cleared up, and it is minimum that this mode handles pollution of river level, are only
Large-scale solid refuse is removed, can not thoroughly improve quality of river water, this mode labor intensive is more in addition, execution efficiency
It is low；
Two be that river bed is cleared up using heavy mechanical equipment, mainly by way of segmentation is dammed, one section one section
Drain river, clear up remaining rubbish, pasture and water, mud etc., then river bed laid again again, this mode is to river course
Pollutant cleaning effect ratio more thoroughly, but cost is high, takes longer, is not easy to daily pollutant process；
Three be artificial dispensing disinfecting drug mode, and this mode is to use manually to row the boat or deliver disinfectant from bank
Product, carry out disinfection processing to the pollutant in river, and this mode is relatively low to the processing level of pollutant in river course, it is impossible to river
Interior rubbish is cleared up, it is necessary to the purpose of cleaning Ha Noi rubbish could be realized with coordinating otherwise, moreover, this mode consumes
Take manpower larger, every time after dispensing, the management and control time is shorter.
Therefore, prior art needs to improve.
The content of the invention
Hull robot is administered the invention discloses a kind of Multifunctional river channel, to solve the problem of prior art is present.
The Multifunctional river channel, which administers hull robot, to be included：
Hull robot main body, garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, from
Dynamic filter element, control centre；
The hull robot main body is the garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence throwing
Prescription member, the function of automatic fitration unit realize that providing electric energy support, framework supports and power support；
The garbage-cleaning unit is located at the bottom of hull robot main body, is placed in river course, passes through garbage-cleaning list
Member cleans out the solid refuse, white garbage, pasture and water of river course surface and bottom, and the garbage-cleaning unit passes through hull machine
Device human agent provides power, and the rubbish cleared up by the movement locus of hull robot main body in river course；
The aeration oxygen replenishing unit is located at the middle part of hull robot main body, for carrying out reoxygenation for river course；
The random detection unit detects pollutant classification and pollutant load in river by detection device, and by dirt
Dye thing parameter is sent to control centre；
The intelligence dispensing unit is instructed according to control centre, opens the valve of corresponding medicine unit, corresponding medicament is thrown
Enter in river, realize the processing to pollution of estuary thing；
The automatic fitration unit provides power by hull robot main body, for by the solidity particle in river and greatly
Particle organic pollution agglomerate is filtered and adsorbed；
The control centre wirelessly with aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic
Filter element is connected, by receiving the pollutant data that random detection unit is sent, and control centre is to aeration oxygen replenishing unit, automatic
Filter element sends instruction, and control aeration oxygen replenishing unit, the open and close of automatic fitration unit send to intelligence dispensing unit and opened
The instruction of corresponding medicine unit valve is opened, makes the herbal sprinkling of correspondence medicine unit into river course, realizes the processing to pollutant.
Administered based on above-mentioned Multifunctional river channel in another embodiment of hull robot, the hull robot main body
Including：Floating body, floating body spacing expansion bracket, solar panel, wind-power electricity generation propeller, battery, travel motor, radar detection
Device, impact force sensor-based system；
The floating body is two cylindrical rubber air bags of the same size, and the floating body connects with the floating body spacing expansion bracket
Connect, the spacing of two air bags is controlled by floating body spacing expansion bracket, to adapt to the river course of different in width, the floating body spacing is stretched
Frame is the rectangular body support frame of steel construction, and the width of expansion link is adjusted by bolt；
The solar panel is fixed on the top of the floating body spacing expansion bracket, is connected, passes through with the battery
Absorb solar energy and solar energy is changed into electric energy, and electric energy is transmitted to battery；
The wind-power electricity generation propeller is fixed on the side of floating body spacing expansion bracket, is connected with the battery, passes through wind
Power effect drives propeller rotational to generate electricity, and electric energy is transmitted to battery；
The battery is fixed on the top of floating body spacing expansion bracket, is sensed with travel motor, radar detedtor, impact force
System, garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, the connection of automatic fitration unit, are used
The electric energy produced in storage solar panel and wind-power electricity generation propeller, and passed for travel motor, radar detedtor, impact force
Sensing system, garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration unit are powered；
The travel motor is located at the bottom of floating body spacing expansion bracket, and it promotes blade to be located in river, passes through battery
Power supply driving travel motor work, so as to promote whole robot system to advance；
The radar detedtor and control centre's wireless connection, for recognize control centre's setting working region and
Target, and detection information is sent to control centre in real time；
The impact force sensor-based system monitors distance of the hull robot apart from barrier by sensor in real time, and in ship
Body robot sends warning information when entering the obstacle distance threshold range of setting, and warning information is sent to control centre,
Point out control centre's processing.
