CN108275250A - A kind of automatically cleaning unmanned boat and its self cleaning method - Google Patents
A kind of automatically cleaning unmanned boat and its self cleaning method Download PDFInfo
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- CN108275250A CN108275250A CN201810207806.6A CN201810207806A CN108275250A CN 108275250 A CN108275250 A CN 108275250A CN 201810207806 A CN201810207806 A CN 201810207806A CN 108275250 A CN108275250 A CN 108275250A
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- unmanned boat
- water
- floating drum
- cleaning
- pressure nozzle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
-
- 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
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/04—Cleaning involving contact with liquid
- B08B3/10—Cleaning involving contact with liquid with additional treatment of the liquid or of the object being cleaned, e.g. by heat, by electricity or by vibration
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Cleaning In General (AREA)
Abstract
The present invention provides a kind of automatically cleaning unmanned boat, including unmanned boat ontology, controller, set on the water feed apparatus and automatic cleaning apparatus of unmanned boat ontology, the automatic cleaning apparatus includes the floating drum set on unmanned boat ontology both sides, high-pressure nozzle near floating drum, the buoy lifting device being connect with floating drum, the water feed apparatus from water body residing for unmanned boat ontology for drawing water to the high-pressure nozzle of the automatic cleaning apparatus, floating drum decline is made unmanned boat be lifted away from the water surface by the controller for controlling buoy lifting device, or unmanned boat is set to keep afloat floating drum rising, control high-pressure nozzle is additionally operable to clean unmanned boat ontology and floating drum.The present invention also provides a kind of automatically cleaning unmanned boat self cleaning methods.The present invention can automatically control cleaning unmanned boat, easy to use, reliability is high, cleaning is thorough instead of traditional artificial washing and cleaning operation, and can repeatedly be cleaned to hull before water acquisition task terminates, and cleaning efficiency is high.
Description
Technical field
The present invention relates to unmanned boat automated cleaning field, specifically a kind of automatically cleaning unmanned boat and its self cleaning method.
Background technology
Field water acquisition unmanned boat long-term work external water area out of office, the collecting work task of especially polluted water region is more, often
After the work of several sampled points, the pollutant in water body will pollute hull, and serious conditions can also normally navigate to influencing unmanned boat
Row.Meanwhile field water acquisition requires the water sample of each collection point relatively independent, the case where cross contamination cannot occurs, is polluting
Unmanned boat after regional work, the pollutant being infected on hull can have an impact the accuracy of water sample, need to carry out in time
Cleaning.Common practice is after the unmanned boat that polluted water region works recalls bank at present, by manually unmanned boat lift to move is debarked,
Hull is cleared up by hand.Acquisition has water sample, heavier-weight in unmanned boat, and also needs to prevent water sample from revealing, by manually by nothing
People's ship lift to move disembarkation is very difficult, and inconvenient by artificial field cleaning unmanned boat, and unmanned boat repeatedly cleans back and forth
Seriously affect water acquisition efficiency.
Therefore, a kind of automatic cleaning apparatus being equipped on unmanned boat is designed, is had for the water acquisition work of polluted water region important
Practical significance.
Invention content
A kind of automatically cleaning unmanned boat of present invention offer and its self cleaning method can realize the clear of unmanned boat by automatically controlling
It washes, cleaning process automatic running, manual work can be replaced, and can repeatedly be carried out clearly to hull before water acquisition task terminates
Clean, easy to use, cleaning efficiency is high.
A kind of automatically cleaning unmanned boat, including unmanned boat ontology, controller, set on the water feed apparatus of unmanned boat ontology and automatic
Cleaning device, the automatic cleaning apparatus include set on the floating drums of unmanned boat ontology both sides, the high-pressure nozzle near floating drum,
The buoy lifting device being connect with floating drum, the water feed apparatus from water body residing for unmanned boat ontology for drawing water to described automatic
Floating drum decline is made unmanned boat be lifted away from water by the high-pressure nozzle of cleaning device, the controller for controlling buoy lifting device
Face, or so that unmanned boat is kept afloat floating drum rising, it is additionally operable to control high-pressure nozzle and unmanned boat ontology and floating drum is cleaned.
