CN107737755A - A kind of intelligent mobile based on water generating is removed contamination system and its control method - Google Patents
A kind of intelligent mobile based on water generating is removed contamination system and its control method Download PDFInfo
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- CN107737755A CN107737755A CN201711085709.6A CN201711085709A CN107737755A CN 107737755 A CN107737755 A CN 107737755A CN 201711085709 A CN201711085709 A CN 201711085709A CN 107737755 A CN107737755 A CN 107737755A
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- Prior art keywords
- processor
- battery
- housing
- receives
- information
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/08—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like
- B63C9/13—Life-buoys, e.g. rings; Life-belts, jackets, suits, or the like attachable to body member, e.g. arm, neck, head or waist
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03B—MACHINES OR ENGINES FOR LIQUIDS
- F03B13/00—Adaptations of machines or engines for special use; Combinations of machines or engines with driving or driven apparatus; Power stations or aggregates
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05B—INDEXING SCHEME RELATING TO WIND, SPRING, WEIGHT, INERTIA OR LIKE MOTORS, TO MACHINES OR ENGINES FOR LIQUIDS COVERED BY SUBCLASSES F03B, F03D AND F03G
- F05B2220/00—Application
- F05B2220/70—Application in combination with
- F05B2220/706—Application in combination with an electrical generator
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
A kind of intelligent mobile based on water generating is removed contamination system, including hydroelectric generator, housing, cleaning device, drive device, storage device, battery, wireless device and processor, hydroelectric generator is arranged at enclosure interior and is connected with battery, housing includes the first camera, water inlet, delivery port, filter screen, spud pile, fixing device and generating storehouse, cleaning device includes telescopic spray nozzle, steering spindle, liquid storage silo and high-pressure hydraulic pump, drive device includes motor and driving crawler belt, storage device includes power storage storehouse and telescopic door body, battery is arranged inside power storage storehouse, wireless device is arranged at enclosure interior, for with external equipment, water life-saving center, aquatic building rehabilitation center and network connection；Processor is arranged at wireless device side, for being connected respectively with fixing device, hydroelectric generator, telescopic spray nozzle, steering spindle, high-pressure hydraulic pump, motor, the first camera, telescopic door body, battery and wireless device.
Description
Technical field
The present invention relates to water conservancy equipment field, more particularly to a kind of intelligent mobile based on water generating remove contamination system and its
Control method.
Background technology
With the increasingly depleted of the energy, traditional power generation mode will be faced with acid test, in order to alleviate this present situation
Dependence to resources such as coals, and can having in the utilization of the raw energy/green energy, generation mode a few days ago of advocating of country, thermoelectricity,
Water power, wind-powered electricity generation etc., hydroelectric generation are that the water for being located at eminence using river, lake etc. and having potential energy flow to lower, will be contained therein
Potential energy is converted into the kinetic energy of the hydraulic turbine, then by means of the hydraulic turbine is motive power, and pushing generator produces electric energy.Waterpower is promoted using waterpower
Mechanical rotation, water can be changed into mechanical energy, if another machinery is connected on the hydraulic turbine can send out as the hydraulic turbine rotates
Go out electricity to come, at this moment mechanical energy is changed into electric energy again.Hydroelectric generation in the sense that be that the potential energy of water is transformed into mechanical energy, then
It is transformed into the process of electric energy.
At present, because some water conservancy equipments and building are in water for a long time, easily generating various spots influences water conservancy
The service life of equipment and building, and need substantial amounts of manpower and materials to be cleared up after generating spot.
So, how to allow hydroelectric power generating apparatus being capable of the optimal hydroelectric generation region of automatically walk searching and and sewage disposal apparatus
It is combined, so that cleaning in time is to be badly in need of solving at present after water conservancy equipment or building generation spot are detected in moving process
Certainly the problem of.
The content of the invention
Goal of the invention：The shortcomings that in order to overcome in background technology, the embodiments of the invention provide one kind to be based on water generating
Intelligent mobile remove contamination system and its control method, can effectively solve the problem that the problem of being related in above-mentioned background technology.
Technical scheme：
A kind of intelligent mobile based on water generating is removed contamination system, including hydroelectric generator, housing, cleaning device, drive device,
Storage device, battery, wireless device and processor, the hydroelectric generator are arranged at enclosure interior position and and battery
Connection, for being generated electricity by waterpower；The housing includes the first camera, water inlet, delivery port, filter screen, spud pile, solid
Determine device and generating storehouse, first camera is arranged above the housing and side position, for absorbing the shell
Environmental images around body；The water inlet is arranged at housing side position, enters generating storehouse for providing liquid；It is described
Delivery port is arranged at housing side position and keeps same horizontal line with the water inlet, for liquid to be discharged；It is described
Filter screen is arranged at water inlet and the delivery port interior location, for the rubbish in filtered fluid；The spud pile is arranged at
The housing lower position, for fixing the housing；The fixing device is arranged at the fixing device and connected with the housing
Opening position is connect, for fixing the spud pile；The generating storehouse is arranged at the enclosure interior position, for storing hydroelectric generation
Machine；The cleaning device includes telescopic spray nozzle, steering spindle, liquid storage silo and high-pressure hydraulic pump, and the telescopic spray nozzle is set
The housing top position is placed in, for spraying the liquid of liquid storage silo memory storage；The steering spindle is arranged at described flexible
Formula shower nozzle with being connected at housing link position and with the telescopic spray nozzle and housing respectively, for providing the telescopic spray
Head is rotated to assigned direction；The liquid storage silo is arranged at the enclosure interior position, for drawing and storing liquid；It is described
High-pressure hydraulic pump is arranged at the liquid storage silo interior location, for producing highly pressurised liquid；The drive device includes driving electricity
Machine and driving crawler belt, the motor are arranged at the enclosure interior position, for driving the driving crawler belt to run；Institute
State driving crawler belt and be arranged at the hull outside lower position, for driving the housing to walk；Storage device is deposited including power supply
Warehouse and telescopic door body, the power storage storehouse is arranged at the enclosure interior position, for storing battery；It is described to stretch
Contracting formula door body is arranged at power storage storehouse top position, for switching the power storage storehouse；The battery is provided with
Several are simultaneously arranged at power storage storehouse interior location, for storing and providing electric power；The wireless device is arranged at institute
State enclosure interior position, for external equipment, water life-saving center, aquatic building rehabilitation center and network connection；It is described
Processor is arranged at wireless device side position, for respectively with fixing device, hydroelectric generator, telescopic spray nozzle, turn
Connected to axle, high-pressure hydraulic pump, motor, the first camera, telescopic door body, battery and wireless device.
