CN112776950B - Double-hull type propeller wing spraying bactericide ship - Google Patents
Double-hull type propeller wing spraying bactericide ship Download PDFInfo
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- CN112776950B CN112776950B CN202110197443.4A CN202110197443A CN112776950B CN 112776950 B CN112776950 B CN 112776950B CN 202110197443 A CN202110197443 A CN 202110197443A CN 112776950 B CN112776950 B CN 112776950B
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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
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/20—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising
- B05B15/25—Arrangements for agitating the material to be sprayed, e.g. for stirring, mixing or homogenising using moving elements, e.g. rotating blades
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
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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
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
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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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
A double-hull paddle spraying microbial inoculum ship and an operation method thereof comprise the following steps: the device comprises a ship body, a microbial inoculum box, a paddle wing spraying device, a driving device and a control device; the microbial inoculum box is fixedly arranged on the ship body; the paddle wing spraying device and the driving device are arranged at the rear end of the ship body; the paddle wing spraying device is rotationally connected with the driving device; the microbial inoculum box is connected with the input end of a spraying device main body in the paddle wing spraying device through a connecting pipeline; the paddle wing is connected with the output end of the main body of the spraying device in a sliding way, and a plurality of spraying holes are uniformly distributed on the surface of the paddle wing; the control device is electrically connected with the paddle spraying device and the driving device; the control device is matched with the driving device, so that automatic cruising and related data detection under different environments are realized; meanwhile, the control device controls different pressures output by the hydraulic pump in water areas with different pollution degrees, so that the paddle wing spraying device accurately and quantitatively puts in the microbial inoculum under the action of the hydraulic pump, the working efficiency is improved, and the labor cost is reduced.
Description
Technical Field
The invention relates to the field of unmanned ship application, in particular to a double-hull paddle wing microbial inoculum spraying ship and an operation method thereof.
Background
In the past decades, the microbial inoculum release work is almost completed manually, the manual release mode is large in workload and low in efficiency, the microbial inoculum release work is limited by the technical level of a release person and is influenced by the specific conditions of a river channel, accurate quantitative release cannot be achieved at a specified position often, a large amount of labor cost needs to be input, and due to the fact that some geographic positions are relatively complex, operation is unsafe, and dangerousness exists for workers.
In recent years, in order to replace a microbial agent throwing worker to execute repetitive and long-period work, a work mode or a method with high construction cost and large manpower input is replaced, more and more unmanned ships are applied to water surface work, but most unmanned ships need to input control signals manually in real time to enable the unmanned ships to work, and the unmanned ships have strong dependence, are easy to be interfered by the outside and have low precision and stability.
Disclosure of Invention
Aiming at the problems, the invention provides a double-hull paddle wing spraying microbial inoculum ship and an operation method thereof, which realize automatic cruise under different environments, detection of related data and processing and analysis of the detected data by matching a control device and a driving device, and meanwhile, the control device controls a hydraulic pump to output different pressures according to the pollution degrees of different water areas, so that the paddle wing spraying device sprays microbial inoculum under the action of the hydraulic pump, the precise quantitative feeding is realized, and the labor cost input is reduced.
The technical scheme adopted by the invention is as follows: a double-hull paddle-wing bacteria agent spraying ship comprises: a ship body and a microbial inoculum box; the microbial inoculum box is fixedly arranged on the ship body; it is characterized by also comprising: the device comprises a paddle spraying device, a driving device and a control device; the paddle wing spraying device and the driving device are fixedly arranged at the rear end of the ship body; the paddle wing spraying device is rotationally connected with the driving device; the microbial inoculum box is connected with the input end of a spraying device main body in the paddle wing spraying device through a connecting pipeline; the paddle wing at the output end of the paddle wing spraying device is connected with the output end of the spraying device main body in a telescopic sliding manner, and a plurality of spraying holes communicated with the output end of the spraying device main body are uniformly distributed on the surface of the paddle wing; the control device is electrically connected with the driving device and is used for controlling the operation of the ship body and spraying a microbial inoculum;
the microbial inoculum in the microbial inoculum box is conveyed to the spraying device main body through the connecting pipeline and then is sprayed out through the spraying holes arranged on the paddle wings, and the paddle wings slide and extend out along the spraying device main body under the rotation inertia and the pressure of the microbial inoculum liquid, so that the spraying range of the microbial inoculum is expanded.
