CN107737755B - Intelligent mobile trash removal system based on hydroelectric power generation and control method thereof - Google Patents

Abstract

An intelligent mobile sewage disposal system based on hydroelectric power generation comprises a hydroelectric generator, a shell, a cleaning device, a driving device, a storage battery, a wireless device and a processor, wherein the hydroelectric generator is arranged inside the shell and connected with the storage battery; the processor is arranged on the side of the wireless device and is used for being connected with the fixing device, the hydroelectric generator, the telescopic sprayer, the steering shaft, the high-pressure water pump, the driving motor, the first camera, the telescopic door body, the storage battery and the wireless device respectively.

Description

Intelligent mobile trash removal system based on hydroelectric power generation and control method thereof

Technical Field

The invention relates to the field of water conservancy equipment, in particular to an intelligent mobile sewage disposal system based on hydroelectric power generation and a control method thereof.

Background

With the increasing exhaustion of energy, the traditional power generation mode faces a severe examination, in order to alleviate the dependence of the current situation on resources such as coal and the like and the utilization of renewable energy/green energy advocated by the country, the current power generation modes include thermal power, hydroelectric power, wind power and the like, hydroelectric power generation utilizes water flow with potential energy at high positions such as rivers and lakes to the low positions, the potential energy contained in the water flow is converted into the kinetic energy of a water turbine, and the water turbine is used as motive power to push a generator to generate electric energy. The hydraulic machine is driven by water power to rotate, so that the water power is converted into mechanical energy, and if another machine is connected to the water turbine and rotates along with the water turbine, electricity can be generated, and the mechanical energy is converted into electric energy. Hydroelectric power generation is in a sense the process of converting the potential energy of water into mechanical energy and then into electrical energy.

At present, some water conservancy equipment and buildings are in water for a long time, various stains are easy to generate to influence the service lives of the water conservancy equipment and the buildings, and a large amount of manpower and material resources are needed for cleaning after the stains are generated.

However, how to let the hydroelectric generation device automatically walk to find the optimal hydroelectric generation area and combine with the sewage disposal device, thereby detecting in the moving process that hydraulic equipment or building in time clear up after producing the spot is the problem that needs to be solved at present urgently.

Disclosure of Invention

The purpose of the invention is as follows: in order to overcome the defects in the background art, the embodiment of the invention provides an intelligent mobile sewage disposal system based on hydroelectric power generation and a control method thereof, which can effectively solve the problems related to the background art.

The technical scheme is as follows:

an intelligent mobile sewage disposal system based on hydroelectric power generation comprises a hydroelectric generator, a shell, a cleaning device, a driving device, a storage battery, a wireless device and a processor, wherein the hydroelectric generator is arranged in the shell, is connected with the storage battery and is used for generating power through water power; the shell comprises a first camera, a water inlet, a water outlet, a filter screen, a fixing pile, a fixing device and a power generation cabin, wherein the first camera is arranged above the shell and at the side position and used for shooting an environmental image around the shell; the water inlet is arranged at the side position of the shell and used for providing liquid to enter the power generation cabin; the water outlet is arranged at the side position of the shell and keeps the same horizontal line with the water inlet, and is used for discharging liquid; the filter screens are arranged at the inner positions of the water inlet and the water outlet and are used for filtering garbage in the liquid; the fixing pile is arranged at the position below the shell and used for fixing the shell; the fixing device is arranged at the connecting position of the fixing device and the shell and used for fixing the fixing pile; the power generation cabin is arranged in the shell and used for storing the hydroelectric generator; the cleaning device comprises a telescopic spray head, a steering shaft, a liquid storage bin and a high-pressure water pump, wherein the telescopic spray head is arranged above the shell and used for spraying liquid stored in the liquid storage bin; the steering shaft is arranged at the connecting position of the telescopic spray head and the shell, is respectively connected with the telescopic spray head and the shell, and is used for providing the telescopic spray head to rotate to a specified direction; the liquid storage bin is arranged at the inner position of the shell and is used for sucking and storing liquid; the high-pressure water pump is arranged in the liquid storage bin and used for generating high-pressure liquid; the driving device comprises a driving motor and a driving crawler, and the driving motor is arranged in the shell and used for driving the driving crawler to run; the driving crawler is arranged at the lower position outside the shell and used for driving the shell to walk; the storage device comprises a power supply storage bin and a telescopic door body, wherein the power supply storage bin is arranged in the shell and used for storing a storage battery; the telescopic door body is arranged above the power supply storage bin and used for opening and closing the power supply storage bin; the storage batteries are arranged in a plurality of positions in the power supply storage bin and used for storing and providing power; the wireless device is arranged in the shell and is used for being connected with external equipment, a water rescue center, a water building repair center and a network; the processor is arranged at the side position of the wireless device and is used for being connected with the fixing device, the hydroelectric generator, the telescopic spray head, the steering shaft, the high-pressure water pump, the driving motor, the first camera, the telescopic door body, the storage battery and the wireless device respectively.

As a preferred mode of the invention, the power supply storage bin further comprises an unmanned aerial vehicle and a connecting device, wherein the unmanned aerial vehicle is arranged in the power supply storage bin, is connected with the wireless device and is used for suspending the storage battery; a second camera is arranged on the side of the unmanned aerial vehicle and used for shooting an environmental image around the unmanned aerial vehicle; the connecting device comprises a connecting buckle, a connecting rope and a fixing buckle, and the connecting buckle is arranged at the position below the unmanned aerial vehicle, is connected with the wireless device and is used for being connected with the connecting buckle and the connecting rope respectively; the connecting rope is stored in the inner position of the fixed buckle and is used for being connected with the connecting buckle and the fixed buckle respectively; the fixing buckle is arranged on the outer surface of the upper portion of the storage battery, connected with the wireless device and used for being connected with the storage battery and the connecting rope respectively.