Institute is arranged at as a kind of preferred embodiment of the present invention, in addition to unmanned plane and attachment means, the unmanned plane
State power storage storehouse interior location and be connected with wireless device, for suspending battery in midair；The unmanned plane side is provided with second
Camera, the second camera are used to absorb the environmental images around the unmanned plane；The attachment means include connection card
Button, connecting rope and fixed card buckle, the connection buckle are arranged at the unmanned plane lower position and are connected with wireless device, use
In being connected respectively with connection buckle and connecting rope；The connecting rope is stored in the fixed card buckle interior location, for respectively
It is connected with the connection buckle and fixed card buckle；The fixed card buckle be arranged at battery upper outer surface position and with it is wireless
Device connects, for being connected respectively with battery and connecting rope.
Include rubbish as a kind of preferred embodiment of the present invention, in addition to garbage cleaning device, the garbage cleaning device
Passage, rubbish filtering net, rubbish storage storehouse, drainage pipeline, check valve and flexible door, the center section of the garbage shaft
With holding same horizontal line waterborne and running through the enclosure interior, flowed for providing liquid；The rubbish filtering net is set
The garbage shaft interior location is placed in, for the liquid in filtering spam passage；The rubbish storage storehouse is arranged at the shell
Intracorporeal site is put, the rubbish for stored filter；The drainage pipeline is arranged at rubbish storage storehouse side position and difference
With the rubbish storage storehouse and delivery port rubbish, for the liquid in rubbish storage storehouse to be expelled into water outlet；The list
Rubbish storage storehouse interior location is arranged to valve and is connected respectively with the rubbish storage storehouse, drainage pipeline and processor
Connect, for controlling the liquid in the storage silo to flow into the drainage pipeline；The flexible door is arranged at the rubbish and deposited
The Hatch Opening position of warehouse is simultaneously connected with processor, for switching the rubbish storage storehouse.
Institute is arranged at as a kind of preferred embodiment of the present invention, in addition to lifebuoy transmitter, the lifebuoy transmitter
State housing top position and be connected with processor, for the lifebuoy of storage to be launched to specified position.
It is arranged at as a kind of preferred embodiment of the present invention, in addition to positioner, the positioner in the housing
Portion position is simultaneously connected with processor, for positioning the shell position and obtaining location data.
A kind of intelligent mobile based on water generating is removed contamination system control method, and water generating is based on using described one kind
Intelligent mobile remove contamination system, the described method comprises the following steps：
The enabled instruction that wireless device receives external equipment transmission is then returned to processor, and the processor receives then
Extract in the enabled instruction itinerant map in waters and parked point and send operating instruction and to first to hydroelectric generator
Camera sends real time shooting instruction；
The hydroelectric generator receives, and controls itself startup optimization, and first camera receives then real time shooting housing
First image of surrounding is simultaneously returned to the processor；
The processor receives, and sending first image, itinerant map, parked point and driving walking to motor refers to
Order, the motor receives, housing described in control driving track drive according to first image, itinerant map continue into
Row pre-set velocity is walked and the parked and information that will walk returns to the processor according to the parked point progress preset time；
The processor receives, and first image is analyzed in real time, to described if water conservancy project building information has been analyzed
Motor sends first image, water conservancy project building information and close to instruction；
The motor receives then control and drives housing described in track drive according to first image and hydraulic engineering
Architecture information goes at the water conservancy project building and returns to the processor by information is reached；
The processor receives, and analyzes first image in real time, if analyzing the water conservancy project building and spot being present
Enabled instruction is sent according to the first Extraction of Image stained region information and to high-pressure hydraulic pump and to steering spindle and telescopic
Shower nozzle sends the stained region information and rotating-spray instruction；
The high-pressure hydraulic pump receives, and controls itself startup optimization, and the steering spindle and telescopic spray nozzle receive then described
Steering spindle controls the telescopic spray nozzle to rotate in face of stained region, the telescopic spray nozzle according to the stained region information
The processor is returned to by stained region described in the liquid high pressure jet cleaning in liquid storage silo and by cleaning information；
The processor receives, and analyzes first image in real time, if analyzing that the stained region is cleaned and completing to
The motor sends first image, itinerant map, parked point and resets travel commands；
The motor receives, control driving track drive described in housing according to first image, itinerant map continue into
The walking of row pre-set velocity is simultaneously parked according to the parked point progress preset time.
As a kind of preferred embodiment of the present invention, after the hydroelectric generator controls itself startup optimization, methods described
It is further comprising the steps of：
The processor sends electric power detection instruction to each battery, and the battery receives then obtains status information in real time
And it is returned to the processor；
The processor receives, and analyzes the status information that each battery returns in real time, satisfies if having analyzed battery and having entered
Open command then is sent to telescopic door body with state, enabled instruction is sent to unmanned plane and is sent to second camera real-time
Intake instruction；
The telescopic door body receives, and control autogenous shrinkage opens power storage storehouse, and the unmanned plane receives, and controls
Itself startup optimization, the second camera receive the second image described in then real time shooting around unmanned plane and by the shadows
As returning to the processor；
The processor receives then sends open command and to institute to the fixed card buckle above the battery for entering saturation state
State unmanned plane and connection buckle sends second image, battery information and link order into saturation system；
The fixed card buckle receives, and controls and itself enters opening and stretch out connecting rope, the unmanned plane and connection
Buckle receive then the unmanned aerial vehicle (UAV) control connection buckle according to second image and battery information successively with the storage
Connection completion information is simultaneously returned to the processor by the connecting rope connection of battery；
The processor receives, and sends the battery placement position information of the storage to unmanned plane and flight storage refers to
Order, the unmanned plane receive, suspend the battery into saturation in midair and go at battery placement location.
As a kind of preferred embodiment of the present invention, driving crawler belt is controlled to control the housing to enter every trade in the motor
When walking, methods described is further comprising the steps of：
The processor sends open command to flexible door and sends enabled instruction to check valve；
The flexible door receives, and control autogenous shrinkage opens rubbish storage storehouse, and the check valve receives then control certainly
Body enters opening.
