CN107235124A - Repair cruise robot in river course - Google Patents
Repair cruise robot in river course Download PDFInfo
- Publication number
- CN107235124A CN107235124A CN201710666196.1A CN201710666196A CN107235124A CN 107235124 A CN107235124 A CN 107235124A CN 201710666196 A CN201710666196 A CN 201710666196A CN 107235124 A CN107235124 A CN 107235124A
- Authority
- CN
- China
- Prior art keywords
- water
- robot
- river course
- injection apparatus
- repaired
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
-
- 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
-
- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F2103/00—Nature of the water, waste water, sewage or sludge to be treated
- C02F2103/007—Contaminated open waterways, rivers, lakes or ponds
-
- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/40—Protecting water resources
- Y02A20/402—River restoration
-
- 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
Technical solution of the present invention discloses a kind of river course and repairs cruise robot, including the floating portion floated in level and the heavy water portion being immersed in water, and floating is provided with solar panel and sensor in portion, has power supply and water-handling portion would in heavy water portion；Power supply electrically connects with solar panel, water-handling portion would, sensor and provides power supply respectively；Heavy water portion is provided with injection apparatus, and for injection water, simultaneously control machine people moves in water.Technical solution of the present invention in existing robot by installing solar panel, sensor, injection apparatus, and individually it is located at the control centre on bank, robot passes through sensor sensing distance, the problem of can avoiding striking object, coordinate injection apparatus injection water, the automatic cruising function in the robot water surface is realized, solar panel provides power supply, realize automatic continuation of the journey function.
Description
Technical field
The present invention relates to a kind of technical field of repair robot, cruise robot is repaired more particularly, to a kind of river course.
Background technology
Contained carbohydrate, protein, fat and lignin etc. organise in sanitary sewage and some industrial wastewaters
Compound can be finally decomposed to simple inorganic substances under microbial action, and these organic matters need consumption big in decomposable process
The oxygen of amount, therefore it is referred to as aerobic pollution.In addition some reducing inorganic things also can oxygen consumption, such as NH in water3H2S, sulfurous acid
Salt etc..
These pollutants can exhaust substantial amounts of dissolved oxygen in water after entering water body, or even make the large quantities of death of aquatic animal；It is dirty
It when contaminating serious, can also dissolved oxygen is reduced to zero, cause anaerobic bacteria in water body to enliven, organic matter, which is decomposed, produces ammonia, vulcanization
Hydrogen etc., causes water body to black smelly, forces material loop termination, self-purification of water function is almost lost.
In the prior art for the water body of some eutrophication, can by build the COD in ecological floating island, degradation water, nitrogen,
Phosphorus content, makes water body get well by ecological effects.Ecological floating island is using floatability material as matrix or carrier, by high water
Plant or terrestrial plant plant are into eutrophic water, and Root Absorption or suction-operated by plant are cut down in water body
Nitrogen, phosphorus and organic pollution materials so that the measure of biotic control purified water, while by harvesting the method for plant by water body
Rich nutritive material move away from water body, improve water quality, create good water environment.And it is such because water body dissolves for black-odor riverway
Oxygen reduction causes the pollution problem of bacteria breed, and ecological floating island then works little.Meanwhile, black-odor riverway is due to long term hypoxia, river
There are substantial amounts of organic sludge and anaerobic fermentation in road bed mud, the method for water filling is taken stopgap measures without controlling again after river course is emptied merely
This.
Although having the robot for repairing river sewage, existing robot architecture is simple, and without automatic
Continuation of the journey, cruise function are, it is necessary to manual control and manually change power supply, simultaneously as the uncertain growth property of pollutant, in machine
It is more inconvenient from the point of view of the long term growth angle of device people.
The content of the invention
Present invention solves the technical problem that being that existing river course repair robot does not have automatic continuation of the journey, cruise function, need
Manually to operate replacing power supply.
To solve above-mentioned technical problem, technical solution of the present invention provides a kind of river course and repairs cruise robot, including drift
Floating portion on bubbling through the water column and the heavy water portion being immersed in water, wherein, be provided with the floating portion solar panel and
There is power supply and water-handling portion would in sensor, the heavy water portion；The solar panel provides electric energy to the power supply,
The power supply provides power supply to the water-handling portion would, the sensor respectively；The heavy water portion is provided with injection apparatus, is used for
Simultaneously control machine people moves injection water in water.
