CN111391983A - Water area sewage disposal device, system and method - Google Patents
Water area sewage disposal device, system and method Download PDFInfo
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- CN111391983A CN111391983A CN202010247698.2A CN202010247698A CN111391983A CN 111391983 A CN111391983 A CN 111391983A CN 202010247698 A CN202010247698 A CN 202010247698A CN 111391983 A CN111391983 A CN 111391983A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 61
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000010865 sewage Substances 0.000 title abstract description 7
- 238000012544 monitoring process Methods 0.000 claims abstract description 55
- 238000004891 communication Methods 0.000 claims abstract description 38
- 238000005202 decontamination Methods 0.000 claims abstract description 17
- 230000003588 decontaminative effect Effects 0.000 claims abstract description 17
- 238000005516 engineering process Methods 0.000 claims abstract description 15
- 230000004927 fusion Effects 0.000 claims abstract description 8
- 230000015572 biosynthetic process Effects 0.000 claims description 39
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000010354 integration Effects 0.000 claims description 3
- 238000012545 processing Methods 0.000 claims description 3
- 239000003643 water by type Substances 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 15
- 239000000463 material Substances 0.000 abstract description 4
- 238000013461 design Methods 0.000 abstract description 2
- 230000002195 synergetic effect Effects 0.000 abstract 1
- 239000003344 environmental pollutant Substances 0.000 description 9
- 231100000719 pollutant Toxicity 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 241000251468 Actinopterygii Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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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
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/024—Guidance services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- 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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Engineering & Computer Science (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a water area decontamination device, a system and a method, which belong to the technical field of water area environment protection, and comprise a shore-based monitoring system, a plurality of unmanned boats and a salvage net, wherein the shore-based monitoring system is used for receiving image information and position information transmitted by the unmanned boats, identifying polluted area information of a water surface in front of the unmanned boats through an image fusion technology and a target identification technology, and controlling the unmanned boats to decontaminate the polluted area; the unmanned ship comprises a ship body, and a control module, a communication module, a power module, a positioning module and a monitoring module which are arranged on the ship body. According to the invention, the multiple unmanned boats are used for cleaning in a synergistic manner, so that the cleaning efficiency can be improved; the fishing net has the advantages that through the special structural design of the fishing net, the garbage on the water surface can be cleaned in all directions, and the omission of the garbage is avoided; the shore-based monitoring system sends a course instruction according to the image information sent by the unmanned ship, so that the automation degree of the sewage disposal system is improved, manual operation is not needed, and manpower and material resources are saved.
Description
Technical Field
The invention belongs to the technical field of water area environment protection, and particularly relates to a water area sewage disposal device, system and method.
Background
At present, the pollution of water areas in the world environment is more and more serious, in particular to the pollution of water surface garbage, such as plastic bottles, plastic bags, braided fabrics and the like. More seriously, these pollutants currently form a notorious garbage zone on the pacific, called the "eighth continent". These water wastes are difficult to digest and many are also eaten by fish to cause death, and even worse, the decomposed plastic grains enter human bodies to some extent through food chains, which causes unpredictable harm.
The most effective method for solving the problem in the prior art is to salvage the garbage back for manual recovery or treatment. However, most of the water surface pollutants are dispersed, a large amount of manpower and material resources are consumed through manual salvage, and the cleaning efficiency of a single unmanned boat is limited. Only if a plurality of unmanned boats pull the net to salvage the pollutants on the water surface, the cleaning efficiency can be greatly improved. At present, too many unmanned boat fishing devices do not exist, the net pulling and fishing of the manned boat are low in efficiency, and a large amount of manpower is needed. Therefore, the invention provides a multi-unmanned-boat formation decontamination device which has certain positive significance in environmental protection.
Disclosure of Invention
Aiming at the defects or the improvement requirements of the prior art, the invention provides a device, a system and a method for cleaning a water area, so that the technical problems that a single unmanned ship is low in cleaning efficiency and a large amount of manpower and material resources are consumed for cleaning the manned ship are solved.
