CN109292993B - Ecological floating island and use method thereof - Google Patents
Ecological floating island and use method thereof Download PDFInfo
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- CN109292993B CN109292993B CN201811343898.7A CN201811343898A CN109292993B CN 109292993 B CN109292993 B CN 109292993B CN 201811343898 A CN201811343898 A CN 201811343898A CN 109292993 B CN109292993 B CN 109292993B
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- 238000007667 floating Methods 0.000 title claims abstract description 171
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 60
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 32
- 238000004891 communication Methods 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims description 27
- 239000007921 spray Substances 0.000 claims description 23
- 241000196324 Embryophyta Species 0.000 claims description 11
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 11
- 229910052744 lithium Inorganic materials 0.000 claims description 11
- MMDJDBSEMBIJBB-UHFFFAOYSA-N [O-][N+]([O-])=O.[O-][N+]([O-])=O.[O-][N+]([O-])=O.[NH6+3] Chemical compound [O-][N+]([O-])=O.[O-][N+]([O-])=O.[O-][N+]([O-])=O.[NH6+3] MMDJDBSEMBIJBB-UHFFFAOYSA-N 0.000 claims description 9
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 claims description 9
- 238000005286 illumination Methods 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 claims description 6
- 238000013519 translation Methods 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 5
- 235000005273 Canna coccinea Nutrition 0.000 claims description 3
- 240000008555 Canna flaccida Species 0.000 claims description 3
- 235000014676 Phragmites communis Nutrition 0.000 claims description 3
- 241000233948 Typha Species 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000004927 fusion Effects 0.000 claims description 3
- 238000010295 mobile communication Methods 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims description 3
- 238000012423 maintenance Methods 0.000 abstract description 11
- 238000013461 design Methods 0.000 abstract description 3
- 230000001276 controlling effect Effects 0.000 description 8
- 238000005457 optimization Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012851 eutrophication Methods 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
- C02F3/00—Biological treatment of water, waste water, or sewage
- C02F3/32—Biological treatment of water, waste water, or sewage characterised by the animals or plants used, e.g. algae
Abstract
The invention relates to an ecological floating island and a using method thereof, wherein the ecological floating island comprises a carrier, a floating body, a power supply system, a central control system, a control unit, a communication unit, a navigation unit, a power unit and a monitoring system; the carrier is arranged on the floating body; the control unit and the monitoring system are respectively connected with the central control system; the central control system is respectively in remote communication connection with the environment monitoring station and the ground control station through the communication unit; the control unit is connected with the navigation unit through data signals; the control unit is also in control connection with the power unit. According to the invention, the mobility and the maneuverability of the ecological floating island are increased, so that people can control the floating island remotely and enable the floating island to reach a designated position, the floating island can still navigate automatically in a shallow water area, the ecological floating island has certain universality, meanwhile, the structural design is relatively reasonable, the operation is more stable and reliable, the maintenance cost is relatively low, and the ecological floating island can be widely applied to various water environments.
Description
Technical Field
The invention relates to the technical field of ecological restoration of garden water, in particular to an ecological floating island and a use method thereof, which have the advantages of wider application range, convenience in remote control, high efficiency, rapidness and labor saving.
Background
In recent years, with the development of water environment treatment technology, aquatic plants can effectively relieve the water fishy smell and eutrophication phenomenon caused by water sealing or self-circulation deficiency, and have the function of beautifying the environment, so ecological floating islands constructed around the aquatic plants emerge.
However, the existing ecological floating islands are fixed in water by adopting a mode of underwater staking or anchor ropes and the like, so that the application of the ecological floating islands is limited in two aspects: 1. the floating island can only be fixed in a fixed way for pollution control or repair, and if the floating island needs to be recycled, the floating island needs to be driven by a tug to reach other positions, which clearly increases the cost of manpower and material resources; 2. the daily management and maintenance can only be carried out at a fixed position, and the current management and maintenance are mostly completed by manual operation, so that the ship can only be manually seated to reach the floating island position, and the cost and difficulty of maintenance and management are increased. In particular, if it is difficult for a general ship to sail in a shallow water area, the labor intensity in the aspects of floating island movement reuse and installation and maintenance is further increased.
