CN114192039A - A medicament puts in unmanned ship for water quality control - Google Patents
A medicament puts in unmanned ship for water quality control Download PDFInfo
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- CN114192039A CN114192039A CN202111522496.5A CN202111522496A CN114192039A CN 114192039 A CN114192039 A CN 114192039A CN 202111522496 A CN202111522496 A CN 202111522496A CN 114192039 A CN114192039 A CN 114192039A
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- medicament
- stirring
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- chemical
- dissolving
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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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Abstract
The invention discloses a medicament throwing unmanned ship for water quality treatment, which comprises: a hull; a drug adding unit installed in the hull; a drug dissolving unit, which is installed in the ship body and is connected with the drug adding unit; the medicament feeding unit is mounted at the tail end of the ship body, and is connected with the medicament dissolving unit; the processor is installed in the ship body, and the medicament adding unit, the medicament dissolving unit and the medicament putting unit are connected with the processor.
Description
Technical Field
The invention relates to the technical field of water pollution treatment equipment, in particular to a medicament feeding unmanned ship for water quality treatment.
Background
Water is a necessary condition for human life to live, and with the continuous improvement of the productivity of various cities in China, the demand of people on water in daily life and work is more and more large, and on the other hand, the water pollution condition of many cities in China is not optimistic. In only small and medium-sized rivers, the number of the types of pollutants involved is as many as 1000, and the number of the types of pollutants is continuously increasing. The pollution of the water area of the urban area is the most serious, and a large number of medium and small rivers become sewage rivers due to the fact that the discharge amount of urban sewage exceeds the standard, and serious threats are caused to the urban environment and the drinking water safety. Therefore, it is very necessary to treat the river water pollution.
The water quality treatment methods commonly used at present include physical treatment, biological treatment and chemical treatment. Physical treatment is to remove part of solid pollutants in water by technologies such as screening interception, gravity separation (natural sedimentation and floating centrifugal separation) and the like, so that the treatment of sewage is realized, but only solid matters in a suspension state in the sewage can be removed, and heavy metal ions, organic matters and the like in the sewage cannot be removed.
The biological treatment comprises aquatic plant treatment and biological agent treatment, wherein the aquatic plant treatment is to absorb, accumulate and convert nitrogen, phosphorus, various heavy metal ions, phenol, cyanogen, pesticide and other organic matters through various higher aquatic plants. But has the disadvantages of low popularity and long onset time. The biological agent is added to treat and repair the river channel through efficient microbial treatment of biological bacteria in the biological agent, and the water quality self-purification capacity of the river channel is realized by utilizing the synergistic degradation effect of the microorganisms. The put biological bacteria can not affect the surrounding environment and the growth of organisms, and has the characteristics of low cost, quick response and ecological safety.
The chemical treatment is a sewage treatment method for separating and removing pollutants in a dissolved or colloidal state in sewage or converting the pollutants into harmless substances by chemical reaction and mass transfer effect generated by adding chemical agents. When the water pollution is treated, the chemical treatment measures can effectively treat toxic substances in the water pollution. In the implementation process of treatment measures, the sewage treatment agent and the dosage of the sewage treatment agent are reasonably selected according to actual conditions, so that the best water pollution treatment effect can be finally achieved.
In conclusion, sewage is treated by putting chemical or biological repair agents, so that the sewage treatment efficiency can be improved, the water quality can be effectively improved, and the sewage recycling is enhanced.
Disclosure of Invention
In order to achieve the above object, the present invention discloses a drug delivery unmanned ship for water quality treatment, comprising:
a hull;
a drug adding unit installed in the hull;
a drug dissolving unit, which is installed in the ship body and is connected with the drug adding unit;
the medicament feeding unit is mounted at the tail end of the ship body, and is connected with the medicament dissolving unit;
the processor is installed in the ship body, and the medicament adding unit, the medicament dissolving unit and the medicament putting unit are connected with the processor.