To achieve the above object, according to one aspect of the present invention, there is provided a water area decontamination apparatus including a plurality of unmanned boats and an overshot disposed between two adjacent unmanned boats;
the unmanned ship comprises a ship body, and a control module, a communication module, a power module, a positioning module and a monitoring module which are arranged on the ship body;
the monitoring module is used for collecting and processing image information of the water surface and transmitting the processed image information to the communication module and the control module; the positioning module is used for positioning the unmanned ship and transmitting the position coordinate of the unmanned ship to the control module and the communication module; the control module is used for controlling the unmanned ship to collect water surface data information;
the unmanned ship is in communication connection with a shore-based monitoring system through the communication module; the communication module is used for transmitting the image information and the position information to the shore-based monitoring system so that the shore-based monitoring system can identify the polluted area information of the water surface in front of the unmanned ship through an image fusion technology and a target identification technology and generate a corresponding course command; the communication module is also used for receiving a course instruction sent by the shore-based monitoring system and sending the course instruction to the control module;
the control module is also used for controlling the navigation of the unmanned boats according to the position information of the unmanned boats, so that the unmanned boats are arranged into a linear formation, and the salvage nets between adjacent unmanned boats are positioned on the same plane; the control module is also used for controlling the course of the unmanned boat according to the course instruction, so that the linear formation formed by the arrangement of the unmanned boats sails towards the polluted area, and the salvage net automatically salvages the garbage in the polluted area;
the power module is used for providing power for navigation and steering of the unmanned ship.
Preferably, the fishing net comprises two ropes, a fence, a floater and a sinker, wherein the fence is arranged between the two ropes and is assembled with the fence in a cross manner, the floater is arranged at the cross point of the fence, and the sinker is arranged at the connecting part of the fence and one of the ropes.
Preferably, the power module includes motor driver, motor and screw, the output shaft of motor connect in the screw, motor driver drive the motor drives the screw rotation, for unmanned ship provides navigation power.
Preferably, the communication module is further used for communication between the unmanned boats so that the unmanned boats acquire position information of adjacent unmanned boats.
According to another aspect of the present invention, there is provided a water area decontamination system including a water area decontamination apparatus, further comprising:
the shore-based monitoring system comprises a wireless transmission base station and a control device;
the wireless transmission base station is used for receiving the position information and the image information sent by the unmanned ship and transmitting the position information and the image information to the control device;
the control device is used for identifying the polluted area information of the water surface in front of the unmanned ship through an image fusion technology and a target identification technology, generating a corresponding course instruction and sending the course instruction to the wireless transmission base station;
the wireless transmission base station is also used for sending the course instruction to the unmanned ship.
Preferably, the shore-based monitoring system further comprises a monitor, and the monitor is used for presenting the position information and the image information after the wireless transmission base station receives the position data and the image data sent by the unmanned ship.
According to another aspect of the present invention, there is provided a method for cleaning a water area based on the above-mentioned system for cleaning a water area, the method comprising:
the unmanned ships obtain position information of adjacent unmanned ships through the communication module, and the control module of the unmanned ships drives the power module to enable a plurality of unmanned ships to be arranged into a linear unmanned ship formation, so that the salvaging nets between the adjacent unmanned ships are positioned on the same plane;
the unmanned boat formation sends image information acquired by the monitoring modules to a shore-based monitoring system through respective communication modules, and the shore-based monitoring system performs image integration after receiving the image information of the unmanned boat formation so as to obtain image information of a pollution area around the unmanned boat formation;
the shore-based monitoring system sends a course instruction to the unmanned boat formation according to image information of a pollution area around the unmanned boat formation, and the unmanned boat formation arranged in a straight line advances to a course indicated by the course instruction.
The invention has the beneficial effects that:
1. the multiple unmanned boats are used for cleaning in a coordinated manner, so that the cleaning efficiency can be improved;
2. the fishing net has the advantages that through the special structural design of the fishing net, the garbage on the water surface can be cleaned in all directions, and the omission of the garbage is avoided;
3. the course instruction is sent out through the shore-based monitoring system according to the image information sent by the unmanned ship, so that the automation degree of the sewage disposal system is improved, manual operation is not needed, and manpower and material resources are saved;
4. the real-time position of the unmanned ship and the polluted area of the water surface are fed back through the monitor, the polluted area and the sewage disposal process of the water area can be presented clearly, and monitoring by a user is facilitated.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned boat formation decontamination system in an embodiment of the invention;
FIG. 2 is a schematic structural view of an unmanned boat in an embodiment of the invention;
FIG. 3 is a schematic structural diagram of an overshot in an embodiment of the invention;
FIG. 4 is a schematic diagram of one embodiment of the present invention;
FIG. 5 is a schematic diagram of one embodiment of the present invention.