In order to increase the mobility of the ecological floating island, the prior art mostly adopts power devices of traditional ships, such as two thrust engines and a steering rudder, but the mobility of the ecological floating island is still poor, and even the automatic reversing offshore operation after the floating island is on the shore cannot be ensured. Therefore, it is necessary to improve the mobility and the maneuverability of the ecological floating island, and design a set of control system which is convenient to control, so as to expand the application range of the ecological floating island and facilitate the reutilization, the management and the maintenance operation of the ecological floating island.
Disclosure of Invention
Aiming at the technical problems existing in the ecological floating island in the prior art, the invention aims at: the ecological floating island and the use method thereof are provided, and the purpose is to increase the mobility and the maneuverability of the ecological floating island so that people can control the floating island remotely and enable the floating island to reach a designated position, ensure that the floating island can still navigate automatically in a shallow water area, have certain universality, and meanwhile, have relatively reasonable structural design, are more stable and reliable to operate, have relatively lower maintenance cost and can be widely applied to various water environments.
In order to achieve the above purpose, the invention adopts the following technical scheme:
an ecological floating island comprises a carrier, a floating body, a power supply system, a central control system, a control unit, a communication unit, a navigation unit, a power unit and a monitoring system; wherein the carrier is arranged on the floating body; the power system, the central control system, the control unit, the communication unit, the navigation unit, the power unit and the monitoring system are all arranged on the carrier; the control unit and the monitoring system are respectively connected with the central control system; the central control system is respectively in remote communication connection with the environment monitoring station and the ground control station through the communication unit; the control unit is connected with the navigation unit through data signals; the control unit is also in control connection with the power unit; the power supply system is respectively and electrically connected with the central control system, the control unit, the communication unit, the navigation unit, the power unit and the monitoring system.
As a further optimization of the scheme, the power supply system comprises a photovoltaic panel, a lithium battery and a power supply management system; the photovoltaic panel is arranged at the periphery of the floating body and the carrier; the photovoltaic panel is connected with the lithium battery, and the power management system is connected with the lithium battery; the power management system is arranged in the waterproof sealing shell; the power management system is electrically connected with the central control system through a power line.
As a further optimization of the scheme, the power units are arranged on the peripheral surface around the bottom of the carrier; the power unit comprises an electric control and spray pump, and the electric control is respectively connected with the control unit and the spray pump and used for controlling the floating island to perform forward and backward movement, left and right movement and fixed-point rotation movement; or the power unit comprises an electric regulator and a duct fan, the electric regulator is respectively connected with the control unit and the duct fan and used for controlling the floating island to move back and forth, move left and right and move in a fixed point rotary mode, and the floating island is driven by air flow to move back and forth, move left and right and move in a fixed point rotary mode.
As a further optimization of the scheme, the carrier is of a square structure; the power units are respectively arranged at four corners of the bottom of the carrier; the jet angles of the jet pumps at any two opposite angles or the jet directions of the air flows of the ducted fans are parallel and not collinear, and the projection of the output lines of the four jet pumps or the jet output lines of the air flows of the ducted fans on the plane of the carrier is not intersected with the focus of the central position of the carrier.
As a further optimization of the above solution, the power output direction of each jet pump or the air flow jet direction of the ducted fan is towards the inner side of the carrier or towards the outer side of the carrier; the control unit comprises three input control channels, namely a forward/backward channel, a left/right translation channel and a left/right rotation channel, and each input control channel carries out signal transmission through PWM square wave pulses; through superposition of three channels, fusion control of multiple motion modes is realized; and the control unit controls the movement direction and speed of the power unit and the movement position of the floating island according to the floating island posture and position data acquired by the navigation unit in real time.
As a further optimization of the above scheme, the control unit further comprises two-channel cascade PID controllers, wherein one channel cascade PID controller controls the position, and the other cascade PID controller controls the direction, and respectively adjusts the position and the direction; the control mode of the control unit is divided into three control modes, namely a manual mode, a directional mode and an automatic mode, wherein the manual mode does not use the two channel cascade PID controllers when in operation, and the floating island receives three input control channel instructions and outputs the moving direction and speed of the floating island and the moving position instruction of the floating island to the power unit; when the directional mode works, only a cascade PID controller in a control direction is used, the floating island receives three input control channel instructions to output the moving direction and speed of the floating island and the moving position instruction of the floating island to the power unit, and the moving direction is kept unchanged in the translation process; and the automatic mode simultaneously uses a cascade PID controller for controlling the position and the direction, receives the position instruction, and controls the floating island to reach the designated position through calculation of the control unit.