Preferably, the method further comprises the following steps:
the navigation module is arranged in the ship body and is connected with the processor;
the ultrasonic sensor is arranged at the bow end of the hull and is connected with the processor;
the communication module is arranged in the ship body and connected with the processor.
Preferably, the medicine adding unit includes:
the drug adding port is formed in the top end of the ship body, and a bin door is installed on the drug adding port;
the drug adding hopper is arranged in the ship body, and the top end of the drug adding hopper is connected with the drug adding port;
the bottom end of the chemical adding hopper is communicated with the inside of the chemical adding box, and the chemical adding box is connected with the chemical dissolving unit far away from the chemical adding hopper end;
the rotary disc is arranged in the medicament adding box, and the inner wall of the medicament adding box is matched with the outer surface of the rotary disc;
the plurality of medicament adding grooves are circumferentially arranged at the edge end of the rotary table, and the groove opening end of each medicament adding groove is suitable for being arranged at the bottom end of the medicament adding hopper;
the first motor is installed on the medicament adding box, the output end of the first motor extends into the medicament adding box and is connected with the rotary table, and the first motor is connected with the processor.
Preferably, the medicament delivery unit comprises:
one end of the attitude adjusting pipe is hinged to the tail end of the ship body;
the water taking pipe is arranged on the posture adjusting pipe and is provided with a water taking hole;
the plurality of medicament feeding pipes are symmetrically arranged on the posture adjusting pipe by taking the water taking pipe as a center, and a plurality of medicament feeding holes are formed in the medicament feeding pipes at equal intervals;
one end of the electric telescopic rod is hinged with the tail end of the ship body, the other end of the electric telescopic rod is hinged with the posture adjusting pipe, and the electric telescopic rod is connected with the processor;
one end of the dosing pipe with the pump extends into the ship body and is connected with the medicament dissolving unit, the other end of the dosing pipe with the pump extends into the posture adjusting pipe and is connected with each medicament dosing pipe, and the dosing pipe with the pump is connected with the processor;
one end of the water taking pipe with the pump extends into the ship body and is connected with the medicament dissolving unit, the other end of the water taking pipe with the pump extends into the posture adjusting pipe and is connected with the water taking pipe, and the dosing pipe with the pump is connected with the processor;
the stirring blades are arranged on the medicament throwing pipe, and each stirring blade is positioned between two adjacent medicament throwing holes and covers the medicament throwing holes.
Preferably, a medicine amount detector is installed on the medicine adding hopper and connected with the processor.
Preferably, the drug dissolution unit comprises:
the dissolving tank is arranged in the ship body, and the dosing pipe with the pump and the water taking pipe with the pump are both connected with the dissolving tank;
the reagent feeding port is formed in the top end of the dissolving box, the reagent adding box is mounted at the top end of the dissolving box, and the reagent adding box is far away from the reagent adding hopper end and is connected with the reagent feeding port;
the stirring ring seat is positioned in the position, close to the top, in the dissolving tank, and the inner ring end of the stirring ring seat is connected with the medicament feeding port;
the outer gear ring is arranged at the outer ring end of the stirring ring seat;
the stirring motor is arranged at the top end of the dissolving tank, and the output end of the stirring motor extends into the dissolving tank;
the stirring gear is positioned in the dissolving tank, is arranged at the output end of the stirring motor and is meshed with the outer gear ring;
the fixed disk mounting chamber is arranged in the stirring ring seat;
the annular fixed disc is arranged in the fixed disc mounting chamber;
one end of the fixing frame is connected to the top in the dissolving tank, and the other end of the fixing frame extends into the fixing disc mounting chamber and is connected with the annular fixing disc;
the transmission ring groove is arranged in a clover shape and is formed in the bottom end of the annular fixed disk;
the two transverse moving block installation chambers are symmetrically arranged in the stirring ring seat, the transverse moving block installation chamber is positioned below the fixed disc installation chamber, and the transverse moving block installation chamber is connected to the inner ring end of the stirring ring seat;
the transverse moving block is arranged in the transverse moving block mounting chamber;
the reset spring is installed in the transverse moving block installation chamber, one end of the reset spring is connected with the transverse moving block, the other end of the reset spring is connected with the inner wall of the transverse moving block installation chamber, and the end, far away from the reset spring, of the transverse moving block extends into the inner ring end of the stirring ring seat;
the telescopic rod mounting chamber is arranged in the stirring ring seat and communicated between the fixed disc mounting chamber and the transverse moving block mounting chamber;
the middle part of the resetting telescopic rod is hinged in the telescopic rod mounting chamber;
the sliding block is connected in the transmission ring groove in a limiting and sliding mode, one end of the reset telescopic rod is hinged to the sliding block, and the other end of the reset telescopic rod is hinged to the transverse moving block;
the stirring rods are symmetrically arranged below the stirring ring seat, a transverse moving groove is formed in the bottom end of the stirring ring seat, the bottom end of the transverse moving groove is communicated with the inside of the transverse moving block installation chamber, and the stirring rods penetrate through the transverse moving groove and are connected with the transverse moving block.