Throughout the drawings, the same reference numerals are used to denote the same elements or structures in which the shore-based monitoring system 1; a wireless transmission base station 11; a monitor 12; a control device 13; the salvage net 2: a rope 21; a fence 22; a float 23; a sinker 24; an unmanned surface vehicle 3; a hull 31; a control module 32; a communication module 33; a power module 34; a positioning module 35; a power supply module 36; a monitoring module 37.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1 and 2, a water area decontamination device comprises a plurality of unmanned boats 3 and an salvage net 2 arranged between two adjacent unmanned boats 3; the unmanned boat 3 comprises a boat body 31, and a control module 32, a communication module 33, a power module 34, a positioning module 35 and a monitoring module 37 which are arranged on the boat body 31; the monitoring module 37 is configured to collect and process image information of a water surface, and transmit the processed image information to the communication module 32 and the control module 33; the positioning module 35 is configured to position the unmanned ship 3, and transmit the position coordinates of the unmanned ship 3 to the control module 32 and the communication module 32; the control module 32 is used for controlling the unmanned ship 3 to collect water surface data information; the unmanned ship 3 is in communication connection with the shore-based monitoring system 1 through the communication module 33; the communication module 33 is configured to transmit the image information and the position information to the shore-based monitoring system 1, so that the shore-based monitoring system 1 identifies the polluted area information of the water surface in front of the unmanned ship 3 through an image fusion technology and a target identification technology, and generates a corresponding heading instruction; the communication module 33 is further configured to receive a heading instruction sent by the shore-based monitoring system 1, and send the heading instruction to the control module 32; the control module 32 is further configured to control navigation of the unmanned boats 3 according to the position information of the unmanned boats 3, so that the unmanned boats 3 are arranged into a straight formation, and salvage nets between adjacent unmanned boats are located on the same plane; the control module 32 is further configured to control the heading of the unmanned boat 3 according to the heading instruction, so that the linear formation formed by the arrangement of the unmanned boats 3 sails towards the polluted area, and therefore the salvage net automatically salvages the garbage in the polluted area; the power module 34 is used for providing power for navigation and steering of the unmanned boat 3. In the embodiment of the invention, the shore-based monitoring system 1 is arranged on the shore, a user can monitor the pollution condition of a water area in real time through the shore-based monitoring system 1, and pollutants on the water surface are cleaned through the unmanned boat 3 and the salvage net 2. The hull 31 is a carrier of the whole unmanned ship 3, and has a waterproof function, the fishing nets 2 can be fixedly installed on two sides of the unmanned ship 3, the battery module 36 is installed inside the hull 31 and can provide electric quantity for other modules, the monitoring module 37 comprises a camera and an image processing device, the camera is arranged at the top of the unmanned ship and can provide a better and clearer visual field, and it needs to be noted that the image information collected by the monitoring module 37 can be videos or pictures. When the system works, each unmanned ship transmits image information acquired by a monitoring camera to a shore-based monitoring system through a communication module, the shore-based monitoring system displays the image information acquired by all the unmanned ships in a monitor 12, the shore-based monitoring system identifies a polluted area and an uncontaminated area through the image information, and sends a decontamination instruction through a control device and a wireless transmission base station, the unmanned ships receive the contaminated area information provided by the monitoring module through the control module after receiving the decontamination instruction, the communication module receives the position information of other unmanned ships, the control quantity of a power module is obtained through a formation control algorithm, the power module is further controlled to provide appointed power, and the unmanned ships are formed into a straight-line type formation according to the appointed direction to carry out garbage salvage treatment. It should be noted that at least two unmanned boats are provided, and of course, the number of the unmanned boats can be increased or decreased according to the water surface area to be cleaned, but it is ensured that the cleaning of the polluted area can be completed only by two unmanned boats and the fishing net arranged between the unmanned boats. It should be noted that all unmanned boats 3 are arranged in a straight formation, and the maximum area of the polluted area is cleaned in a limited water area.
In a further illustration, the overshot 2 comprises two ropes 21, a fence 22, a float 23 and a sinker 24, the fence 22 is arranged between the two ropes 21 and is assembled with the fence 22 in a cross-type manner, the float 23 is arranged at the intersection of the fence 22, and the sinker 24 is arranged at the connection of the fence 22 and one of the ropes 21. As shown in fig. 3, in the embodiment of the invention, the fishing net is composed of a rope, a fence, a floater and a sinker, the sinker is submerged under the water surface, the floater floats on the water surface, the upper half part of the fence is positioned above the water surface, and the fence is in a grid shape, so that the omnibearing cleaning of the garbage on the water surface can be realized in the fishing engineering, and the garbage on the water surface is prevented from leaking from the water or the water surface.