As a further optimization of the above scheme, the monitoring system comprises an environment sensor and a video collector, wherein the environment sensor comprises an illumination intensity sensor, a temperature sensor, a nitrate nitrogen concentration sensor, an ammonia nitrogen concentration sensor, an ORP concentration sensor and a pH value detector; the video collector comprises a plurality of cameras for respectively monitoring vegetation around the floating island and on the floating island at fixed time; the illumination intensity sensor, the temperature sensor, the nitrate nitrogen concentration sensor, the ammonia nitrogen concentration sensor, the ORP concentration sensor, the pH value detector and the camera are all connected with a data signal of the central control system and are used for sending corresponding values monitored in real time to the central control system; the central control system carries out data conversion on the received real-time monitoring value and the image data, and then uploads the data to the server through the communication unit and sends the data to the environment monitoring station and the ground control station.
As a further optimization of the scheme, the communication unit selects a 4G transparent transmission module, and the mobile communication network is utilized to transmit information between the central control system and the server; the output voltage of the power supply system comprises 48V power voltage and 5V equipment voltage, and the 5V equipment voltage is respectively and independently supplied to the monitoring system, the central control system and the control unit; the 48V power voltage independently supplies power for the motion unit; the navigation unit comprises satellite positioning equipment and inertial measurement equipment; the control unit is respectively connected with the satellite positioning equipment and the inertial measurement equipment through UART and SPI interfaces, so that the attitude and position information of the floating island are obtained, and the electric regulation and control and the jet pump/ducted fan are regulated and controlled in a PWM control mode.
As a further optimization of the scheme, a plant planting area is arranged on the carrier, and any one or any combination of reed, canna and typha is arranged on the plant planting area; the carrier is also provided with an anti-collision system connected with the central control system, and the anti-collision system comprises an infrared ranging sensor or an ultrasonic sensor and a lamplight scintillator; the infrared ranging sensor or the ultrasonic sensor is used for monitoring the distance between the ecological floating island and other floats on the adjacent ecological floating island or the ecological restoration water area in real time, sending the real-time monitoring value to the central control system, comparing the received real-time distance monitoring value with a preset distance threshold value, and controlling the light scintillator to send a light reminding signal when the real-time monitoring value is smaller than the preset distance threshold value, and simultaneously sending a power unit cutting-off advancing instruction to the control unit by the central control system.
The application method of the ecological floating island comprises the following steps:
1) Arranging an ecological floating island in a water area to be ecologically restored;
2) The method comprises the steps of monitoring corresponding values and images of a water area to be ecologically restored in real time by using an illumination intensity sensor, a temperature sensor, a nitrate nitrogen concentration sensor, an ammonia nitrogen concentration sensor, an ORP concentration sensor, a pH value detector and a camera, and sending the corresponding values and images monitored in real time to a central control system;
3) The central control system carries out data conversion on the received real-time monitoring value and image data, then uploads the data to a server through a communication unit and sends the data to an environment monitoring station and a ground control station, and the environment monitoring station and the ground control station send a floating island movement instruction according to the acquired real-time corresponding value and image;
4) The control unit starts the power unit according to the posture and position information of the floating island sent by the navigation unit, and selectively controls a jet pump or a ducted fan which is required to be started or closed in the power unit to enable the floating island to move forwards/backwards, horizontally move leftwards/rightwards and rotationally move leftwards/rightwards to a desired position through any one of a manual mode, a directional mode and an automatic mode.
The ecological floating island and the application method thereof have the following beneficial effects:
1. the labor intensity is reduced; after the floating island operates, manual calibration and manual dragging are not needed.
2. The recycling efficiency of the floating island is improved; the floating island can automatically move to a designated position, can be recycled, is convenient for pollution control in a plurality of areas, and does not need manual intervention and tugboat intervention.
3. The operation cost is saved; the staff can remote monitoring chinampa state, and the chinampa can independently remove the region of convenient maintenance.