As a preferred mode of the invention, the garbage cleaning device comprises a garbage channel, a garbage filter screen, a garbage storage bin, a drainage pipeline, a one-way valve and a telescopic bin door, wherein the middle part of the garbage channel is kept on the same horizontal line with the water and penetrates through the inside of the shell to provide liquid for flowing; the garbage filter screen is arranged at the inner position of the garbage channel and is used for filtering liquid in the garbage channel; the garbage storage bin is arranged in the inner position of the shell and used for storing filtered garbage; the drainage pipeline is arranged at the side position of the garbage storage bin, is respectively connected with the garbage storage bin and the water outlet and is used for discharging liquid in the garbage storage bin to the water outlet; the one-way valve is arranged at the inner position of the garbage storage bin, is respectively connected with the garbage storage bin, the drainage pipeline and the processor, and is used for controlling liquid in the garbage storage bin to flow into the drainage pipeline; the retractable bin door is arranged at the bin opening of the garbage storage bin, is connected with the processor and is used for opening and closing the garbage storage bin.

The life buoy launcher is arranged at a position above the shell, is connected with the processor, and is used for launching the stored life buoy to a specified position.

As a preferable mode of the present invention, the portable electronic device further includes a positioning device, the positioning device is disposed at an internal position of the housing and connected to the processor, and is configured to position the housing and obtain positioning data.

A control method of an intelligent mobile sewage disposal system based on hydropower is used, and the method comprises the following steps:

the wireless device returns a starting instruction sent by external equipment to the processor after receiving the starting instruction, and the processor extracts a navigation map and a stopping point of a water area in the starting instruction, sends an operation instruction to the hydroelectric generator and sends a real-time shooting instruction to the first camera;

the hydroelectric generator controls the hydroelectric generator to start and operate when receiving the first image, and the first camera captures a first image around the shell in real time and returns the first image to the processor when receiving the first image;

the processor sends the first image, the navigation chart, the stopping point and a driving walking instruction to the driving motor when receiving the first image, the navigation chart, the stopping point and the driving walking instruction, and the driving motor controls the driving crawler to drive the shell to continue walking at a preset speed according to the first image and the navigation chart and stop for a preset time according to the stopping point and return walking information to the processor when receiving the first image and the navigation chart;

the processor analyzes the first image in real time after receiving the first image, and sends the first image, the hydraulic engineering construction information and an approaching instruction to the driving motor if hydraulic engineering construction information is analyzed;

the driving motor controls the driving crawler to drive the shell to go to the hydraulic engineering building according to the first image and the hydraulic engineering building information and returns arrival information to the processor after receiving the first image and the hydraulic engineering building information;

the processor analyzes the first image in real time after receiving the first image, extracts stain area information according to the first image and sends a starting instruction to the high-pressure water pump and sends the stain area information and a rotary spraying instruction to the steering shaft and the telescopic nozzle if analyzing that stains exist in the hydraulic engineering building;

the high-pressure water pump controls the high-pressure water pump to start and operate when receiving the information, the steering shaft and the telescopic spray head control the telescopic spray head to rotate to face a stain area according to the stain area information when receiving the information, and the telescopic spray head sprays liquid in the liquid storage bin at high pressure to clean the stain area and returns cleaning information to the processor;

the processor analyzes the first image in real time after receiving the first image, and sends the first image, a navigation chart, a stop point and a reset walking instruction to the driving motor if the stain area is analyzed to be cleaned;

and the driving motor controls the driving crawler to drive the shell to continue to travel at a preset speed according to the first image and the navigation chart and stop for a preset time according to the stopping point after receiving the first image and the navigation chart.

As a preferable mode of the present invention, after the hydro-generator controls its own start operation, the method further includes the steps of:

the processor sends power detection instructions to each storage battery, and the storage batteries obtain state information in real time and return the state information to the processor after receiving the state information;

the processor receives the state information returned by each storage battery, analyzes the state information in real time, and sends an opening instruction to the telescopic door body, a starting instruction to the unmanned aerial vehicle and a real-time shooting instruction to the second camera if the storage battery is analyzed to be in a saturated state;

the retractable door body controls the retractable door body to contract to open the power storage bin when receiving the image, the unmanned aerial vehicle controls the unmanned aerial vehicle to start and operate when receiving the image, and the second camera captures a second image around the unmanned aerial vehicle in real time and returns the image to the processor;

the processor receives a starting instruction sent to a fixed buckle above the storage battery in the saturated state, and sends the second image, storage battery information entering a saturated system and a connecting instruction to the unmanned aerial vehicle and the connecting buckle;

the fixed buckle controls the unmanned aerial vehicle to enter an opening state and extend out of a connecting rope when receiving the signal, the unmanned aerial vehicle and the connecting card are buckled and received, and the unmanned aerial vehicle controls the connecting buckle to be sequentially connected with the connecting rope of the storage battery according to the second image and the storage battery information and returns connection completion information to the processor;

the processor receives and then sends to unmanned aerial vehicle the storage battery of storage places positional information and flight storage instruction, unmanned aerial vehicle receives and then suspends in midair the battery that gets into saturation goes to the battery and places position department.

As a preferable mode of the present invention, when the driving motor controls the driving crawler to control the housing to travel, the method further includes:

the processor sends an opening instruction to the telescopic bin gate and sends a starting instruction to the one-way valve;

the telescopic bin gate controls the self-contraction to open the garbage storage bin when receiving the control signal, and the one-way valve controls the self-entering into an open state when receiving the control signal.

As a preferable mode of the present invention, when the driving motor controls the driving crawler to control the housing to travel, the method further includes:

the processor analyzes the first image in real time, and if the fact that a human body enters a drowning state is analyzed, the processor calculates the drowning position information of the human body according to the first image and sends the drowning position information of the human body and a lifebuoy transmitting instruction to a lifebuoy transmitter;

and the lifebuoy emitter emits the lifebuoy in the lifebuoy emitter to the drowning position of the human body after receiving the lifebuoy emitter.

As a preferred mode of the present invention, the method further comprises the steps of:

the processor analyzes the first image in real time, if an emergency situation is analyzed, a positioning acquisition instruction is sent to a positioning device, and the positioning device receives the positioning acquisition instruction, positions the current position of the shell in real time and returns the acquired positioning data to the processor;

and the processor sends the positioning data, the emergency information and the corresponding sending instruction to the wireless device after receiving the positioning data, the emergency information and the corresponding sending instruction, and the wireless device sends the corresponding positioning data and the emergency information to the water rescue center and/or the water building repair center after receiving the positioning data and the emergency information.