Furthermore, the output end of the spraying device main body is connected with the paddle wing through a spring, so that the paddle wing can be freely reset under the condition that the pressure of the microbial inoculum is small.
Further, the paddle spray device further comprises: the outer ring of the connecting bearing is fixedly connected with the input end of the main body of the spraying device, and the inner ring is fixedly connected with the connecting pipeline; the input end of the spraying device main body is also fixedly provided with a large gear and is positioned at the lower end of the connecting bearing.
Further, the driving device further includes: a pinion and a driving motor; the driving motor is fixedly arranged at the rear end of the ship body, and the output shaft is fixedly provided with a pinion; the small gear is meshed with the large gear to realize the rotary connection of the paddle wing spraying device and the driving device, and a propeller cover for preventing waterweeds from being involved is arranged around the paddle wing spraying device; the rear end of the propeller cover is also provided with a blocking net for blocking aquatic weeds, and the front end of the blocking net is also provided with a protection net to form a multiple protection net with the propeller cover and the blocking net for preventing aquatic weeds from being involved.
Furthermore, a hydraulic pump and an electric control valve are further arranged on the connecting pipeline, and the electric control valve is located at the upper end of the hydraulic pump and used for improving the output pressure of the microbial inoculum and expanding the spraying range of the paddle wing spraying device.
Furthermore, the whole ship body is connected with two ship bodies through a connecting plate to form a double-ship-body structure.
Further, the driving device is also provided with a baffle for water isolation.
Further, the inside agitating unit that still is equipped with of microbial inoculum case includes: a stirring motor, a connecting shaft and stirring fan blades;
the stirring motor is fixedly arranged at the upper end of the microbial inoculum box; an output shaft of the stirring motor is fixedly connected with the stirring fan blades through a connecting shaft; and the microbial inoculum box is also provided with a microbial inoculum supplementing port which is positioned at the front end of the stirring device.
Further, the control device includes: the device comprises a main controller, a power supply module, an inertia measurement unit, a water quality measurement sensor, an ultrasonic sensor group, a wireless communication module, a GPS sensor, an image processing module, an attitude sensor, a microbial inoculum spraying module, a liquid level sensor and a motor driving module; the wireless communication module, the inertia measurement unit, the GPS sensor, the image processing module, the microbial inoculum spraying module and the motor drive are all fixedly arranged on the ship body and are electrically connected with the main controller; the liquid level sensor is fixedly arranged in the microbial inoculum box and is used for measuring the liquid level of the residual microbial inoculum in real time; the image sensor, the ultrasonic sensor group and the attitude sensor are positioned around the ship body and are used for detecting whether the working environment of the ship body is abnormal or not; the water quality measuring sensor and the dissolved oxygen measuring instrument are arranged at the bottom of the ship body and used for detecting the nutrient content and the oxygen concentration in water by the water quality measuring sensor.