As a kind of preferred embodiment of the present invention, driving crawler belt is controlled to control the housing to enter every trade in the motor
When walking, methods described is further comprising the steps of：
The processor analyzes first image in real time, according to first shadow if having analyzed human body and having entered drowned state
As calculating the drowned positional information of the human body and sending the drowned positional information of the human body and lifebuoy to lifebuoy transmitter
Firing order；
The lifebuoy transmitter receipt to then by the lifebuoy of therein launch to the human body drown opening position.
It is further comprising the steps of as a kind of preferred embodiment of the present invention, methods described：
The processor analyzes first image in real time, and sending positioning to positioner if emergency has been analyzed obtains
Instruction, the positioner receive, and position the housing current location in real time and return to the location data of acquisition described
Processor；
The processor receives, and sending the location data, emergency information and corresponding transmission to wireless device refers to
Order, the wireless device are received then to the positioning corresponding to water life-saving center and/or the transmission of aquatic building rehabilitation center
Data and emergency information.
The present invention realizes following beneficial effect：1. intelligent mobile is removed contamination, system refers in the startup for receiving external equipment transmission
After order, the environmental images of surrounding are obtained in real time and opens hydroelectric generator and is walked in real time in specified waters, if inspection
Water conservancy equipment is measured and/or after building has spot generation, intelligent mobile system of removing contamination controls telescopic spray nozzle towards institute
The region for producing spot is stated, High-Pressure Water is then sprayed and carries out cleaning spot, after the completion of spot cleaning, the intelligent mobile is removed contamination
System is walked in specified waters in real time.
2. after hydroelectric generator startup, system of the intelligent mobile removing contamination detects the status information of battery in real time, if
Detect that battery enters saturation state and then controls unmanned plane to fly out and connected with being established into the battery of saturation state, so
Control unmanned plane is suspended in midair to the opening position for preventing battery of storage afterwards.
3. when the intelligent mobile system of removing contamination is walked, the intelligent mobile system of removing contamination controls the rubbish of itself
The flexible door and check valve of storage silo are opened, by the rubbish storage of filtering in rubbish storage storehouse and filtering unnecessary liquid
Body.
4. when the intelligent mobile system of removing contamination is walked, whether intelligent mobile system detectio of removing contamination has human body
Into drowned state, lifebuoy transmitter is controlled to launch lifebuoy to drowned position of human body if having, then to waterborne
Rescue center sends drowned position of human body information.
5. if system detectio positions itself current position and obtained to after there is emergency generation the intelligent mobile is removed contamination
Corresponding location data is taken, then to emergency information and positioning corresponding to department corresponding with emergency transmission
Data.
Brief description of the drawings
Accompanying drawing herein is merged in specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and be used in specification to explain the principle of the disclosure together.Fig. 1 is being sent out based on water conservancy for the one of example offer of the present invention
The intelligent mobile of electricity is removed contamination the sectional view of system；
Fig. 2 is that the intelligent mobile based on water generating that the one of example of the present invention provides is removed contamination the schematic diagram of system；
Fig. 3 is the schematic diagram that the unmanned plane that the one of example of the present invention provides suspends battery in midair；
Fig. 4 is that the intelligent mobile based on water generating that the one of example of the present invention provides is removed contamination the flow chart of system；
Fig. 5 is the flow chart for the unmanned aerial vehicle (UAV) control method that the one of example of the present invention provides；
Fig. 6 is the flow chart for the rubbish storage method that the one of example of the present invention provides；
Fig. 7 is the flow chart for drowned personnel's rescue mode that the one of example of the present invention provides；
Fig. 8 is the flow chart for the emergency processing method that the one of example of the present invention provides；
Fig. 9 is that the intelligent mobile based on water generating that the one of example of the present invention provides is removed contamination the electronic device connection of system
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.
Embodiment one
With reference to figure 1-3, shown in Fig. 9, Fig. 1 is that the intelligent mobile based on water generating that the one of example of the present invention provides is removed contamination
The sectional view of system；Fig. 2 is that the intelligent mobile based on water generating that the one of example of the present invention provides is removed contamination the showing of system
It is intended to；Fig. 3 is the schematic diagram that the unmanned plane that the one of example of the present invention provides suspends battery in midair；Fig. 9 is the present invention wherein one
The intelligent mobile based on water generating that individual example provides is removed contamination the electronic device connection figure of system.
System, including hydroelectric generator specifically, a kind of intelligent mobile based on water generating of the present embodiment offer is removed contamination
1st, housing 2, cleaning device 3, drive device 4, storage device 5, battery 6, wireless device 7 and processor 8, the waterpower hair
Motor 1 is arranged at the interior location of housing 2 and is connected with battery 6, for being generated electricity by waterpower；The housing 2 includes the
One camera 20, water inlet 21, delivery port 22, filter screen 23, spud pile 24, fixing device 25 and generating storehouse 26, described first
Camera 20 is arranged at the top of housing 2 and side position, for absorbing the environmental images around the housing 2；It is described
Water inlet 21 is arranged at the side position of housing 2, enters generating storehouse 26 for providing liquid；The delivery port 22 is arranged at institute
State the side position of housing 2 and keep same horizontal line with the water inlet 21, for liquid to be discharged；The filter screen 23 is arranged at
Water inlet 21 and delivery port 22 interior location, for the rubbish in filtered fluid；The spud pile 24 is arranged at described
The lower position of housing 2, for fixing the housing 2；The fixing device 25 is arranged at the fixing device 25 and the housing 2
At link position, for fixing the spud pile 24；The generating storehouse 26 is arranged at the interior location of housing 2, for storing
Hydroelectric generator 1；The cleaning device 3 includes telescopic spray nozzle 30, steering spindle 31, liquid storage silo 32 and high-pressure hydraulic pump
33, the telescopic spray nozzle 30 is arranged at the top position of housing 2, for spraying the liquid of the memory storage of liquid storage silo 32；
The steering spindle 31 be arranged at the telescopic spray nozzle 30 and the link position of housing 2 and respectively with the telescopic spray nozzle 30 with
And housing 2 connects, rotated for providing the telescopic spray nozzle 30 to assigned direction；The liquid storage silo 32 is arranged at described
The interior location of housing 2, for drawing and storing liquid；The high-pressure hydraulic pump 33 is arranged at position in the liquid storage silo 32
Put, for producing highly pressurised liquid；The drive device 4 includes motor 40 and driving crawler belt 41, the motor 40
The interior location of housing 2 is arranged at, for driving the driving crawler belt 41 to run；The driving crawler belt 41 is arranged at the shell
The outside lower position of body 2, for driving the housing 2 to walk；Storage device 5 includes power storage storehouse 50 and telescopic door body
51, the power storage storehouse 50 is arranged at the interior location of housing 2, for storing battery 6；The telescopic door body 51 is set
The top position of power storage storehouse 50 is placed in, for switching the power storage storehouse 50；The battery 6 is provided with several
And the interior location of power storage storehouse 50 is arranged at, for storing and providing electric power；The wireless device 7 is arranged at the shell
The interior location of body 2, for external equipment, water life-saving center, aquatic building rehabilitation center and network connection；The processing
Device 8 is arranged at the side position of wireless device 7, for respectively with fixing device 25, hydroelectric generator 1, telescopic spray nozzle 30,
Steering spindle 31, high-pressure hydraulic pump 33, motor 40, the first camera 20, telescopic door body 51, battery 6 and wireless device 7
Connection.
