CN107021188B - Multifunctional river channel administers hull robot - Google Patents
Multifunctional river channel administers hull robot Download PDFInfo
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- CN107021188B CN107021188B CN201710109176.4A CN201710109176A CN107021188B CN 107021188 B CN107021188 B CN 107021188B CN 201710109176 A CN201710109176 A CN 201710109176A CN 107021188 B CN107021188 B CN 107021188B
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- unit
- rubbish
- river
- hull robot
- main body
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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
The present invention relates to a kind of Multifunctional river channels to administer hull robot, including：Hull robot main body, rubbish cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration unit, control centre；The control centre wirelessly connect with aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration unit, the pollutant data that control centre is sent by receiving random detection unit, 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, in the herbal sprinkling to river for making corresponding medicine unit, the processing to pollutant is realized.The present invention disposably thoroughly removes the pollutant in river, the use of solar energy and wind energy is generation mode, solves the problems, such as that electric power of equipment supply relies on accumulator capacity or necessary short distance electric power facility, has the function of automatic cruising and obstacle avoidance.
Description
Technical field
The present invention relates to river sewage processing technology fields more particularly to a kind of Multifunctional river channel to administer hull robot.
Background technology
In daily life, pollution of estuary problem is very serious, existing a large amount of solid especially in river
Body rubbish, white garbage etc., existing solidity particle and bulky grain organic pollution agglomerate in river water contain in the mud of river bed
Some oxynitrides, dissolved oxygen, COD, BOD etc. seriously affect living environment generation biological in river, in the prior art
In, the cleaning of pollution of river object is mainly taken such as under type：
When 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, water plant for arriving soon etc. are cleared up, and it is minimum that this mode handles pollution of river level, only
Large-scale solid refuse is removed, can not thoroughly improve quality of river water, in addition this mode labor intensive is more, execution efficiency
It is low；
Second is that river bed is cleared up using heavy mechanical equipment, mainly in such a way that segmentation is shut off, one section one section
Drain river water, clear up remaining rubbish, water plant, mud etc., then river bed re-lay again, this mode is to river
Pollutant cleaning effect ratio more thoroughly, but cost is high, takes longer, is not easy to daily pollutant process；
Third, manually launching disinfecting drug mode, this mode is to use manually to row the boat or launch disinfectant from bank
Product carry out disinfection processing to the pollutant in river water, and this mode is relatively low to the processing level of pollutant in river, cannot be to river
Interior rubbish is cleared up, it is necessary to the purpose of cleaning Ha Noi rubbish could be realized with cooperation otherwise, moreover, this mode consumes
It is larger to take manpower, every time after dispensing, the management and control time is shorter.
Therefore, the prior art needs to improve.
Invention content
The invention discloses a kind of Multifunctional river channels to administer hull robot, of the existing technology to solve the problems, such as.
The Multifunctional river channel administers hull robot：
Hull robot main body, rubbish cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, from
Dynamic filter element, control centre；
The hull robot main body is that the rubbish clears up unit, aeration oxygen replenishing unit, random detection unit, intelligence throwing
Prescription member, the function of automatic fitration unit, which are realized, provides electric energy support, framework support and power support；
The rubbish cleaning unit is located at the bottom of hull robot main body, is placed in river, is cleared up by rubbish single
Member cleans out the solid refuse of river surface and bottom, white garbage, water plant, and the rubbish cleaning unit passes through hull machine
Device human agent provides power, and is cleared up the rubbish in river by the movement locus of hull robot main body；
The aeration oxygen replenishing unit is located at the intermediate position of hull robot main body, for carrying out reoxygenation for river；
The random detection unit detects pollutant classification and pollutant load in river water by detection device, and will be dirty
Dye object 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 water, realizes the processing to pollution of estuary object；
The automatic fitration unit provides power by hull robot main body, for by solidity particle in river water and big
Particle organic pollution agglomerate is filtered and adsorbs；
The control centre wirelessly with aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic
Filter element connects, the pollutant data sent by receiving random detection unit, and control centre is to aeration oxygen replenishing unit, automatic
Filter element sends instruction, controls the open and close of aeration oxygen replenishing unit, automatic fitration unit, is opened to intelligence dispensing unit transmission
The instruction for opening corresponding medicine unit valve in the herbal sprinkling to river for making corresponding medicine unit, realizes the processing to pollutant.