A method for operating a double-hull paddle-wing microbial agent spraying ship comprises the following steps that firstly, a main controller of the microbial agent spraying ship acquires detection information of the surrounding environment of a ship body through an image sensor, an ultrasonic sensor group and a posture sensor to decide whether the ship body has working conditions or not, meanwhile, a water quality measuring sensor and a dissolved oxygen measuring instrument are used for detecting water quality, and if microbial agents need to be sprayed, a microbial agent spraying task in a detected working area is planned and executed;
when the water quality measuring sensor detects that the nutrient content in water exceeds a certain set value and the dissolved oxygen measuring instrument detects that the oxygen concentration is not lower than a certain set value, the water quality measuring sensor and the dissolved oxygen measuring instrument transmit signals to the main controller together, and the main controller transmits the signals to the microbial inoculum spraying module to open the electric control valve and the hydraulic pump after analysis and processing; the microbial inoculum in the microbial inoculum box is conveyed to the spraying device main body through a connecting pipeline under the action of the hydraulic pump and then is sprayed out of the spraying holes arranged on the paddle wings, so that the automatic spraying of the microbial inoculum is realized;
when the water quality measuring sensor detects that the nutrient content in water exceeds a certain set value, the dissolved oxygen measuring instrument detects that the oxygen concentration is lower than the certain set value, the water quality measuring sensor and the dissolved oxygen measuring instrument transmit signals to the main controller together, after the signals are analyzed and processed by the main controller, the signals are transmitted to the flow rate adjusting drive of the microbial inoculum spraying module, the hydraulic pump is driven to increase the flow rate of the output microbial inoculum liquid, so that the pressure is increased, meanwhile, the paddle wings push the extension springs to extend outwards in the process of increasing the flow rate of the output microbial inoculum liquid, the spraying range of the paddle wing spraying device is expanded, and at the moment, the whole paddle wing spraying device is expanded due to the outward extension of the paddle wings, so that the navigation speed of the whole ship body is reduced, and the feeding density and the feeding efficiency of the microbial inoculum are improved;
when the working environment of the ship body is abnormal such as: when the distance between the ultrasonic sensor and the obstacle is smaller than a system threshold value, the control system reads the sensor signals of the ultrasonic sensors through the main controller, processes and calculates the sensor signals, transmits the results to the main controller for early warning, and transmits the information to the motor driving module by the main controller so that the driving motor avoids the obstacle;
when the specific position of the ship body needs to be controlled, an operator sends a signal to the main controller through the wireless communication module, the main controller processes and analyzes the signal according to the signals fed back by the GPS module and the inertia measurement unit, the signal is transmitted to the motor driving module, and then the driving motor is driven to realize the movement of the ship body.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) according to the invention, the paddle wing spraying device is arranged, the microbial inoculum is spirally sprayed in the rotating process of the paddle wing through the plurality of spraying holes which are uniformly distributed on the surface of the paddle wing and communicated with the output end of the spraying device main body, the spraying is more uniform, the paddle wing is extended outwards or retracted inwards along the output end of the spraying device main body by controlling the difference of the output pressure of the hydraulic pump, the spraying area of the paddle wing spraying device is changed, when the output pressure of the hydraulic pump is increased, the paddle wing is extended outwards along the output end of the spraying device main body, and even if the motor is driven to run at low speed at the same time, the spraying efficiency of the microbial inoculum can be improved due to the increase of the spraying area of the paddle wing spraying device, so that the working efficiency is improved.
(2) The invention realizes automatic cruising and automatic spraying of the microbial inoculum under different water areas through the matching of the control device and the driving device, can also control the spraying range and the spraying amount of the microbial inoculum according to different pollution conditions, realizes accurate quantitative feeding and reduces the investment of labor cost.
(3) The invention has the advantages that through the design of the double-hull structure, the structure of the whole hull is more stable, the capability of resisting strong wind and turbulent water flow is greatly improved, and the large loading capacity is suitable for spraying operation in the environment with longer path, wider water flow and larger cruising range.
Drawings
Fig. 1 is a schematic view of the overall mechanism of the present invention.
FIG. 2 is a schematic view of a stirring apparatus of the present invention.
Figure 3 is a top view of the airfoil spraying apparatus of the present invention.
Figure 4 is a cross-sectional view of a paddle sprinkler device of the present invention.
Fig. 5 is a schematic view of a B-section of the airfoil spraying apparatus of the present invention.
Figure 6 is a schematic view of a paddle sprinkler device of the present invention.
Figure 7 is a schematic view of an airfoil of the present invention.
Fig. 8 is a schematic view of the driving device of the present invention.
Fig. 9 is a schematic diagram of a control procedure according to the present invention.
Fig. 10 is a schematic view of the overall mechanism of the present invention.