Administered based on above-mentioned Multifunctional river channel in another embodiment of hull robot, the garbage-cleaning unit bag
Include：Garbage-cleaning shovel, rubbish wiper arm, rubbish containing case；
The garbage-cleaning shovel is that front end is the structure that plane rear end is inclined-plane, the first half position of its front end all with rear end
In river, by the traveling of hull robot main body, garbage-cleaning scoop up bottom of river channel and river water surface solid refuse,
White garbage, the rubbish wiper arm is located at the rear end that the garbage-cleaning is shoveled, and higher than horizontal plane, is rooted out when garbage-cleaning
Sanitary fill to rear end inclined-plane top when, rubbish is dialled in rubbish containing case by rubbish wiper arm, and the rubbish containing case is located at rubbish
The rear side of rubbish cleaning blade and rubbish wiper arm, is placed in the bottom center of hull robot main body, and it, which is open, is higher than the water surface and and rubbish
Rubbish cleaning blade rear end is concordant with rubbish wiper arm, and the bottom of rubbish containing case is concordant with the bottom of hull robot main body.
Administered based on above-mentioned Multifunctional river channel in another embodiment of hull robot, the aeration oxygen replenishing unit bag
Include：Make wind devices and nanometer aeration pipe；
The wind devices of making is air blowers, and the electric energy provided by hull robot main body makes air blower produce wind-force, and
Wind-force is blowed into nanometer aeration pipe, the nanometer aeration pipe is shunted the air-flow for making wind devices generation by pipeline, and
Allow air-flow to be dispersed in by nano-pore in water, and then be water reoxygenation.
Administered based on above-mentioned Multifunctional river channel in another embodiment of hull robot, the random detection unit bag
Include：Detecting devices, on-line detecting system, GPS positioning system；
The detecting devices by ammonia nitrogen, dissolved oxygen, COD, BOD detection probe detect river in ammonia nitrogen, dissolved oxygen,
The electric signal of COD, BOD content, and the electric signal of ammonia nitrogen, dissolved oxygen, COD, BOD content is sent to on-line monitoring system,
Ammonia nitrogen of the line detecting system in electric signal characteristic analysis unit river, dissolved oxygen, COD, BOD content, and then judge river
Major pollutants index in water, the GPS positioning system is used to position current detection position, shows the Gauss of current location
Coordinate, and sent position signalling and pollutant load signal to control centre by hull robot main body.
Administered based on above-mentioned Multifunctional river channel in another embodiment of hull robot, the intelligence dispensing unit bag
Include：Multichannel hopper and intelligent balling iron；
The multichannel hopper is by setting multiple charge units, and each charge unit deposits different medicines, with not
Same pollution treatment function, the intelligent balling iron is connected with the multichannel hopper, under the instruction control of control centre, by connecing
The medicine of the corresponding charge unit transportation of multichannel hopper is received, and medicine automatic uniform is delivered to Polluted water area.
Administered based on above-mentioned Multifunctional river channel in another embodiment of hull robot, the automatic fitration unit bag
Include：Suction pump and filter；
The suction pump is connected with the hull robot main body, passes through the storage battery power supply of hull robot main body, institute
Suction pump is stated for high-power suction pump, is exported by extracting the river containing pollutant, and by the river containing pollutant to filter,
Filter is by mixing, stirring, filtering, suction type by the solidity particle in the river containing pollutant and the organic dirt of bulky grain
Dye thing agglomerate is filtered and adsorbed, so as to reduce the pollutant load in river.