Further, the buoy lifting device includes hydraulic strut and mounting bracket, and hydraulic strut is controlled by controller
Realize that the contraction and elongation of hydraulic strut, the floating drum are installed on mounting bracket, lower end and the unmanned boat sheet of the mounting bracket
Body connects, and upper end is connect by hydraulic strut with unmanned boat ontology, and mounting bracket is realized by the contraction and elongation of hydraulic strut
Raising and lowering, and then realize floating drum raising and lowering.
Further, further include that driving high-pressure nozzle is moved forward and backward displacement mechanism, the displacement machine along unmanned boat ontology
Structure includes the hydraulic stem being connect with controller, and hydraulic stem is arranged in parallel with floating drum, and high-pressure nozzle is sleeved on hydraulic stem, hydraulic stem by
Controller drives high-pressure nozzle to be moved forward and backward, and is moved forward and backward along unmanned boat ontology to realize.
Further, further include the deflection mechanism of driving high-pressure nozzle deflection, the deflection mechanism is driven by driving mechanism
The rotation for realizing hydraulic stem, to realize the cleaning to hull top and the bottom.
Further, the deflection mechanism include high-pressure nozzle driving gear, the driving mechanism include driving motor, with
The driving gear of driving motor connection, high-pressure nozzle driving geared sleeve are connected on hydraulic stem, when driving gear and high-pressure nozzle drive
When moving gear engages, driving motor drives driving gear rotation, driving gear to drive the rotation of high-pressure nozzle sliding tooth wheel, and then band
Hydrodynamic compression bar rotates, to drive high-pressure nozzle to rotate.
Further, further include floating drum turnover device, the floating drum turnover device is driven by driving mechanism and realizes floating drum
Rotation.
Further, the floating drum turnover device includes floating drum driving gear, floating drum bearing block, and the driving mechanism includes
Driving motor, the driving gear being connect with driving motor, floating drum are mounted on floating drum bearing block by shaft, are equipped in shaft
Floating drum drives gear, and when driving gear is engaged with floating drum driving gear, driving motor drives floating drum to rotate together.
Further, the water feed apparatus includes sequentially connected suction pump, water filter, force (forcing) pump, heater, water
For the water that suction pump extracts to be filtered, force (forcing) pump is used to carry out secondary add to filtered cleaning water mass filter
Pressure, the heater is for heating effectively to clean hull greasy dirt water body.
Further, the water feed apparatus further includes triple valve and reservoir chamber, the outlet of suction pump and the water inlet of triple valve
Mouth connection, two water outlets of triple valve are connect with reservoir chamber and water filter respectively, and the triple valve is by the controller
The connection of suction pump and reservoir chamber and water filter is realized in control.
A kind of automatically cleaning unmanned boat self cleaning method is carried out using above-mentioned automatically cleaning unmanned boat, is included the following steps：
Step 1: according to the course line being preset in unmanned boat controller, unmanned boat navigation reaches sampled point, controls suction pump
Start water acquisition with triple valve, water acquisition water sample enters reservoir chamber；
Step 2: when completing water acquisition operation in polluted water region, and after leaving polluted water region, open cleaning model, the control
Device processed sends out control signal to suction pump and triple valve, and suction pump starts to draw water, and water inlet is imported into water quality mistake by triple valve
Filter is filtered, and force (forcing) pump is entered after the completion of filtering；
Step 3: the controller sends out control signal to force (forcing) pump, force (forcing) pump is started to work, to the cleaning by filtering
Secondary pressurized is carried out with water, enters heater after the completion of pressurization；
Step 4: the controller sends out control signal to heater, heater is started to work, is added to cleaning water
Heat enters high-pressure nozzle after the completion of heating, is cleaned to unmanned boat and floating drum by high-pressure nozzle ejection；
Step 5: the controller sends out control signal to hydraulic strut, hydraulic strut elongation controls mounting bracket and floats
Cylinder is begun to decline, after floating drum drops to horizontal plane or less, since buoyancy unmanned boat ontology starts to be detached from the water surface, when complete
When being detached from the water surface comprehensively, you can cleaned to unmanned boat；
Step 6: after the completion of unmanned boat cleaning, the controller sends out control signal and gives control hydraulic strut, hydraulic strut
It shrinks, controls mounting bracket and floating drum is begun to ramp up, after floating drum rises to the water surface or more, unmanned boat hull falls into water again
In, high-pressure nozzle is controlled at this time, and floating drum is cleaned；
Step 7: after the completion of all cleaning, controller controls unmanned boat navigation to next sampled point, returns to step
One, until completing the water sample collection work of all sampled points.