Preferably, the inner ring end of the stirring ring seat is in an inclined closing-up arrangement from bottom to top.
Preferably, the stirring rod is connected in the transverse moving groove in a limiting and sliding manner.
Preferably, the drug dissolution unit further comprises:
the material scattering block is fixedly connected to the inner ring end of the stirring ring seat, and the top end of the material scattering block is arranged in a semi-elliptical shape;
the material scattering grooves are circumferentially arranged at the side ends of the material scattering blocks, and the bottom ends of the material scattering grooves are parallel to the inner ring end of the stirring ring seat.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a control schematic of the present invention;
FIG. 3 is a schematic view of a chemical adding unit according to the present invention;
FIG. 4 is a schematic structural view of a drug delivery unit according to the present invention;
FIG. 5 is a schematic view of a drug dissolution unit according to the present invention;
FIG. 6 is an enlarged view of reference character A in FIG. 5;
FIG. 7 is a view of the profile of the drive ring groove of the present invention.
In the figure: 11. a hull; 12. a drug addition unit; 13. a drug dissolution unit; 14. a medicament administration unit; a processor; 16. a navigation module; 17. an ultrasonic sensor; 18. a communication module; 19. a medicament addition port; 10. a medicament adding hopper; 21. a medicament addition tank; 22. a turntable; 23. a chemical addition tank; 24. a posture adjusting tube; 25. a water intake pipe; 26. a drug administration tube; 27. an electric telescopic rod; 28. stirring blades; 29. a dissolving tank; 20. a medicament inlet; 31, a stirring ring seat; 32. an outer ring gear; 33. a stirring motor; 34. a stirring gear; 35. a fixed disk mounting chamber; 36. an annular fixed disc; 37. a transmission ring groove; 38. a traverse block mounting chamber; 39. transversely moving the blocks; 30. a return spring; 41. a telescopic rod mounting chamber; 42. resetting the telescopic rod; 43. a slider; 44. a stirring rod; 45. scattering a material block; 46. and (4) a material scattering groove.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 and fig. 2, the unmanned ship for delivering chemical for water quality improvement according to the present embodiment includes:
a hull 11;
a chemical adding unit 12, the chemical adding unit 12 being mounted inside the hull 11;
a chemical dissolving unit 13, the chemical adding unit 13 being mounted in the hull 11, the chemical dissolving unit 13 being connected to the chemical adding unit 12;
a drug delivery unit 14, wherein the drug delivery unit 14 is mounted on the stern end of the hull 11, and the drug delivery unit 14 is connected to the drug dissolution unit 13;
and a processor 15, wherein the processor 15 is installed in the hull 11, and the drug adding unit 12, the drug dissolving unit 13, and the drug administering unit 14 are connected to the processor 15.