It is being administered in another embodiment of hull robot based on above-mentioned Multifunctional river channel, the hull robot main body
Including：Floating body, floating body spacing expansion bracket, solar panel, wind-power electricity generation propeller, accumulator, 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
It connects, the spacing of two air bags is controlled by floating body spacing expansion bracket, to adapt to the river of different in width, the floating body spacing is flexible
Frame is the rectangular body support frame of steel construction, and the width of telescopic rod is adjusted by bolt；
The solar panel is fixed on the top of the floating body spacing expansion bracket, connect, passes through with the accumulator
It absorbs solar energy and solar energy is converted to electric energy, and electric energy is transmitted to accumulator；
The wind-power electricity generation propeller is fixed on the side of floating body spacing expansion bracket, is connect with the accumulator, passes through wind
Force effect drives propeller rotational power generation, and electric energy is transmitted to accumulator；
The accumulator is fixed on the top of floating body spacing expansion bracket, is sensed with travel motor, radar detedtor, impact force
System, rubbish cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, the connection of automatic fitration unit, are used
It is passed in the electric energy that storage solar panel and wind-power electricity generation propeller generate, and for travel motor, radar detedtor, impact force
Sensing system, rubbish cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, the power supply of automatic fitration unit；
The travel motor is located at the bottom of floating body spacing expansion bracket, pushes blade to be located in river water, passes through accumulator
Work for electric drive travel motor, to push entire robot system to advance；
The radar detedtor and the control centre are wirelessly connected, for identification the working region of control centre's setting 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 out warning information when entering the obstacle distance threshold range of setting, and warning information is sent to control centre,
Prompt control centre's processing.
It is being administered in another embodiment of hull robot based on above-mentioned Multifunctional river channel, the rubbish clears up unit packet
It includes：Garbage-cleaning shovel, rubbish wiper arm, rubbish containing case；
It is the structure that plane rear end is inclined-plane that the garbage-cleaning shovel, which is front end, front end all with the first half position of rear end
In river water, by the traveling of hull robot main body, garbage-cleaning shovel scoop up bottom of river channel and river water surface solid refuse,
White garbage, the rubbish wiper arm is located at the rear end of the garbage-cleaning shovel, and is higher than horizontal plane, is rooted out when garbage-cleaning shovel
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 opening 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.
It is being administered in another embodiment of hull robot based on above-mentioned Multifunctional river channel, the aeration oxygen replenishing unit packet
It includes：Make wind devices and nanometer aeration pipe；
The wind devices of making are air blower, and the electric energy provided by hull robot main body makes air blower generate wind-force, and
Wind-force is blowed into nanometer aeration pipe, the nanometer aeration pipe shunts the air-flow for making wind devices generation by pipeline, and
It allows air-flow to be dispersed in water by nano-pore, and then is water reoxygenation.
It is being administered in another embodiment of hull robot based on above-mentioned Multifunctional river channel, the random detection unit packet
It includes：Detecting devices, on-line detecting system, GPS positioning system；
The detecting devices by ammonia nitrogen, dissolved oxygen, COD, BOD detection probe detect river water 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,
Line detecting system judges river according to the content of ammonia nitrogen, dissolved oxygen, COD, BOD in electric signal characteristic analysis unit river water
Major pollutants index in water, the GPS positioning system show the Gauss of current location for positioning current detection position
Coordinate, and position signal and pollutant load signal are sent to by control centre by hull robot main body.
It is being administered in another embodiment of hull robot based on above-mentioned Multifunctional river channel, the intelligence dispensing unit packet
It includes：Multichannel hopper and intelligent balling iron；
The multichannel hopper stores different drugs by the way that multiple charge units, each charge unit is arranged, and has not
Same pollution treatment function, the intelligence balling iron are connect with the multichannel hopper, under the instruction control of control centre, by connecing
The drug of the corresponding charge unit transportation of multichannel hopper is received, and drug automatic uniform is launched to Polluted water area.
It is being administered in another embodiment of hull robot based on above-mentioned Multifunctional river channel, the automatic fitration unit packet
It includes：Suction pump and filter；
The suction pump is connect with the hull robot main body, passes through the storage battery power supply of hull robot main body, institute
It is high-power suction pump to state suction pump, by extracting the river water containing pollutant, and the river water containing pollutant is exported to filter,
Filter by mixing, stirring, filtering, suction type by the river water containing pollutant solidity particle and the organic dirt of bulky grain
Dye object agglomerate is filtered and adsorbs, to reduce the pollutant load in river water.