4. Expanding the application scene of the floating island; the floating island can be applied in the environments where towboats cannot travel in shallower water areas, on the sides or in more water plants.
Drawings
Fig. 1 is an overall schematic diagram of an ecological floating island of the present invention.
Fig. 2 is a schematic diagram of the distribution of power units of the ecological floating island of the invention.
FIG. 3 is an interface architecture diagram of the overall control system of the ecological floating island of the present invention.
Fig. 4 is a schematic power supply diagram of the ecological floating island of the present invention.
Detailed Description
The ecological floating island and the using method thereof are described in detail below with reference to figures 1-4.
An ecological floating island comprises a carrier 5, a floating body 6, a power supply system, a central control system, a control unit, a communication unit, a navigation unit, power units 1,2,3,4 and a monitoring system; wherein the carrier is arranged on the floating body; the power system, the central control system, the control unit, the communication unit, the navigation unit, the power unit and the monitoring system are all arranged on the carrier; the control unit and the monitoring system are respectively connected with the central control system; the central control system is respectively in remote communication connection with the environment monitoring station and the ground control station through the communication unit; the control unit is connected with the navigation unit through data signals; the control unit is also in control connection with the power unit; the power supply system is respectively and electrically connected with the central control system, the control unit, the communication unit, the navigation unit, the power unit and the monitoring system. In this embodiment, the ecological floating island (see fig. 1 of the specification) may be a wet floating island, i.e. the plants on the floating island can be contacted with water. The floating island has a main body, which may be embodied as a carrier 5, on which carrier 5 vegetation may be planted. The carrier 5 may be, for example, a PE material, which has holes through which the root system of the vegetation can pass, so that the root system of the vegetation contacts the water environment through the carrier 5. The floating island can be additionally provided with a floating body 6 so as to increase the floating stability of the whole floating island on the water surface. The carrier 5 may have various shapes, such as a circle, an ellipse, a quadrangle, a hexagon, etc., and in this embodiment, the carrier 5 is specifically a regular quadrangle with a side length of 4m. Thus the floating body 6 may be four elongated floating bodies with gas filled in the middle, which are provided separately on four sides of the carrier 5.
The power supply system comprises a photovoltaic panel, a lithium battery and a power supply management system; the photovoltaic panel is arranged at the periphery of the floating body and the carrier; the photovoltaic panel is connected with the lithium battery, and the power management system is connected with the lithium battery; the power management system is arranged in the waterproof sealing shell; the power management system is electrically connected with the central control system through a power line. The photovoltaic panel can be erected at the positions around the floating body 7 and the carrier 5, so that solar energy can be fully utilized to supply power, the photovoltaic panel can store energy for a lithium battery, and the power is effectively supplied through the power management system. In the embodiment, the floating island control system can be set to be opened in the daytime and closed at night automatically so as to save electric power. The ecological floating island can automatically run for more than 1 year on the water surface. Lithium batteries, power management systems, and other electronic devices may be disposed on the carrier 5. In actual use, various electronic devices can be intensively placed in the closed box body so as to be convenient for installation and maintenance, and can also be prevented in a distributed manner according to strong and weak electricity classification so as to be convenient for preventing mutual interference. All electronic devices are subjected to sealing waterproof treatment so as to ensure that the system can normally operate.