The working principle and the beneficial effects of the technical scheme are as follows:
the invention discloses a medicament feeding unmanned ship for water quality treatment, which is characterized in that a medicament is manually added into a medicament adding unit 12, the medicament adding unit 12 adds the medicament into a medicament dissolving unit 13, a processor 15 controls a ship body 11 to run to a preset position of a sewage river, the medicament dissolving unit 13 dissolves the medicament, and a medicament feeding unit 14 feeds the dissolved medicament into the sewage river for chemical treatment.
In one embodiment, the present invention further includes:
a navigation module 16, wherein the navigation module 16 is installed in the hull 11, and the navigation module 16 is connected with the processor 15;
the ultrasonic sensor 17 is mounted at the bow end of the ship body 11, and the ultrasonic sensor 17 is connected with the processor 15;
a communication module 18, wherein the communication module 18 is installed in the hull 11, and the communication module 18 is connected with the processor 15.
The working principle and the beneficial effects of the technical scheme are as follows:
the navigation module 16 is a GPS navigation module and can perform autonomous navigation and path planning of the unmanned ship, the ultrasonic sensor 17 is used to detect an obstacle at the front end of the ship body 11 in the driving direction, and the communication module 18 is used to connect the unmanned ship to a terminal.
As shown in fig. 3, in one embodiment of the present invention, the medicine adding unit 12 includes:
the drug adding port 19 is formed in the top end of the ship body 11, and a bin gate is installed on the drug adding port 19;
a chemical adding hopper 10, wherein the chemical adding hopper 10 is installed in the hull 11, and the top end of the chemical adding hopper 10 is connected with the chemical adding port 19;
the chemical adding box 21 is installed in the ship body 11, the bottom end of the chemical adding bucket 10 is communicated with the interior of the chemical adding box 21, and the end, far away from the chemical adding bucket 10, of the chemical adding box 21 is connected with the chemical dissolving unit 13;
the rotary table 22 is installed in the chemical adding box 21, and the inner wall of the chemical adding box 21 is matched with the outer surface of the rotary table 22;
the medicament adding grooves 23 are circumferentially arranged at the edge end of the rotary table 22, and the notch ends of the medicament adding grooves 23 are matched with the bottom end of the medicament adding hopper 10;
the first motor is arranged on the chemical adding box 21, the output end of the first motor extends into the chemical adding box 21 and is connected with the rotary disc 22, and the first motor is connected with the processor 15.
The working principle and the beneficial effects of the technical scheme are as follows:
it is artifical from the medicament add mouth 19 send into the medicament and add fill 10, under the action of gravity, the medicament is sent into in the medicament adds case 21, first motor rotates, thereby it rotates to drive the carousel 22 that is arranged in the medicament adds case 21, thereby it adds 23 periodic rotations in the groove to drive a plurality of medicaments that are arranged in on the carousel 22, when the medicament adds fill 10 to aim at medicament in the groove 23, the medicament flows into in the medicament adds the groove 23, when the medicament adds groove 23 and aims at medicament dissolving unit 13, the medicament falls into medicament dissolving unit 13, thereby realize the ration of medicament and add.
As shown in fig. 4, in one embodiment of the present invention, the medicament delivery unit 14 includes:
one end of the attitude adjusting pipe 24 is hinged to the tail end of the ship body 11;
the water taking pipe 25 is installed on the posture adjusting pipe 24, and a water taking hole is formed in the water taking pipe 25;
a plurality of chemical injection pipes 26 symmetrically installed on the posture adjustment pipe 24 with the water intake pipe 25 as a center, the chemical injection pipes 26 having a plurality of chemical injection holes formed at equal intervals;
one end of the electric telescopic rod 27 is hinged to the stern end of the ship body 11, the other end of the electric telescopic rod 27 is hinged to the attitude adjusting pipe 24, and the electric telescopic rod 27 is connected with the processor 15;
one end of the dosing pipe with the pump extends into the ship body 11 and is connected with the medicament dissolving unit 13, the other end of the dosing pipe with the pump extends into the posture adjusting pipe 24 and is connected with each medicament dosing pipe 26, and the dosing pipe with the pump is connected with the processor 15;
one end of the water taking pipe with the pump extends into the ship body 11 and is connected with the medicament dissolving unit 13, the other end of the water taking pipe with the pump extends into the posture adjusting pipe 24 and is connected with the water taking pipe 25, and the chemical dosing pipe with the pump is connected with the processor 15;
and a plurality of stirring blades 28 installed on the medicine injection tube 26, wherein each stirring blade 28 is located between two adjacent medicine injection holes and covers the medicine injection hole.