Compared with prior art, the present invention has the following advantages：
Multiple modules are arranged by the way that Multifunctional river channel is administered hull robot in the present invention, under the instruction of control centre,
Using modular mode, automatic realize clears up the rubbish in river, is adjusted, the oxygen content of river water to river water
Water quality is detected, carries out dispensing processing, organic dirt to solidity particle and bulky grain in river water to the pollutant of river water
Dye object agglomerate is filtered and adsorbs, and disposably thoroughly removes large-sized solid pollutant in river, microorgranic contaminant in 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
The problem of relying accumulator capacity or necessary short distance electric power facility, the present invention has the function of automatic cruising and obstacle avoidance, passes 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 of the present invention will be described in further detail.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is the attached drawing used in technology description to do one simply to introduce.
Fig. 1 is the structural schematic diagram that the Multifunctional river channel of the present invention administers one embodiment of hull robot.
Fig. 2 is the structural schematic diagram that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 3 is the structural schematic diagram that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 4 is the structural schematic diagram that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 5 is the structural schematic diagram that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 6 is the structural schematic diagram that the Multifunctional river channel of the present invention administers another embodiment of hull robot.
Fig. 7 is the structural schematic diagram 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 accumulators, 16 travel motors, 17 radar detedtors, 18 impact force sensor-based systems, 2 rubbish cleaning unit, 21 rubbish
Wind devices, 32 nanometer aeration pipes, 4 are made at random in rubbish cleaning blade, 22 rubbish wiper arms, 23 rubbish containing cases, 3 aeration oxygen replenishing units, 31
Detection unit, 41 detecting devices, 42 on-line detecting systems, 43GPS positioning systems, 5 intelligence dispensing units, 51 multichannel hoppers,
52 intelligent balling irons, 6 automatic fitration units, 61 suction pumps, 62 filters, 7 control centres.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, instead of all the embodiments.
Based on the embodiments of the present invention, those of ordinary skill in the art are obtained without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Fig. 1 is the structural schematic diagram 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 administers hull robot and includes：
Hull robot main body 1, rubbish 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 that the rubbish clears up unit 2, aeration oxygen replenishing unit 3, random detection unit 4, intelligence
Can offer medicine unit 5, automatic fitration unit 6 function realize provide electric energy support, framework support and power support, all functions
Unit is arranged on the corresponding position of hull robot main body 1, and all functional units are fixed by bolt arrangement, in fixation
When functional unit, it need to consider the occupation mode, electrical characteristic and gravity balance of each unit, prevent hull robot and incline
Tiltedly, it is not convenient to use or power supply makes moist by water；
The rubbish cleaning unit 2 is located at the bottom of hull robot main body 1, is placed in river, and rubbish clears up unit 2
Can clear up automatically, the solid refuse of collecting river surface and bottom, white garbage, water plant, and it is single that rubbish is placed in rubbish cleaning
The rubbish of collection is toppled over, buried or burned by manual type after hull robot disembarkation in the garbage collection position of member 2
Processing, the rubbish cleaning unit 2 provide power by hull robot main body 1, and by the movement rail of hull robot main body 1
Mark and clear up the rubbish in river, in the operational process of hull robot main body 1, rubbish clears up unit 2 by hull robot
The rubbish that main body 1 is run in the river passed through is cleaned out；
The aeration oxygen replenishing unit 3 is located at the intermediate position of hull robot main body, for carrying out reoxygenation for river, due to
The presence of organic pollutant in river makes to pass through exposure containing a large amount of oxynitrides, dissolved oxygen, COD, BOD etc. in river
Aeration oxygen replenishing of the gas oxygenation unit 3 into river promotes oxynitrides, dissolved oxygen, COD, BOD escape rate from river water,
To reduce the content of oxynitrides in river water, dissolved oxygen, COD, BOD, water quality is promoted；
The random detection unit 4 detects pollutant classification and pollutant load in river water 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 water sample, and analyze the pollutant load in river water；
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 be sent to intelligence dispensing unit 5, intelligence dispensing unit 5 is opened the valve of corresponding medicine unit, and is controlled according to instruction
Valve opening degree realizes the processing to pollution of estuary object by corresponding medicament and setting dose input river water；
The automatic fitration unit 6 by hull robot main body 1 provide power, for by river water solidity particle and
Bulky grain organic pollution agglomerate is filtered and adsorbs；
The control centre 7 wirelessly with aeration oxygen replenishing unit 3, random detection unit 4, intelligence dispensing unit 5,
Automatic fitration unit 6 connects, and the pollutant data sent by receiving random detection unit 4, control centre 7 is to aeration oxygen replenishing list
Member 3, automatic fitration unit 6 send instruction, the open and close of control aeration oxygen replenishing unit 3, automatic fitration unit 6, to intelligent throwing
Prescription member 5 sends the instruction for opening corresponding medicine unit valve, in the herbal sprinkling to river for making corresponding medicine unit, realization pair
The processing of pollutant.