Fig. 11 is a schematic view of the paddle cover, the barrier net and the protective net of the present invention.
Fig. 12 is an overall schematic view of the paddle sprinkler of the present invention.
Reference numerals: 1-ship body, 2-connecting plate, 3-microbial inoculum box, 4-stirring device, 5-propeller cover, 6-propeller spraying device, 7-driving device, 8-blocking net, 9-protective net, 401-stirring motor, 402-connecting shaft, 403-stirring fan blade, 601-propeller, 602-spraying device body, 603-connecting bearing, 604-tension spring, 605-big gear, 606-spraying hole, 701-baffle, 702-small gear, 703-driving motor, 704-hydraulic pump, 705-electric control valve and 706-connecting pipeline.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in many ways other than those described herein, and it will be apparent to those skilled in the art that similar modifications can be made without departing from the spirit of the invention, and therefore the invention is not limited to the specific embodiments disclosed below. In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "back", "left", "right", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Examples, as shown in fig. 1 to 12, a double-hull paddle-wing microbial agent spraying ship includes: a ship body 1 and a microbial inoculum box 3; the microbial inoculum box 3 is fixedly arranged on the ship body; further comprising: a paddle spraying device 6, a driving device 7 and a control device; the paddle spraying device 6 and the driving device 7 are fixedly arranged at the rear end of the ship body; the paddle wing spraying device 6 is rotationally connected with the driving device 7; the microbial inoculum box 3 is connected with the input end of a spraying device main body 602 in the paddle wing spraying device 6 through a connecting pipeline 706; the paddle 601 at the output end of the paddle spraying device 6 is in telescopic sliding connection with the output end of the spraying device main body 602, and a plurality of spraying holes 606 communicated with the output end of the spraying device main body 602 are uniformly distributed on the surface of the paddle 601; the control device is electrically connected with the driving device 7 and is used for controlling the operation of the ship body and spraying a microbial inoculum;
the microbial inoculum in the microbial inoculum box 3 is conveyed to the spraying device main body 602 through the connecting pipeline 706, and then is sprayed out from the spraying holes 606 arranged on the paddle 601, and the paddle 601 slides and extends out along the spraying device main body 602 under the rotation inertia and the pressure of the microbial inoculum liquid, so that the microbial inoculum spraying range is expanded.
In an optional implementation manner of the embodiment of the present invention, the output end of the spraying device main body 602 is connected to the paddle 601 through a spring, so that the paddle 601 can be freely reset under the condition that the pressure of the microbial inoculum is small.
In an alternative implementation of the embodiment of the invention, the paddle spray device 6 further comprises: the spraying device comprises a connecting bearing 603 and a large gear 605, wherein the outer ring of the connecting bearing 603 is fixedly connected with the input end of a spraying device main body 602, and the inner ring is fixedly connected with a connecting pipeline 706; the output end of the main body 602 of the spraying device is also fixedly provided with a large gear 605, and is located at the lower end of the connecting bearing 603.
In an optional implementation manner of the embodiment of the present invention, the driving device 7 further includes: a pinion 702, a drive motor 703; the driving motor 703 is fixedly arranged at the rear end of the ship body 1, and a pinion 702 is fixedly arranged on an output shaft; the small gear 702 is meshed with the large gear 605 to realize the rotary connection of the paddle wing spraying device 6 and the driving device 7, and a propeller cover 5 for preventing water plants from being involved is arranged around the paddle wing spraying device 6; the rear end of the propeller cover 5 is provided with a separation net 8 for blocking aquatic weeds, the front end of the separation net 8 is also provided with a protective net 9, the separation net and the propeller cover 5 and the separation net 8 form a multiple protective net, and the multiple protective net can prevent aquatic weeds or sundries from entering and winding the propeller, so that the whole ship body can not normally run.
In an optional implementation manner of the embodiment of the present invention, the connecting pipeline 706 is further provided with a hydraulic pump 704 and an electric control valve 705, and the electric control valve 705 is located at the upper end of the hydraulic pump 704, so as to increase the output pressure of the microbial inoculum and expand the spraying range of the paddle wing spraying device 6.