Further, in step 6 in floating drum cleaning process, controller controls floating drum turnover device and carries out rotation, with thorough
Floating drum is cleaned at bottom.
Compared with prior art, the invention has the characteristics that：
1, the present invention uses open loop control mode to entire cleaning process, only needs in view of design, production and installation cost
At the beginning of presetting each cleaning link before cleaning, the parameters such as duration and motor speed, do not have in addition arrangement
Sensor reduces automatic cleaning apparatus cost, and it is made to use simple, reliability height.
2, the present invention considers that problem is cleaned in unmanned boat hull inconvenience, creatively increases floating drum in unmanned boat both sides, passes through
Buoy lifting is controlled, may be implemented unmanned boat being lifted away from the water surface, it, can be to unmanned boat hull after unmanned boat completely disengages the water surface
Thoroughly cleaned.
3, the present invention considers the cleaning problem of floating drum, and overturning structure by floating drum drives floating drum that can be rotated with 360 °, makes
The cleaning to floating drum can also be realized with same a set of automatic cleaning apparatus.
4, the present invention is difficult to thoroughly remove after considering the problems of pollutant contamination hull, and connecting in automatic cleaning apparatus adds
Hot device, heats high pressure water, improves cleaning capacity.
5, in order to simplify structure, driving motor is not affixed in mounting bracket the present invention, can be slided in motor sliding slot
It is dynamic, it realizes different engagement systems, floating drum or high-pressure nozzle rotation can be respectively driven, cost-effective, installation is simple.
Description of the drawings
Fig. 1 is the structural schematic diagram of the one of embodiment of automatically cleaning unmanned boat of the present invention；
Fig. 2 is the structural schematic diagram of water feed apparatus in the present invention；
Fig. 3 is the schematic diagram of automatic cleaning apparatus in the present invention；
Fig. 4 is the structural schematic diagram of middle gear of the present invention transmission；
Fig. 5 is the schematic diagram that floating drum lifts in the present invention；
Fig. 6 is the schematic diagram that floating drum is put down in the present invention；
Fig. 7 is the fundamental diagram of automatically cleaning unmanned boat automated cleaning in the present invention.
In figure：1-suction pump, 2-reservoir chambers, 3-triple valves, 4-water filters, 5-force (forcing) pumps, 6-heaters,
7-hydraulic struts, 8-mounting brackets, 9-floating drums, 10-floating drums drive gear, 11-floating drum bearing blocks, 12-driving motors
Sliding slot, 13-driving motors, 14-high-pressure nozzles driving gear, 15-driving gears, 16-high-pressure nozzles, 17-hydraulic stems,
100-unmanned boat ontologies, 200-water feed apparatus, 300-automatic cleaning apparatus.
Specific implementation mode
Below in conjunction with the attached drawing in the present invention, the technical solution in the present invention is clearly and completely described.
Referring to FIG. 1, the embodiment of the present invention provides a kind of automatically cleaning unmanned boat, including unmanned boat ontology 100, controller,
Set on the water feed apparatus 200 and automatic cleaning apparatus 300 of unmanned boat ontology 100.