Fig. 2 is the structural schematic diagram 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, accumulator 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 is flexible with the floating body spacing
Frame 12 connects, and the bottom setting of floating body spacing expansion bracket 12 interts the cylindrical cavity of floating body 11, consolidates for consolidate floating body 11
It is fixed that the spacing of two air bags is controlled by floating body spacing expansion bracket 12 in the cavity, it is described floating to adapt to the river of different in width
Body spacing expansion bracket 12 is the rectangular body support frame of steel construction, the width of telescopic rod is adjusted by bolt, on floating body spacing expansion bracket 12
Ask that tablet, centre are the steelframe of cavity body structure in end；
The solar panel 13 is fixed on the top of the floating body spacing expansion bracket 12, and placed angle shines with the sun
It is vertical to penetrate direction, solar panel 13 is connect with the accumulator 15, by absorbing solar energy and converting solar energy
It is transmitted to accumulator 15 at electric energy, and by electric energy；
The wind-power electricity generation propeller 14 is fixed on the side of floating body spacing expansion bracket 12, is connect with the accumulator 15,
It is acted on by wind-force and drives propeller rotational power generation, and electric energy is transmitted to accumulator 15；
The accumulator 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, rubbish cleaning unit 2, aeration oxygen replenishing unit 3, random detection unit 4, intelligence dispensing unit 5, automatic mistake
It filters unit 6 to connect, the electric energy generated for storing solar panel 13 and wind-power electricity generation propeller 14, and is travel motor
16, radar detedtor 17, impact force sensor-based system 18, rubbish cleaning unit 2, aeration oxygen replenishing unit 3, random detection unit 4, intelligence
Can offer medicine unit 5, the power supply of automatic fitration unit 6；
The travel motor 16 is located at the bottom of floating body spacing expansion bracket 12, pushes blade to be located in river water, passes through storage
Battery 15 works for electric drive travel motor 16, to push entire robot system to advance；
The radar detedtor 17 is wirelessly connected with the control centre 7, the workspace that control centre 7 sets for identification
Domain and target, and detection information is sent to control centre 7 in real time, detection radar 17 is mainly used for identification detection target,
And the object currently found is identified, analyze, is 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 out warning information when entering the obstacle distance threshold range of setting, and warning information is sent to control centre
7, prompt 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
Object 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 impact force setting range, hull robot regards target as rubbish class target, is collected or directly passes through, in impact force
It is arranged other than range, for sensor transmissions signal to control centre 7, control centre 7 sends automatic dodging instruction, reduces travel motor
16 speed simultaneously control propeller and are turned around or turned to, it is ensured that smoothly advance.When the rubbish that rubbish cleaning unit 2 is collected is more than to set
Positioning postpones, and rubbish is filled up information and is sent to control centre 7 by sensor, and control centre 7 sends instruction, and travel motor 16 controls
Hull robot is alarmed to bank, by manually changing dustbin.