Compared with prior art, the present invention has advantages below：
The present invention sets multiple modules by the way that Multifunctional river channel is administered into hull robot, under the instruction of control centre,
Using modular mode, automatic realize is cleared up the rubbish in river course, the oxygen content of river is adjusted, to river
Water quality is detected, pollutant progress dispensing processing, organic dirt to solidity particle and bulky grain in river to river
Dye thing agglomerate is filtered and adsorbed, microorgranic contaminant in the disposable large-sized solid pollutant thoroughly removed in river course, water
With graininess pollutant in water, meanwhile, the present invention is generation mode using solar energy and wind energy, solve electric power of equipment supply according to
Rely accumulator capacity or must closely electric power facility the problem of, the present invention have automatic cruising and obstacle avoidance function, pass through
Radar detedtor, impact force sensor-based system and GPS module, are realized to traveling destination, automatic dodging barrier and hull position
It is monitored.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used in technology description to do one simply to introduce.
Fig. 1 is the structural representation that the Multifunctional river channel of the present invention administers one embodiment of hull robot.
Fig. 2 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 3 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 4 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 5 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 6 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 7 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
In figure：1 hull robot main body, 11 floating bodies, 12 floating body spacing expansion brackets, 13 solar panels, 14 wind-force hair
Electric propeller, 15 batteries, 16 travel motors, 17 radar detedtors, 18 impact force sensor-based systems, 2 garbage-cleaning units, 21 rubbish
Rubbish cleaning blade, 22 rubbish wiper arms, 23 rubbish containing cases, 3 aeration oxygen replenishing units, 31 make wind devices, it is 32 nanometer aeration pipes, 4 random
Detection unit, 41 detecting devices, 42 on-line detecting systems, 43GPS alignment systems, 5 intelligence dispensing units, 51 multichannel hoppers,
52 intelligent balling irons, 6 automatic fitration units, 61 suction pumps, 62 filters, 7 control centres.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
Only it is a part of embodiment of the invention, rather than whole embodiments.
Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under the premise of creative work is not made
The every other embodiment obtained, belongs to the scope of protection of the invention.
Fig. 1 is the structural representation that the Multifunctional river channel of the present invention administers one embodiment of hull robot, such as Fig. 1 institutes
Show, the Multifunctional river channel, which administers hull robot, to be included：
Hull robot main body 1, garbage-cleaning unit 2, aeration oxygen replenishing unit 3, random detection unit 4, intelligence dispensing are single
Member 5, automatic fitration unit 6, control centre 7；
The hull robot main body 1 is the garbage-cleaning unit 2, aeration oxygen replenishing unit 3, random detection unit 4, intelligence
Unit 5, the function of automatic fitration unit 6 of offeing medicine realize that providing electric energy support, framework supports and power support, all functions
Unit is arranged on the relevant position of hull robot main body 1, and all functional units are fixed by bolt arrangement, in fixation
During functional unit, the occupation mode, electrical characteristic and gravity balance of each unit need to be considered, prevent hull robot and incline
Tiltedly, it is not convenient to use or power supply makes moist by water；
The garbage-cleaning unit 2 is located at the bottom of hull robot main body 1, is placed in river course, garbage-cleaning unit 2
The solid refuse, white garbage, pasture and water of river course surface and bottom can be cleared up, collected automatically, and rubbish is placed in garbage-cleaning list
The refuse collection position of member 2, the rubbish of collection after hull robot disembarkation, toppled over, buried or burned by manual type
Processing, the garbage-cleaning unit 2 provides power by hull robot main body 1, and by the motion rail of hull robot main body 1
Mark and the rubbish cleared up in river course, in the running of hull robot main body 1, garbage-cleaning unit 2 is by hull robot
The garbage-cleaning that main body 1 is run in the river course passed through is clean；
The aeration oxygen replenishing unit 3 is located at the middle part of hull robot main body, for carrying out reoxygenation for river course, due to
The presence of organic pollutant in river course, makes containing a large amount of oxynitrides, dissolved oxygen, COD, BOD etc. in river course, by exposing
Aeration oxygen replenishing of the gas oxygenation unit 3 into river course, promotes oxynitrides, dissolved oxygen, COD, BOD escape rate from river,