In a further description, the power module 34 includes a motor driver, a motor and a propeller, an output shaft of the motor is connected to the propeller, and the motor driver drives the motor to drive the propeller to rotate, so as to provide sailing power for the unmanned boat 3.
Stated further, the communication module 33 is also used for communication between the drones 3, so that the drones 3 can acquire position information of adjacent drones. It should be noted that, because the initial position of the unmanned ship is relatively random, before salvaging the water surface garbage, the unmanned ships at random positions need to be uniformly formed, at this moment, the adjacent unmanned ships transmit the position information collected by the positioning module to the adjacent unmanned ships through the communication module, so that the unmanned ships at random positions can be integrated in the shortest time, and the running time is saved.
In a further aspect, a water area decontamination system includes the water area decontamination device, and further includes: the shore-based monitoring system 1 comprises a wireless transmission base station 11 and a control device 13; the wireless transmission base station 11 is configured to receive the position information and the image information sent by the unmanned ship 3, and transmit the position information and the image information to the control device 13; the control device 13 is used for identifying the polluted area information of the water surface in front of the unmanned ship 3 through an image fusion technology and a target identification technology, generating a corresponding course instruction and sending the course instruction to the wireless transmission base station 11; the wireless transmission base station 11 is further configured to send the heading instruction to the unmanned ship 3. It should be noted that the shore-based monitoring system can receive image information acquired by all unmanned boats and position information of the unmanned boats through the wireless transmission base station, and the control device can identify polluted area information in front of the unmanned boats through image fusion technology and target identification and control the formation of the unmanned boats to salvage garbage in the polluted areas.
Stated further, the shore-based monitoring system further comprises a monitor 12, and the monitor 12 is used for presenting the position information and the image information after the wireless transmission base station 11 receives the position data and the image data sent by the unmanned ship 3. The real-time position of the unmanned ship and the polluted area of the water surface are fed back through the monitor, the polluted area and the sewage disposal process of the water area can be presented clearly, and monitoring by a user is facilitated.
Further, a method for cleaning a water area of a water area cleaning system, the method comprising:
the unmanned ships obtain position information of adjacent unmanned ships through the communication module, and the control module of the unmanned ships drives the power module to enable a plurality of unmanned ships to be arranged into a linear unmanned ship formation, so that the salvaging nets between the adjacent unmanned ships are positioned on the same plane;
the unmanned boat formation sends image information acquired by the monitoring modules to a shore-based monitoring system through respective communication modules, and the shore-based monitoring system performs image integration after receiving the image information of the unmanned boat formation so as to obtain image information of a pollution area around the unmanned boat formation;
the shore-based monitoring system sends a course instruction to the unmanned boat formation according to image information of a pollution area around the unmanned boat formation, and the unmanned boat formation arranged in a straight line advances to a course indicated by the course instruction.
It should be noted that the pollutant zone has randomness, and may be right in front of the unmanned ship formation, or right in front of the unmanned ship formation, as shown in fig. 4. As shown in fig. 5, in another embodiment of the present invention, when the pollutant area is right in front of the unmanned boat formation, the unmanned boat formation turns right and then goes straight ahead to salvage the pollutant area, and similarly, when the pollutant area is left in front of the unmanned boat formation, the unmanned boat formation turns left and then goes straight ahead to salvage the pollutant area.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (7)
1. The utility model provides a waters device of decontaminating which characterized in that: the system comprises a plurality of unmanned boats (3) and a salvage net (2) arranged between two adjacent unmanned boats (3);
the unmanned ship (3) comprises a ship body (31), and a control module (32), a communication module (33), a power module (34), a positioning module (35) and a monitoring module (37) which are arranged on the ship body (31);
the monitoring module (37) is used for collecting and processing image information of the water surface and transmitting the processed image information to the communication module (32) and the control module (33); the positioning module (35) is used for positioning the unmanned boat (3) and transmitting the position coordinates of the unmanned boat (3) to the control module (32) and the communication module (32); the control module (32) is used for controlling the unmanned boat (3) to collect water surface data information;
the unmanned ship (3) is in communication connection with a shore-based monitoring system (1) through the communication module (33); the communication module (33) is used for transmitting the image information and the position information to the shore-based monitoring system (1) so that the shore-based monitoring system (1) can identify the polluted area information of the water surface in front of the unmanned ship (3) through an image fusion technology and a target identification technology and generate a corresponding course command; the communication module (33) is further configured to receive a heading instruction sent by the shore-based monitoring system (1), and send the heading instruction to the control module (32);
the control module (32) is also used for controlling navigation of the unmanned boats (3) according to the position information of the unmanned boats (3), so that the unmanned boats (3) are arranged into a linear formation, and the salvage nets between adjacent unmanned boats are positioned on the same plane; the control module (32) is also used for controlling the course of the unmanned boat (3) according to the course instruction, so that the linear formation formed by the arrangement of the unmanned boats (3) sails towards the polluted area, and the garbage in the polluted area is automatically salvaged by the salvage net;
the power module (34) is used for providing power for navigation and steering of the unmanned boat (3).