The invention realizes the following beneficial effects: 1. the intelligent mobile sewage disposal system obtains surrounding environment images in real time and starts a hydroelectric generator to walk in an appointed water area in real time after receiving a starting instruction sent by external equipment, and controls a telescopic sprayer to face an area where stains are generated if it is detected that stains are generated on water conservancy equipment and/or a building, and then sprays high-pressure water flow to clean the stains, and after the stains are cleaned, the intelligent mobile sewage disposal system walks in the appointed water area in real time.

2. After the hydroelectric generator is started, the intelligent mobile decontamination system detects the state information of the storage battery in real time, and controls the unmanned aerial vehicle to fly out and establish connection with the storage battery entering the saturation state if the storage battery entering the saturation state is detected, and then controls the unmanned aerial vehicle to suspend the storage battery in the storage position.

3. When the intelligent mobile trash removal system walks, the intelligent mobile trash removal system controls the telescopic bin door and the check valve of the garbage storage bin of the intelligent mobile trash removal system to be opened, filtered garbage is stored in the garbage storage bin, and redundant liquid is filtered.

4. When the intelligent mobile trash removal system walks, the intelligent mobile trash removal system detects whether a human body enters a drowning state, and if so, the life buoy emitter is controlled to emit life buoys to the drowned human body position, and then drowned human body position information is sent to a water rescue center.

5. If the intelligent mobile trash removal system detects that an emergency occurs, the current position of the intelligent mobile trash removal system is located, corresponding locating data are obtained, and then corresponding emergency information and locating data are sent to departments corresponding to the emergency.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure. FIG. 1 is a cross-sectional view of a hydro-power generation based intelligent mobile decontamination system according to one example of the present invention;

FIG. 2 is a schematic diagram of a hydropower-based intelligent mobile decontamination system provided by one example of the invention;

fig. 3 is a schematic diagram of a suspended battery of the drone according to one example of the present invention;

FIG. 4 is a flow chart of the intelligent mobile sewage disposal system based on hydropower provided by one example of the invention;

fig. 5 is a flowchart of a drone controlling method according to one example of the present invention;

FIG. 6 is a flow chart of a method for garbage storage according to an exemplary embodiment of the present invention;

fig. 7 is a flow chart of a drowning person rescue method provided by one example of the invention;

fig. 8 is a flowchart of an emergency handling method according to an example of the present invention;

fig. 9 is a connection diagram of electronic devices of the intelligent mobile sewage disposal system based on water conservancy power generation, which is provided by one example of the invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Example one

Referring to fig. 1-3, fig. 9, fig. 1 is a cross-sectional view of a hydro-power generation based intelligent mobile trash removal system according to an example of the present invention; FIG. 2 is a schematic diagram of a hydropower-based intelligent mobile decontamination system provided by one example of the invention; fig. 3 is a schematic diagram of a suspended battery of the drone according to one example of the present invention; fig. 9 is a connection diagram of electronic devices of the intelligent mobile sewage disposal system based on water conservancy power generation, which is provided by one example of the invention.

Specifically, the embodiment provides an intelligent mobile sewage disposal system based on hydroelectric power generation, which comprises a hydroelectric generator 1, a shell 2, a cleaning device 3, a driving device, a storage battery 6, a wireless device 7 and a processor 8, wherein the hydroelectric generator 1 is arranged in the shell 2, is connected with the storage battery 6, and is used for generating power through water power; the shell 2 comprises a first camera 20, a water inlet 21, a water outlet 22, a filter screen 23, a fixing pile 24, a fixing device 25 and a power generation cabin 26, wherein the first camera 20 is arranged above and at a side position of the shell 2 and used for shooting an environmental image around the shell 2; the water inlet 21 is arranged at a lateral position of the shell 2 and used for providing liquid to enter the power generation cabin 26; the water outlet 22 is arranged at a lateral position of the shell 2 and keeps the same horizontal line with the water inlet 21, and is used for discharging liquid; the filter screen 23 is arranged at the inner positions of the water inlet 21 and the water outlet 22 and is used for filtering garbage in the liquid; the fixing pile 24 is arranged at a position below the shell 2 and used for fixing the shell 2; the fixing device 25 is arranged at the connecting position of the fixing device 25 and the shell 2 and used for fixing the fixing pile 24; the power generation cabin 26 is arranged in the inner position of the shell 2 and is used for storing the hydroelectric generator 1; the cleaning device 3 comprises a telescopic spray head 30, a steering shaft 31, a liquid storage bin 32 and a high-pressure water pump 33, wherein the telescopic spray head 30 is arranged at a position above the shell 2 and is used for spraying liquid stored in the liquid storage bin 32; the steering shaft 31 is disposed at a connecting position of the retractable nozzle 30 and the housing 2, is respectively connected to the retractable nozzle 30 and the housing 2, and is used for providing the retractable nozzle 30 to rotate to a specified direction; the liquid storage bin 32 is arranged at an internal position of the shell 2 and is used for sucking and storing liquid; the high-pressure water pump 33 is arranged in the liquid storage bin 32 and used for generating high-pressure liquid; the driving device comprises a driving motor 40 and a driving crawler 41, wherein the driving motor 40 is arranged at an internal position of the shell 2 and is used for driving the driving crawler 41 to run; the driving crawler 41 is arranged at a position below the outer part of the shell 2 and is used for driving the shell 2 to walk; the storage device comprises a power supply storage bin and a telescopic door body 51, wherein the power supply storage bin is arranged in the shell 2 and used for storing the storage battery 6; the telescopic door body 51 is arranged above the power supply storage bin and used for opening and closing the power supply storage bin; the storage batteries 6 are arranged in a plurality of positions in the power supply storage bin and used for storing and providing power; the wireless device 7 is arranged in the shell 2 and is used for being connected with external equipment, a water rescue center, a water building repair center and a network; the processor 8 is disposed at a lateral position of the wireless device 7, and is connected to the fixing device 25, the hydroelectric generator 1, the retractable nozzle 30, the steering shaft 31, the high-pressure water pump 33, the driving motor 40, the first camera 20, the retractable door 51, the battery 6, and the wireless device 7.

