CN110861755A - Storage cabin of overwater floater sewage disposal ship, sewage disposal ship based on storage cabin and sewage disposal method - Google Patents
Storage cabin of overwater floater sewage disposal ship, sewage disposal ship based on storage cabin and sewage disposal method Download PDFInfo
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- CN110861755A CN110861755A CN201911195649.2A CN201911195649A CN110861755A CN 110861755 A CN110861755 A CN 110861755A CN 201911195649 A CN201911195649 A CN 201911195649A CN 110861755 A CN110861755 A CN 110861755A
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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Abstract
The invention discloses a storage cabin of a water floater dirt cleaning ship, which belongs to the technical field of ships with special purposes, wherein the storage cabin is enclosed by a bottom plate, a fixed side plate, a movable side plate and at least 1 sinking and floating cabin, the sinking and floating cabin is provided with a sinking and floating mechanism for adjusting the draught depth, and the movable side plate and the bottom plate are connected in a shaft hole clearance fit connection mode and can rotate around the shaft hole position to enable the movable side plate to have a close-up state and an expansion state. In view of the above, the original garbage loading and unloading mode of smashing and digging is changed into a horizontal garbage raking mode, longitudinal digging and up-down moving are changed into front-back horizontal pushing under the water surface, garbage sinking is effectively reduced, the operation flow is reduced, the stroke is shortened, labor is saved, quick loading and unloading are facilitated, the garbage raking machine is convenient and thorough to unload, the working efficiency is greatly improved, and safe and stable operation of the machine set is facilitated to be ensured.
Description
Technical Field
The invention relates to the technical field of ships with special purposes, in particular to a storage cabin for loading and transporting garbage by a water floater cleaning ship and a cleaning method thereof.
Background
At present, when garbage floating objects (mainly comprising bamboo, wood, foam, various plastic products, dead animals and the like) of a front trash rack of a dam of a hydraulic power plant are cleaned, due to the limitation of a storage cabin of a current trash cleaning boat, most of hydraulic power plants are provided with a trash grab on the front trash rack floating cleaning boat, the trash grab is required to break into the trash object from a high position and grab the trash object when grabbing the floating objects, the trash at the bottom of the trash rack floating rack is pressed down when the trash grab breaks into and grabs, the pressed trash object enters the trash rack at the water inlet of a unit through the trash rack floating rack bottom, part of the trash directly enters the running unit through a grid net of the trash rack, certain influence is brought to the safe and stable running of the unit, and even unsafe accidents such as non-stop, breaking of shearing arms, breaking of rotating wheel blades and sweeping chambers can occur. The sewage grabbing mode has low efficiency, and basically 6 hours are needed after one ship of garbage is loaded; the hidden danger is large, and the amount of the garbage entering the trash floating barrier is usually one fourth of the total amount of the garbage of the trash floating barrier. Therefore, technical personnel provide an improved scheme, a large cargo ship is replaced, an excavator is arranged on the cargo ship, the dirt grabbing efficiency of the excavator is obviously improved, the excavator still needs to be pressed downwards and overturned to load the excavator bucket in the dirt grabbing process for upward transportation, the downward pressing and overturning processes of the excavator bucket still press the garbage at the bottom of the trash floating bar, the garbage floating objects enter a trash rack at the water inlet of the unit through the bottom of the trash floating bar, certain influence is brought to the safe and stable operation of the unit, and meanwhile, the water head working is greatly reduced.
Disclosure of Invention
The invention aims to solve the problems, provides a storage cabin of a water floater cleaning boat, solves the problem of low loading and cleaning efficiency of a garbage floating grab bucket, and solves the problem that part of garbage floaters enter a trash rack at a water inlet of a unit through a trash rack at the bottom of a trash rack in the cleaning process.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a storage cabin of a water floater dirt removing ship, which comprises the following contents:
the device comprises at least 1 sinking and floating cabin, wherein each sinking and floating cabin comprises a sinking and floating cabin body and a sinking and floating mechanism, each sinking and floating cabin body comprises at least two keels and cabin plates, the at least two keels are sequentially arranged, and the cabin plates are arranged on the peripheries of the at least two keels to form a sinking and floating inner cavity with certain air tightness; the sinking and floating mechanism comprises a water charging and discharging assembly and an air charging and discharging assembly, the water charging and discharging assembly is communicated with the sinking and floating inner cavity and the outside so that water can enter and exit the sinking and floating inner cavity, and the air charging and discharging assembly is used for charging and discharging air into and from the sinking and floating inner cavity to adjust the draft of the sinking and floating cabin;
the partition plate comprises a bottom plate, a fixed side plate and a movable side plate, and is used for enclosing at least 1 sinking and floating cabin to form a storage cabin with a storage space, and the fixed side plate, the movable side plate and the at least 1 sinking and floating cabin are all arranged on the bottom plate; the movable side plate and the bottom plate are connected in a way of adopting a shaft hole clearance fit butt joint connection way and can rotate around the position of the shaft hole, so that the movable side plate and the bottom plate have a closed state and an unfolded state; when the movable side plate is in an unfolded state, the storage space is opened to form an inlet of the storage cabin, and the plate surface of the movable side plate is unfolded outwards to form a bearing surface;
wherein, fill the exhaust subassembly and can fill exhaust gas for ups and downs inner chamber and make the draft in storing cabin be in presetting degree of depth threshold value department for the floater as the target can be in from floating state.
Preferably, the storage cabin includes bottom plate, fixed curb plate, activity curb plate and two sink and float the cabin, and two sink and float the cabin and set up in the bottom plate both sides relatively, and fixed curb plate sets up in the bottom plate rear end, and the activity curb plate sets up in the bottom plate front end, and the rotatable shaft hole butt joint of activity curb plate is in the bottom plate top. Two sinking and floating cabins are oppositely arranged on two sides of a bottom plate, and the periphery of the bottom plate is encircled to form a storage cabin with evenly distributed sinking and floating acting forces.
Preferably, fill drainage subassembly and include and fill drainage pipe and water valve, fill drainage pipe one end intercommunication external world and its opening is in the equal altitude position with the bottom plate, makes its mouth of pipe can visit into the aquatic, fills the drainage pipe other end intercommunication ups and downs inner chamber and extends to ups and downs inner chamber bottom, and its mouth of pipe is apart from the certain intercommunication height of bottom plate, fills drainage pipe middle part and upwards buckles, and water valve sets up in filling drainage pipe middle part to the high point position, and water valve is in the top of deck board.