The working principle and the beneficial effects of the technical scheme are as follows:
the water intaking pipe with the pump dissolves unit 13 with sewage river interior sewage from the water intaking pipe suction medicament and is connected, thereby dissolve with likepowder medicament, the pipe 26 is thrown from the medicament to the medicament that dissolves in the unit 13 is dissolved to the pipe of throwing with the pump, the medicament is thrown the hole and is pumped, stirring vane 28 rotates, thereby evenly throw into the sewage river with the medicament, electric telescopic rod 27 works, thereby it turns over the motion to drive gesture adjustment pipe 24 and use its hinged end as the center at 11 ship tails of hull end, thereby realize the adjustment of 14 gestures of medicament delivery unit, and then evenly throw into the sewage river with the medicament.
In one embodiment of the present invention, a drug amount detector is installed on the drug adding hopper 10, and the drug amount detector is connected to the processor 15.
The beneficial effects of the above technical scheme are:
the drug amount detector is used for detecting the addition amount of the drug.
As shown in fig. 5 to 7, in one embodiment of the present invention, the medicine dissolving unit 13 includes:
the dissolving tank 29 is arranged in the ship body 11, and the dosing pipe with the pump and the water taking pipe with the pump are both connected with the dissolving tank 29;
a chemical inlet 20, wherein the chemical inlet 20 is opened at the top end of the dissolving tank 29, the chemical adding tank 21 is mounted at the top end of the dissolving tank 29, and the chemical adding tank 21 is connected with the chemical inlet 20 at the end far away from the chemical adding funnel 10;
the stirring ring seat 31 is positioned in the dissolving tank 29 and close to the top, and the inner ring end of the stirring ring seat 31 is connected with the medicament feeding port 20;
the outer gear ring 32, the outer gear ring 32 is mounted on the outer ring end of the stirring ring seat 31;
the stirring motor 33 is installed at the top end of the dissolving tank 29, and the output end of the stirring motor 33 extends into the dissolving tank 29;
the stirring gear 34 is positioned in the dissolving tank 29, the stirring gear 34 is installed at the output end of the stirring motor 33, and the stirring gear 34 is meshed with the outer gear ring 32;
the fixed disk mounting chamber 35 is arranged in the stirring ring seat 31, and the fixed disk mounting chamber 35 is arranged in the stirring ring seat 31;
an annular fixed disk 36, wherein the annular fixed disk 36 is installed in the fixed disk installation chamber 35;
one end of the fixing frame is connected to the top in the dissolving tank 29, and the other end of the fixing frame extends into the fixed disk mounting chamber 35 and is connected with the annular fixed disk 36;
the transmission ring groove 37 is arranged in a clover shape, and the transmission ring groove 37 is arranged at the bottom end of the annular fixed disk 36;
the two traverse block mounting chambers 38 are symmetrically arranged in the stirring ring seat 31, the traverse block mounting chambers 38 are positioned below the fixed disk mounting chamber 35, and the traverse block mounting chambers 38 are connected to the inner ring end of the stirring ring seat 31;
a traverse block 39, the traverse block 39 being installed in the traverse block installation chamber 38;
the return spring 30 is installed in the traverse block installation chamber 38, one end of the return spring 30 is connected with the traverse block 39, the other end of the return spring 30 is connected with the inner wall of the traverse block installation chamber 38, and the end, far away from the return spring 30, of the traverse block 39 extends into the inner ring end of the stirring ring seat 31;
the telescopic rod installation chamber 41 is arranged in the stirring ring seat 31, and the telescopic rod installation chamber 41 is communicated between the fixed disc installation chamber 35 and the transverse moving block installation chamber 38;
the middle part of the resetting telescopic rod 42 is hinged in the telescopic rod mounting chamber 41;
the sliding block 43 is connected in the transmission ring groove 37 in a limiting and sliding manner, one end of the resetting telescopic rod 42 is hinged with the sliding block 43, and the other end of the resetting telescopic rod 42 is hinged with the transverse moving block 39;
the two stirring rods 44 are symmetrically arranged below the stirring ring seat 31, a transverse moving groove is formed in the bottom end of the stirring ring seat 31, the bottom end of the transverse moving groove is communicated with the transverse moving block installation chamber 38, and the stirring rods 44 penetrate through the transverse moving groove and are connected with the transverse moving block 39.