Set as a kind of preferred embodiment of the present invention, in addition to unmanned plane 9 and attachment means 10, the unmanned plane 9
It is connected in the interior location of power storage storehouse 50 and with wireless device 7, for suspending battery 6 in midair；The side of unmanned plane 9 is set
Second camera 90 is equipped with, the second camera 90 is used to absorb the environmental images around the unmanned plane 9；The connection dress
Putting 10 includes connection buckle 100, connecting rope 101 and fixed card buckle 102, and the connection buckle 100 is arranged at the unmanned plane 9
Lower position is simultaneously connected with wireless device 7, for being connected respectively with connection buckle 100 and connecting rope 101；The connecting rope
101 are stored in the interior location of fixed card buckle 102, for connecting respectively with the connection buckle 100 and fixed card buckle 102
Connect；The fixed card buckle 102 is arranged at the upper outer surface position of battery 6 and is connected with wireless device 7, for respectively with electric power storage
Pond 6 and connecting rope 101 connect.
Include as a kind of preferred embodiment of the present invention, in addition to garbage cleaning device 11, the garbage cleaning device 11
Garbage shaft 110, rubbish filtering net 111, rubbish storage storehouse 112, drainage pipeline 113, check valve 114 and flexible door 115,
The center section of the garbage shaft 110 is with holding same horizontal line waterborne and inside the housing 2, for providing liquid
Flowed；The rubbish filtering net 111 is arranged at the interior location of garbage shaft 110, in filtering spam passage 110
Liquid；The rubbish storage storehouse 112 is arranged at the interior location of housing 2, the rubbish for stored filter；The drainpipe
Road 113 be arranged at the side position of rubbish storage storehouse 112 and respectively with the rubbish storage storehouse 112 and the rubbish of delivery port 22
Rubbish, for the liquid in rubbish storage storehouse 112 to be expelled at delivery port 22；The check valve 114 is arranged at the rubbish and deposited
The interior location of warehouse 112 is simultaneously connected with the rubbish storage storehouse 112, drainage pipeline 113 and processor 8 respectively, for controlling
Liquid in the storage silo is flowed into the drainage pipeline 113；The flexible door 115 is arranged at the rubbish storage storehouse
112 Hatch Opening position is simultaneously connected with processor 8, for switching the rubbish storage storehouse 112.
Set as a kind of preferred embodiment of the present invention, in addition to lifebuoy transmitter 12, the lifebuoy transmitter 12
It is connected in the top position of housing 2 and with processor 8, for the lifebuoy of storage to be launched to specified position.
The shell is arranged at as a kind of preferred embodiment of the present invention, in addition to positioner 13, the positioner 13
The interior location of body 2 is simultaneously connected with processor 8, for positioning the position of housing 2 and obtaining location data.
Wherein, the remove contamination electronic device of internal system of the intelligent mobile uses waterproofing design；The unmanned plane 9 counts
Amount is consistent with the quantity of battery 6, and the quantity of attachment means 10 is consistent with the quantity of unmanned plane 9；The spud pile 24 stretches out
Water-bed internal 2m in waters or so is injected afterwards the intelligent mobile is fixed remove contamination system；The rubbish filtering net 111 will filter
Rubbish be positioned over inside the rubbish storage storehouse 112；The remove contamination electronic device of internal system of the intelligent mobile is performing
Information is completed into instructing backward processor 8 to return to corresponding instruction；Water inlet 21 enters water, and waterpower is sent out when water reaches generating storehouse 26
Motor 1 is generated electricity, and then water is discharged from delivery port 22.
Embodiment two
With reference to shown in figure 4, Fig. 4 is that the intelligent mobile based on water generating that the one of example of the present invention provides is removed contamination system
Flow chart.
The system control method specifically, a kind of intelligent mobile based on water generating of the present embodiment offer is removed contamination, uses institute
A kind of intelligent mobile based on water generating stated is removed contamination system, the described method comprises the following steps：
The enabled instruction that S1, wireless device 7 receive external equipment transmission is then returned to processor 8, and the processor 8 connects
Receive, extract in the enabled instruction itinerant map in waters and parked point and to hydroelectric generator 1 send operating instruction and
Real time shooting instruction is sent to the first camera 20；
S2, the hydroelectric generator 1 are received, and control itself startup optimization, and first camera 20 is received, taken the photograph in real time
Take the first image around housing 2 and be returned to the processor 8；
S3, the processor 8 are received, and first image, itinerant map, parked point and driving are sent to motor 40
Travel commands, the motor 40 receive, and control driving crawler belt 41 drives the housing 2 according to first image, boat
Line chart continues pre-set velocity walking and the parked and information that will walk returns to according to the parked point progress preset time
The processor 8.