Referring to Figure 2, the water feed apparatus includes suction pump 1, reservoir chamber 2, triple valve 3, water filter 4, adds
Water sample is pumped into reservoir chamber 2 from its water inlet and realizes water acquisition function by press pump 5, heater 6 (such as ptc heater), suction pump 1,
Connected with water pipe between 3 water inlet of its water outlet and triple valve, two water outlets of triple valve 3 respectively with reservoir chamber 2 and water quality
Filter 4 is connected with water pipe.When unmanned boat needs to acquire water sample, the water route that triple valve 3 is connect with reservoir chamber 2 is connected, and is extracted
Water body is directly entered in reservoir chamber 2, carries out water sampling.When unmanned boat needs cleaning, triple valve 3 connects with water filter 4
The water route connect is connected, and is extracted water body and is entered water filter 4, filters impurities in water, and pre-treatment standard is done for subsequent heat and hydro-peening
It is standby.4 inside of water filter is mainly cotton net and activated carbon, and water filter 4 of connecting in systems is to prevent impurity in water-stop body
Block high-pressure wash nozzle 16.
In water body after the filtering of water filter 4,4 water outlet of water filter and 5 water inlet water pipe of force (forcing) pump into
Row connection, water body is imported in force (forcing) pump 5, and water filter 4 produces prodigious pressure drop to water inlet, cannot meet high pressure
The pressure requirements of cleaning carry out secondary pressurized to filtered cleaning water by force (forcing) pump 5, improve water flow pressure, be follow-up
High-pressure wash is prepared.
In water body after the pressurization of force (forcing) pump 5,5 water outlet of force (forcing) pump is attached with 6 water inlet of heater with water pipe, will
Water body imports in heater 6, is heated to water body by heater 6, and the water temperature after heating can reach 80 DEG C or more, can be big
It is big to improve cleaning capacity, residual contaminants are utmostly cleaned, avoid influencing water acquisition precision.
Please together from reference to figure 3 and Fig. 4, the automatic cleaning apparatus 300 includes set on the floating of 100 both sides of unmanned boat ontology
Cylinder 9, the high-pressure nozzle 16 near floating drum 9, the buoy lifting device being connect with floating drum 9, the controller are floating for controlling
The decline of floating drum 9 is made unmanned boat be lifted away from the water surface by cylinder lifting gear, or so that unmanned boat is kept afloat the rising of floating drum 9, is additionally operable to
Control high-pressure nozzle 16 cleans unmanned boat ontology 100 and floating drum 9.
The buoy lifting device includes hydraulic strut 7 and mounting bracket 8, and hydraulic strut 7 is controlled by controller and realizes liquid
Press the contraction and elongation of strut 7.The floating drum 9 is installed on mounting bracket 8, and mounting bracket 8 is a L-type support structure, with nobody
Ship ontology 100 shares 4 supporting points, is hinge connection, both the above branch between following two supporting point and unmanned boat ontology 100
Support point is connect by hydraulic strut 7 with unmanned boat ontology 100, can realize mounting bracket 8 by the contraction and elongation of hydraulic strut 7
Raising and lowering.
In another embodiment, it is additionally provided with the displacement machine that driving high-pressure nozzle 16 is moved forward and backward along unmanned boat ontology 100
Structure, institute's displacement mechanism include the hydraulic stem 17 being connect with controller, and hydraulic stem 17 is arranged in parallel with floating drum 9, high-pressure nozzle 16
It is sleeved on hydraulic stem 17, hydraulic stem 17 can drive high-pressure nozzle 16 to be moved forward and backward, before realizing along unmanned boat ontology 100
After move, to realize cleaning to hull front and rear part.