The working principle and the beneficial effects of the technical scheme are as follows:
the stirring motor 33 installed on the top end of the dissolving tank 29 works to drive the stirring gear 34 installed on the output end of the stirring motor 33 to rotate in the dissolving tank 29, the stirring gear 34 drives the stirring ring seat 31 connected with the outer gear ring 32 to rotate on the medicament feeding port 20 through the outer gear ring 32, at this time, the annular fixed disk 36 located in the fixed disk installation chamber 35 is fixedly connected to the inner top of the dissolving tank 29 through the fixed frame, the sliding block 43 slides in the transmission ring groove 37, because the sliding block 43 slides in the transmission ring groove 37 in a limited manner, the sliding block 43 drives the transverse moving block 39 located in the transverse moving block installation chamber 38 to move along the telescopic direction of the return spring 30 through the reset telescopic rod 42 located in the telescopic rod installation chamber 41, namely, when the sliding block 43 slides to the low peak section of the transmission ring groove 37, the return spring 30 contracts, when the sliding block 43 slides to the high peak section of the transmission ring groove 37, the return spring 30 stretches, and further realize the transverse displacement of the transverse moving block 39 in the transverse moving block mounting chamber 38, and further realize the transverse displacement of the stirring rods 44 fixedly connected with the transverse moving block 39 in the dissolving box 29 along the slotting direction of the transverse moving groove, so that the two stirring rods 44 can circumferentially rotate along the central line of the stirring ring seat 31 along with the stirring ring seat 31 and simultaneously radially move along the stirring ring seat 31, further realize the multidirectional stirring of the medicament and water in the dissolving box 29, and improve the dissolving efficiency of the medicament.
In an embodiment of the present invention, the inner ring end of the stirring ring seat 31 is disposed in an inclined closing manner from bottom to top.
In one embodiment of the present invention, the stirring rod 44 is connected to the traverse groove in a limited sliding manner.
In one embodiment provided by the present invention, the medicine dissolving unit 13 further includes:
the material scattering block 45 is fixedly connected to the inner ring end of the stirring ring seat 31, and the top end of the material scattering block 45 is arranged in a semi-elliptical shape;
a plurality of material scattering grooves 46 are circumferentially arranged at the side end of the material scattering block 45, and the bottom ends of the material scattering grooves 46 are arranged in parallel to the inner ring end of the stirring ring seat 31.
The working principle and the beneficial effects of the technical scheme are as follows:
the chemicals drop from the chemical inlet 20 to the inner ring end of the mixing ring seat 31 and drop to the top of the material scattering block 45, and then drop from the material scattering groove 46 located at the side end of the material scattering block 45 to the dissolving tank 29, and the mixing rod 44 moves left and right, so that the chemicals dispersed through the material scattering groove 46 are uniformly scattered on the mixing rod 44.