As a preferable mode of the invention, the power supply storage cabin further comprises an unmanned aerial vehicle 9 and a connecting device 10, wherein the unmanned aerial vehicle 9 is arranged in the power supply storage cabin, is connected with the wireless device 7 and is used for suspending the storage battery 6; a second camera 90 is arranged on the side of the unmanned aerial vehicle 9, and the second camera 90 is used for capturing an environmental image around the unmanned aerial vehicle 9; the connecting device 10 comprises a connecting buckle 100, a connecting rope 101 and a fixing buckle 102, wherein the connecting buckle 100 is arranged at a position below the unmanned aerial vehicle 9, is connected with the wireless device 7 and is used for being connected with the connecting buckle 100 and the connecting rope 101 respectively; the connecting rope 101 is stored in the inner position of the fixing buckle 102, and is used for being connected with the connecting buckle 100 and the fixing buckle 102 respectively; the fixing buckle 102 is disposed on the outer surface of the upper portion of the storage battery 6, connected with the wireless device 7, and used for being connected with the storage battery 6 and the connecting rope 101 respectively.

As a preferable mode of the present invention, the garbage cleaning device 11 is further included, the garbage cleaning device 11 includes a garbage passage 110, a garbage filter screen 111, a garbage storage bin 112, a drainage pipe 113, a one-way valve 114, and a retractable bin gate 115, and a middle portion of the garbage passage 110 is horizontal to the water and penetrates through the inside of the housing 2 to provide liquid for flowing; the garbage filter screen 111 is arranged in the garbage channel 110 and used for filtering liquid in the garbage channel 110; the garbage storage bin 112 is arranged in the inner position of the shell 2 and used for storing filtered garbage; the drainage pipeline 113 is arranged at a side position of the garbage storage bin 112, is respectively connected with the garbage storage bin 112 and the water outlet 22, and is used for discharging liquid in the garbage storage bin 112 to the water outlet 22; the one-way valve 114 is arranged at an internal position of the garbage storage bin 112, is respectively connected with the garbage storage bin 112, the drainage pipeline 113 and the processor 8, and is used for controlling liquid in the storage bin to flow into the drainage pipeline 113; the retractable bin gate 115 is disposed at the position of the bin opening of the garbage storage bin 112, connected to the processor 8, and configured to open and close the garbage storage bin 112.

The life buoy launcher 12 is arranged at a position above the shell 2, is connected with the processor 8, and is used for launching the stored life buoy to a specified position.

As a preferable mode of the present invention, the portable electronic device further includes a positioning device 13, wherein the positioning device 13 is disposed at an internal position of the housing 2 and connected to the processor 8, and is configured to position the housing 2 and obtain positioning data.

Electronic devices in the intelligent mobile decontamination system are all designed to be waterproof; the number of the unmanned aerial vehicles 9 is consistent with that of the storage batteries 6, and the number of the connecting devices 10 is consistent with that of the unmanned aerial vehicles 9; the fixing pile 24 is inserted into the water bottom of the water area for about 2m after extending out to fix the intelligent mobile sewage disposal system; the garbage filter screen 111 places the filtered garbage in the garbage storage bin 112; the electronic device in the intelligent mobile decontamination system returns corresponding instruction completion information to the processor 8 after executing the completion instruction; the water enters from the water inlet 21, the hydroelectric generator 1 generates electricity when the water reaches the electricity generating bin 26, and then the water is discharged from the water outlet 22.

Example two

Referring to fig. 4, fig. 4 is a flowchart of an intelligent mobile sewage disposal system based on hydropower provided by an example of the invention.

Specifically, this embodiment provides a method for controlling an intelligent mobile sewage disposal system based on hydroelectric power generation, where the method includes the following steps:

s1, the wireless device 7 returns a start instruction sent by an external device to the processor 8, and the processor 8 extracts a route map and a stop point of a water area in the start instruction and sends an operation instruction to the hydroelectric generator 1 and a real-time capturing instruction to the first camera 20;

s2, the hydroelectric generator 1 controls itself to start and operate when receiving the first image, and the first camera 20 captures the first image around the housing 2 in real time and returns the first image to the processor 8 when receiving the first image;

and S3, the processor 8 sends the first image, the chart, the stop point and the walking driving command to the driving motor 40, and the driving motor 40 controls the driving crawler 41 to drive the shell 2 to continue walking at the preset speed according to the first image and the chart and stop for the preset time according to the stop point and return the walking information to the processor 8.

S4, the processor 8 analyzes the first image in real time, and sends the first image, the hydraulic engineering construction information, and the approach instruction to the driving motor 40 if hydraulic engineering construction information is analyzed;

s5, when the driving motor 40 receives the first image, the driving caterpillar track 41 is controlled to drive the shell 2 to move to the hydraulic engineering building according to the first image and the hydraulic engineering building information, and arrival information is returned to the processor 8;

s6, analyzing the first image in real time after the first image is received by the processor 8, and if the hydraulic engineering building is analyzed to have the stain, extracting stain area information according to the first image, sending a starting instruction to the high-pressure water pump 33, and sending the stain area information and a rotary spraying instruction to the steering shaft 31 and the telescopic spray head 30;

s7, when the high-pressure water pump 33 receives the information, the high-pressure water pump controls the high-pressure water pump to start and operate, when the steering shaft 31 and the telescopic spray head 30 receive the information, the steering shaft 31 controls the telescopic spray head 30 to rotate to face a dirty area according to the dirty area information, the telescopic spray head 30 sprays the liquid in the liquid storage bin 32 at high pressure to clean the dirty area, and cleaning information is returned to the processor 8;

s8, the processor 8 analyzes the first image in real time, and sends the first image, the route map, the stop point and the driving instruction to the driving motor 40 if the dirty area is analyzed to be cleaned;

and S9, when the driving motor 40 receives the first image, controlling the driving track 41 to drive the shell 2 to continue to travel at the preset speed according to the first image and the navigation chart, and stopping at the preset time according to the stopping point.

The starting instruction comprises a navigation map, a parking point, hydraulic engineering equipment and a building of a water area; the first image is an environmental image around the housing 2; the preset speed is 0-50 knots/hour, and is preferably 10 knots/hour in the embodiment; the preset time is 0-10 days, and is preferably 5 hours in the embodiment; the hydraulic engineering building information comprises the type, image, stain condition and the like of the hydraulic engineering building; the hydraulic engineering building comprises various buildings such as a bridge, a gravity dam, an arch dam, an earth-rock dam, a river bank spillway, a hydraulic tunnel, a culvert pipe under the dam, a sluice, a pump station and the like; if the hydraulic engineering building or equipment is damaged according to the first image analysis, the position of the shell 2 is positioned and sent to a corresponding overwater building repair center by using a wireless device 7 so as to inform the overwater building repair center of repairing; after the first camera 20 is started, it captures the image of the environment around the housing 2 in real time and returns the image to the processor 8 in real time until receiving the stop instruction sent by the processor 8.