The power unit is arranged on the peripheral surface around the bottom of the carrier; the power unit comprises an electric control and spray pump, and the electric control is respectively connected with the control unit and the spray pump and used for controlling the floating island to perform forward and backward movement, left and right movement and fixed-point rotation movement; or the power unit comprises an electric regulator and a duct fan, the electric regulator is respectively connected with the control unit and the duct fan and used for controlling the floating island to move back and forth, move left and right and move in a fixed point rotary mode, and the floating island is driven by air flow to move back and forth, move left and right and move in a fixed point rotary mode. The embodiment uses a plurality of sets of electric pumps and jet pumps, and the number of the electric pumps and the jet pumps can be adjusted according to the weight of the floating island, the power of the jet pumps and the shape of the floating island. Aiming at the situation that the carrier 5 is a regular quadrangle, the electric regulating and spraying pumps can be specifically arranged into four sets, are respectively arranged at the four corners of the regular quadrangle, and are hung and fixed below the carrier 5. Therefore, the four jet pumps can respond to the instruction sent by the execution control unit and drive the floating island to move in a water spraying mode by being matched with each other under the water surface. Referring to fig. 2 of the specification, in the preferred embodiment, the two output lines of the spray pumps arranged diagonally are parallel to each other, but not collinear, so that the output lines of the four spray pumps do not have a focus located at the center of the carrier, and based on this arrangement, the output of the spray pumps generates moment more easily, which is more beneficial to control the rotation of the floating island and increase the maneuverability of the floating island. The floating island adopts the power distribution shown in the figure 2 of the specification, and can flexibly translate back and forth, left and right and rotate at fixed points. The power output line of the jet pump can be horizontal and outwards relative to the periphery of the carrier, or horizontal and inwards relative to the periphery of the carrier. The power output directions of the spray pumps are different, and the power distribution modes are also different, and when the power output of the spray pumps is outwards taken as an example, and a floating island is advanced (the attached drawing of the specification is upward), the spray pumps 1 and 3 do not work, and the spray pumps 2 and 4 synchronously output; when the floating island retreats (the attached figure 2 of the specification is downward), the spray pumps 2 and 4 do not work, and the spray pumps 1 and 3 synchronously output; when the floating island moves leftwards, the spray pumps 2 and 3 do not work, and the spray pumps 1 and 4 synchronously output; when the floating island moves rightwards, the spray pumps 1 and 4 do not work, and the spray pumps 2 and 3 synchronously output; when the floating island rotates left, the spray pumps 3 and 4 do not work, and the spray pumps 1 and 2 synchronously output; when the floating island is in right rotation, the spray pumps 1 and 2 do not work, and the spray pumps 3 and 4 synchronously output. If the power output of the jet pump is inward, the power distribution of the floating island is opposite to that described above. Of course, if the floating island is heavy or the power of the jet pump is insufficient, the number of the jet pumps can be increased at four corners or sides, and the power distribution and control strategy can be changed correspondingly.
According to the use requirement of an actual user, the power output power of the jet pump can be outwards or inwards, and in general, the power output is outwards, so that higher propulsion efficiency can be provided; the power output is inward, so that the influence of the water flow of the jet pump on the outside can be reduced. As an alternative implementation mode, the ecological floating island is in an environmental water area which is shallow or has more water and grass, and the ecological floating island is combined with the floating island to have a certain weight, if the floating island is stranded under the carrier, the floating island can possibly be caused by hanging the jet pump, so that the underwater jet pump is replaced by a ducted fan fixedly arranged on the carrier, and the floating island is driven to move by air flow so as to prevent the floating island from bottoming or winding.
The carrier is of a square structure; the power units are respectively arranged at four corners of the bottom of the carrier; the jet angles of the jet pumps at any two opposite angles or the jet directions of the air flows of the ducted fans are parallel and not collinear, and the projection of the output lines of the four jet pumps or the jet output lines of the air flows of the ducted fans on the plane of the carrier is not intersected with the focus of the central position of the carrier.
The power output direction of each jet pump or the air flow jet direction of the ducted fan is towards the inner side of the carrier or towards the outer side of the carrier; the control unit comprises three input control channels, namely a forward/backward channel, a left/right translation channel and a left/right rotation channel, and each input control channel carries out signal transmission through PWM square wave pulses; through superposition of three channels, fusion control of multiple motion modes is realized; and the control unit controls the movement direction and speed of the power unit and the movement position of the floating island according to the floating island posture and position data acquired by the navigation unit in real time.
The control unit also comprises two channel cascade PID controllers, wherein one channel cascade PID controller controls the position, and the other cascade PID controller controls the direction, and the position and the direction are respectively adjusted; the control mode of the control unit is divided into three control modes, namely a manual mode, a directional mode and an automatic mode, wherein the manual mode does not use the two channel cascade PID controllers when in operation, and the floating island receives three input control channel instructions and outputs the moving direction and speed of the floating island and the moving position instruction of the floating island to the power unit; when the directional mode works, only a cascade PID controller in a control direction is used, the floating island receives three input control channel instructions to output the moving direction and speed of the floating island and the moving position instruction of the floating island to the power unit, and the moving direction is kept unchanged in the translation process; and the automatic mode simultaneously uses a cascade PID controller for controlling the position and the direction, receives the position instruction, and controls the floating island to reach the designated position through calculation of the control unit. The control unit adopts an ARM architecture 32-bit embedded control board, runs a real-time operating system and a motion control program, acquires the posture and position data of the floating island from the independently arranged navigation unit, and performs optimal estimation so as to control the motion direction, speed and position. When a plurality of jet pump power units are selected, jet pump propulsion systems with different reasoning grades can be combined with each other according to actual demands, and unified power scheduling is performed by the motion controller. The advantage of doing so is that can be according to the usual motion mode of chinampa, independent to its main effect ejector pump select the high thrust ejector pump, the pointed improvement chinampa's motion performance.