In an optional implementation mode of the embodiment of the invention, the whole ship body is connected with the two ship bodies 1 through the connecting plates 2 to form a double-ship-body structure, so that the structure of the whole ship body is more stable, the action of resisting strong wind and turbulent water flow is greatly improved, and the large loading capacity is suitable for spraying operation in an environment with a longer path or wider water flow.
In an optional implementation manner of the embodiment of the present invention, the driving device 7 is further provided with a baffle 701 for water isolation, so as to prevent aquatic weeds from entering between the pinion 702 and the bull gear 605.
In an optional implementation manner of the embodiment of the present invention, a stirring device 4 is further disposed inside the microbial agent box 3, and includes: a stirring motor 401, a connecting shaft 402, and stirring fan blades 403; the stirring motor 401 is fixedly arranged at the upper end of the microbial inoculum box 3 and is electrically connected with the control device; an output shaft of the stirring motor 401 is fixedly connected with stirring fan blades 403 through a connecting shaft 402; the microbial inoculum box 3 is also provided with a microbial inoculum supplementing port which is positioned at the front end of the stirring device 4; the automatic mixing and uniform stirring of the microbial inoculum are realized by the control device.
In an optional implementation manner of the embodiment of the present invention, the control device includes: the device comprises a main controller, a power supply module, an inertia measurement unit, a water quality measurement sensor, an ultrasonic sensor group, a wireless communication module, a GPS sensor, an image processing module, an attitude sensor, a microbial inoculum spraying module, a liquid level sensor and a motor driving module; the wireless communication module, the inertia measurement unit, the GPS sensor, the image processing module, the microbial inoculum spraying module and the motor drive are all fixedly arranged on the ship body 1 and are electrically connected with the main controller; the liquid level sensor is fixedly arranged in the microbial inoculum box 3 and is used for measuring the liquid level of the residual microbial inoculum in real time; the image sensor, the ultrasonic sensor group and the attitude sensor are positioned around the ship body 1 and are used for detecting whether the working environment of the ship body is abnormal or not; the water quality measuring sensor and the dissolved oxygen measuring instrument are arranged at the bottom of the ship body 1 and are used for detecting the nutrient content and the oxygen concentration in water by the water quality measuring sensor;
the GPS sensor data and the attitude sensor are acquired by the main controller to carry out data fusion, the position data in the fusion positioning system is obtained and then sent to the main controller, the main controller determines whether the ship body has working conditions or not by acquiring detection information of the surrounding environment of the ship body, and if the working conditions are met, a microbial inoculum putting task in a working area is planned and executed; the image processing module continuously receives image information output by the image sensor after the task starts to be executed, processes and detects whether an obstacle exists, and a processing result is sent to the main controller to serve as decision control information; meanwhile, the main controller contacts with an operator through the wireless communication subsystem to send a working state or receive control instruction information of the upper computer in real time; in addition, the main controller reads data of the attitude sensor, the liquid level sensor and the ultrasonic sensor in real time during work, monitors the state of the ship body, decides the movement direction of the ship body, detects the surrounding environment, autonomously sprays a microbial inoculum, adjusts the spraying amount, the spraying range and other operations, and gives an abnormal alarm if an abnormal state occurs; the ship body is ensured to work without manually inputting a control signal in real time, the operations of automatically recognizing, feeding back, avoiding obstacles, spraying a microbial inoculum and the like of the ship body are realized, the dependence on people is greatly reduced, the external interference is small, and the precision and the stability are high.