Preferably, the inflation and exhaust assembly comprises a pressurized air source, an evacuator and an inflation and exhaust pipe, wherein the pressurized air source and the evacuator are respectively communicated with the sinking and floating inner cavity through the inflation and exhaust pipe so as to inflate or exhaust.
Preferably, the preset depth threshold value of the storage compartment is a loading depth value, or a loading depth value and a unloading depth range value; in the process of loading the floating objects, the air charging and discharging assembly charges and discharges air into the floating inner cavity, the draft of the storage cabin is positioned at the loading depth, the movable side plate is flush with the barrier at the bottom of the dam trash floating barrier in the unfolded state, and the floating objects are grabbed into the storage cabin by the horizontal rake in the floating state; in the floating object unloading process, the air charging and discharging assembly charges and discharges air into the sinking and floating inner cavity, the draft of the storage cabin is within the unloading depth range value, and the storage cabin gradually floats upwards, so that the outlet of the storage cabin is aligned to the preset floating object stacking field, and the floating objects are grabbed out of the storage cabin by the reverse horizontal raking in the floating state.
As an option, the folding bed further comprises a driving piece for driving the movable side plate to rotate, so that the movable side plate can be switched between a surrounding state and an unfolding state; wherein, the movable side plate is converted into an unfolding state to open the storage space and serve as a bearing surface to bear the floating objects sinking from the upper part of the storage space; the movable side plate is converted into a surrounding state to close the storage space and push the floaters on the bearing surface and above the bearing surface into the storage space. Therefore, the movable side plate can be automatically controlled to rotate.
Preferably, the driving part is a servomotor, the push-pull rod end of the servomotor is rotatably connected to the movable side plate in a bolt mode, the tail end of the servomotor cylinder is rotatably connected to the floating cabin or the fixed side plate on two sides of the movable side plate through the rotating base, and the servomotor acts to drive the movable side plate to rotate.
As an option, the device also comprises a control system, wherein the control system comprises a power supply for supplying power to the system, a controller, a water depth detection module, an air charging and exhausting control module, a floater depth detection module, a horizontal ranging module and a driving control module, the water depth detection module is connected with the controller, the horizontal ranging module is used for detecting the distance from an inlet of the storage cabin to a floater area in the horizontal plane direction, the floater depth detection module is used for detecting the floater draught depth of the floater area in the floater loading process, the driving control module is used for controlling the driving piece to act so as to control the conversion state of the movable side plate, the water depth detection module is used for detecting the draught depth of the storage cabin, and the air charging and exhausting control module is used for controlling the air charging and exhausting amount of the air charging and exhausting;
if the floating objects are positioned right above the dam trash blocking floating bar block, the draught depth of the storage cabin is adjusted by taking the loading depth value as a target value; otherwise, the controller receives and processes the floating object draft data, compares the floating object draft with a preset loading depth value, adjusts the draft of the storage cabin by taking the loading depth value as a target value if the floating object draft is less than or equal to the loading depth value, and adjusts the draft of the storage cabin by taking the current draft to a large value of the storage cabin as a target value if the floating object draft is greater than the loading depth value. Therefore, the automatic control of the floating object loading and cleaning process and the rotation of the movable side plate can be realized on the whole.
Preferably, the control system further comprises a floater detecting module connected with the controller, and the floater detecting module detects floaters with a certain height exposed out of the water surface at the unloading position in the storage cabin in the process of unloading the floaters so as to judge that the floaters at the unloading position in the storage cabin are exposed out of the water surface and are in a floating state; wherein, in the process of detaching the floater, the draft of the storage cabin is adjusted in a mode of gradually floating from deep to shallow, the storage cabin is suspended to float immediately when the floater detection module detects a floater signal, if the floater signal is not detected within a certain time, the storage cabin continues to float, and the adjustment operation is repeated until the storage cabin is positioned at the current draft to a small value. Therefore, the automatic control of the floating object unloading process can be realized.
Based on the storage cabin structures of the two sinking and floating cabins, the invention also provides a water floater dirt removing ship. The method comprises the following specific steps:
floater ship of decontaminating on water, including power compartment, driver's cabin and as aforementioned storing cabin, the driver's cabin sets up on the power compartment, and the front end of power compartment is connected on the fixed curb plate of bottom plate rear end.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
1. the storage cabin is formed by enclosing a bottom plate, a fixed side plate, a movable side plate and at least 1 sinking and floating cabin, wherein the sinking and floating cabin is provided with a sinking and floating mechanism for adjusting the draft depth, and the movable side plate adopts a hinged connection mode and can rotate around the hinged position to enable the movable side plate to have an enclosing state and an unfolding state; the movable side plate is in an unfolding state to form an inlet, the storage cabin is of a garbage shovel structure, the draught depth of the storage cabin is adjusted to a suitable position, the inlet of the storage cabin is aligned to be close to a floating object on water, the floating object is raked into the storage cabin horizontally by utilizing the floating principle and the water flowability and adopting a horizontal raking mode.
2. The draft is adjusted when the storage cabin is dismounted, so that floating objects at the dismounting position in the storage cabin are exposed out of the water surface and are in a floating state, the conveying belt and the like extend into the dismounting position of the storage cabin, and then overwater garbage is raked on the conveying device by utilizing the climbing bucket and the like, so that garbage and dirt floating on the water surface are conveyed to the bank.
3. The invention changes the cleaning mode of the garbage on water, changes the original garbage loading and unloading mode of smashing and digging into a horizontal garbage raking mode, and changes longitudinal digging and up-down moving into front-back horizontal pushing under the water surface, thereby effectively reducing the sinking of garbage, reducing the shortened stroke of the operation process, being beneficial to labor saving and quick loading and unloading, being convenient and complete to unload, greatly improving the working efficiency, being beneficial to ensuring the safe and stable operation of a unit, and simultaneously reducing the time of the operation personnel on water contacting the rotten odor generated by dead bodies of animals and the like; and moreover, the movable side plates can be unfolded to guide, accept and lift garbage, so that the garbage is effectively reduced or even prevented from entering a trash rack at the water inlet of the unit through trash-blocking floating discharge after sinking.