Optionally, in addition to the control centre located at river course bank, the control centre and the sensor, the injection
Device communication connection and control machine people.
Optionally, counter weight device is provided with the heavy water portion, is matched for the weight to the robot, makes machine
People is mobile steady in water.
Optionally, the heavy water portion is provided with water inlet pipe, and the water inlet pipe is connected with the water-handling portion would, and by robot
Outside water source, which is introduced into the water-handling portion would, to be handled.
Optionally, there is water pump between the water inlet pipe and the water-handling portion would, water source is introduced by the water pump.
Optionally, the injection apparatus is connected with the water-handling portion would, and the injection apparatus is connected with the water-handling portion would,
The injection apparatus is installed on the outer wall in the heavy water portion, sprays water source adjustment movement side in moving process for robot
To.
Optionally, magnetic valve, the magnetic valve and the control are installed between the injection apparatus and the water-handling portion would
Center to center communications connection processed, the opening and closing of the magnetic valve is controlled by the control centre.
Optionally, the injection apparatus is Venturi tube.
Optionally, the sensor is range sensor, is installed on the edge on floating portion surface.
The beneficial effect of technical solution of the present invention is：
By installing solar panel, sensor, injection apparatus in existing robot, and individually it is located at bank
Control centre, robot is by sensor sensing distance, the problem of can avoiding striking object, coordinate injection apparatus injection water
Stream, realizes the automatic cruising function in the robot water surface, and solar panel provides power supply, realizes automatic continuation of the journey function.
Brief description of the drawings
Fig. 1 is the structural representation of reparation cruise robot in river course in the embodiment of the present invention；
Fig. 2 is injection apparatus and the assembling schematic diagram in heavy water portion in the embodiment of the present invention.
Embodiment：
The invention will be further described with specific embodiment below in conjunction with the accompanying drawings, but not as limiting to the invention.
In the description of the invention, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", " on ", " under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outer ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise " are, based on orientation shown in the drawings or position relationship, to be for only for ease of
The description present invention and simplified description, rather than indicate or imply that the device or element of meaning must have specific orientation, Yi Te
Fixed azimuth configuration and operation, therefore be not considered as limiting the invention.
Refer to shown in Fig. 1 and Fig. 2, show that cruise robot is repaired in a kind of river course of embodiment, including float on water
Floating portion 1 and the heavy water portion 2 being immersed in water on face, wherein,
Solar panel 11 and sensor 12 are installed in floating portion 1, there is power supply 21 and water process in heavy water portion 2
Portion 22, solar panel 11 absorbs sunlight and converts light energy into electrical power storage in power supply 21.
Power supply 21 is connected with solar panel 11, water-handling portion would 22, sensor 12 respectively；Solar panel 11 to
Power supply 21 provides power supply, and power supply 21 provides power supply to water-handling portion would 22 and sensor 12.Heavy water portion 2 is provided with injection apparatus
3, for injection water, simultaneously control machine people moves in water.
Further, in addition to the control centre 4 located at river course bank, control centre 4 and sensor 12, injection apparatus 3
Communicate to connect and control machine people.It is preferred that, remote control can also be configured in the equipment of control centre 4, passes through remote control control
The running status of robot.
Further, sink and be provided with counter weight device 5 in water portion 2, counter weight device 5 can be balancing weight, or other arbitrary forms
The ponderable object of tool, be used to match the weight of robot in heavy water portion 2, in the heavy water portion leaching of robot
After entering in water, it is ensured that robot is steadily mobile in the water surface 10, will not tilt and translate into.
Further, heavy water portion 2 is provided with water inlet pipe 6, and water inlet pipe 6 is connected with water-handling portion would 22, and by outside robot
Water source be introduced into water-handling portion would 22 and handled.There is water pump 7 between water inlet pipe 6 and water-handling portion would 22, introduced by water pump 7
Water source.
Further, injection apparatus 3 is connected by the flexible pipe 9 in heavy water portion 2 with water-handling portion would 22, and injection apparatus 3 is installed
In on the outer wall of the close bottom in heavy water portion 2, adjustment moving direction in water source is sprayed in moving process for robot.