The whole ship body is combined by a GPS module and an inertia measurement unit and adopts a GPS/DR (inertial navigation) mode, wherein DR is a track dead reckoning and positioning mode, and the DR acquires data by using a nine-axis IMU sensor and carries out information fusion to reckon a motion track; the GPS and IMU modules adopt a loose coupling positioning mode, the GPS and the IMU work independently, position information is obtained by the GPS and course angle and speed information output by the IMU are subjected to data fusion, the current coordinate p, speed v and acceleration a of the ship body are finally output, the next target point can be obtained through a task plan after the coordinate of the unmanned ship for accurate positioning is obtained, the target point is reached through path planning, the next target point is updated, the aim of cruise spraying of the microbial inoculum is achieved, meanwhile, the positioning information is sent to an operator through wireless communication, and position marking and track drawing can be carried out in a map loaded on an operator display interface.
A method for operating a double-hull paddle-wing microbial agent spraying ship comprises the following steps that firstly, a main controller of the microbial agent spraying ship acquires detection information of the surrounding environment of a ship body through an image sensor, an ultrasonic sensor group and a posture sensor to decide whether the ship body has working conditions or not, meanwhile, a water quality measuring sensor and a dissolved oxygen measuring instrument are used for detecting water quality, and if microbial agents need to be sprayed, a microbial agent spraying task in a detected working area is planned and executed; when the water quality measuring sensor detects that the nutrient content in water exceeds a certain set value and the dissolved oxygen measuring instrument detects that the oxygen concentration is not lower than a certain set value, the water quality measuring sensor and the dissolved oxygen measuring instrument transmit signals to the main controller together, the main controller transmits the signals to the microbial inoculum spraying module after analysis and processing, and the electric control valve 705 and the hydraulic pump 704 are started; the microbial inoculum in the microbial inoculum box 3 is conveyed to the spraying device main body 602 through a connecting pipeline 706 under the action of a hydraulic pump 704, and is sprayed out through a spraying hole 606 arranged on the paddle 601, so that the automatic spraying of the microbial inoculum is realized;
when the water quality measuring sensor detects that the nutrient content in water exceeds a certain set value and the dissolved oxygen measuring instrument detects that the oxygen concentration is lower than a certain set value, the water quality measuring sensor and the dissolved oxygen measuring instrument transmit signals to the main controller together, the main controller analyzes and processes the signals and transmits the signals to the flow rate adjusting drive of the microbial inoculum spraying module, the hydraulic pump 704 is driven to increase the flow rate of the output microbial inoculum liquid so as to increase the pressure, meanwhile, the paddle 601 pushes the extension spring to extend outwards in the process of increasing the flow rate of the output microbial inoculum liquid so as to expand the spraying range of the paddle wing spraying device 6, and at the moment, the paddle 601 extends outwards so that the navigation speed of the whole ship body is reduced, and the feeding density and the feeding efficiency of the microbial inoculum are improved;
when the working environment of the ship body 1 is abnormal such as: when the distance from the obstacle is smaller than a system threshold value, the control system reads sensor signals of all the ultrasonic sensors through the main controller, processes and calculates the sensor signals, transmits results to the main controller for early warning, and transmits information to the motor driving module by the main controller so that the driving motor 703 drives the ship body 1 to avoid the obstacle;
when the specific position of the ship body 1 needs to be controlled, an operator sends a signal to the main controller through the wireless communication module, the main controller processes and analyzes the signal according to the signals fed back by the GPS module and the inertia measurement unit, and transmits the signal to the motor driving module, so that the driving motor 703 is driven to move the ship body.