Drawings
Fig. 1 is a schematic view of the storage compartment structure of the present invention.
Fig. 2 is a schematic structural view of the storage cabin ups and downs cabin body of the invention.
Fig. 3 is a schematic structural view of a storage compartment skeleton part of the invention.
Fig. 4 is a schematic view of the storage compartment frame structure of the present invention.
Fig. 5 is a schematic view of the driving member of the storage compartment of the present invention.
FIG. 6 is a schematic view of a storage compartment panel construction of the present invention.
Fig. 7 is a block diagram of a storage compartment control system of the present invention.
Fig. 8 is a side view of the inventive cleaning boat.
Fig. 9 is a top view of the cleaning boat of the present invention.
In the attached drawing, 1-a ups and downs cabin body, 11-a cover plate, 2-a water filling and draining component, 3-a framework part, 31-a keel, 32-an upper reinforcing beam, 33-a lower reinforcing beam, 4-an air filling and draining pipe, 5-a movable side plate, 6-a bottom plate, 7-a driving piece, 71-a rotating base, 100-a rake piece, 200-a power cabin and 300-a cab.
Detailed Description
The following further describes the embodiments of the present invention with reference to the drawings.
Example 1
As shown in fig. 1, the storage compartment of the floating object cleaning boat of the present embodiment includes the following contents:
the floating and sinking cabin comprises at least 1 floating and sinking cabin body 1 and a floating and sinking mechanism, wherein the floating and sinking cabin body 1 comprises at least two keels and cabin plates, the at least two keels are sequentially arranged, and the cabin plates are arranged on the periphery of the at least two keels to form a floating and sinking inner cavity with certain air tightness; the sinking and floating mechanism comprises a water charging and discharging component 2 and an air charging and discharging component, the water charging and discharging component 2 is communicated with the sinking and floating inner cavity and the outside so that water can enter and exit the sinking and floating inner cavity, and the air charging and discharging component is used for charging and discharging air into and from the sinking and floating inner cavity to adjust the draft of the sinking and floating cabin;
the partition plate comprises a bottom plate 6, a fixed side plate and a movable side plate 5, and is used for enclosing at least 1 ups and downs cabin 1 to form a storage cabin with a storage space, and the fixed side plate, the movable side plate and the at least 1 ups and downs cabin are all arranged on the bottom plate; the movable side plates adopt a shaft hole butt joint connection mode, and can rotate around the butt joint position of the shaft holes to enable the movable side plates to have a closed state and an unfolded state; when the movable side plate is in an unfolded state, the storage space is opened to form an inlet of the storage cabin, and the plate surface of the movable side plate is unfolded outwards to form a bearing surface;
the air charging and discharging assembly can charge and discharge air to the floating inner cavity, so that the draft of the storage cabin is at a preset depth threshold value, and the floating object serving as a target can be in a self-floating state.
Wherein, in order to surround the storing cabin at the bottom plate all around, can adopt 2 to sink and float cabin, 1 fixed curb plate and 1 activity curb plate, two sink and float cabin relative position settings, activity curb plate shaft hole butt joint mode is connected on the bottom plate, and two sink and float cabin rear end inboard positions and set up fixed curb plate. Certainly, 1 sinking and floating cabin, 1 fixed side plate and 2 movable side plates can be adopted, and the 2 movable side plates are adjacently arranged, so that floaters can be swept into the floating cabin from two directions; and the like.
Referring to fig. 1-6, in this embodiment, the storage compartment includes a bottom plate 6, a fixed side plate, a movable side plate 5 and two floating compartments 1, the two floating compartments 1 are oppositely disposed on two sides of the bottom plate 6, the fixed side plate is disposed on the rear end of the bottom plate, the movable side plate 5 is disposed on the front end of the bottom plate 6, and the rotatable shaft hole of the movable side plate 5 is butted above the bottom plate 6. Two sinking and floating cabins are oppositely arranged on two sides of a bottom plate, and the periphery of the bottom plate is encircled to form a storage cabin with evenly distributed sinking and floating acting forces. The specific implementation is as follows:
required plates are respectively cut and planted by steel plates with the thickness of 10mm according to the sizes of the bottom plate 6, the fixed side plate and the movable side plate 5, and then the plates are connected with the two ups and downs cabin bodies 1 through welding. Lower reinforcing beams 32 of square steel can be arranged on a bottom plate at the bottom of the ups and downs cabin body at intervals of 1000mm, and the lower reinforcing beams 32 are butted to keels 31 of the ups and downs cabins on two sides; similarly, an upper reinforcing beam 33 can be arranged at the top of the sinking and floating cabin. The bottom of the movable side plate is connected with the bottom of the storage cabin in a hinge type connection mode; typically, the movable side plate can rotate by a bottom plate hinge by taking the connection position of the bottom plate hinge as a rotating shaft; of course, the movable side plates can also be hinged on the floating cabin bodies on the two sides. In order to drain the storage space of the storage compartment, a gap with a width of typically 20mm can be reserved between the bottom plate and the rear partition plate; the base plate may be apertured, typically 30mm in diameter and 4 per square in density.
The movable side plate is rotated as will be described below.
The movable side plate can be manually rotated by manpower, and people can push and pull the movable side plate to rotate by adopting a push-pull rod and the like when standing on a ship or a storage cabin, and the operation is not described again; automated control may also be employed, and automated rotation of the movable side plates will be described below.
Referring to fig. 1 and 5, the storage compartment further includes a driving member 7 for driving the movable side plate 5 to rotate, so that the movable side plate 5 can be switched between a closed state and an unfolded state; wherein, the movable side plate 5 is converted into an unfolding state to open the storage space and is used as a bearing surface to bear the floating objects sinking from the upper part of the storage space; the movable side plate 5 is switched to the surrounding state to close the storage space and push the floating objects on the bearing surface and above the bearing surface into the storage space. Therefore, the movable side plate can be automatically controlled to rotate. The specific implementation is as follows:
referring to fig. 1 and 5, the driving member is a servomotor (7), the push-pull rod end of the servomotor is rotatably connected to the movable side plate 5 in a bolt manner, the tail end of the servomotor cylinder is rotatably connected to the floating cabin or the fixed side plate on the two sides of the movable side plate through a rotating base 71, and the servomotor acts to drive the movable side plate to rotate. The specific implementation is as follows:
the servomotor is arranged on the inner sides of the front ends of the two sinking and floating cabins, the servomotor base is arranged on the inner sides of the front ends of the sinking and floating cabins, the tail of the servomotor cylinder is arranged on the base, and the servomotor can rotate 360 degrees through the base. The front end of the push-pull rod of the servomotor is connected with the movable side plate in a bolt connection mode, and the joint can rotate along with the radial direction of the bolt. Therefore, the opening or closing of the movable side plate is controlled by the lengthening and shortening of the servomotor.