S4, the processor 8 receive, and analyze first image in real time, if having analyzed water conservancy project building information
Then first image, water conservancy project building information are sent to the motor 40 and close to instruction；
S5, the motor 40 receive, control driving crawler belt 41 drive the housing 2 according to first image and
Water conservancy project building information is gone at the water conservancy project building and returns to the processor 8 by information is reached；
S6, the processor 8 receive, and analyze first image in real time, if analyzing the water conservancy project building has dirt
Stain then sends enabled instruction and to steering spindle 31 according to the first Extraction of Image stained region information and to high-pressure hydraulic pump 33
The stained region information and rotating-spray instruction are sent with telescopic spray nozzle 30；
S7, the high-pressure hydraulic pump 33 receive, and control itself startup optimization, and the steering spindle 31 and telescopic spray nozzle 30 connect
Receive the then steering spindle 31 controls the rotation of telescopic spray nozzle 30 extremely to face stained region according to the stained region information,
The telescopic spray nozzle 30 returns by stained region described in the liquid high pressure jet cleaning in liquid storage silo 32 and by cleaning information
Back to the processor 8；
S8, the processor 8 are received, and analyze first image in real time, if analyzing, the stained region is cleaned to be completed
Then first image, itinerant map, parked point and driving travel commands are sent to the motor 40；
S9, the motor 40 receive, and control driving crawler belt 41 drives the housing 2 according to first image, course line
Figure continue pre-set velocity walking and according to it is described it is parked point carry out preset time it is parked.
Wherein, the hydraulic engineering equipment and building of itinerant map, parked point and waters are included in the enabled instruction；It is described
First image is the environmental images around the housing 2；The pre-set velocity is 0-50 sections/hour, in the present embodiment preferably
For 10 sections/hour；The preset time is 0-10 days, in the present embodiment preferably 5 hours；The water conservancy project building information
Species, image, spot situation including water conservancy project building etc.；The water conservancy project building include bridge, gravity dam, arch dam,
All kinds of buildings such as earth and rockfill dam, riverbank spillway, hydraulic tunnel and calvert below dam, sluice, pumping plant；If according to the first image analysing computer
Go out the water conservancy structure or when equipment is damaged, position the position of the housing 2 and send out it using wireless device 7
Aquatic building rehabilitation center corresponding to giving, to notify it to be repaired；First camera 20 upon actuation, real time shooting
The image is simultaneously returned to the processor 8 by environmental images around the housing 2 in real time, is sent out until receiving processor 8
The instruction out of service sent.
In S1, specifically after the enabled instruction that wireless device 7 receives external equipment transmission, the wireless device 7 will
The enabled instruction returns to processor 8, after the processor 8 receives the enabled instruction, extracts in the enabled instruction
Predetermined row walks the itinerant map in waters and parked point, and then the processor 8 sends operating instruction to hydroelectric generator 1, simultaneously
The processor 8 sends real time shooting instruction to the first camera 20.
In S2, specifically after the hydroelectric generator 1 receives the operating instruction, itself startup optimization is controlled, profit
Generated electricity with the water for entering generating storehouse 26 from water inlet 21, then water is discharged from delivery port 22, and first camera 20 connects
After receiving the real time shooting instruction, the first image around real time shooting housing 2, first image is then returned into institute
State processor 8.
In S3, specifically after the processor 8 receives first image, described first is sent to motor 40
Image, itinerant map, parked point and driving travel commands, after the motor 40 receives described information and instruction, control
System driving crawler belt 41 drives speed of the housing 2 according to first image, itinerant map and parked point progress 10 sections/hour
Walking, 5 hours parked then is carried out in parked point, after walking, the motor 40 information that will walk returns to the place
Manage device 8.
In S4, specifically after the processor 8 receives the walking information, first image is analyzed in real time, if
After the processor 8 is analyzed in first image with the presence of water conservancy project building, sent to the motor 40 described
First image, water conservancy project building information and close instruction, that is, notify the motor 40 to control housing 2 to go to the water
Whether sharp engineering construction opening position checked, detect the water conservancy project building and be damaged and occur spot.
In S5, specifically after the motor 40 receives described information and instruction, control driving crawler belt 41 drives
Move the housing 2 and the water conservancy project building opening position is gone to according to first image and water conservancy project building information, so
Information will be reached afterwards and returns to the processor 8, that is, notifies the processor 8 to have arrived at water conservancy project building.
In S6, specifically after the processor 8 receives the arrival information, first image is analyzed in real time, if
Analyze after the water conservancy project building has spot, the processor 8 according to the first Extraction of Image stained region information,
The stained region position on the water conservancy project building surface is extracted, then the processor 8 sends to high-pressure hydraulic pump 33 and started
Instruction, while the processor 8 sends the stained region information and rotating-spray to steering spindle 31 and telescopic spray nozzle 30
Instruction, i.e., control the telescopic spray nozzle 30 towards the stained region on the water conservancy project building surface using the steering spindle 31
Position.
In S7, specifically after the high-pressure hydraulic pump 33 receives the enabled instruction, itself startup optimization is controlled, is produced
Highly pressurised liquid, the steering spindle 31 and telescopic spray nozzle 30 receive the stained region information and rotating-spray instruction
Afterwards, the steering spindle 31 controls the rotation of telescopic spray nozzle 30 extremely towards the hydraulic engineering according to the stained region information
The stained region on surface is built, then the telescopic spray nozzle 30 is by described in the liquid high pressure jet cleaning in liquid storage silo 32
Stained region, i.e., high-pressure liquid jet to the stained region is subjected to cleaning spot, the information of cleaning is then returned into institute
Processor 8 is stated, that is, notifies the processor 8 to begin a clean up spot.
In S8, specifically after the processor 8 receives the cleaning information, the processor 8 is in real time described in analysis
First image, if the processor 8 analyze the water conservancy project building surface stained region it is cleaned after the completion of, the place
Reason device 8 sends first image, itinerant map, parked point to the motor 40 and resets travel commands.
In S9, specifically after the motor 40 receives described information and instruction, control driving crawler belt 41 drives
10 sections of navigation progress/hour walking that the housing 2 is back to navigation chart record according to first image, itinerant map is moved, so
The parked of 5 hours is carried out according to the parked point afterwards.