Claims (1)
1. A double-hull paddle-wing bacteria agent spraying ship comprises: a ship body (1) and a microbial inoculum box (3); the microbial inoculum box (3) is fixedly arranged on the ship body; it is characterized by also comprising: a paddle wing spraying device (6), a driving device (7) and a control device; the paddle wing spraying device (6) and the driving device (7) are fixedly arranged at the rear end of the ship body; the paddle wing spraying device (6) is rotationally connected with the driving device (7); the microbial inoculum box (3) is connected with the input end of a spraying device main body (602) in the paddle wing spraying device (6) through a connecting pipeline (706); the paddle wing (601) at the output end of the paddle wing spraying device (6) is in telescopic sliding connection with the output end of the spraying device main body (602), and a plurality of spraying holes (606) communicated with the output end of the spraying device main body (602) are uniformly distributed on the surface of the paddle wing (601); the control device is electrically connected with the driving device (7) and is used for controlling the operation of the ship body and spraying a microbial inoculum;
the microbial inoculum in the microbial inoculum box (3) is conveyed to the spraying device main body (602) through a connecting pipeline (706), and then is sprayed out through a spraying hole (606) formed in the paddle wing (601), and the paddle wing (601) slides and extends out along the spraying device main body (602) under the rotation inertia and the pressure of microbial inoculum liquid, so that the spraying range of the microbial inoculum is expanded;
the output end of the spraying device main body (602) is connected with the propeller wing (601) through the extension spring (604), so that the propeller wing (601) can be freely reset under the condition that the pressure of the microbial inoculum is small;
the paddle spray device (6) further comprises: the spraying device comprises a connecting bearing (603) and a large gear (605), wherein the outer ring of the connecting bearing (603) is fixedly connected with the input end of a spraying device main body (602), and the inner ring is fixedly connected with a connecting pipeline (706); the input end of the spraying device main body (602) is also fixedly provided with a large gear (605) and is positioned at the lower end of the bearing (603);
the drive device (7) further comprises: a pinion (702), a drive motor (703); the driving motor (703) is fixedly arranged at the rear end of the ship body (1), the driving motor (703) is electrically connected with the control device, and a pinion (702) is fixedly arranged on an output shaft of the driving motor (703); the small gear (702) is meshed with the large gear (605) to realize the rotary connection of the paddle wing spraying device (6) and the driving device (7), and a propeller cover (5) for preventing waterweeds from being involved is arranged around the paddle wing spraying device (6); the rear end of the propeller cover (5) is also provided with a blocking net (8) for blocking aquatic weeds, the front end of the blocking net (8) is also provided with a protective net (9), and the protective net, the propeller cover (5) and the blocking net (8) form a multiple protective net for preventing the aquatic weeds from being rolled in;
the connecting pipeline (706) is also provided with a hydraulic pump (704) and an electric control valve (705), and the electric control valve (705) is positioned at the upper end of the hydraulic pump (704) and is electrically connected with a control device, so that the output pressure of the microbial inoculum is improved, and the spraying range of the paddle wing spraying device (6) is expanded;
the whole ship body is connected with two ship bodies (1) by a connecting plate (2) to form a double-ship-body structure;
the driving device (7) is also provided with a baffle (701) for water isolation;
fungus agent case (3) inside still is equipped with agitating unit (4), and agitating unit (4) include: a stirring motor (401), a connecting shaft (402), and stirring fan blades (403); the stirring motor (401) is fixedly arranged at the upper end of the microbial inoculum box (3) and is electrically connected with the control device; an output shaft of the stirring motor (401) is fixedly connected with stirring fan blades (403) through a connecting shaft (402); a microbial inoculum supplementing port is also arranged on the microbial inoculum box (3) and is positioned at the front end of the stirring device (4);
the control device includes: the device comprises a main controller, a power supply module, an inertia measurement unit, a water quality measurement sensor, an ultrasonic sensor group, a wireless communication module, a GPS sensor, an image processing module, an attitude sensor, a microbial inoculum spraying module, a liquid level sensor and a motor driving module; the wireless communication module, the inertia measurement unit, the GPS sensor, the image processing module, the microbial inoculum spraying module and the motor drive are all fixedly arranged on the ship body (1) and are electrically connected with the main controller; the liquid level sensor is fixedly arranged in the microbial inoculum box (3) and is used for measuring the liquid level of the residual microbial inoculum in real time; the image sensor, the ultrasonic sensor group and the attitude sensor are distributed around the ship body (1) and used for detecting whether the working environment of the ship body is abnormal or not; the water quality measuring sensor and the dissolved oxygen measuring instrument are arranged at the bottom of the ship body (1) and are used for detecting the nutrient content and the oxygen concentration in water by the water quality measuring sensor;