In another embodiment, it is additionally provided with the deflection mechanism that driving high-pressure nozzle 16 deflects, the deflection mechanism is by driving
Mechanism drives the rotation for realizing hydraulic stem 17, to realize the cleaning to hull top and the bottom.The deflection mechanism includes high-pressure nozzle
It includes driving motor 13, the driving gear being connect with driving motor 13 15 to drive gear 14, the driving mechanism, and high-pressure nozzle drives
Moving gear 14 is socketed on hydraulic stem 17, when driving gear 15 is engaged with high-pressure nozzle driving gear 14,13 band of driving motor
Dynamic driving gear 15 rotates, and driving gear 15 drives high-pressure nozzle driving gear 14 to rotate, and then hydraulic stem 17 is driven to rotate, from
And high-pressure nozzle 16 is driven to rotate.
In another embodiment, it is additionally provided with floating drum turnover device, the floating drum turnover device is by the driving mechanism (driving
Motor 13 and driving gear 15) drive the rotation for realizing floating drum 9 around its axis.As shown in figure 3, the floating drum turnover device includes
Floating drum drives gear 10, floating drum bearing block 11, floating drum 9 to be mounted on floating drum bearing block 11, be equipped in shaft floating by shaft
Cylinder driving gear 10.When driving gear 15 is engaged with floating drum driving gear 10, driving motor 13 can drive floating drum 9 to turn together
Dynamic, floating drum 9 can be around 360 ° of rotations of own axes.
In another embodiment, it is additionally provided with motor moving device, for controlling driving motor 13 in driving high-pressure nozzle 16
Deflection mechanism and floating drum turnover device between move back and forth so that driving gear 15 respectively with high-pressure nozzle drive gear 14
It is engaged with floating drum driving gear 10.As shown in figure 4, the motor moving device is driving motor sliding slot 12, driving motor 13 is inserted
In driving motor sliding slot 12, driving motor 13 can slide in driving motor sliding slot 12, when sliding into upper and lower ends, be socketed in
Driving gear 15 on driving motor 13 can drive gear 10 and high-pressure nozzle driving gear 14 to engage with floating drum respectively.Work as master
When moving gear 15 and floating drum driving gear 10 engages, driving motor 13 can drive floating drum 9 to rotate together, when driving gear 15 and
When high-pressure nozzle drives gear 14 to engage, driving motor 13 can drive hydraulic stem 17 to rotate together.
In water body after the heating of heater 6,6 water outlet of heater is attached with high-pressure nozzle 16 with water pipe, by water
Body imports in high-pressure nozzle 16.
Working principle of the invention is as follows (please referring to Fig. 7)：
When start-up operation, controller controls hydraulic strut 7 and shrinks, and floating drum 9 is lifted, and unmanned boat is contacted with the water surface, at this time
Unmanned boat is in sail mode, with reference to figure 5.According to the course line being preset in unmanned boat controller, navigation is reached and is adopted by unmanned boat
Sampling point, after controller receives the signal that unmanned boat controller reaches sampled point, controller sends out working signal to suction pump 1,
It controls suction pump 1 to start to work, water body is extracted by water pipe in triple valve 3, the controller control opening of triple valve 3 leads to water storage
The valve of room 2 completes water acquisition flow by water sampling to reservoir chamber 2.Then after unmanned boat reaches next default sampled point
The water sampling of next sampled point is carried out, until completing the water sample collection work of all sampled points in the region.