Further, magnetic valve 8 is installed, magnetic valve 8 leads to control centre 4 between injection apparatus 3 and water-handling portion would 22
Letter connection, the opening and closing of magnetic valve 8 is controlled by control centre 4.Optionally, injection apparatus 3 can be Venturi tube or
Other bodys.
Further, sensor 12 is range sensor, is installed on the edge on the surface of floating portion 1, passes through Distance-sensing
Device may determine that the distance between body and barrier, and sensor sends the information such as range data to control centre, in control
The heart is by the data record and stores, while control machine people avoiding obstacles continue to navigate by water, and in the navigation route of next time, from
Dynamic avoiding obstacles.
The characteristic and function of the present invention is further illustrated below by way of a preferred embodiment.
As depicted in figs. 1 and 2, in the present embodiment, floating portion 1 preferably is circular turned body structure, the surface in floating portion 1
Even circumferential is distributed several solar panels 11, preferably four pieces；It is uniformly distributed at the edge circumference in floating portion 1 some
Individual sensor 12, preferably four.
With continued reference to shown in Fig. 2, preferred heavy water portion 2 is four side cube structures, the i.e. structure with four walls, often
Preferred being set perpendicular to wall has a magnetic valve in individual wall locations in an injection apparatus 3, each injection apparatus 3
8, the injection and stopping of the open and close controlling injection apparatus 3 of magnetic valve 8.When directly on top injection apparatus 3 (Fig. 2 middle and upper parts
Injection apparatus 3) injection water when, robot is moved down in (as shown in A directions in Fig. 2).
If robot needs conversion direction to move, for example, need to be moved to the left, the control position directly above of control centre 4
Magnetic valve on the right of closed electromagnetic valve, opening so that the injection water of injection apparatus 3 on the right, because the reaction force of current makes
Obtain robot to be moved to the left, by that analogy.Certainly, in other embodiments, it can also increase in four angular positions in heavy water portion 2
If injection apparatus, due to diagonal principle so that injection apparatus at diagonal positions can be carried out with control machine people it is left it is tiltedly upper,
It is left tiltedly under, right tiltedly upper, right obliquely downward to movement.Again for example in other embodiment, injection apparatus can be arranged to bending and
Rotatable structure, can so save the cost for setting multiple injection apparatus, the directly angle by rotating spray device in itself
Reach the purpose in the direction of regulation robot movement.
Likewise, magnetic valve can also be replaced by the device of other structures, for example, can two friendships in heavy water portion 2
The intersection of the tactile flexible pipe 9 of fork-join sets a five-way valve, and five-way valve controls the opening and closing of valve port by control centre, realizes correspondence
The water flow jet of injection apparatus, is equally reached the purpose of robot movement.
Finally, robot is placed into contaminated river course, sewage is introduced water by robot by water pump 7, water inlet pipe 6
In processing unit 22, sewage is by the treatment and purification of water-handling portion would 22, and the injection that the water source after purification leads to diverse location by flexible pipe 9 is filled
3 are put, the opening and closing of the magnetic valve 8 of particular location is controlled by control centre 4, the work of corresponding injection apparatus 3 is realized, so as to control
The movement of robot processed.
To sum up, river course of the invention repair cruise robot by installed in existing robot solar panel,
Sensor, injection apparatus, and the control centre on bank is individually located at, robot can avoid hitting by sensor sensing distance
The problem of hitting object, coordinates injection apparatus injection water, realizes the automatic cruising function in the robot water surface, solar cell
Plate provides power supply, realizes automatic continuation of the journey function.
Preferred embodiments of the present invention are these are only, embodiments of the present invention and protection domain is not thereby limited, it is right
For those skilled in the art, it should can appreciate that all utilization description of the invention and being equal made by diagramatic content replace
Change and obviously change resulting scheme, should be included in protection scope of the present invention.
Claims (9)
1. cruise robot, including the floating portion floated on the water surface and the heavy water portion being immersed in water are repaired in a kind of river course, its
It is characterised by, being provided with the floating portion in solar panel and sensor, the heavy water portion has power supply and Shui Chu
Reason portion；The solar panel provides electric energy to the power supply, and the power supply is respectively to the water-handling portion would, the biography
Sensor provides power supply；The heavy water portion is provided with injection apparatus, and for injection water, simultaneously control machine people moves in water.