In S1, specifically, after the wireless device 7 receives a start instruction sent by the external device, the wireless device 7 returns the start instruction to the processor 8, and after the processor 8 receives the start instruction, the processor 8 extracts a route map and a stop point of a predetermined walking water area in the start instruction, and then the processor 8 sends an operation instruction to the hydro-generator 1, and at the same time, the processor 8 sends a real-time capturing instruction to the first camera 20.

In S2, specifically, after the hydroelectric generator 1 receives the operation command, it controls itself to start operation, and generates power by using water entering the power generation cabin 26 from the water inlet 21, and then the water is discharged from the water outlet 22, and after the first camera 20 receives the real-time capturing command, it captures a first image around the housing 2 in real time, and then returns the first image to the processor 8.

At S3, specifically, after the processor 8 receives the first image, the chart, the stop point, and the travel driving command are transmitted to the driving motor 40, and after the driving motor 40 receives the information and the command, the driving crawler 41 is controlled to drive the casing 2 to travel at a speed of 10 knots/hour based on the first image, the chart, and the stop point, and then to stop for 5 hours at the stop point, and after the travel, the driving motor 40 returns the travel information to the processor 8.

In S4, after the processor 8 receives the walking information, the first image is analyzed in real time, and if the processor 8 analyzes that a hydraulic engineering building exists in the first image, the hydraulic engineering building information and the approaching instruction are sent to the driving motor 40, that is, the driving motor 40 is notified to control the housing 2 to move to the hydraulic engineering building position for checking, and whether the hydraulic engineering building is damaged or not and a stain appears is detected.

At S5, specifically, after the driving motor 40 receives the information and the instruction, the driving caterpillar 41 is controlled to drive the housing 2 to move to the hydraulic engineering construction location according to the first image and the hydraulic engineering construction information, and then arrival information is returned to the processor 8, that is, the processor 8 is notified that the hydraulic engineering construction location has been arrived.

In S6, specifically, after the processor 8 receives the arrival information, the first image is analyzed in real time, and after it is analyzed that the hydraulic engineering structure has the stain, the processor 8 extracts the stain area information according to the first image, that is, extracts the stain area position on the surface of the hydraulic engineering structure, and then the processor 8 sends a start instruction to the high-pressure water pump 33, and at the same time, the processor 8 sends the stain area information and the rotary spray instruction to the steering shaft 31 and the telescopic spray head 30, that is, the steering shaft 31 is used to control the position of the telescopic spray head 30 facing the stain area on the surface of the hydraulic engineering structure.

In S7, specifically, after the high-pressure water pump 33 receives the start instruction, the high-pressure water pump controls the high-pressure water pump to start operating to generate high-pressure liquid, and after the steering shaft 31 and the telescopic spray head 30 receive the dirt area information and the rotation injection instruction, the steering shaft 31 controls the telescopic spray head 30 to rotate to a dirt area facing the surface of the hydraulic engineering building according to the dirt area information, and then the telescopic spray head 30 sprays the liquid in the liquid storage bin 32 at high pressure to clean the dirt area, that is, the high-pressure liquid is sprayed to the dirt area to clean the dirt, and then the cleaned information is returned to the processor 8, that is, the processor 8 is notified to start cleaning the dirt.

In S8, specifically, after the processor 8 receives the cleaning information, the processor 8 analyzes the first image in real time, and if the processor 8 analyzes that the stain area on the surface of the hydraulic engineering structure is completely cleaned, the processor 8 sends the first image, the route map, the stop point, and the reset walking instruction to the driving motor 40.

In S9, specifically, after the drive motor 40 receives the information and the command, the drive crawler 41 is controlled to drive the casing 2 to travel 10 knots/hour by navigating back to the navigation chart based on the first image and the navigation chart, and then to stop for 5 hours based on the stop point.

EXAMPLE III

Referring to fig. 5, fig. 5 is a flowchart of a method for controlling a drone according to one example of the present invention.

This embodiment is substantially identical to the first embodiment, except that, in this embodiment, after the hydro-generator 1 controls its own start operation, the method further includes the steps of:

s20, the processor 8 sends power detection instructions to each storage battery 6, and the storage batteries 6 acquire state information in real time and return the state information to the processor 8 when receiving the power detection instructions;

s21, the processor 8 analyzes the status information returned by each storage battery 6 in real time, and if it is analyzed that the storage battery 6 enters a saturation state, sends an opening instruction to the retractable door 51, a start instruction to the unmanned aerial vehicle 9, and a real-time capturing instruction to the second camera 90;

s22, when the retractable door 51 receives the image, it controls itself to retract to open the power storage bin, when the unmanned aerial vehicle 9 receives the image, it controls itself to start, and when the second camera 90 receives the image, it captures a second image around the unmanned aerial vehicle 9 in real time and returns the second image to the processor 8;

s23, the processor 8 sends an opening instruction to the fixing buckle 102 above the battery 6 in the saturated state, and sends the second image, the information of the battery 6 in the saturated system, and a connection instruction to the unmanned aerial vehicle 9 and the connection buckle 100;

s24, when the fixing buckle 102 receives the second image, the unmanned aerial vehicle 9 controls the connecting buckle 100 to sequentially connect with the connecting rope 101 of the storage battery 6 according to the second image and the information of the storage battery 6, and returns the connection completion information to the processor 8;

s25, the processor 8 receives the information and the flight storage instruction of the storage battery 6 placement position sent to the unmanned aerial vehicle 9, and the unmanned aerial vehicle 9 receives the information and suspends the saturated storage battery 6 to go to the storage battery 6 placement position.

The state information includes a charging state and a saturation state, and the saturation state is that the storage battery 6 is full of electric power; after the fixed buckle 102 enters an opening state, the connecting rope 101 stored inside extends out by 5 cm; after the connecting buckle 100 is connected with the connecting rope 101, the connecting buckle enters a fixed connection state to prevent slipping; specific position data stored in a predetermined storage battery 6 stored in the processor 8, which is the stored storage battery 6 placement position information; the second image is an image of an environment around the drone 9.