If unmanned boat passes through Polluted area during water acquisition, hull is polluted, then needs automatic cleaning apparatus
Unmanned boat is cleaned.At this point, controller control hydraulic strut 7 extends, floating drum 9 is laid down, when floating drum is preferably minimized position
When, two side float 9 of unmanned boat enters under water, and unmanned boat is lifted away from the water surface under buoyancy, and unmanned boat is in cleaning mould at this time
Formula, with reference to figure 6.Controller controls suction pump 1 and starts to work, and water body is extracted by water pipe in triple valve 3, controller control three
Port valve 3 opens the valve for leading to water filter 4, and water body is imported in water filter 4 and carries out contaminant filter, filtered water
Matter meets subsequent heat and high-pressure injection requirement.Since hydraulic pressure declines after water filter 4, it is insufficient for high pressure washing
Requirement, so entered in force (forcing) pump 5 by water pipe after water filter 4 in water body, controller control force (forcing) pump 5 is opened
Beginning work carries out secondary pressurized to water body, the pressure requirements of high pressure washing is met by the water sample of secondary pressurized.Water after pressurization
Body is entered by water pipe in heater 6, and controller controls heater and starts to work, and is heated to water body, the water body after heating
To the cleaning efficiency higher of pollutant, cleaning performance is more preferable.Water body after heating is entered by water pipe in high-pressure nozzle 16, is passed through
High-pressure nozzle 16 sprays, and cleans unmanned boat and floating drum.
High-pressure nozzle 16 is mounted on hydraulic stem 17, and controller controls hydraulic stem 17 and starts to work, and drives high-pressure nozzle 16
It is moved forward and backward along unmanned boat travel direction, while the high-pressure nozzle driving gear 14 on hydraulic stem 17 and driving gear
15 engagements, controller control driving motor 13 start to rotate, and drive driving gear 15 to rotate, while driving gear 15 drives high pressure
Nozzle drives gear 14 to rotate, and then high-pressure nozzle 16 is driven to rotate.
It cleans during unmanned boat, unmanned boat is lifted away from the water surface, and high-pressure nozzle 16 is driven by driving motor 13 to direction nothing
People's ship, high-pressure nozzle 16 starts to clean unmanned boat at this time, and is moved from fore to stern according to preset movement speed, when
It completes after recycling twice back and forth, completes a unmanned boat cleaning.When automatic cleaning apparatus cleans floating drum 9, unmanned boat is swum in
On the water surface, floating drum 9 leaves the water surface by lifting, and high-pressure nozzle 16 is driven by driving motor 13 to floating drum 9 is directed toward, at this time high-pressure nozzle
16 start to clean floating drum 9, while floating drum driving gear 10 is engaged with driving gear 15, and controller control driving motor 13 starts to turn
It is dynamic, drive driving gear 15 to rotate, while driving gear 15 drives floating drum driving gear 10 to rotate, and then floating drum 9 rotates.When floating
After cylinder is rotated by 360 °, high-pressure nozzle 16 is moved according to preset movement speed from fore to stern, and high-pressure nozzle 16 has been worked as
After recycling twice back and forth, the cleaning of a floating drum 9 is completed.
The present invention can be divided into two kinds of operating modes, and a kind of operating mode is water acquisition pattern, and device is mainly responsible for extraction at this time
Water sampling point water sample, another operating mode are cleaning model, and device is mainly responsible for pollutant of the cleaning contamination on hull at this time.
The adjusting of operating mode relies primarily on controller to the control of 3 valve location of triple valve to control water route trend, while controlling certainly
Dynamic cleaning device 300, buoy lifting device and floating drum turnover device carry out linkage work, reaches automatic water acquisition and cleans automatically
Purpose.When floating drum 9 leaves the water surface, unmanned boat falls into the water, and mainly navigation, water acquisition and floating drum cleaning task is executed, when floating drum 9
When falling into the water, unmanned boat leaves the water surface, main to execute hull cleaning task.
Claims (11)
1. a kind of automatically cleaning unmanned boat, it is characterised in that：Including unmanned boat ontology, controller, set on the water inlet of unmanned boat ontology
Device and automatic cleaning apparatus, the automatic cleaning apparatus include set on the floating drum of unmanned boat ontology both sides, near floating drum
High-pressure nozzle, the buoy lifting device that is connect with floating drum, the water feed apparatus from water body residing for unmanned boat ontology for taking out
For water to the high-pressure nozzle of the automatic cleaning apparatus, the controller is used to control buoy lifting device makes nobody by floating drum decline
Ship is lifted away from the water surface, or so that unmanned boat is kept afloat floating drum rising, is additionally operable to control high-pressure nozzle to unmanned boat ontology and floats
Cylinder is cleaned.