So as to reduce oxynitrides in river, dissolved oxygen, COD, BOD content, water quality is lifted；
The random detection unit 4 detects pollutant classification and pollutant load in river by detection device, and will
Pollutant parameter is sent to control centre 7, and random detection unit 4 is with the running orbit of hull robot main body 1, timing acquiring
River sample, and analyze the pollutant load in river；
The intelligence dispensing unit 5 is instructed according to control centre 7, the dirt that control centre 7 is sent by random detection unit 4
Analyte detection index is contaminated, dosages distribution and pharmaceutical quantities that corresponding pollutant process needs are searched for, then by dosages distribution and pharmaceutical quantities
Instruction send to intelligence dispensing unit 5, intelligence dispensing unit 5 and open the valve of corresponding medicine unit, and according to instruction control
Valve opening degree, by corresponding medicament and setting dose input river, realizes the processing to pollution of estuary thing；
The automatic fitration unit 6 provides power by hull robot main body 1, for by the solidity particle in river and
Bulky grain organic pollution agglomerate is filtered and adsorbed；
The control centre 7 wirelessly with aeration oxygen replenishing unit 3, random detection unit 4, intelligence dispensing unit 5,
Automatic fitration unit 6 is connected, and by receiving the pollutant data that random detection unit 4 is sent, control centre 7 is to aeration oxygen replenishing list
Member 3, automatic fitration unit 6 send instruction, control aeration oxygen replenishing unit 3, the open and close of automatic fitration unit 6, to intelligent throwing
Prescription member 5 sends the instruction for opening corresponding medicine unit valve, makes the herbal sprinkling of correspondence medicine unit into river course, realization pair
The processing of pollutant.
Fig. 2 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot, such as Fig. 2
Shown, the hull robot main body 1 includes：Floating body 11, floating body spacing expansion bracket 12, solar panel 13, wind-power electricity generation
Propeller 14, battery 15, travel motor 16, radar detedtor 17, impact force sensor-based system 18；
The floating body 11 is two cylindrical rubber air bags of the same size, and the floating body 11 stretches with the floating body spacing
Frame 12 is connected, and the bottom of floating body spacing expansion bracket 12 sets the cylindrical cavity of interspersed floating body 11, for consolidating of consolidating floating body 11
It is scheduled in cavity, the spacing of two air bags is controlled by floating body spacing expansion bracket 12, it is described floating to adapt to the river course of different in width
Body spacing expansion bracket 12 is the rectangular body support frame of steel construction, is adjusted by bolt on the width of expansion link, floating body spacing expansion bracket 12
Flat board is asked at end, and centre is the steelframe of cavity body structure；
The solar panel 13 is fixed on the top of the floating body spacing expansion bracket 12, and its placed angle shines with the sun
Penetrate direction vertical, solar panel 13 is connected with the battery 15, by absorbing solar energy and converting solar energy
Transmitted into electric energy, and by electric energy to battery 15；
The wind-power electricity generation propeller 14 is fixed on the side of floating body spacing expansion bracket 12, is connected with the battery 15,
Drive propeller rotational to generate electricity by wind-force effect, and electric energy is transmitted to battery 15；
The battery 15 is fixed on the top of floating body spacing expansion bracket 12, with travel motor 16, radar detedtor 17, touch
Hit power sensor-based system 18, garbage-cleaning unit 2, aeration oxygen replenishing unit 3, random detection unit 4, intelligence dispensing unit 5, automatic mistake
Filter unit 6 is connected, and for storing the electric energy that solar panel 13 and wind-power electricity generation propeller 14 are produced, and is travel motor
16th, radar detedtor 17, impact force sensor-based system 18, garbage-cleaning unit 2, aeration oxygen replenishing unit 3, random detection unit 4, intelligence
Can offer medicine unit 5, automatic fitration unit 6 is powered；
The travel motor 16 is located at the bottom of floating body spacing expansion bracket 12, and it promotes blade to be located in river, by storing
The power supply driving travel motor 16 of battery 15 works, so as to promote whole robot system to advance；
The radar detedtor 17 and the wireless connection of control centre 7, for recognizing the workspace that control centre 7 sets
Domain and target, and detection information is sent to control centre 7 in real time, detection radar 17 is mainly used in identification detection target,
And the object currently found is identified, analyze, judged；
The impact force sensor-based system 18 monitors distance of the hull robot apart from barrier by sensor in real time, and
Hull robot sends warning information when entering the obstacle distance threshold range of setting, and warning information is sent to control centre
7, point out control centre 7 to handle.