Fig. 3 is the structural schematic diagram that the Multifunctional river channel of the present invention administers another embodiment of hull robot, such as Fig. 3
Shown, the rubbish cleaning unit 2 includes：Garbage-cleaning shovel 21, rubbish wiper arm 22, rubbish containing case 23；
The front end of the garbage-cleaning shovel 21 is plane, and rear end is the structure on inclined-plane, before the whole of front end and rear end
Half portion is located in river water, and by the traveling of hull robot main body 1, garbage-cleaning shovel 21 scoops up bottom of river channel and river water surface
Solid refuse, white garbage, the rubbish wiper arm 22 is located at the rear end of the garbage-cleaning shovel 21, and is higher than horizontal plane, works 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 of garbage-cleaning shovel 21 and rubbish wiper arm 22, is placed in the bottom of hull robot main body 1
Portion center, opening are higher than the water surface and, the bottom of rubbish containing case 23 concordant with 21 rear end of garbage-cleaning shovel and rubbish wiper arm 22
It is concordant with the bottom of hull robot main body 1.
Fig. 4 is the structural schematic diagram 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 are air blower, and the electric energy provided by hull robot main body 1 makes air blower generate wind
Power, and wind-force is blowed into nanometer aeration pipe 32, the nanometer aeration pipe 32 will make air-flow that wind devices 31 generate by pipeline into
Row shunting, and air-flow is allowed to be dispersed in water by nano-pore, and then be water reoxygenation.
Fig. 5 is the structural schematic diagram 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 water 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,
On-line detecting system 42 is sentenced according to the content of ammonia nitrogen, dissolved oxygen, COD, BOD in electric signal characteristic analysis unit river water
Major pollutants index in disconnected river water, the GPS positioning system 43 show current location for positioning current detection position
Gauss coordinate, and position signal and pollutant load signal are sent to by control centre 7 by hull robot main body 1.
Fig. 6 is the structural schematic diagram 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 stored different drugs, is had by the way that multiple charge units, each charge unit is arranged
Different pollution treatment functions, the intelligence balling iron 52 are connect with the multichannel hopper 51, are controlled in the instruction of control centre 7
Under, the drug of the corresponding charge unit transportation by receiving multichannel hopper 51, and drug automatic uniform is launched to contaminated
Waters.
Fig. 7 is the structural schematic diagram 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 connect with the hull robot main body 1, is supplied by the accumulator 15 of hull robot main body 1
Electricity, the suction pump 61 are high-power suction pump 61, are exported by extracting the river water containing pollutant, and by the river water containing pollutant
To filter 62, filter 62 is by mixing, stirring, filtering, suction type by the solidity particle in the river water containing pollutant
It is filtered and adsorbs with bulky grain organic pollution agglomerate, to reduce the pollutant load in river water.
It administers hull robot to a kind of Multifunctional river channel provided by the present invention above to be described in detail, herein
Applying specific case, principle and implementation of the present invention are described, and the explanation of above example is only intended to help
Understand the method and its core concept of the present invention；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention,
There will be changes in the specific implementation manner and application range, in conclusion the content of the present specification should not be construed as to this
The limitation of invention.
Finally it should be noted that：The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features,
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in the present invention's
Within protection domain.
Claims (7)
1. a kind of Multifunctional river channel administers hull robot, which is characterized in that including：
Hull robot main body, rubbish cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic mistake
Filter unit, control centre；
The hull robot main body is that the rubbish clears up unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing list
Member, the function of automatic fitration unit, which are realized, provides electric energy support, framework support and power support；
The rubbish cleaning unit is located at the bottom of hull robot main body, is placed in river, and clearing up unit by rubbish will
The solid refuse of river surface and bottom, white garbage, water plant are cleaned out, and the rubbish cleaning unit passes through hull robot
Main body provides power, and is cleared up the rubbish in river by the movement locus of hull robot main body；
The aeration oxygen replenishing unit is located at the intermediate position of hull robot main body, for carrying out reoxygenation for river；
The random detection unit detects pollutant classification and pollutant load in river water 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, and corresponding medicament is put into river
In water, the processing to pollution of estuary object is realized；
The automatic fitration unit provides power by hull robot main body, is used for the solidity particle and bulky grain in river water
Organic pollution agglomerate is filtered and adsorbs；
The control centre wirelessly with aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, automatic fitration
Unit connects, and the pollutant data sent by receiving random detection unit, control centre is to aeration oxygen replenishing unit, automatic fitration
Unit sends instruction, controls the open and close of aeration oxygen replenishing unit, automatic fitration unit, is sent to intelligence dispensing unit and opens phase
The instruction for answering medicine unit valve in the herbal sprinkling to river for making corresponding medicine unit, realizes the processing to pollutant.