Specifically, after the hydroelectric generator 1 controls self start-up and operation, the processor 8 sends an electric power detection instruction to each storage battery 6 in the power storage bin, the storage batteries 6 acquire self state information in real time after receiving the electric power detection instruction, then return the state information to the processor 8, the processor 8 analyzes the state information returned by each storage battery 6 in real time after receiving the state information, if the processor 8 analyzes that the storage batteries 6 enter a saturated state, the processor 8 sends a start instruction to the retractable door 51, and simultaneously the processor 8 sends a start instruction to the unmanned aerial vehicle 9 and sends a real-time shooting instruction to the second camera 90, after receiving the start instruction, the retractable door 51 controls self contraction to start the power storage bin so that the unmanned aerial vehicle 9 flies out, after receiving the start instruction, controlling the unmanned aerial vehicle to start and operate and hover in the power storage bin, shooting a second image around the unmanned aerial vehicle 9 in real time after the second camera 90 receives the real-time shooting instruction, then returning the second image to the processor 8 by the second camera 90, sending an opening instruction to a fixed buckle 102 above a storage battery 6 in a saturated state after the processor 8 receives the second image, sending the second image, information of the storage battery 6 in the saturated system and a connecting instruction to the unmanned aerial vehicle 9 and the connecting buckle 100 after the fixed buckle 102 executes the instruction and returns corresponding instruction completion information to the processor 8, controlling the unmanned aerial vehicle to enter the opening state and stretch a connecting rope 101 by 5 cm after the fixed buckle 102 receives the opening instruction, and receiving the information and the instruction by the unmanned aerial vehicle 9 and the connecting buckle 100, the unmanned aerial vehicle 9 controls the connecting buckle 100 to be sequentially connected with the connecting rope 101 of the fixing buckle 102 above the storage battery 6 according to the second image and the information of the storage battery 6, namely, the unmanned aerial vehicle 9 controls the connecting buckle 100 to be connected with a connecting rope 101 in a fixed buckle 102 above the storage battery 6, then the connecting rope 101 is pulled out and goes to the next fixing buckle 102, and so on until the connecting ropes 101 in all the fixing buckles 102 above the storage battery 6 are connected, then, the connection completion information is returned to the processor 8, and after the processor 8 receives the connection completion information, the stored storage battery 6 placement position information and flight storage instructions are sent to the unmanned aerial vehicle 9, unmanned aerial vehicle 9 receives after battery 6 places position information and flight storage instruction, suspend in midair the battery 6 that gets into saturation goes to battery 6 places position department and saves.

Example four

Referring to fig. 6, fig. 6 is a flowchart of a garbage storage method according to an example of the present invention.

The present embodiment is substantially identical to the first embodiment, except that in the present embodiment, when the driving motor 40 controls the driving track 41 to control the housing 2 to walk, the method further comprises the following steps:

s30, the processor 8 sends an opening instruction to the telescopic bin gate 115 and sends a starting instruction to the one-way valve 114;

and S31, the telescopic bin door 115 controls the self-contraction to open the garbage storage bin 112 when receiving the signal, and the one-way valve 114 controls the self-entering into the open state when receiving the signal.

Specifically, when the driving motor 40 controls the driving track 41 to control the casing 2 to walk, the processor 8 sends an opening instruction to the retractable bin gate 115, and meanwhile, the processor 8 sends a starting instruction to the one-way valve 114, the retractable bin gate 115 receives the starting instruction and then controls the self-contraction to open the garbage storage bin 112, so that the garbage accumulated from the garbage filter screen 111 enters the garbage storage bin 112, and the one-way valve 114 receives the starting instruction and then controls the self-contraction to enter an opening state, so that the liquid contained in the garbage falling from the garbage filter screen 111 to the garbage storage bin 112 is discharged to the water outlet 22 through the water discharge pipe 113.

EXAMPLE five

Referring to fig. 7, fig. 7 is a flowchart illustrating a drowning person rescue method according to an example of the present invention.

The present embodiment is substantially identical to the first embodiment, except that in the present embodiment, when the driving motor 40 controls the driving track 41 to control the housing 2 to walk, the method further comprises the following steps:

s32, the processor 8 analyzes the first image in real time, and if it is analyzed that a human body enters a drowning state, the processor calculates the drowning position information of the human body according to the first image and sends the drowning position information of the human body and a lifebuoy emission instruction to the lifebuoy emitter 12;

and S33, the life buoy emitter 12 emits the life buoy in the life buoy emitter to the drowning position of the human body when receiving the life buoy.

Drive motor 40 control drive track 41 control when casing 2 walks, the real-time analysis of treater 8 first image, if treater 8 analysis goes out there is the human body to get into drowned state back around the casing 2, drowned state includes struggling in the aquatic, floats to the state such as on water, according to first image calculates human drowned positional information, then treater 8 sends to life buoy transmitter 12 human drowned positional information and life buoy firing order, life buoy transmitter 12 receives human drowned positional information and life buoy firing order back, control self with inside life buoy launch extremely human drowned position department, the life buoy is that the shell form expands rapidly after meeting water.

EXAMPLE six

Referring to fig. 8, fig. 8 is a flowchart of an emergency handling method according to an example of the present invention.

This embodiment is substantially the same as the first embodiment, except that in this embodiment, the method further comprises the steps of:

s10, the processor 8 analyzes the first image in real time, and if an emergency situation is analyzed, sends a positioning acquisition instruction to the positioning device 13, and the positioning device 13 receives the positioning acquisition instruction to position the current position of the housing 2 in real time and returns the acquired positioning data to the processor 8;

s11, the processor 8 sends the positioning data, the emergency information and the corresponding sending instruction to the wireless device 7, and the wireless device 7 sends the corresponding positioning data and the emergency information to the water rescue center and/or the water construction repair center.

Wherein, emergency includes that the human body is drowned, hydraulic engineering building damages, hydraulic engineering equipment damages and the condition such as accident emergence on water.