Hull robot is during traveling, by radar detedtor 17 and impact force sensor-based system 18 to the barrier in river course
Thing is hindered to be identified, handle, impact force sensor-based system 18 carries out early warning to obstacle distance, and carries out collision exploration to target,
In the range of impact force setting, hull robot regards target as rubbish class target, is collected or directly passes through, in impact force
Set beyond scope, sensor transmissions signal is to control centre 7, and control centre 7 sends automatic dodging instruction, reduces travel motor
16 speed simultaneously control propeller to be turned around or turned to, it is ensured that smoothly advance.Set when the rubbish that garbage-cleaning unit 2 is collected exceedes
Positioning is postponed, and rubbish is filled up information and sent to control centre 7 by sensor, and control centre 7 sends instruction, and travel motor 16 is controlled
Hull robot is alarmed to bank, by manually changing dustbin.
Fig. 3 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot, such as Fig. 3
Shown, the garbage-cleaning unit 2 includes：Garbage-cleaning shovel 21, rubbish wiper arm 22, rubbish containing case 23；
The front end of garbage-cleaning shovel 21 is plane, before rear end is the structure on inclined-plane, the whole of its front end and rear end
Half portion is located in river, by the traveling of hull robot main body 1, and garbage-cleaning shovel 21 scoops up bottom of river channel and river water surface
Solid refuse, white garbage, the rubbish wiper arm 22 are located at the rear end that the garbage-cleaning shovels 21, and higher than horizontal plane, work as rubbish
The sanitary fill that rubbish cleaning blade 21 is rooted out to rear end inclined-plane top when, rubbish is dialled in rubbish containing case 23 by rubbish wiper arm 22,
The rubbish containing case 23 is located at the rear side that garbage-cleaning shovels 21 and rubbish wiper arm 22, is placed in the bottom of hull robot main body 1
Portion center, its higher than the water surface and concordant with garbage-cleaning 21 rear ends of shovel and rubbish wiper arm 22, bottom of rubbish containing case 23 that is open
Bottom with hull robot main body 1 is concordant.
Fig. 4 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot, such as Fig. 4
Shown, the aeration oxygen replenishing unit 3 includes：Make wind devices 31 and nanometer aeration pipe 32；
The wind devices 31 of making is air blowers, and the electric energy provided by hull robot main body 1 makes air blower produce wind
Power, and wind-force blowed into nanometer aeration pipe 32, the nanometer aeration pipe 32 is entered the air-flow that wind devices 31 produce is made by pipeline
Row shunting, and allow air-flow to be dispersed in by nano-pore in water, and then be water reoxygenation.
Fig. 5 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot, such as Fig. 5
Shown, the random detection unit 4 includes：Detecting devices 41, on-line detecting system 42, GPS positioning system 43；
The detecting devices 41 by ammonia nitrogen, dissolved oxygen, COD, BOD detection probe detect river in ammonia nitrogen, dissolved oxygen,
The electric signal of COD, BOD content, and the electric signal of ammonia nitrogen, dissolved oxygen, COD, BOD content is sent to on-line monitoring system 42,
Ammonia nitrogen of the on-line detecting system 42 in electric signal characteristic analysis unit river, dissolved oxygen, COD, BOD content, and then sentence
Major pollutants index in disconnected river, the GPS positioning system 43 is used to position current detection position, shows current location
Gauss coordinate, and position signalling and pollutant load signal are sent to control centre 7 by hull robot main body 1.
Fig. 6 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot, such as Fig. 6
Shown, the intelligence dispensing unit 5 includes：Multichannel hopper 51 and intelligent balling iron 52；
The multichannel hopper 51 is by setting multiple charge units, and each charge unit is deposited different medicines, had
Different pollution treatment functions, the intelligent balling iron 52 is connected with the multichannel hopper 51, is controlled in the instruction of control centre 7
Under, the medicine of the corresponding charge unit transportation by receiving multichannel hopper 51, and medicine automatic uniform is delivered to contaminated
Waters.