In one embodiment of the present invention, the communication module 18 transmits the remaining power of the hull 11, the real-time position of the hull 11 detected by the navigation module 16, the remaining amount and the dispensing amount of the medicament detected by the medicament amount detector, and the information of the dispensing area where the hull 11 is located to the processor 15 in real time;
the processor 15 compares the waters topography map of prestoring, utilizes navigation module 16, ultrasonic sensor 17 and gyroscope's real-time feedback data to plan and real-time adjustment the navigation route of hull 11 to the people can independently control hull 11 and return the journey under the electric quantity of hull 11 is not enough or the artificial control condition, the treater passes through the control of dose detector and the control of taking water pipe realization medicine concentration in dissolving tank 29 of taking the pump, microprocessor realizes the control of medicine input volume through taking the pump to throw the medicine pipe. The processor 15 has a global path planning algorithm built therein, and the expression is:
f(n)＝g(n)+h(n)
where f (n) is the minimum distance estimate from the initial state to the target state via state n; g (n) is the minimum distance in the state space from the initial state to state n; h (n) is the minimum estimated distance of the path from state n to the target state;
h(n)＝sqrt(dx2+dy2)
wherein sqrt is an open square function; dx and dy are the horizontal and vertical distances from point n to the end point.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (9)
1. A medicament delivery unmanned ship for water quality treatment, comprising:
a hull (11);
a drug addition unit (12), the drug addition unit (12) being mounted within the hull (11);
a drug dissolving unit (13), wherein the drug adding unit (13) is installed in the ship body (11), and the drug dissolving unit (13) is connected with the drug adding unit (12);
a medicament injection unit (14), wherein the medicament injection unit (14) is mounted at the stern end of the ship body (11), and the medicament injection unit (14) is connected with the medicament dissolution unit (13);
a processor (15), wherein the processor (15) is installed in the hull (11), and the medicament adding unit (12), the medicament dissolving unit (13), and the medicament dispensing unit (14) are all connected with the processor (15).
2. A chemical delivery unmanned ship for water treatment according to claim 1, further comprising:
a navigation module (16), the navigation module (16) being mounted within the hull (11), the navigation module (16) being connected to the processor (15);
the ultrasonic sensor (17), the ultrasonic sensor (17) is installed at the bow end of the ship body (11), and the ultrasonic sensor (17) is connected with the processor (15);
a communication module (18), the communication module (18) being mounted within the hull (11), the communication module (18) being connected to the processor (15).
3. A chemical agent delivery unmanned ship for water quality control according to claim 1, wherein the chemical agent addition unit (12) comprises:
the drug adding port (19) is formed in the top end of the ship body (11), and a bin gate is installed on the drug adding port (19);
a medicament adding hopper (10), wherein the medicament adding hopper (10) is installed in the ship body (11), and the top end of the medicament adding hopper (10) is connected with the medicament adding port (19);
the chemical adding box (21) is installed in the ship body (11), the bottom end of the chemical adding hopper (10) is communicated with the interior of the chemical adding box (21), and the end, far away from the chemical adding hopper (10), of the chemical adding box (21) is connected with the chemical dissolving unit (13);
the rotary disc (22), the rotary disc (22) is installed in the chemical adding box (21), and the inner wall of the chemical adding box (21) is matched with the outer surface of the rotary disc (22) in arrangement;
the medicine adding grooves (23) are circumferentially arranged at the edge end of the rotary table (22), and the notch ends of the medicine adding grooves (23) are suitable for being arranged at the bottom end of the medicine adding hopper (10);
the first motor is installed on the medicine adding box (21), the output end of the first motor extends into the medicine adding box (21) and is connected with the rotary disc (22), and the first motor is connected with the processor (15).