Embodiment three
With reference to shown in figure 5, Fig. 5 is the flow chart for the unmanned aerial vehicle (UAV) control method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the hydroelectric generator
After 1 controls itself startup optimization, methods described is further comprising the steps of：
S20, the processor 8 send electric power detection instruction to each battery 6, and the battery 6 receives then acquisition in real time
Status information is simultaneously returned to the processor 8；
S21, the processor 8 receive, and the status information that each battery 6 returns are analyzed in real time, if having analyzed battery
6, which enter saturation state, then sends open command to telescopic door body 51, enabled instruction is sent to unmanned plane 9 and is imaged to second
First 90 send real time shooting instruction；
S22, the telescopic door body 51 receive, and control autogenous shrinkage opens power storage storehouse 50, and the unmanned plane 9 connects
Receive, control itself startup optimization, the second camera 90 receives second around unmanned plane 9 described in then real time shooting
Second image is simultaneously returned to the processor 8 by image；
S23, the processor 8 receive, and the fixed card buckle 102 to the top of battery 6 for entering saturation state sends unlatching and referred to
Make and to the unmanned plane 9 and connection buckle 100 send second image, into saturation system the information of battery 6 with
And link order；
S24, the fixed card buckle 102 receive, and control itself to enter and opening and stretch out connecting rope 101, it is described nobody
Machine 9 and connection buckle 100 receive the then unmanned plane 9 and control connection buckle 100 according to second image and electric power storage
The information of pond 6 is connected with the connecting rope 101 of the battery 6 and connection is completed into information successively returns to the processor 8；
S25, the processor 8 are received, and the placement position information of battery 6 and the flight of the storage are sent to unmanned plane 9
Store instruction, the unmanned plane 9 receive, and suspend the battery 6 into saturation in midair and go at the placement location of battery 6.
Wherein, the status information includes charged state and saturation state, and the saturation state is the electric power of battery 6
Storage is full；After the fixed card buckle 102 enters opening, the connecting rope 101 of storage inside is stretched out 5 centimetres；The connection
After buckle 100 is connected with connecting rope 101, into state is fixedly connected with, fall to prevent on-slip；The battery 6 of the storage places position
The particular location data that the defined battery 6 that confidence breath is stored in processor 8 is deposited；Second image refers to described
Environmental images around unmanned plane 9.
Specifically, after the hydroelectric generator 1 controls itself startup optimization, the processor 8 is to power storage storehouse 50
Interior each battery 6 sends electric power detection instruction, after the battery 6 receives the electric power detection instruction, obtains in real time
The status information of itself, then returns to the processor 8 by the status information, and the processor 8 receives the state
After information, the status information that each battery 6 returns is analyzed in real time, if the processor 8 has analyzed battery 6 and entered saturation
After state, to telescopic door body 51 send open command, while the processor 8 to unmanned plane 9 send enabled instruction and to
Second camera 90 sends real time shooting instruction, after the telescopic door body 51 receives the open command, controls and itself receives
Power storage storehouse 50 is opened in contracting, so that unmanned plane 9 flies out, after the unmanned plane 9 receives the enabled instruction, controls itself
In startup optimization and hovering and the power storage storehouse 50, after the second camera 90 receives the real time shooting instruction,
The second image described in real time shooting around unmanned plane 9, then the second camera 90 second image is returned into institute
Processor 8 is stated, after the processor 8 receives second image, to the fixing card for the top of battery 6 for entering saturation state
Button 102 sends open command, performs the completion instruction in the fixed card buckle 102 and returns to corresponding instruction to processor 8
After completing information, the processor 8 sends second image, into saturation system to the unmanned plane 9 and connection buckle 100
The information of battery 6 and link order of system, after the fixed card buckle 102 receives the open command, control and itself enter
Connecting rope 101 is simultaneously stretched out 5 centimetres by opening, and the unmanned plane 9 and connection buckle 100 receive described information and referred to
After order, the unmanned plane 9 control the connection buckle 100 according to second image and the information of battery 6 successively with it is described
The connecting rope 101 of the top fixed card buckle 102 of battery 6 connects, i.e., described unmanned plane 9 control the connection buckle 100 with it is described
Connecting rope 101 in one fixed card buckle 102 of the top of battery 6 is connected, and then the connecting rope 101 is pulled out and gone to down
At one fixed card buckle 102, by that analogy, until by the connecting rope in all fixed card buckles 102 in the top of the battery 6
101 connections finish, and connection then is completed into information returns to the processor 8, and the processor 8 receives the connection and completed
After information, the placement position information of battery 6 and flight store instruction of the storage, the unmanned plane 9 are sent to unmanned plane 9
After receiving the placement position information of battery 6 and flight store instruction, suspend the battery 6 into saturation in midair and go to
Stored at the placement location of battery 6.
Example IV
With reference to shown in figure 6, Fig. 6 is the flow chart for the rubbish storage method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the motor 40
When control driving crawler belt 41 controls the housing 2 to be walked, methods described is further comprising the steps of：
S30, the processor 8 send open command to flexible door 115 and send enabled instruction to check valve 114；
S31, the flexible door 115 receive, and control autogenous shrinkage opens rubbish storage storehouse 112, the check valve 114
Receive, control and itself enter opening.
Specifically, when the motor 40 controls driving crawler belt 41 to control the housing 2 to be walked, the processing
Device 8 sends open command to flexible door 115, while the processor 8 sends enabled instruction to check valve 114, described flexible
After door 115 receives the open command, control autogenous shrinkage opens rubbish storage storehouse 112, there is provided from rubbish filtering net
The rubbish of 111 accumulations is entered in rubbish storage storehouse 112, after the check valve 114 receives the enabled instruction, controls itself
Into opening, so as to which the liquid that the rubbish dropped to from rubbish filtering net 111 in rubbish storage storehouse 112 contains is passed through into row
Waterpipe 113 is expelled at delivery port 22.
Embodiment five
With reference to shown in figure 7, Fig. 7 is the flow chart for drowned personnel's rescue mode that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, and difference part is, in the present embodiment, in the motor 40
When control driving crawler belt 41 controls the housing 2 to be walked, methods described is further comprising the steps of：
S32, the processor 8 analyze first image in real time, if having analyzed human body and having entered drowned state according to
First image calculate the human body drown positional information and to lifebuoy transmitter 12 send the human body drown positional information with
And lifebuoy firing order；
S33, the lifebuoy transmitter 12 receive, and the lifebuoy of therein is launched to the drowned opening position of the human body.