2. Multifunctional river channel according to claim 1 administers hull robot, which is characterized in that the hull robot master
Body includes：Floating body, floating body spacing expansion bracket, solar panel, wind-power electricity generation propeller, accumulator, 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 connect with the floating body spacing expansion bracket,
The spacing that two air bags are controlled by floating body spacing expansion bracket, to adapt to the river of different in width, the floating body spacing expansion bracket
For the rectangular body support frame of steel construction, the width of telescopic rod is adjusted by bolt；
The solar panel is fixed on the top of the floating body spacing expansion bracket, is connect with the accumulator, passes through absorption
Solar energy is simultaneously converted to electric energy by solar energy, and electric energy is transmitted to accumulator；
The wind-power electricity generation propeller is fixed on the side of floating body spacing expansion bracket, connect with the accumulator, is made by wind-force
It is generated electricity with drive propeller rotational, and electric energy is transmitted to accumulator；
The accumulator is fixed on the top of floating body spacing expansion bracket, is with travel motor, radar detedtor, impact force sensing
System, rubbish 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 generate is stored, and is travel motor, radar detedtor, impact force sensing
System, rubbish cleaning unit, aeration oxygen replenishing unit, random detection unit, intelligence dispensing unit, the power supply of automatic fitration unit；
The travel motor is located at the bottom of floating body spacing expansion bracket, pushes blade to be located in river water, passes through the confession of accumulator
Electric drive travel motor works, to push entire robot system to advance；
The radar detedtor is wirelessly connected with the control centre, for identification the working region of control centre's setting and work
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 out warning information when entering the obstacle distance threshold range of setting, and warning information is sent to control centre, prompts
Control centre is handled.
3. Multifunctional river channel according to claim 1 administers hull robot, which is characterized in that the rubbish clears up 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 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 shovel scoops up the solid refuse of bottom of river channel and river water surface, white
Rubbish, the rubbish wiper arm is located at the rear end of the garbage-cleaning shovel, and is higher than horizontal plane, when the rubbish that garbage-cleaning shovel is rooted out
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 opening 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, which is characterized in that the aeration oxygen replenishing unit
Including：Make wind devices and nanometer aeration pipe；
The wind devices of making are air blower, and the electric energy provided by hull robot main body makes air blower generate wind-force, and by wind
Power blows to nanometer aeration pipe, and the nanometer aeration pipe shunts the air-flow for making wind devices generation by pipeline, and allows gas
Stream is dispersed in by nano-pore in water, and then is water reoxygenation.
5. Multifunctional river channel according to claim 1 administers hull robot, which is characterized 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 water 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 detecting system, it is online to examine
Examining system judges according to the content of ammonia nitrogen, dissolved oxygen, COD, BOD in electric signal characteristic analysis unit river water in river water
Major pollutants index, for positioning current detection position, the Gauss for showing current location is sat the GPS positioning system
Mark, and position signal and pollutant load signal are sent to by control centre by hull robot main body.
6. Multifunctional river channel according to claim 1 administers hull robot, which is characterized in that the intelligence dispensing unit
Including：Multichannel hopper and intelligent balling iron；
The multichannel hopper stores different drugs by the way that multiple charge units, each charge unit is arranged, and has different
Pollution treatment function, the intelligence balling iron are connect with the multichannel hopper, more by receiving under the instruction control of control centre
The drug of the corresponding charge unit transportation of channel hopper, and drug automatic uniform is launched to Polluted water area.
7. Multifunctional river channel according to claim 1 administers hull robot, which is characterized in that the automatic fitration unit
Including：Suction pump and filter；
The suction pump is connect with the hull robot main body, by the storage battery power supply of hull robot main body, the pumping
Water pump is high-power suction pump, is exported to filter, filtering by extracting the river water containing pollutant, and by the river water containing pollutant
Device is by mixing, stirring, filtering, suction type by the solidity particle and bulky grain organic pollution in the river water containing pollutant
Agglomerate is filtered and adsorbs, to reduce the pollutant load in river water.
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| CN201710109176.4A CN107021188B (en) | 2017-02-27 | 2017-02-27 | Multifunctional river channel administers hull robot |
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| CN201710109176.4A CN107021188B (en) | 2017-02-27 | 2017-02-27 | Multifunctional river channel administers hull robot |
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