2. The water area decontamination device of claim 1, wherein: the fishing net (2) comprises two ropes (21), a fence (22), a floater (23) and a sinker (24), wherein the fence (22) is arranged between the two ropes (21) and assembled with the fence (22) in a cross mode, the floater (23) is arranged at the cross point of the fence (22), and the sinker (24) is arranged at the connecting position of the fence (22) and one of the ropes (21).
3. The water area decontamination device of claim 1, wherein: the power module (34) comprises a motor driver, a motor and a propeller, wherein an output shaft of the motor is connected to the propeller, the motor driver drives the motor to drive the propeller to rotate, and the unmanned boat (3) provides sailing power.
4. The water area decontamination device of claim 1, wherein: the communication module (33) is also used for communication between the unmanned boats (3) so that the unmanned boats (3) can acquire position information of adjacent unmanned boats.
5. A water area decontamination system, comprising the water area decontamination apparatus of any one of claims 1-4, and further comprising:
the shore-based monitoring system (1) comprises a wireless transmission base station (11) and a control device (13);
the wireless transmission base station (11) is used for receiving the position information and the image information sent by the unmanned ship (3) and transmitting the position information and the image information to the control device (13);
the control device (13) is used for identifying polluted area information of the water surface in front of the unmanned ship (3) through an image fusion technology and a target identification technology, generating a corresponding course instruction and sending the course instruction to the wireless transmission base station (11);
the wireless transmission base station (11) is also used for sending the heading instruction to the unmanned ship (3).
6. A water area decontamination system as claimed in claim 5, wherein: the shore-based monitoring system (1) further comprises a monitor (12), wherein the monitor (12) is used for presenting the position information and the image information after the wireless transmission base station (11) receives the position data and the image data sent by the unmanned ship (3).
7. A method for decontaminating a body of water based on the system for decontaminating a body of water of claims 5 to 6, the method comprising:
the unmanned ships obtain position information of adjacent unmanned ships through the communication module, and the control module of the unmanned ships drives the power module to enable a plurality of unmanned ships to be arranged into a linear unmanned ship formation, so that the salvaging nets between the adjacent unmanned ships are positioned on the same plane;
the unmanned boat formation sends image information acquired by the monitoring modules to a shore-based monitoring system through respective communication modules, and the shore-based monitoring system performs image integration after receiving the image information of the unmanned boat formation so as to obtain image information of a pollution area around the unmanned boat formation;
the shore-based monitoring system sends a course instruction to the unmanned boat formation according to image information of a pollution area around the unmanned boat formation, and the unmanned boat formation arranged in a straight line advances to a course indicated by the course instruction.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010247698.2A CN111391983B (en) | 2020-04-01 | 2020-04-01 | Multi-unmanned-boat cooperative water area sewage disposal device, system and method |
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| CN202010247698.2A CN111391983B (en) | 2020-04-01 | 2020-04-01 | Multi-unmanned-boat cooperative water area sewage disposal device, system and method |
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| CN111391983A true CN111391983A (en) | 2020-07-10 |
| CN111391983B CN111391983B (en) | 2022-04-01 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| US11821158B2 (en) | 2021-07-12 | 2023-11-21 | X Development Llc | Autonomous modular breakwater system |
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|---|---|
| CN111391983B (en) | 2022-04-01 |
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