The monitoring system comprises an environment sensor and a video collector, wherein the environment sensor comprises an illumination intensity sensor, a temperature sensor, a nitrate nitrogen concentration sensor, an ammonia nitrogen concentration sensor, an ORP concentration sensor and a pH value detector; the video collector comprises a plurality of cameras for respectively monitoring vegetation around the floating island and on the floating island at fixed time; the illumination intensity sensor, the temperature sensor, the nitrate nitrogen concentration sensor, the ammonia nitrogen concentration sensor, the ORP concentration sensor, the pH value detector and the camera are all connected with a data signal of the central control system and are used for sending corresponding values monitored in real time to the central control system; the central control system carries out data conversion on the received real-time monitoring value and the image data, and then uploads the data to the server through the communication unit and sends the data to the environment monitoring station and the ground control station.
The communication unit selects a 4G transparent transmission module, and utilizes a mobile communication network to transmit information between a central control system and a server; the output voltage of the power supply system comprises 48V power voltage and 5V equipment voltage, and the 5V equipment voltage is respectively and independently supplied to the monitoring system, the central control system and the control unit; the 48V power voltage independently supplies power for the motion unit; the navigation unit comprises satellite positioning equipment and inertial measurement equipment; the control unit is respectively connected with the satellite positioning equipment and the inertial measurement equipment through UART and SPI interfaces, so that the attitude and position information of the floating island are obtained, and the electric regulation and control and the jet pump/ducted fan are regulated and controlled in a PWM control mode. The navigation unit can provide attitude and position data of the floating island for the control unit, and in order to ensure stability and anti-interference capability of a floating island control system and avoid manual calibration, the heading is provided by the differential positioning equipment. Therefore, the control unit can acquire longitude, latitude and azimuth angle from the differential positioning equipment, and optimally estimate the posture and the position of the floating island.
The carrier is provided with a plant planting area, and the plant planting area is provided with any one or any combination of reed, canna and typha; the carrier is also provided with an anti-collision system connected with the central control system, and the anti-collision system comprises an infrared ranging sensor or an ultrasonic sensor and a lamplight scintillator; the infrared ranging sensor or the ultrasonic sensor is used for monitoring the distance between the ecological floating island and other floats on the adjacent ecological floating island or the ecological restoration water area in real time, sending the real-time monitoring value to the central control system, comparing the received real-time distance monitoring value with a preset distance threshold value, and controlling the light scintillator to send a light reminding signal when the real-time monitoring value is smaller than the preset distance threshold value, and simultaneously sending a power unit cutting-off advancing instruction to the control unit by the central control system.
The application method of the ecological floating island comprises the following steps:
1) Arranging an ecological floating island in a water area to be ecologically restored;
2) The method comprises the steps of monitoring corresponding values and images of a water area to be ecologically restored in real time by using an illumination intensity sensor, a temperature sensor, a nitrate nitrogen concentration sensor, an ammonia nitrogen concentration sensor, an ORP concentration sensor, a pH value detector and a camera, and sending the corresponding values and images monitored in real time to a central control system;
3) The central control system carries out data conversion on the received real-time monitoring value and image data, then uploads the data to a server through a communication unit and sends the data to an environment monitoring station and a ground control station, and the environment monitoring station and the ground control station send a floating island movement instruction according to the acquired real-time corresponding value and image;
4) The control unit starts the power unit according to the posture and position information of the floating island sent by the navigation unit, and selectively controls a jet pump or a ducted fan which is required to be started or closed in the power unit to enable the floating island to move forwards/backwards, horizontally move leftwards/rightwards and rotationally move leftwards/rightwards to a desired position through any one of a manual mode, a directional mode and an automatic mode.