The following will explain the specific implementation of the caisson body.
Referring to fig. 3 and 4, the ups and downs cabin body is processed into a keel 31 of the ups and downs cabin by adopting a 100mm square steel line, and the shape of the keel 31 is preset according to the external dimension of the ups and downs cabin body, and is typically in a right-angled ladder shape as shown in fig. 3. Many fossil fragments pass through the longeron welded fastening in proper order, and the interval of adjacent fossil fragments installation is typically 1000mm, forms ups and downs cabin skeleton. Required cabin plates are cut into the periphery of the ups and downs cabin framework by using 10mm steel plates, the cabin plates are welded on the keel in a butt joint mode through electric welding, the air tightness of the ups and downs cabin is checked after welding, repair welding treatment is carried out when leakage is found until the air tightness is qualified, and the preparation of the ups and downs cabin body is completed, and the manufacturing method is shown in figure 2. Of course, the storage cabin can also be processed by combining the integral structure of the storage cabin; as shown in fig. 3 and 4, the two keels are arranged oppositely, the bottom of the keel is connected through a lower reinforcing beam 32, and the top of the keel is connected through an upper reinforcing beam 33 to form a framework part, which is shown in fig. 3; then, sequentially welding and fixing the framework parts through the longitudinal beams to form the storage cabin frame, and referring to fig. 4; then, welding cabin plates at the periphery of the keel group, checking that the air tightness is qualified, completing the preparation of the sinking and floating cabin body, and then welding a bottom plate, a fixed side plate and the like.
Preferably, the lower reinforcing beam 32 is hollow so as to communicate with the two-side ballast tanks, so that water can flow into the opposite-side ballast vessel through the lower reinforcing beam.
Preferably, referring to fig. 1 and 2, a maintenance hole with the square of 1 is formed in the deck of the sinking-floating cabin, the maintenance hole is sealed by a cover plate 11, and an air tightness test is performed after the sealing.
The sinking and floating mechanism will be explained below.
Referring to fig. 1 and 2, the water filling and draining assembly 2 includes a water filling and draining pipe and a water valve, one end of the water filling and draining pipe is communicated with the outside and the opening of the water filling and draining pipe is located at a position equal to the bottom plate in height, the other end of the water filling and draining pipe is communicated with the ups and downs inner cavity and extends to the bottom of the ups and downs inner cavity, the middle of the water filling and draining pipe is bent upwards, the water valve is arranged at a position from the middle of the water filling and draining pipe. The specific implementation is as follows:
referring to fig. 2, a hole of 100mm is formed in a bottom deck of the floating and sinking cabin body, one end of a U-shaped stainless steel water filling and draining pipe with the diameter of 100mm is butted on the hole of 100mm in the bottom of the floating and sinking cabin body, and the stainless steel water filling and draining pipe and a steel plate at the bottom of the floating and sinking cabin body are welded firmly by electric welding, so that water can enter and exit from an inner cavity of the floating and sinking cabin through the water filling and draining pipe. The stainless steel water filling and draining pipe is led out of a deck at the top of the sinking and floating cabin, a water valve (typically a conventional ball valve or a solenoid valve) is installed at the upper part of the water filling and draining pipe led out of the deck, and the other end of the stainless steel water filling and draining pipe is inserted into the deck and extends to the bottom of an inner cavity of the sinking and floating cabin, and the height of the stainless steel water filling and draining pipe is about 100mm from the bottom, so that the stainless steel water filling and draining.
Referring to fig. 1 and 2, the inflation and exhaust assembly includes a pressurized air source (not shown), an evacuator (not shown), and an inflation and exhaust pipe, wherein the pressurized air source and the evacuator are respectively communicated with the sinking and floating inner cavity through the inflation and exhaust pipe to inflate or exhaust; of course, only a pressurized air source can be adopted without an evacuator, and at the moment, the rapid exhaust is difficult due to the gravity action of the cabin body when the exhaust is needed.
The specific implementation is as follows:
referring to fig. 2, two stainless steel gas-filled and gas-exhausted pipes with the diameter of 30mm are arranged on the deck of the ups and downs cabin near the rear end, one is connected to a pressurized gas source, and the other is connected to an evacuator, so that the ups and downs cabin gas-filled and gas-exhausted assembly is formed. Certainly, the pressurized air source and the air pump are respectively provided with an air valve structure, and the sinking and floating inner cavity cannot be communicated with the outside through the equipment in the closed state of the equipment.
The sinking and floating cabin draft degree is adjusted, namely the sinking and floating principle is as follows: initially, a pressurizing air source and an air pump are in a closed state, and a sinking and floating inner cavity of the sinking and floating cabin is not communicated with the outside; when floating, firstly opening a water valve, then starting a pressurizing air source and closing the evacuator, inflating the sinking and floating inner cavity, increasing the air pressure of the sinking and floating inner cavity, discharging water, and floating the sinking and floating cabin; when sinking, the water valve is opened, then the pump-out machine is started and the pressurizing air source is closed, the air in the sinking and floating cavity is pumped out, the air pressure in the sinking and floating cavity is reduced, water enters the sinking and floating cavity, and the sinking and floating cabin sinks.