when the ship is used, firstly, a main controller of the ship for spraying the microbial inoculum obtains detection information of the surrounding environment of a ship body (1) through an image sensor, an ultrasonic sensor group and a posture sensor so as to decide whether the ship body has working conditions or not, simultaneously, the water quality is detected through a water quality measuring sensor and a dissolved oxygen measuring instrument, and if the microbial inoculum needs to be sprayed, a microbial inoculum spraying task in a detected working area is planned and executed;
when the water quality measuring sensor detects that the nutrient content in water exceeds a certain set value and the dissolved oxygen measuring instrument detects that the oxygen concentration is not lower than a certain set value, the water quality measuring sensor and the dissolved oxygen measuring instrument transmit signals to the main controller together, and the main controller transmits the signals to the microbial inoculum spraying module to open the electric control valve (705) and the hydraulic pump (704) after analysis and processing; the microbial inoculum in the microbial inoculum box (3) is conveyed to the spraying device main body (602) through a connecting pipeline (706) under the action of a hydraulic pump (704), and is sprayed out through spraying holes (606) formed in the paddle wings (601), so that the automatic spraying of the microbial inoculum is realized;
when the water quality measuring sensor detects that the nutrient content in water exceeds a certain set value and the dissolved oxygen measuring instrument detects that the oxygen concentration is lower than a certain set value, the water quality measuring sensor and the dissolved oxygen measuring instrument transmit signals to the main controller together, the main controller transmits the signals to the flow rate adjusting drive of the microbial inoculum spraying module after analysis and processing, the hydraulic pump (704) is driven to increase the flow rate of microbial inoculum liquid output so as to increase the pressure, meanwhile, the paddle wings (601) push the extension springs to extend outwards in the process of increasing the flow rate of microbial inoculum liquid output, the spraying range of the paddle wing spraying device (6) is expanded, and at the moment, the whole paddle wing spraying device (6) is expanded due to the outward extension of the paddle wings (601) so that the navigation speed of the whole ship body is reduced;
when the working environment of the ship body (1) is abnormal, if the distance between the ship body and an obstacle is smaller than a system threshold value, the control system reads sensor signals of all ultrasonic sensors through the main controller, processes and calculates the sensor signals, transmits results to the main controller for early warning, and the main controller transmits information to the motor driving module to enable the driving motor (703) to drive the ship body (1) to avoid the obstacle;
when the specific position of the ship body (1) needs to be controlled, an operator sends a signal to the main controller through the wireless communication module, the main controller processes and analyzes the signal according to the signals fed back by the GPS module and the inertia measurement unit, and transmits the signal to the motor driving module so as to drive the driving motor (703) to realize the movement of the ship body;
reading data of a posture sensor, a liquid level sensor and an ultrasonic sensor in real time through a main controller, monitoring the state of a ship body, deciding the movement direction of the ship body, detecting the surrounding environment, automatically spraying a microbial inoculum, adjusting the spraying amount and the spraying range, and giving an abnormal alarm if an abnormal state occurs; the ship body is ensured to work without manually inputting a control signal in real time, and the operation of automatically identifying, feeding back, avoiding obstacles, and spraying the microbial inoculum by the ship body is realized;
the whole ship body is combined by a GPS module and an inertia measurement unit in a GPS/DR mode, wherein DR is a track dead reckoning and positioning mode, and the DR acquires data by using a nine-axis IMU sensor and carries out information fusion to reckon a motion track; the GPS and IMU modules adopt a loose coupling positioning mode, the GPS and the IMU work independently, position information is obtained by the GPS and course angle and speed information output by the IMU are subjected to data fusion, the current coordinate p, speed v and acceleration a of the ship body are finally output, the next target point can be obtained through a task plan after the coordinate of the unmanned ship for accurate positioning is obtained, the target point is reached through path planning, the next target point is updated, the aim of cruise spraying of the microbial inoculum is achieved, meanwhile, the positioning information is sent to an operator through wireless communication, and position marking and track drawing can be carried out in a map loaded on an operator display interface.
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