The field test shows that: the ecological floating island can expand the application range of the ecological floating island, is convenient to use in shallow water areas, fully improves the recycling efficiency of the ecological floating island, and can effectively reduce the running cost by 30% -40%; the floating island can be conveniently moved through remote control, so that the labor intensity of maintenance and management of the floating island is greatly reduced, and the floating island is deeply favored by operators; in addition, the control system of the ecological floating island can also have higher compatibility, so that more other practical functions can be conveniently integrated, such as integrated environment implementation monitoring, water area specific parameter monitoring, simple maintenance of floating island plants and the like, and the mechanization and the use performance of the ecological floating island are further improved.
The present invention is not limited to the above-mentioned embodiments, but is not limited to the above-mentioned embodiments, and any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical matters of the present invention can be made by those skilled in the art without departing from the scope of the present invention.
Claims (2)
1. An ecological floating island is characterized in that: the floating island comprises a carrier (5), a floating body (6), a power supply system, a central control system, a control unit, a communication unit, a navigation unit, power units (1, 2,3, 4) and a monitoring system; wherein the carrier is arranged on the floating body; the power system, the central control system, the control unit, the communication unit, the navigation unit, the power unit and the monitoring system are all arranged on the carrier; the control unit and the monitoring system are respectively connected with the central control system; the central control system is respectively in remote communication connection with the environment monitoring station and the ground control station through the communication unit; the control unit is connected with the navigation unit through data signals; the control unit is also in control connection with the power unit; the power supply system is respectively and electrically connected with the central control system, the control unit, the communication unit, the navigation unit, the power unit and the monitoring system;
the power supply system comprises a photovoltaic panel, a lithium battery and a power supply management system; the photovoltaic panel is arranged at the periphery of the floating body and the carrier; the photovoltaic panel is connected with the lithium battery, and the power management system is connected with the lithium battery; the power management system is arranged in the waterproof sealing shell; the power management system is electrically connected with the central control system through a power line;
the power unit is arranged on the peripheral surface around the bottom of the carrier; the power unit comprises an electric control and spray pump, and the electric control is respectively connected with the control unit and the spray pump and is used for controlling the floating island to move back and forth, move left and right and rotate at fixed points; or the power unit comprises an electric regulator and a ducted fan, and the electric regulator is respectively connected with the control unit and the ducted fan and used for controlling the floating island to move back and forth, move left and right and move in a fixed point rotary mode, and the floating island is driven by air flow to move back and forth, move left and right and move in a fixed point rotary mode;
the carrier is of a square structure; the power units are respectively arranged at four corners of the bottom of the carrier; the jet angles of the jet pumps at any two opposite angles or the jet directions of the air flows of the ducted fans are parallel and not collinear, and the projection of the output lines of the four jet pumps or the jet output lines of the air flows of the ducted fans on the plane of the carrier is not intersected with the focus of the central position of the carrier;
the power output direction of each jet pump or the air flow jet direction of the ducted fan is towards the inner side of the carrier or towards the outer side of the carrier; the control unit comprises three input control channels, namely a forward/backward channel, a left/right translation channel and a left/right rotation channel, and each input control channel carries out signal transmission through PWM square wave pulses; through superposition of three channels, fusion control of multiple motion modes is realized; the control unit controls the motion direction and speed of the power unit and the motion position of the floating island according to the floating island gesture and position data acquired by the navigation unit in real time;
the control unit also comprises two channel cascade PID controllers, wherein one channel cascade PID controller controls the position, and the other cascade PID controller controls the direction, and the position and the direction are respectively adjusted; the control mode of the control unit is divided into three control modes, namely a manual mode, a directional mode and an automatic mode, wherein the manual mode does not use the two channel cascade PID controllers when in operation, and the floating island receives three input control channel instructions and outputs the moving direction and speed of the floating island and the moving position instruction of the floating island to the power unit; when the directional mode works, only a cascade PID controller in a control direction is used, the floating island receives three input control channel instructions to output the moving direction and speed of the floating island and the moving position instruction of the floating island to the power unit, and the moving direction is kept unchanged in the translation process; the automatic mode simultaneously uses a cascade PID controller for controlling the position and the direction, receives a position instruction, and controls the floating island to reach a designated position through calculation of a control unit;