The preset depth threshold value of the storage cabin is a loading depth value, in the process of loading floaters, the air inflation and exhaust assembly inflates and exhausts air to the floating inner cavity, the draft of the storage cabin is at the loading depth value, so that the movable side plate is flush with (same height as) the barrier at the bottom of the dam trash floating raft in the unfolded state or can be inserted and stacked on the barrier, or the draft of the storage cabin is at a large value, and the floaters are horizontally harrowed and loaded into the storage cabin in the floating state. The loading depth value belongs to the draft range of the storage cabin, so that the storage cabin is prevented from toppling before and after loading; meanwhile, the movable side plate is positioned below the floating object or can be flush with or slightly higher than the barrier at the bottom of the dam trash floating bar, so that the floating objects such as overwater garbage and the like are raked towards the storage cabin by adopting a manual rake, a climbing bucket or an excavator and the like, the floating object self-floating principle and the water mobility are utilized, the floating object water on the bearing surface of the movable side plate is raked into the storage cabin horizontally by adopting a horizontal raking mode, and the floating object is guaranteed to be raked into the storage cabin horizontally in a floating state.
As mentioned above, the storage cabin is enclosed by a bottom plate, a fixed side plate, a movable side plate and at least 1 ups and downs cabin, the ups and downs cabin is provided with a ups and downs mechanism for adjusting the draft, and the movable side plate adopts a hinged connection mode and can rotate around the hinged position to enable the movable side plate to have an enclosing state and an unfolding state; the movable side plate is in an unfolding state to form an inlet, the storage cabin is of a garbage shovel structure, the draught depth of the storage cabin is adjusted to a suitable position, the inlet of the storage cabin is aligned to be close to a floating object on water, the floating object is raked into the storage cabin horizontally by utilizing the floating principle and the water flowability and adopting a horizontal raking mode.
The floater on water is cleaned, except that the floater is loaded to the storage cabin, the floater in the storage cabin needs to be unloaded subsequently. The above is a scheme of a float loading process, and a float unloading scheme will be described below.
To remove the floating objects, the storage cabin is driven in to align the outlet of the storage cabin with the preset floating object stacking field, and the floating objects are reversely raked out of the storage cabin by using the horizontal rake to be stacked in the floating object stacking field, which is a conventional means and will not be described again. The following will describe a discharge process control storage compartment status scheme in an example of the present application.
As mentioned above, the preset depth threshold of the storage compartment is a loading depth value and a unloading depth range value, and please refer to the foregoing description of the floating object loading process; in the process of unloading the floating objects, the air inflation and exhaust assembly inflates and exhausts the air into the floating inner cavity, the draft of the storage cabin is positioned in the unloading depth range value, the storage cabin floats upwards gradually, the floating objects unloaded from the storage cabin are exposed out of the water and are in a floating state, or the draft of the storage cabin is positioned to a small value, the outlet of the storage cabin is aligned to the inlet of the preset floating object stacking field, the floating objects are raked out of the storage cabin in the floating state, and the inlet of the stacking field is closed after the floating objects enter the floating object stacking field.
See above. When the existing water floating objects are cleaned, a cleaning grab bucket or an excavator is arranged on a ship, the water floating objects are pressed down and then fished out by the cleaning grab bucket or the excavator when the water floating objects are grabbed and dug, and most of the water floating objects sink into the bottom of a dirt blocking floating bar and block the water floating bar and enter a water inlet dirt blocking grid of a unit in the pressing-down process; and the storage cabin of the sewage disposal ship is often back to the ship when the storage cabin is not fully loaded due to the influence of the storage cabin of the sewage disposal ship, the sewage disposal grab bucket on the sewage disposal ship and the operation radius of the excavator; in addition, the return voyage and unloading after the loading is finished are more difficult to add, the garbage objects in the storage cabin are required to be continuously smashed and grabbed when the garbage grab bucket is loaded and unloaded, the garbage at the bottom is more difficult to grab out, the bottom plate of the storage cabin is 2-3m under the water of the cleaning ship for loading the excavator, the excavator cannot reach and dig out the garbage at the bottom of the storage cabin, and meanwhile, the garbage rolled out of the operating radius of the excavator cannot be dug out. The work of clearing up to the unable outstanding completion unit of current trash cleaning boat blocks dirty floating row department rubbish floater, for this reason, the storage tank that this application was processed is genuine rubbish shovel on water, utilizes the floating principle of floating on water and the mobility of water, the completion floater on water that can be outstanding load or unload work. The storage cabin can be matched with a ship for use so as to move and advance on the water surface; alternatively, a new trash-cleaning boat is formed by arranging and installing a power room, a cab, and the like on the storage compartment.
When the storage cabin is used, the self-floating principle of floating on water and the water fluidity are utilized, the storage cabin is only required to be moved to the position near a floating object on water, an inlet of the storage cabin is aligned to the floating object on water, at the moment, the movable side plate is in an unfolded state to form an open type storage cabin, the movable side plate is flush with a barrier at the bottom of a dam trash blocking floating row or can be inserted and stacked on the barrier in the unfolded state, or the draft of the storage cabin is in a large position, so that the receiving surface of the inlet of the storage cabin is lower than the floating object to guide and receive the floating object, and the floating object is prevented from sinking; raking the overwater garbage from the inlet of the storage cabin to the storage cabin in the horizontal plane direction by utilizing a climbing bucket and the like; continuously accumulating garbage to the inner side of the storage cabin by using the flowability of water through the climbing bucket, repeating the operation until the storage cabin is full, and opening the trash cleaning boat to a preset floater accumulation field after the storage cabin is full; aligning the inlet and outlet of the storage cabin with the inlet of the storage yard, and utilizing a horizontal rake to rake the floating objects out of the storage cabin in a reverse direction to enable the floating objects to enter the storage yard; the inlet of the storage yard is closed, accumulated water in the storage yard is drained, the floating objects are loaded into the truck by using a forklift, and then the truck transports the garbage to the garbage yard. The cleaning mode of the garbage on water is changed, the original garbage loading and unloading mode of smashing and digging is changed into a horizontal garbage raking mode, longitudinal digging and up-down moving are changed into front-back horizontal pushing on the water surface or under the water surface, the sinking of garbage is effectively reduced, the operation process is reduced, the stroke is shortened, labor is saved, quick loading and unloading are facilitated, the garbage raking device is convenient and thorough to unload, the working efficiency is greatly improved, the safe and stable operation of a unit is facilitated, and the time of the operation personnel on water contacting with the rotten odor generated by dead bodies of animals and the like is reduced; and moreover, the movable side plates can be unfolded to guide, accept and lift garbage, so that the garbage is effectively reduced or even prevented from entering a trash rack at the water inlet of the unit through trash-blocking floating discharge after sinking.