2. cruise robot is repaired in river course according to claim 1, it is characterised in that also including the control located at river course bank
Center processed, the control centre and the sensor, injection apparatus communication connection and control machine people.
3. cruise robot is repaired in river course according to claim 1, it is characterised in that be provided with the heavy water portion with refitting
Put, matched for the weight to the robot, make robot mobile steady in water.
4. cruise robot is repaired in river course according to claim 1, it is characterised in that the heavy water portion is provided with into water
Pipe, the water inlet pipe is connected with the water-handling portion would, and the water source outside robot is introduced into the water-handling portion would located
Reason.
5. cruise robot is repaired in river course according to claim 4, it is characterised in that the water inlet pipe and the water process
There is water pump between portion, water source is introduced by the water pump.
6. cruise robot is repaired in river course according to claim 1, it is characterised in that at the injection apparatus and the water
Reason portion is connected, and the injection apparatus is installed on the outer wall in the heavy water portion, and water source is sprayed in moving process for robot
Adjust moving direction.
7. cruise robot is repaired in river course according to claim 6, it is characterised in that at the injection apparatus and the water
Magnetic valve is installed, the magnetic valve is communicated to connect with the control centre, and institute is controlled by the control centre between reason portion
State the opening and closing of magnetic valve.
8. cruise robot is repaired in river course according to claim 7, it is characterised in that the injection apparatus is venturi
Pipe.
9. cruise robot is repaired in river course according to claim 1, it is characterised in that the sensor is Distance-sensing
Device, is installed on the edge on floating portion surface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710666196.1A CN107235124A (en) | 2017-08-07 | 2017-08-07 | Repair cruise robot in river course |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710666196.1A CN107235124A (en) | 2017-08-07 | 2017-08-07 | Repair cruise robot in river course |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107235124A true CN107235124A (en) | 2017-10-10 |
Family
ID=59989474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710666196.1A Pending CN107235124A (en) | 2017-08-07 | 2017-08-07 | Repair cruise robot in river course |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107235124A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108640302A (en) * | 2018-03-28 | 2018-10-12 | 安徽科创生产力促进中心有限责任公司 | A kind of adaptive water body handling machine people |
| CN108658267A (en) * | 2018-03-28 | 2018-10-16 | 苏州本久环保科技有限公司 | A kind of water body aeration robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10286582A (en) * | 1997-04-17 | 1998-10-27 | Chuo Setsubi Kogyo Kk | Water treatment apparatus |
| CN103408095A (en) * | 2013-08-02 | 2013-11-27 | 江苏大学 | Floating self-propelled solar energy water body purifier |
| US20140175001A1 (en) * | 2012-12-26 | 2014-06-26 | II Loren Eugene Willis | Aquatic remediation apparatus |
| CN205721356U (en) * | 2016-04-11 | 2016-11-23 | 浙江祺日环境科技有限公司 | Novel surface water repair robot |
| CN106946339A (en) * | 2017-02-08 | 2017-07-14 | 中国科学院南京地理与湖泊研究所 | A kind of water course in situ purification and ecological restoring method |
-
2017
- 2017-08-07 CN CN201710666196.1A patent/CN107235124A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10286582A (en) * | 1997-04-17 | 1998-10-27 | Chuo Setsubi Kogyo Kk | Water treatment apparatus |
| US20140175001A1 (en) * | 2012-12-26 | 2014-06-26 | II Loren Eugene Willis | Aquatic remediation apparatus |
| CN103408095A (en) * | 2013-08-02 | 2013-11-27 | 江苏大学 | Floating self-propelled solar energy water body purifier |
| CN205721356U (en) * | 2016-04-11 | 2016-11-23 | 浙江祺日环境科技有限公司 | Novel surface water repair robot |
| CN106946339A (en) * | 2017-02-08 | 2017-07-14 | 中国科学院南京地理与湖泊研究所 | A kind of water course in situ purification and ecological restoring method |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108640302A (en) * | 2018-03-28 | 2018-10-12 | 安徽科创生产力促进中心有限责任公司 | A kind of adaptive water body handling machine people |
| CN108658267A (en) * | 2018-03-28 | 2018-10-16 | 苏州本久环保科技有限公司 | A kind of water body aeration robot |
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