Fig. 7 is the structural representation that the Multifunctional river channel of the present invention administers another embodiment of hull robot, such as Fig. 7
Shown, the automatic fitration unit 6 includes：Suction pump 61 and filter 62；
The suction pump 61 is connected with the hull robot main body 1, is supplied by the battery 15 of hull robot main body 1
Electricity, the suction pump 61 is high-power suction pump 61, is exported by extracting the river containing pollutant, and by the river containing pollutant
To filter 62, filter 62 is by mixing, stirring, filtering, suction type by the solidity particle in the river containing pollutant
Filtered and adsorbed with bulky grain organic pollution agglomerate, so as to reduce the pollutant load in river.
Administer hull robot to a kind of Multifunctional river channel provided by the present invention above to be described in detail, herein
Apply specific case to be set forth the principle and embodiment of the present invention, the explanation of above example is only intended to help
Understand the method and its core concept of the present invention；Simultaneously for those of ordinary skill in the art, according to the thought of the present invention,
It will change in specific embodiments and applications, in summary, this specification content should not be construed as to this
The limitation of invention.
Finally it should be noted that：The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention,
Although the present invention is described in detail with reference to the foregoing embodiments, for those skilled in the art, it still may be used
To be modified to the technical scheme described in foregoing embodiments, or equivalent substitution is carried out to which part technical characteristic,
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., should be included in the present invention's
Within protection domain.
Claims (7)
1. a kind of Multifunctional river channel administers hull robot, it is characterised in that including：
Hull robot main body, garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic mistake
Filter unit, control centre；
The hull robot main body is the garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing list
Member, the function of automatic fitration unit realize that providing electric energy support, framework supports and power support；
The garbage-cleaning unit is located at the bottom of hull robot main body, is placed in river course, will by garbage-cleaning unit
The solid refuse of river course surface and bottom, white garbage, pasture and water are cleaned out, and the garbage-cleaning unit passes through hull robot
Main body provides power, and the rubbish cleared up by the movement locus of hull robot main body in river course；
The aeration oxygen replenishing unit is located at the middle part of hull robot main body, for carrying out reoxygenation for river course；
The random detection unit detects pollutant classification and pollutant load in river by detection device, and by pollutant
Parameter is sent to control centre；
The intelligence dispensing unit is instructed according to control centre, opens the valve of corresponding medicine unit, corresponding medicament is put into river
In water, the processing to pollution of estuary thing is realized；
The automatic fitration unit provides power by hull robot main body, for by the solidity particle and bulky grain in river
Organic pollution agglomerate is filtered and adsorbed；
The control centre wirelessly with aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration
Unit is connected, and by receiving the pollutant data that random detection unit is sent, control centre is to aeration oxygen replenishing unit, automatic fitration
Unit sends instruction, and control aeration oxygen replenishing unit, the open and close of automatic fitration unit send to intelligence dispensing unit and open phase
The instruction of medicine unit valve is answered, makes the herbal sprinkling of correspondence medicine unit into river course, realizes the processing to pollutant.
2. Multifunctional river channel according to claim 1 administers hull robot, it is characterised in that the hull robot master
Body includes：Floating body, floating body spacing expansion bracket, solar panel, wind-power electricity generation propeller, battery, travel motor, radar are visited
Survey device, impact force sensor-based system；
The floating body is two cylindrical rubber air bags of the same size, and the floating body is connected with the floating body spacing expansion bracket,
The spacing of two air bags is controlled by floating body spacing expansion bracket, to adapt to the river course of different in width, the floating body spacing expansion bracket
For the rectangular body support frame of steel construction, the width of expansion link is adjusted by bolt；
The solar panel is fixed on the top of the floating body spacing expansion bracket, is connected with the battery, by absorbing
Solar energy is simultaneously changed into electric energy, and electric energy is transmitted to battery by solar energy；
The wind-power electricity generation propeller is fixed on the side of floating body spacing expansion bracket, is connected, is made by wind-force with the battery
Generated electricity with drive propeller rotational, and electric energy is transmitted to battery；
The battery is fixed on the top of floating body spacing expansion bracket, is with travel motor, radar detedtor, impact force sensing
System, garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, the connection of automatic fitration unit, are used for
The electric energy that solar panel and wind-power electricity generation propeller are produced is stored, and is travel motor, radar detedtor, impact force sensing
System, garbage-cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration unit are powered；
The travel motor is located at the bottom of floating body spacing expansion bracket, and it promotes blade to be located in river, passes through the confession of battery
Electric drive travel motor works, so as to promote whole robot system to advance；
The radar detedtor and control centre's wireless connection, working region and work for recognizing control centre's setting
Target, and detection information is sent to control centre in real time；
The impact force sensor-based system monitors distance of the hull robot apart from barrier by sensor in real time, and in hull machine
Device people sends warning information when entering the obstacle distance threshold range of setting, and warning information is sent to control centre, pointed out
Control centre is handled.