See above. If the floating amount on water is small and the floating diameter is smaller than that of the storage cabin, the inlet of the storage cabin can be directly aligned with the floater and then directly moved, and the loading work of the floater on water is completed.
Referring to fig. 7, as an option, in one example, in order to achieve the automatic control of the flotage loading and cleaning process and the rotation of the movable side plate as a whole, an automatic control system is provided. The specific implementation is as follows:
the storage cabin also comprises a control system, the control system comprises a power supply for supplying power to the system, a controller, a water depth detection module connected with the controller, an air charging and exhausting control module, a floater depth detection module, a horizontal ranging module and a driving control module, wherein the horizontal ranging module is used for detecting the distance from an inlet of the storage cabin to a floater section in the horizontal plane direction, the floater depth detection module is used for detecting the floater draft of the floater section in the floater loading process, the driving control module is used for controlling the action of a driving piece to control the conversion state of a movable side plate, the water depth detection module is used for detecting the draft of the storage cabin, and the air charging and exhausting control module is used for controlling the air charging and exhausting amount of an inner cavity of the sinking and floating to control the draft of the storage cabin;
if the floating objects are positioned right above the dam trash blocking floating bar block, the draught depth of the storage cabin is adjusted by taking the loading depth value as a target value; otherwise, the controller receives and processes the floating object draft data, compares the floating object draft with a preset loading depth value, adjusts the draft of the storage cabin by taking the loading depth value as a target value if the floating object draft is less than or equal to the loading depth value, and adjusts the draft of the storage cabin by taking the current draft to a large value of the storage cabin as a target value if the floating object draft is greater than the loading depth value. Of course, the water valve adopts an electromagnetic valve and is connected and controlled by a controller; a flow regulating valve can be additionally arranged on the gas charging and discharging pipe and is connected and controlled through a controller, so that the gas flow is further controlled; the storage cabin can be also provided with a camera device and a cloud moving platform thereof to search and observe the water surface floating objects.
During the use, remove near the floater with the storing cabin earlier, stop and detect preset apart from the position at horizontal range finding module, then detect and adjust the draft through control depth of water detection module, fill exhaust control module and floater degree of depth detection module, control drive control module drive activity curb plate expansion again, at last to the floater is close to and begin to harrow dress floater.
Preferably, in one example, the control system further comprises a floater detecting module connected with the controller, wherein the floater detecting module detects a certain height of the floater exposed out of the water surface at the unloading position in the storage cabin during the process of unloading the floater so as to judge that the floater at the unloading position in the storage cabin is exposed out of the water surface and is in a floating state. The storage cabin can be transported to an unloading yard at loading draft, or the storage cabin is adjusted to sink to the deep after being transported to the unloading yard, then the draft of the storage cabin is adjusted in a mode of floating upwards gradually from the deep to the shallow in the process of unloading the floating objects, and the storage cabin is suspended to float upwards immediately when the floating object detection module detects a floating object signal; the storage cabin suspends the floating, and the floating objects are raked to the unloading position by adopting a climbing bucket and the like and are raked into the conveying device; and if the floating object signal is not detected within a certain time, the storage cabin continues to float, and the adjustment operation is repeated until the storage cabin is positioned at the current draft to a small value. Therefore, automatic detection and control of the floating object unloading process can be realized.
It should be noted that each individual module of the control system is the prior art, and they are combined together to form the control system, and the flow control of the control system can be realized according to the above description. For example, the controller can adopt plc, arm or 51 singlechips to receive, process and send control signals, the air charging and discharging control and drive control module can adopt a relay to control the operation of air charging and discharging equipment, the directions, the ranges and the draft of the floating objects can be realized by adopting the existing detection technologies such as sonar, ultrasonic wave or camera detection, the water depth detection for detecting the draft of the storage cabin can be realized by adopting a water level sensor, the horizontal distance measurement can be realized by adopting infrared distance measurement, laser distance measurement or ultrasonic distance measurement, the floating object detection module can adopt a photoelectric detection technology, and the like, which can be realized by adopting the existing technologies and are not described in the closing.
Example 2
Based on the storage cabin structure example of the two floating and sinking cabins of the foregoing embodiment 1, this embodiment 2 also provides a water floating object cleaning boat. The method comprises the following specific steps:
referring to fig. 8 and 9, the structure of the cleaning boat is schematically shown, wherein a partial dimension example of the cleaning boat is also given, and the unit is mm. The overwater floater trash cleaning boat comprises a power cabin 200, a cab 300 and the storage cabin, wherein the cab 300 is arranged on the power cabin 200, and the front end of the power cabin 200 is connected to a fixed side plate at the rear end of a bottom plate. Wherein, each part adopts welded connection. Thus, a cleaning ship can be constructed to move on the water surface and perform cleaning operation, and the specific cleaning process is described in embodiment 1. A rake 100, typically a hand rake, a bucket, or an excavator, is disposed on the cleaning ship, and the floating objects are pushed by a horizontal rake.
The trash removal boat utilizes the floating principle of floating of floaters and the mobility of water, adopts a horizontal raking mode to load and unload the floaters, effectively reduces the floating sinking caused by the trash removal mode, and conveniently and thoroughly unloads the floaters.
Example 3
Based on the storage cabin structure example of embodiment 1, embodiment 2 further provides a method for removing dirt from floating objects on water, which is based on the storage cabin and includes the following specific contents:
s1, placing the storage cabin in front of a floating object piece area in a dam management area, and controlling the draft of the storage cabin by using a sinking and floating mechanism to enable the movable side plate to be flush with or slightly higher than a barrier at the bottom of a dam dirt blocking floating row in an unfolded state, so that the floating object serving as a target can be in a self-floating state;
step S2, opening the movable side plate to an unfolding state;
step S3, horizontally raking and loading the floating objects, which comprises the following specific processes: firstly, the storage cabin is moved forwards to be close to a floater piece area, and then floaters on the bearing surface of the movable side plate are raked into the storage cabin horizontally;
step S4, repeating the procedure of S3 until the storage compartment is full or the floating object area is completely cleaned;
step S5, closing the movable side plate to a surrounding state to finish one-time loading operation; if the storage compartment is not filled, moving to the next floating object area, and repeating the loading operation for one time until the storage compartment is filled or all floating objects in the dam management area are completely cleaned;
and step S6, moving the storage cabin to a preset floater accumulation field and unloading the floaters.