Specifically, when the motor 40 controls driving crawler belt 41 to control the housing 2 to be walked, the processing
Device 8 analyzes first image in real time, if the processor 8 is analyzed after having human body to enter drowned state around the housing 2,
The drowned state, which is included in water, struggles, is floated to the state such as waterborne, and calculating the human body according to first image drowns
Positional information, then the processor 8 sends the drowned positional information of the human body to lifebuoy transmitter 12 and lifebuoy is sent out
Instruction is penetrated, after the lifebuoy transmitter 12 receives the drowned positional information of the human body and lifebuoy firing order, control
Itself the lifebuoy of inside is launched to the drowned opening position of the human body, the lifebuoy and expanded rapidly after meeting water in shell shape.
Embodiment six
With reference to shown in figure 8, Fig. 8 is the flow chart for the emergency processing method that the one of example of the present invention provides.
The present embodiment and embodiment one are substantially consistent, difference part be, in the present embodiment, methods described also include with
Lower step：
S10, the processor 8 analyze first image in real time, are sent if emergency has been analyzed to positioner 13
Positioning obtains instruction, and the positioner 13 receives, and positions the current location of housing 2 in real time and by the positioning number of acquisition
According to returning to the processor 8；
S11, the processor 8 are received, and the location data, emergency information and corresponding hair are sent to wireless device 7
Instruction is sent, the wireless device 7 is received then to described corresponding to water life-saving center and/or the transmission of aquatic building rehabilitation center
Location data and emergency information.
Wherein, emergency includes that human body is drowned, damage occurs in water conservancy project building, hydraulic engineering equipment is damaged
And situations such as overwater accident generation.
Specifically, the processor 8 analyzes first image in real time, if the processor 8 analyzes first shadow
After having emergency as in, the processor 8 sends positioning to positioner 13 and obtains instruction, and the positioner 13 receives
After the positioning obtains instruction, the current location of housing 2 is positioned in real time and obtains the location data of the position, then by institute
The location data for stating acquisition returns to the processor 8, after the processor 8 receives the location data, to wireless device 7
Send the location data, emergency information and corresponding send to instruct, the wireless device 7 receives the positioning number
According to, emergency information and it is corresponding send instruction after, to it is described it is corresponding send instruct corresponding to water life-saving center and/or
Aquatic building rehabilitation center send corresponding to the location data and emergency information, such as find to have human body drowned and/
Or overwater accident occurs then to send the location data to water life-saving center and corresponding human body is drowned and/or overwater accident
Generation information, repaiied if discovery has water conservancy project building to occur damaging and/or damaging occurs in hydraulic engineering equipment to aquatic building
Multiple center sends the location data and corresponding water conservancy project building occurs damaging and/or hydraulic engineering equipment is damaged
Information.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, it should all be included within the scope of the present invention.
Claims (10)
- The system 1. a kind of intelligent mobile based on water generating is removed contamination, including hydroelectric generator, housing, cleaning device, driving dress Put, storage device, battery, wireless device and processor, it is characterised in that the hydroelectric generator is arranged at enclosure interior Position is simultaneously connected with battery, for being generated electricity by waterpower；The housing include the first camera, water inlet, delivery port, Filter screen, spud pile, fixing device and generating storehouse, first camera is arranged above the housing and side position, For absorbing the environmental images of the casing surroundings；The water inlet is arranged at housing side position, for providing liquid Into generating storehouse；The delivery port is arranged at housing side position and keeps same horizontal line with the water inlet, is used for Liquid is discharged；The filter screen is arranged at water inlet and the delivery port interior location, for the rubbish in filtered fluid；Institute State spud pile and be arranged at the housing lower position, for fixing the housing；The fixing device is arranged at the fixed dress Put with the housing link position, for fixing the spud pile；The generating storehouse is arranged at the enclosure interior position, uses In storage hydroelectric generator；The cleaning device includes telescopic spray nozzle, steering spindle, liquid storage silo and high-pressure hydraulic pump, institute State telescopic spray nozzle and be arranged at the housing top position, for spraying the liquid of liquid storage silo memory storage；The steering spindle The telescopic spray nozzle is arranged at being connected respectively at housing link position and with the telescopic spray nozzle and housing, for carrying Rotated for the telescopic spray nozzle to assigned direction；The liquid storage silo is arranged at the enclosure interior position, for drawing And store liquid；The high-pressure hydraulic pump is arranged at the liquid storage silo interior location, for producing highly pressurised liquid；The driving Device includes motor and driving crawler belt, the motor are arranged at the enclosure interior position, described for driving Drive crawler belt operation；The driving crawler belt is arranged at the hull outside lower position, for driving the housing to walk；Storage Device includes power storage storehouse and telescopic door body, and the power storage storehouse is arranged at the enclosure interior position, for depositing Save battery；The telescopic door body is arranged at power storage storehouse top position, for switching the power storage storehouse；Institute State battery to be provided with several and be arranged at power storage storehouse interior location, for storing and providing electric power；The nothing Line apparatus is arranged at the enclosure interior position, for external equipment, water life-saving center, aquatic building rehabilitation center and Network connection；The processor is arranged at wireless device side position, for respectively with fixing device, hydroelectric generator, Telescopic spray nozzle, steering spindle, high-pressure hydraulic pump, motor, the first camera, telescopic door body, battery and wireless device Connection.
- The system 2. a kind of intelligent mobile based on water generating according to claim 1 is removed contamination, it is characterised in that also include Unmanned plane and attachment means, the unmanned plane are arranged at power storage storehouse interior location and are connected with wireless device, use In suspention battery；The unmanned plane side is provided with second camera, and the second camera is used to absorb the unmanned plane The environmental images of surrounding；The attachment means include connection buckle, connecting rope and fixed card buckle, and the connection buckle is arranged at The unmanned plane lower position is simultaneously connected with wireless device, for being connected respectively with connection buckle and connecting rope；The connection Rope is stored in the fixed card buckle interior location, for being connected respectively with the connection buckle and fixed card buckle；The fixation Buckle is arranged at battery upper outer surface position and is connected with wireless device, for connecting respectively with battery and connecting rope Connect.