2. automatically cleaning unmanned boat as described in claim 1, it is characterised in that：The buoy lifting device include hydraulic strut,
And mounting bracket, hydraulic strut are controlled the contraction and elongation for realizing hydraulic strut by controller, the floating drum is installed on installation branch
The lower end of frame, the mounting bracket is connect with unmanned boat ontology, and upper end is connect by hydraulic strut with unmanned boat ontology, and liquid is passed through
The raising and lowering of mounting bracket is realized in the contraction and elongation for pressing strut, and then realizes the raising and lowering of floating drum.
3. automatically cleaning unmanned boat as described in claim 1, it is characterised in that：Further include driving high-pressure nozzle along unmanned boat sheet
Body is moved forward and backward displacement mechanism, and institute's displacement mechanism includes the hydraulic stem being connect with controller, and hydraulic stem is arranged in parallel with floating drum,
High-pressure nozzle is sleeved on hydraulic stem, and hydraulic stem drives high-pressure nozzle to be moved forward and backward by controller, to realize along unmanned boat sheet
Body is moved forward and backward.
4. automatically cleaning unmanned boat as described in claim 1, it is characterised in that：It further include the deflection machine for driving high-pressure nozzle deflection
Structure, the deflection mechanism are driven the rotation for realizing hydraulic stem by driving mechanism, to realize the cleaning to hull top and the bottom.
5. automatically cleaning unmanned boat as claimed in claim 4, it is characterised in that：The deflection mechanism includes high-pressure nozzle sliding tooth
Wheel, the driving mechanism includes driving motor, the driving gear that is connect with driving motor, and high-pressure nozzle drives geared sleeve to be connected on liquid
On compression bar, when driving gear is engaged with high-pressure nozzle driving gear, driving motor drives driving gear rotation, driving gear band
Dynamic high-pressure nozzle sliding tooth wheel rotation, and then hydraulic stem rotation is driven, to drive high-pressure nozzle to rotate.
6. automatically cleaning unmanned boat as described in claim 1, it is characterised in that：Further include floating drum turnover device, the floating drum turns over
Rotary device is driven the rotation for realizing floating drum by driving mechanism.
7. automatically cleaning unmanned boat as claimed in claim 6, it is characterised in that：The floating drum turnover device includes floating drum sliding tooth
Wheel, floating drum bearing block, the driving mechanism includes driving motor, the driving gear that is connect with driving motor, and floating drum passes through shaft
Floating drum driving gear is installed on floating drum bearing block, in shaft, when driving gear is engaged with floating drum driving gear, is driven
Dynamic motor drives floating drum to rotate together.
8. automatically cleaning unmanned boat as described in claim 1, it is characterised in that：The water feed apparatus includes sequentially connected draws water
Pump, water filter, force (forcing) pump, heater, for the water that suction pump extracts to be filtered, force (forcing) pump is used for water filter
Secondary pressurized is carried out to filtered cleaning water, the heater is for heating water body effectively to clean hull oil
It is dirty.
9. automatically cleaning unmanned boat as claimed in claim 8, it is characterised in that：The water feed apparatus further includes triple valve and water storage
The water inlet of room, the outlet of suction pump and triple valve connects, two water outlets of triple valve respectively with reservoir chamber and water filtration
Device connects, and the triple valve is controlled by the controller, realizes the connection of suction pump and reservoir chamber and water filter.