The specific control process of step S3 is as follows: s11, opening a water filling and draining assembly to enable water to enter and exit the sinking and floating inner cavity; s12, starting the air charging and discharging assembly to charge and discharge air into and out of the sinking and floating inner cavity, changing the pressure of the sinking and floating inner cavity, enabling water to enter and exit the sinking and floating inner cavity, and controlling the storage cabin to sink or descend to a corresponding position.
Step S6 can be removed by digging or pounding with a grab or excavator, which is a conventional method and will not be described here. Preferably, in an example, the specific content of step S6 is: firstly, the storage cabin is moved to a preset floater accumulation field, then the draft of the storage cabin is adjusted to enable floaters at the unloading positions in the storage cabin to be exposed out of the water surface and to be in a floating state, the outlet of the storage cabin is aligned with the inlet of the preset floater accumulation field, the floaters are in the floating state and are raked out of the storage cabin in a reverse horizontal mode, the inlet of the accumulation field is closed after the floaters enter the floater accumulation field, and the unloading operation is completed.
As mentioned above, the method for removing the floating matters utilizes the principle of floating matters and the mobility of water, adopts a horizontal raking mode to load and unload the floating matters, effectively reduces the floating matters sinking caused by the sewage removing mode, and conveniently and thoroughly unloads the floating matters.
It is to be understood that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like, when used in reference to a particular orientation or positional relationship, are used merely to facilitate describing the invention and to simplify the description.
The foregoing description is directed to the details of preferred and exemplary embodiments of the invention, and not to the limitations defined thereby, which are intended to cover all modifications and equivalents of the invention as may come within the spirit and scope of the invention.
Claims (10)
1. The utility model provides a floater on water storing cabin of trash cleaning boat which characterized in that includes following content:
the floating and sinking cabin comprises at least 1 floating and sinking cabin body and a floating and sinking mechanism, wherein the floating and sinking cabin body comprises at least two keels and cabin plates, the at least two keels are sequentially arranged, and the cabin plates are arranged at the periphery of the at least two keels to form a floating and sinking inner cavity with certain air tightness; the sinking and floating mechanism comprises a water charging and discharging assembly and an air charging and discharging assembly, the water charging and discharging assembly is communicated with the sinking and floating inner cavity and the outside so that water can enter and exit the sinking and floating inner cavity, and the air charging and discharging assembly is used for charging and discharging air into and from the sinking and floating inner cavity to adjust the draft of the sinking and floating cabin;
the partition plate comprises a bottom plate, a fixed side plate and a movable side plate, and is used for enclosing at least 1 sinking and floating cabin to form a storage cabin with a storage space, and the fixed side plate, the movable side plate and the at least 1 sinking and floating cabin are all arranged on the bottom plate; the movable side plate and the bottom plate are connected in a way of adopting a shaft hole clearance fit butt joint connection way and can rotate around the position of the shaft hole, so that the movable side plate and the bottom plate have a closed state and an unfolded state; when the movable side plate is in an unfolded state, the storage space is opened to form an inlet of the storage cabin, and the plate surface of the movable side plate is unfolded outwards to form a bearing surface;
the air charging and discharging assembly can charge and discharge air to the floating inner cavity, so that the draft of the storage cabin is at a preset depth threshold value, and the floating object serving as a target can be in a self-floating state.
2. The storage compartment of the water-floating trash removal boat of claim 1, wherein: the storing cabin comprises a bottom plate, fixed side plates, movable side plates and two sinking and floating cabins, wherein the two sinking and floating cabins are arranged on two sides of the bottom plate relatively, the fixed side plates are arranged at the rear end of the bottom plate, the movable side plates are arranged at the front end of the bottom plate, and the movable side plates are in butt joint with the bottom plate through rotatable shaft holes.
3. The storage compartment of the water-floating trash removal boat of claim 1, wherein: the water filling and draining assembly comprises a water filling and draining pipe and a water valve, one end of the water filling and draining pipe is communicated with the outside, an opening of the water filling and draining pipe is located at a position equal to the bottom plate in height, so that a pipe orifice of the water filling and draining pipe can be inserted into water, the other end of the water filling and draining pipe is communicated with the ups and downs inner cavity and extends to the bottom of the ups and downs inner cavity, the pipe orifice of the water filling and draining pipe is communicated with the bottom plate at a certain communication height, the middle part of the water filling and draining pipe.
4. The storage compartment of the water-floating trash removal boat of claim 1, wherein: the inflation and exhaust assembly comprises a pressurization air source, an air pump and an inflation and exhaust pipe, wherein the pressurization air source and the air pump are respectively communicated with the sinking and floating inner cavity through the inflation and exhaust pipe so as to inflate or exhaust.
5. The storage compartment of the water-floating trash removal boat of claim 1, wherein: the preset depth threshold value of the storage cabin is a loading depth value, or a loading depth value and a unloading depth range value; in the process of loading the floating objects, the air charging and discharging assembly charges and discharges air into the floating inner cavity, the draft of the storage cabin is positioned at the loading depth, the movable side plate is flush with the barrier at the bottom of the dam trash floating barrier in the unfolded state, and the floating objects are grabbed into the storage cabin by the horizontal rake in the floating state; in the floating object unloading process, the air charging and discharging assembly charges and discharges air into the sinking and floating inner cavity, the draft of the storage cabin is within the unloading depth range value, and the storage cabin gradually floats upwards, so that the outlet of the storage cabin is aligned to the preset floating object stacking field, and the floating objects are grabbed out of the storage cabin by the reverse horizontal raking in the floating state.
6. The storage compartment of the water-floating trash cleaning boat according to claim 1 or 5, characterized in that: the servomotor can be rotatably connected to the movable side plate in a bolt mode, the tail end of the servomotor cylinder can be rotatably connected to the sinking and floating cabin or the fixed side plate on two sides of the movable side plate through the rotating base, and the servomotor acts to drive the movable side plate to rotate so that the movable side plate can be switched between a surrounding state and an unfolding state; wherein, the movable side plate is converted into an unfolding state to open the storage space and serve as a bearing surface to bear the floating objects sinking from the upper part of the storage space; the movable side plate is converted into a surrounding state to close the storage space and push the floaters on the bearing surface and above the bearing surface into the storage space.