3. Multifunctional river channel according to claim 1 administers hull robot, it is characterised in that the garbage-cleaning unit
Including：Garbage-cleaning shovel, rubbish wiper arm, rubbish containing case；
The garbage-cleaning shovel is that front end is the structure that plane rear end is inclined-plane, and its front end is all located at river with the first half of rear end
In water, by the traveling of hull robot main body, garbage-cleaning scoops up bottom of river channel and solid refuse, the white of river water surface
Rubbish, the rubbish wiper arm is located at the rear end that the garbage-cleaning is shoveled, and higher than horizontal plane, the rubbish rooted out when garbage-cleaning
When being stacked into the top on rear end inclined-plane, rubbish is dialled in rubbish containing case by rubbish wiper arm, and it is clear that the rubbish containing case is located at rubbish
The rear side of reason shovel and rubbish wiper arm, is placed in the bottom center of hull robot main body, and it, which is open, is higher than the water surface and clear with rubbish
Reason shovel rear end is concordant with rubbish wiper arm, and the bottom of rubbish containing case is concordant with the bottom of hull robot main body.
4. Multifunctional river channel according to claim 1 administers hull robot, it is characterised in that the aeration oxygen replenishing unit
Including：Make wind devices and nanometer aeration pipe；
The wind devices of making is air blowers, the electric energy provided by hull robot main body, air blower is produced wind-force, and by wind
Power blows to nanometer aeration pipe, and the nanometer aeration pipe is shunted the air-flow for making wind devices generation by pipeline, and allows gas
Stream is dispersed in water by nano-pore, and then is water reoxygenation.
5. Multifunctional river channel according to claim 1 administers hull robot, it is characterised in that the random detection unit
Including：Detecting devices, on-line detecting system, GPS positioning system；
The detecting devices by ammonia nitrogen, dissolved oxygen, COD, BOD detection probe detect river in ammonia nitrogen, dissolved oxygen, COD,
The electric signal of BOD contents, and the electric signal of ammonia nitrogen, dissolved oxygen, COD, BOD content is sent to on-line monitoring system, online inspection
Ammonia nitrogen of the examining system in electric signal characteristic analysis unit river, dissolved oxygen, COD, BOD content, and then judge in river
Major pollutants index, the GPS positioning system be used for position current detection position, show current location Gauss sit
Mark, and sent position signalling and pollutant load signal to control centre by hull robot main body.
6. Multifunctional river channel according to claim 1 administers hull robot, it is characterised in that the intelligence dispensing unit
Including：Multichannel hopper and intelligent balling iron；
The multichannel hopper is by setting multiple charge units, and each charge unit deposits different medicines, with different
Pollution treatment function, the intelligent balling iron is connected with the multichannel hopper, many by receiving under the instruction control of control centre
The medicine of the corresponding charge unit transportation of passage hopper, and medicine automatic uniform is delivered to Polluted water area.
7. Multifunctional river channel according to claim 1 administers hull robot, it is characterised in that the automatic fitration unit
Including：Suction pump and filter；
The suction pump is connected with the hull robot main body, described to take out by the storage battery power supply of hull robot main body
Water pump is high-power suction pump, is exported by extracting the river containing pollutant, and by the river containing pollutant to filter, filtering
Device is by mixing, stirring, filtering, suction type by the solidity particle and bulky grain organic pollution in the river containing pollutant
Agglomerate is filtered and adsorbed, so as to reduce the pollutant load in river.
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| CN201710109176.4A CN107021188B (en) | 2017-02-27 | 2017-02-27 | Multifunctional river channel administers hull robot |
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