- The system 3. a kind of intelligent mobile based on water generating according to claim 1 is removed contamination, it is characterised in that also include Garbage cleaning device, the garbage cleaning device include garbage shaft, rubbish filtering net, rubbish storage storehouse, drainage pipeline, unidirectional Valve and flexible door, the center section of the garbage shaft and holding same horizontal line waterborne simultaneously run through the enclosure interior, Flowed for providing liquid；The rubbish filtering net is arranged at the garbage shaft interior location, leads to for filtering spam Liquid in road；The rubbish storage storehouse is arranged at the enclosure interior position, the rubbish for stored filter；The drainpipe Road be arranged at rubbish storage storehouse side position and respectively with the rubbish storage storehouse and delivery port rubbish, for by rubbish Liquid in storage silo is expelled to water outlet；The check valve be arranged at rubbish storage storehouse interior location and respectively with institute Rubbish storage storehouse, drainage pipeline and processor connection are stated, for controlling the liquid in the storage silo to flow into the drainpipe In road；The flexible door is arranged at the Hatch Opening position in the rubbish storage storehouse and is connected with processor, for switching the rubbish Rubbish storage silo.
- The system 4. a kind of intelligent mobile based on water generating according to claim 1 is removed contamination, it is characterised in that also include Lifebuoy transmitter, the lifebuoy transmitter are arranged at the housing top position and are connected with processor, for that will store Lifebuoy launch to specified position.
- The system 5. a kind of intelligent mobile based on water generating according to claim 1 is removed contamination, it is characterised in that also include Positioner, the positioner is arranged at the enclosure interior position and is connected with processor, for positioning the housing position Put and obtain location data.
- The system control method 6. a kind of intelligent mobile based on water generating is removed contamination, usage right require a kind of base described in 1-5 Removed contamination system in the intelligent mobile of water generating, it is characterised in that the described method comprises the following steps：The enabled instruction that wireless device receives external equipment transmission is then returned to processor, and the processor receives then Extract in the enabled instruction itinerant map in waters and parked point and send operating instruction and to first to hydroelectric generator Camera sends real time shooting instruction；The hydroelectric generator receives, and controls itself startup optimization, and first camera receives then real time shooting housing First image of surrounding is simultaneously returned to the processor；The processor receives, and sending first image, itinerant map, parked point and driving walking to motor refers to Order, the motor receives, housing described in control driving track drive according to first image, itinerant map continue into Row pre-set velocity is walked and the parked and information that will walk returns to the processor according to the parked point progress preset time；The processor receives, and first image is analyzed in real time, to described if water conservancy project building information has been analyzed Motor sends first image, water conservancy project building information and close to instruction；The motor receives then control and drives housing described in track drive according to first image and hydraulic engineering Architecture information goes at the water conservancy project building and returns to the processor by information is reached；The processor receives, and analyzes first image in real time, if analyzing the water conservancy project building and spot being present Enabled instruction is sent according to the first Extraction of Image stained region information and to high-pressure hydraulic pump and to steering spindle and telescopic Shower nozzle sends the stained region information and rotating-spray instruction；The high-pressure hydraulic pump receives, and controls itself startup optimization, and the steering spindle and telescopic spray nozzle receive then described Steering spindle controls the telescopic spray nozzle to rotate in face of stained region, the telescopic spray nozzle according to the stained region information The processor is returned to by stained region described in the liquid high pressure jet cleaning in liquid storage silo and by cleaning information；The processor receives, and analyzes first image in real time, if analyzing that the stained region is cleaned and completing to The motor sends first image, itinerant map, parked point and resets travel commands；The motor receives, control driving track drive described in housing according to first image, itinerant map continue into The walking of row pre-set velocity is simultaneously parked according to the parked point progress preset time.
- The system control method 7. a kind of intelligent mobile based on water generating according to claim 6 is removed contamination, its feature exist In after the hydroelectric generator controls itself startup optimization, methods described is further comprising the steps of：The processor sends electric power detection instruction to each battery, and the battery receives then obtains status information in real time And it is returned to the processor；The processor receives, and analyzes the status information that each battery returns in real time, satisfies if having analyzed battery and having entered Open command then is sent to telescopic door body with state, enabled instruction is sent to unmanned plane and is sent to second camera real-time Intake instruction；The telescopic door body receives, and control autogenous shrinkage opens power storage storehouse, and the unmanned plane receives, and controls Itself startup optimization, the second camera receive the second image described in then real time shooting around unmanned plane and by the shadows As returning to the processor；The processor receives then sends open command and to institute to the fixed card buckle above the battery for entering saturation state State unmanned plane and connection buckle sends second image, battery information and link order into saturation system；The fixed card buckle receives, and controls and itself enters opening and stretch out connecting rope, the unmanned plane and connection Buckle receive then the unmanned aerial vehicle (UAV) control connection buckle according to second image and battery information successively with the storage Connection completion information is simultaneously returned to the processor by the connecting rope connection of battery；The processor receives, and sends the battery placement position information of the storage to unmanned plane and flight storage refers to Order, the unmanned plane receive, suspend the battery into saturation in midair and go at battery placement location.
- The system control method 8. a kind of intelligent mobile based on water generating according to claim 6 is removed contamination, its feature exist In when the motor controls driving crawler belt to control the housing to be walked, methods described is further comprising the steps of：The processor sends open command to flexible door and sends enabled instruction to check valve；The flexible door receives, and control autogenous shrinkage opens rubbish storage storehouse, and the check valve receives then control certainly Body enters opening.
- The system control method 9. a kind of intelligent mobile based on water generating according to claim 6 is removed contamination, its feature exist In when the motor controls driving crawler belt to control the housing to be walked, methods described is further comprising the steps of：The processor analyzes first image in real time, according to first shadow if having analyzed human body and having entered drowned state As calculating the drowned positional information of the human body and sending the drowned positional information of the human body and lifebuoy to lifebuoy transmitter Firing order；The lifebuoy transmitter receipt to then by the lifebuoy of therein launch to the human body drown opening position.
- The system control method 10. a kind of intelligent mobile based on water generating according to claim 6 is removed contamination, its feature exist In methods described is further comprising the steps of：The processor analyzes first image in real time, and sending positioning to positioner if emergency has been analyzed obtains Instruction, the positioner receive, and position the housing current location in real time and return to the location data of acquisition described Processor；The processor receives, and sending the location data, emergency information and corresponding transmission to wireless device refers to Order, the wireless device are received then to the positioning corresponding to water life-saving center and/or the transmission of aquatic building rehabilitation center Data and emergency information.
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