7. The storage compartment of the water-floating trash removal boat of claim 6, wherein: the control system comprises a power supply for supplying power to the system, a controller, a water depth detection module, an air charging and exhausting control module, a floater depth detection module, a horizontal ranging module and a driving control module, wherein the water depth detection module, the air charging and exhausting control module, the floater depth detection module, the horizontal ranging module and the driving control module are connected with the controller;
if the floating objects are positioned right above the dam trash blocking floating bar block, the draught depth of the storage cabin is adjusted by taking the loading depth value as a target value; otherwise, the controller receives and processes the floating object draft data, compares the floating object draft with a preset loading depth value, adjusts the draft of the storage cabin by taking the loading depth value as a target value if the floating object draft is less than or equal to the loading depth value, and adjusts the draft of the storage cabin by taking the current draft to a large value of the storage cabin as a target value if the floating object draft is greater than the loading depth value.
8. The storage compartment of the marine floater cleaning boat according to claim 8, wherein: the control system further comprises a floater detection module connected with the controller, and the floater detection module detects floaters exposed out of the water surface at the unloading positions in the storage cabin by a certain height in the process of unloading the floaters so as to judge that the floaters at the unloading positions in the storage cabin are exposed out of the water surface and are in a floating state; wherein, in the process of detaching the floater, the draft of the storage cabin is adjusted in a mode of gradually floating from deep to shallow, the storage cabin is suspended to float immediately when the floater detection module detects a floater signal, if the floater signal is not detected within a certain time, the storage cabin continues to float, and the adjustment operation is repeated until the storage cabin is positioned at the current draft to a small value.
9. The utility model provides a floater on water ship of decontaminating which characterized in that: the storage cabin comprises a power cabin, a cab and the storage cabin of the water floating object cleaning boat according to claim 2, wherein the cab is arranged on the power cabin, and the front end of the power cabin is connected to a fixed side plate at the rear end of a bottom plate.
10. The method for cleaning the floating objects on the water is based on the storage cabin of the floating object cleaning boat according to claim 1, and comprises the following specific contents:
s1, placing the storage cabin in front of a floating object plate area in a dam management area, and controlling the draft of the storage cabin by using a sinking and floating mechanism to enable the movable side plate to be flush with a barrier at the bottom of a dam dirt blocking floating row in an unfolded state so that a floating object serving as a target can be in a self-floating state; wherein, the concrete control process of storing cabin draft is: s11, opening a water filling and draining assembly to enable water to enter and exit the sinking and floating inner cavity; s12, starting the air charging and discharging assembly to charge and discharge air into and out of the sinking and floating inner cavity, changing the pressure of the sinking and floating inner cavity, enabling water to enter and exit the sinking and floating inner cavity, and controlling the storage cabin to sink or descend to a corresponding position;
s2, opening the movable side plate to an unfolding state;
s3, horizontally raking and loading floating objects, and the specific process is as follows: firstly, the storage cabin is moved forwards to be close to a floater piece area, and then floaters on the bearing surface of the movable side plate are raked into the storage cabin horizontally;
s4, repeating the procedure S3 until the storage compartment is full or the floating object area is completely cleaned;
s5, closing the movable side plate to a surrounding state to finish one-time loading operation; if the storage compartment is not filled, moving to the next floating object area, and repeating the loading operation for one time until the storage compartment is filled or all floating objects in the dam management area are completely cleaned;
s6, moving the storage cabin to a preset floater accumulation field and unloading the floaters; the concrete contents are as follows: firstly, the storage cabin is moved to a preset floater accumulation field, then the draft of the storage cabin is adjusted to enable floaters unloaded from the storage cabin to be exposed out of the water and to be in a floating state, the outlet of the storage cabin is aligned to the inlet of the preset floater accumulation field, so that the floaters are in the floating state and are raked out of the storage cabin by the reverse level, the inlet of the accumulation field is closed after the floaters enter the floater accumulation field, and unloading operation is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911195649.2A CN110861755A (en) | 2019-11-29 | 2019-11-29 | Storage cabin of overwater floater sewage disposal ship, sewage disposal ship based on storage cabin and sewage disposal method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911195649.2A CN110861755A (en) | 2019-11-29 | 2019-11-29 | Storage cabin of overwater floater sewage disposal ship, sewage disposal ship based on storage cabin and sewage disposal method |
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| CN110861755A true CN110861755A (en) | 2020-03-06 |
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| CN201911195649.2A Pending CN110861755A (en) | 2019-11-29 | 2019-11-29 | Storage cabin of overwater floater sewage disposal ship, sewage disposal ship based on storage cabin and sewage disposal method |
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| CN113863249A (en) * | 2021-09-06 | 2021-12-31 | 浙江浙大水业有限公司 | Intelligent multifunctional overwater operation platform and operation method |
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| CN116639809A (en) * | 2023-03-17 | 2023-08-25 | 中国水利水电第六工程局有限公司 | Ecological floating bed and water quality purifying method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111409790A (en) * | 2020-04-06 | 2020-07-14 | 杭州仙珑宇盈科技有限公司 | Device for salvaging underwater abandoned fishing net |
| CN111409792A (en) * | 2020-04-06 | 2020-07-14 | 杭州仙珑宇盈科技有限公司 | Cleaning device for underwater abandoned fishing net |
| CN111409791A (en) * | 2020-04-06 | 2020-07-14 | 杭州仙珑宇盈科技有限公司 | System for salvaging underwater abandoned fishing net |
| CN111576368A (en) * | 2020-05-20 | 2020-08-25 | 高彩真 | Hydraulic engineering is with floating algae fishing device |
| CN113047672A (en) * | 2021-03-26 | 2021-06-29 | 郝刚 | Construction method of floating and diving type intelligent control safe swimming pool suitable for natural water area |
| CN113863249A (en) * | 2021-09-06 | 2021-12-31 | 浙江浙大水业有限公司 | Intelligent multifunctional overwater operation platform and operation method |
| CN114849332A (en) * | 2022-04-14 | 2022-08-05 | 中国核动力研究设计院 | Purifying robot and purifying system |
| CN116639809A (en) * | 2023-03-17 | 2023-08-25 | 中国水利水电第六工程局有限公司 | Ecological floating bed and water quality purifying method thereof |
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