10. a kind of automatically cleaning unmanned boat self cleaning method, it is characterised in that utilize any one of the claim 1-9 automatically cleanings
Unmanned boat carries out, and includes the following steps：
Step 1: according to the course line being preset in unmanned boat controller, unmanned boat navigation reaches sampled point, controls suction pump and three
Port valve starts water acquisition, and water acquisition water sample enters reservoir chamber；
Step 2: when completing water acquisition operation in polluted water region, and after leaving polluted water region, open cleaning model, the controller
Control signal is sent out to suction pump and triple valve, suction pump starts to draw water, and water inlet is imported into water filter by triple valve
It is filtered, force (forcing) pump is entered after the completion of filtering；
Step 3: the controller sends out control signal to force (forcing) pump, force (forcing) pump is started to work, to the cleaning water by filtering
Secondary pressurized is carried out, enters heater after the completion of pressurization；
Step 4: the controller sends out control signal to heater, heater is started to work, is heated to cleaning water,
Enter high-pressure nozzle after the completion of heating, unmanned boat and floating drum are cleaned by high-pressure nozzle ejection；
Step 5: the controller sends out control signal to hydraulic strut, hydraulic strut elongation, controls mounting bracket and floating drum is opened
Begin to decline, after floating drum drops to horizontal plane or less, since buoyancy unmanned boat ontology starts to be detached from the water surface, when completely disengaging
When the water surface comprehensively, you can cleaned to unmanned boat；
Step 6: after the completion of unmanned boat cleaning, the controller sends out control signal and control hydraulic strut, hydraulic strut is given to receive
Contracting, controls mounting bracket and floating drum is begun to ramp up, and after floating drum rises to the water surface or more, unmanned boat hull falls into the water again,
Control high-pressure nozzle cleans floating drum at this time；
Step 7: after the completion of all cleaning, controller controls unmanned boat navigation to next sampled point, returns to step one,
Until completing the water sample collection work of all sampled points.
11. a kind of method as claimed in claim 10, it is characterised in that：In step 6 in floating drum cleaning process, controller
It controls floating drum turnover device and carries out rotation, thoroughly to clean floating drum.
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| CN201810207806.6A CN108275250B (en) | 2018-03-14 | 2018-03-14 | A kind of automatically cleaning unmanned boat and its self cleaning method |
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| CN201810207806.6A CN108275250B (en) | 2018-03-14 | 2018-03-14 | A kind of automatically cleaning unmanned boat and its self cleaning method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110182333A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning equipment |
| CN113173040A (en) * | 2021-04-22 | 2021-07-27 | 郑州宇通重工有限公司 | Special equipment and buoyancy tank structure thereof |
| CN113475491A (en) * | 2021-06-30 | 2021-10-08 | 武夷学院 | Automatic cleaning and recovering device for crab pond aquatic weeds |
| CN114739742A (en) * | 2022-03-31 | 2022-07-12 | 海之韵(苏州)科技有限公司 | Cross-contamination-preventing water quality sampling unmanned ship and water quality sampling method of unmanned ship |
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| CN1439578A (en) * | 2003-03-07 | 2003-09-03 | 孙学年 | Multifunctional airplane and application thereof |
| CN101486495A (en) * | 2007-05-11 | 2009-07-22 | 罗德里戈·A·G·索伊拉 | Integral submarine maintenance system |
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| CN110182333A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of cleaning equipment |
| CN113173040A (en) * | 2021-04-22 | 2021-07-27 | 郑州宇通重工有限公司 | Special equipment and buoyancy tank structure thereof |
| CN113173040B (en) * | 2021-04-22 | 2022-12-23 | 郑州宇通重工有限公司 | Special equipment and buoyancy tank structure thereof |
| CN113475491A (en) * | 2021-06-30 | 2021-10-08 | 武夷学院 | Automatic cleaning and recovering device for crab pond aquatic weeds |
| CN114739742A (en) * | 2022-03-31 | 2022-07-12 | 海之韵(苏州)科技有限公司 | Cross-contamination-preventing water quality sampling unmanned ship and water quality sampling method of unmanned ship |
| CN114739742B (en) * | 2022-03-31 | 2023-10-10 | 海之韵(苏州)科技有限公司 | Cross-pollution-preventing unmanned water quality sampling ship and unmanned water quality sampling method |
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| CN108275250B (en) | 2019-02-19 |
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