Specifically, the processor 8 analyzes the first image in real time, if the processor 8 analyzes that an emergency exists in the first image, the processor 8 sends a positioning acquisition instruction to the positioning device 13, after receiving the positioning acquisition instruction, positions the current position of the housing 2 in real time and acquires positioning data of the position, and then returns the acquired positioning data to the processor 8, after receiving the positioning data, sends the positioning data, emergency information and a corresponding sending instruction to the wireless device 7, after receiving the positioning data, the emergency information and the corresponding sending instruction, sends the corresponding positioning data and the emergency information to a water rescue center and/or a water construction repair center corresponding to the corresponding sending instruction, for example, if the occurrence of accidents of drowning and/or water accidents of human bodies is found, the positioning data and the corresponding information of drowning and/or water accidents of human bodies are sent to a water rescue center, and if the occurrence of damage of hydraulic engineering buildings and/or damage of hydraulic engineering equipment is found, the positioning data and the corresponding information of damage of hydraulic engineering buildings and/or damage of hydraulic engineering equipment are sent to a water building repair center.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and are intended to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the scope of the present invention. All equivalent changes or modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.

Claims (8)

1. An intelligent mobile sewage disposal system based on hydroelectric power generation comprises a hydroelectric generator, a shell, a cleaning device, a driving device, a storage battery, a wireless device and a processor, and is characterized in that the hydroelectric generator is arranged in the shell and connected with the storage battery, and is used for generating power through water power; the shell comprises a first camera, a water inlet, a water outlet, a filter screen, a fixing pile, a fixing device and a power generation cabin, wherein the first camera is arranged above the shell and at the side position and used for shooting an environmental image around the shell; the water inlet is arranged at the side position of the shell and used for providing liquid to enter the power generation cabin; the water outlet is arranged at the side position of the shell and keeps the same horizontal line with the water inlet, and is used for discharging liquid; the filter screens are arranged at the inner positions of the water inlet and the water outlet and are used for filtering garbage in the liquid; the fixing pile is arranged at the position below the shell and used for fixing the shell; the fixing device is arranged at the connecting position of the fixing device and the shell and used for fixing the fixing pile; the power generation cabin is arranged in the shell and used for storing the hydroelectric generator; the cleaning device comprises a telescopic spray head, a steering shaft, a liquid storage bin and a high-pressure water pump, wherein the telescopic spray head is arranged above the shell and used for spraying liquid stored in the liquid storage bin; the steering shaft is arranged at the connecting position of the telescopic spray head and the shell, is respectively connected with the telescopic spray head and the shell, and is used for providing the telescopic spray head to rotate to a specified direction; the liquid storage bin is arranged at the inner position of the shell and is used for sucking and storing liquid; the high-pressure water pump is arranged in the liquid storage bin and used for generating high-pressure liquid; the driving device comprises a driving motor and a driving crawler, and the driving motor is arranged in the shell and used for driving the driving crawler to run; the driving crawler is arranged at the lower position outside the shell and used for driving the shell to walk; the storage device comprises a power supply storage bin and a telescopic door body, wherein the power supply storage bin is arranged in the shell and used for storing a storage battery; the telescopic door body is arranged above the power supply storage bin and used for opening and closing the power supply storage bin; the storage batteries are arranged in a plurality of positions in the power supply storage bin and used for storing and providing power; the wireless device is arranged in the shell and is used for being connected with external equipment, a water rescue center, a water building repair center and a network; the processor is arranged at the side position of the wireless device and is used for being respectively connected with the fixing device, the hydroelectric generator, the telescopic spray head, the steering shaft, the high-pressure water pump, the driving motor, the first camera, the telescopic door body, the storage battery and the wireless device;

the life buoy launcher is arranged at a position above the shell, is connected with the processor and is used for launching the stored life buoy to a specified position;

when the driving motor controls the driving crawler belt to control the shell to walk, the processor analyzes a first image shot by the first camera in real time, if the processor analyzes that a human body around the shell enters a drowning state, the drowning state comprises struggling in water and floating to a water state, the drowning position information of the human body is calculated according to the first image, then the processor sends the drowning position information of the human body and a life buoy transmitting instruction to the life buoy transmitter, the life buoy transmitter controls the life buoy to transmit the inner life buoy to the drowning position of the human body after receiving the drowning position information of the human body and the life buoy transmitting instruction, and the life buoy rapidly expands after being in a shell shape and meeting water;

the positioning device is arranged at the inner position of the shell, is connected with the processor and is used for positioning the position of the shell and acquiring positioning data;

the processor analyzes the first image in real time, and if the processor analyzes that the first image has an emergency, the processor sends a positioning acquisition instruction to a positioning device, the positioning device positions the current position of the shell in real time and acquires positioning data of the position after receiving the positioning acquisition instruction, then the acquired positioning data is returned to the processor, and after the processor receives the positioning data, transmitting the positioning data, emergency information and corresponding transmission instructions to a wireless device, after the wireless device receives the positioning data, the emergency information and the corresponding sending instruction, sending the corresponding positioning data and corresponding damage information of the hydraulic engineering building and/or the hydraulic engineering equipment to a water building repair center corresponding to the corresponding sending instruction; wherein, emergency includes that hydraulic engineering building appears damaging, hydraulic engineering equipment appears damaging the condition.

2. The intelligent mobile trash removal system based on hydroelectric power generation of claim 1, further comprising an unmanned aerial vehicle and a connecting device, wherein the unmanned aerial vehicle is arranged at an internal position of the power storage bin and connected with the wireless device for suspending the storage battery; a second camera is arranged on the side of the unmanned aerial vehicle and used for shooting an environmental image around the unmanned aerial vehicle; the connecting device comprises a connecting buckle, a connecting rope and a fixing buckle, and the connecting buckle is arranged at the position below the unmanned aerial vehicle, is connected with the wireless device and is used for being connected with the connecting buckle and the connecting rope respectively; the connecting rope is stored in the inner position of the fixed buckle and is used for being connected with the connecting buckle and the fixed buckle respectively; the fixing buckle is arranged on the outer surface of the upper portion of the storage battery, connected with the wireless device and used for being connected with the storage battery and the connecting rope respectively.