the monitoring system comprises an environment sensor and a video collector, wherein the environment sensor comprises an illumination intensity sensor, a temperature sensor, a nitrate nitrogen concentration sensor, an ammonia nitrogen concentration sensor, an ORP concentration sensor and a pH value detector; the video collector comprises a plurality of cameras for respectively monitoring vegetation around the floating island and on the floating island at fixed time; the illumination intensity sensor, the temperature sensor, the nitrate nitrogen concentration sensor, the ammonia nitrogen concentration sensor, the ORP concentration sensor, the pH value detector and the camera are all connected with a data signal of the central control system and are used for sending corresponding values monitored in real time to the central control system; the central control system carries out data conversion on the received real-time monitoring value and the image data, and then uploads the data to the server through the communication unit and sends the data to the environment monitoring station and the ground control station;
the communication unit selects a 4G transparent transmission module, and utilizes a mobile communication network to transmit information between a central control system and a server; the output voltage of the power supply system comprises 48V power voltage and 5V equipment voltage, and the 5V equipment voltage is respectively and independently supplied to the monitoring system, the central control system and the control unit; the 48V power voltage independently supplies power for the motion unit; the navigation unit comprises satellite positioning equipment and inertial measurement equipment; the control unit is respectively connected with the satellite positioning equipment and the inertial measurement equipment through UART and SPI interfaces to acquire the attitude and position information of the floating island, and regulates and controls the electric regulation and the jet pump/ducted fan in a PWM control mode; the using method of the ecological floating island comprises the following steps:
1) Arranging an ecological floating island in a water area to be ecologically restored;
2) The method comprises the steps of monitoring corresponding values and images of a water area to be ecologically restored in real time by using an illumination intensity sensor, a temperature sensor, a nitrate nitrogen concentration sensor, an ammonia nitrogen concentration sensor, an ORP concentration sensor, a pH value detector and a camera, and sending the corresponding values and images monitored in real time to a central control system;
3) The central control system carries out data conversion on the received real-time monitoring value and image data, then uploads the data to a server through a communication unit and sends the data to an environment monitoring station and a ground control station, and the environment monitoring station and the ground control station send a floating island movement instruction according to the acquired real-time corresponding value and image;
4) The control unit starts the power unit according to the posture and position information of the floating island sent by the navigation unit, and selectively controls a jet pump or a ducted fan which is required to be started or closed in the power unit to enable the floating island to move forwards/backwards, horizontally move leftwards/rightwards and rotationally move leftwards/rightwards to a desired position through any one of a manual mode, a directional mode and an automatic mode.
2. An ecological floating island according to claim 1, characterized in that: the carrier is provided with a plant planting area, and the plant planting area is provided with any one or any combination of reed, canna and typha; the carrier is also provided with an anti-collision system connected with the central control system, and the anti-collision system comprises an infrared ranging sensor or an ultrasonic sensor and a lamplight scintillator; the infrared ranging sensor or the ultrasonic sensor is used for monitoring the distance between the ecological floating island and other floats on the adjacent ecological floating island or the ecological restoration water area in real time, sending the real-time monitoring value to the central control system, comparing the received real-time distance monitoring value with a preset distance threshold value, and controlling the light scintillator to send a light reminding signal when the real-time monitoring value is smaller than the preset distance threshold value, and simultaneously sending a power unit cutting-off advancing instruction to the control unit by the central control system.
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| CN112093909B (en) * | 2020-09-16 | 2023-11-14 | 宁波伊玛环境科技股份有限公司 | Wind and wave resistant floating ocean floating island |
| CN112189441B (en) * | 2020-09-25 | 2021-09-28 | 中国矿业大学 | Positioning tracking water ecological restoration method and device for automatically recycling aquatic plants |
| CN115340190A (en) * | 2022-07-11 | 2022-11-15 | 中国地质大学（武汉） | Intelligent ecological floating island device capable of autonomously selecting and purifying water area |
| CN117105419B (en) * | 2023-08-29 | 2024-03-29 | 北京建筑大学 | Ecological floating island system for cruising water body |
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