3. The intelligent mobile trash removal system based on hydropower as claimed in claim 1, further comprising a trash cleaning device, wherein the trash cleaning device comprises a trash channel, a trash filter screen, a trash storage bin, a drainage pipeline, a one-way valve and a telescopic bin gate, and the middle part of the trash channel is kept on the same horizontal line with the water and penetrates through the inside of the shell to provide liquid for flowing; the garbage filter screen is arranged at the inner position of the garbage channel and is used for filtering liquid in the garbage channel; the garbage storage bin is arranged in the inner position of the shell and used for storing filtered garbage; the drainage pipeline is arranged at the side position of the garbage storage bin, is respectively connected with the garbage storage bin and the water outlet and is used for discharging liquid in the garbage storage bin to the water outlet; the one-way valve is arranged at the inner position of the garbage storage bin, is respectively connected with the garbage storage bin, the drainage pipeline and the processor, and is used for controlling liquid in the garbage storage bin to flow into the drainage pipeline; the retractable bin door is arranged at the bin opening of the garbage storage bin, is connected with the processor and is used for opening and closing the garbage storage bin.

4. A method for controlling an intelligent mobile sewage disposal system based on hydropower, which uses the intelligent mobile sewage disposal system based on hydropower of claims 1-3, and is characterized by comprising the following steps:

the wireless device returns a starting instruction sent by external equipment to the processor after receiving the starting instruction, and the processor extracts a navigation map and a stopping point of a water area in the starting instruction, sends an operation instruction to the hydroelectric generator and sends a real-time shooting instruction to the first camera;

the hydroelectric generator controls the hydroelectric generator to start and operate when receiving the first image, and the first camera captures a first image around the shell in real time and returns the first image to the processor when receiving the first image;

the processor sends the first image, the navigation chart, the stopping point and a driving walking instruction to the driving motor when receiving the first image, the navigation chart, the stopping point and the driving walking instruction, and the driving motor controls the driving crawler to drive the shell to continue walking at a preset speed according to the first image and the navigation chart and stop for a preset time according to the stopping point and return walking information to the processor when receiving the first image and the navigation chart;

the processor analyzes the first image in real time after receiving the first image, and sends the first image, the hydraulic engineering construction information and an approaching instruction to the driving motor if hydraulic engineering construction information is analyzed;

the driving motor controls the driving crawler to drive the shell to go to the hydraulic engineering building according to the first image and the hydraulic engineering building information and returns arrival information to the processor after receiving the first image and the hydraulic engineering building information;

the processor analyzes the first image in real time after receiving the first image, extracts stain area information according to the first image and sends a starting instruction to the high-pressure water pump and sends the stain area information and a rotary spraying instruction to the steering shaft and the telescopic nozzle if analyzing that stains exist in the hydraulic engineering building;

the high-pressure water pump controls the high-pressure water pump to start and operate when receiving the information, the steering shaft and the telescopic spray head control the telescopic spray head to rotate to face a stain area according to the stain area information when receiving the information, and the telescopic spray head sprays liquid in the liquid storage bin at high pressure to clean the stain area and returns cleaning information to the processor;

the processor analyzes the first image in real time after receiving the first image, and sends the first image, a navigation chart, a stop point and a reset walking instruction to the driving motor if the stain area is analyzed to be cleaned;

and the driving motor controls the driving crawler to drive the shell to continue to travel at a preset speed according to the first image and the navigation chart and stop for a preset time according to the stopping point after receiving the first image and the navigation chart.

5. The intelligent mobile trash removal system control method based on hydropower of claim 4, wherein after the hydroelectric generator controls the self-starting operation, the method further comprises the following steps:

the processor sends power detection instructions to each storage battery, and the storage batteries obtain state information in real time and return the state information to the processor after receiving the state information;

the processor receives the state information returned by each storage battery, analyzes the state information in real time, and sends an opening instruction to the telescopic door body, a starting instruction to the unmanned aerial vehicle and a real-time shooting instruction to the second camera if the storage battery is analyzed to be in a saturated state;

the telescopic door body controls the telescopic door body to contract to open the power storage bin when receiving the signals, the unmanned aerial vehicle controls the unmanned aerial vehicle to start and operate when receiving the signals, and the second camera captures a second image around the unmanned aerial vehicle in real time and returns the second image to the processor;

the processor receives a starting instruction sent to a fixed buckle above the storage battery in the saturated state, and sends the second image, storage battery information entering a saturated system and a connecting instruction to the unmanned aerial vehicle and the connecting buckle;

the fixed buckle controls the unmanned aerial vehicle to enter an opening state and extend out of a connecting rope when receiving the signal, the unmanned aerial vehicle and the connecting card are buckled and received, and the unmanned aerial vehicle controls the connecting buckle to be sequentially connected with the connecting rope of the storage battery according to the second image and the storage battery information and returns connection completion information to the processor;

the treater is received then to the battery that unmanned aerial vehicle sent the storage place position information and the flight storage instruction, unmanned aerial vehicle receives then suspends in midair the battery that gets into saturation goes to the battery and places position department.

6. The intelligent mobile trash removal system control method based on hydropower as claimed in claim 4, wherein when the driving motor controls the driving track to control the shell to walk, the method further comprises the following steps:

the processor sends an opening instruction to the telescopic bin gate and sends a starting instruction to the one-way valve;

the telescopic bin gate controls the self-contraction to open the garbage storage bin when receiving the control signal, and the one-way valve controls the self-entering into an open state when receiving the control signal.

7. The intelligent mobile trash removal system control method based on hydropower as claimed in claim 4, wherein when the driving motor controls the driving track to control the shell to walk, the method further comprises the following steps:

the processor analyzes the first image in real time, and if the fact that a human body enters a drowning state is analyzed, the processor calculates the drowning position information of the human body according to the first image and sends the drowning position information of the human body and a lifebuoy transmitting instruction to a lifebuoy transmitter;

and the lifebuoy emitter emits the lifebuoy in the lifebuoy emitter to the drowning position of the human body after receiving the lifebuoy emitter.

8. The intelligent mobile trash removal system control method based on hydropower as defined in claim 4, further comprising the following steps of:

the processor analyzes the first image in real time, if an emergency situation is analyzed, a positioning acquisition instruction is sent to a positioning device, and the positioning device receives the positioning acquisition instruction, positions the current position of the shell in real time and returns the acquired positioning data to the processor;

and the processor sends the positioning data, the emergency information and the corresponding sending instruction to the wireless device after receiving the positioning data, the emergency information and the corresponding sending instruction, and the wireless device sends the corresponding positioning data and the emergency information to the water rescue center and/or the water building repair center after receiving the positioning data and the emergency information.

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