4. A chemical delivery unmanned ship for water quality treatment according to claim 1, wherein the chemical delivery unit (14) comprises:
one end of the attitude adjusting pipe (24) is hinged to the tail end of the ship body (11);
the water taking pipe (25) is installed on the posture adjusting pipe (24), and a water taking hole is formed in the water taking pipe (25);
the plurality of the medicament feeding pipes (26) are symmetrically arranged on the posture adjusting pipe (24) by taking the water taking pipe (25) as a center, and a plurality of medicament feeding holes are formed in the medicament feeding pipes (26) at equal intervals;
one end of the electric telescopic rod (27) is hinged with the stern end of the ship body (11), the other end of the electric telescopic rod (27) is hinged with the attitude adjusting pipe (24), and the electric telescopic rod (27) is connected with the processor (15);
one end of the dosing pipe with the pump extends into the ship body (11) and is connected with the medicament dissolving unit (13), the other end of the dosing pipe with the pump extends into the posture adjusting pipe (24) and is connected with each medicament dosing pipe (26), and the dosing pipe with the pump is connected with the processor (15);
one end of the water taking pipe with the pump extends into the ship body (11) and is connected with the medicament dissolving unit (13), the other end of the water taking pipe with the pump extends into the posture adjusting pipe (24) and is connected with the water taking pipe (25), and the dosing pipe with the pump is connected with the processor (15);
the stirring blades (28) are arranged on the medicine throwing pipe (26), and each stirring blade (28) is positioned between two adjacent medicine throwing holes and covers the medicine throwing holes.
5. The unmanned ship for water quality control of claim 3, wherein the drug adding hopper (10) is provided with a drug amount detector, and the drug amount detector is connected with the processor (15).
6. A chemical agent delivery unmanned ship for water quality control according to claim 3, wherein the chemical agent dissolving unit (13) comprises:
the dissolving tank (29) is arranged in the ship body (11), and the dosing pipe with the pump and the water taking pipe with the pump are connected with the dissolving tank (29);
the medicine feeding port (20), the medicine feeding port (20) is arranged at the top end of the dissolving box (29), the medicine adding box (21) is arranged at the top end of the dissolving box (29), and the end, far away from the medicine adding hopper (10), of the medicine adding box (21) is connected with the medicine feeding port (20);
the stirring ring seat (31) is positioned in the dissolving tank (29) and close to the top, and the inner ring end of the stirring ring seat (31) is connected with the medicament feeding port (20);
the outer gear ring (32), the outer gear ring (32) is installed at the outer ring end of the stirring ring seat (31);
the stirring motor (33), the stirring motor (33) is installed at the top end of the dissolving tank (29), and the output end of the stirring motor (33) extends into the dissolving tank (29);
the stirring gear (34) is positioned in the dissolving tank (29), the stirring gear (34) is installed at the output end of the stirring motor (33), and the stirring gear (34) is meshed with the outer gear ring (32);
the fixed disk mounting chamber (35) is arranged in the stirring ring seat (31);
the annular fixed disc (36), the said annular fixed disc (36) is installed in said fixed disc installation chamber (35);
one end of the fixing frame is connected to the top in the dissolving box (29), and the other end of the fixing frame extends into the fixed disc mounting chamber (35) and is connected with the annular fixed disc (36);
the transmission ring groove (37), the transmission ring groove (37) is arranged in a clover shape, and the transmission ring groove (37) is arranged at the bottom end of the annular fixed disk (36);
the two traverse block mounting chambers (38) are symmetrically arranged in the stirring ring seat (31), the traverse block mounting chambers (38) are positioned below the fixed disc mounting chamber (35), and the traverse block mounting chambers (38) are connected to the inner ring end of the stirring ring seat (31);
a traverse block (39), the traverse block (39) being installed in the traverse block installation chamber (38);
the return spring (30) is installed in the transverse moving block installation chamber (38), one end of the return spring (30) is connected with the transverse moving block (39), the other end of the return spring (30) is connected with the inner wall of the transverse moving block installation chamber (38), and the end, far away from the return spring (30), of the transverse moving block (39) extends into the inner ring end of the stirring ring seat (31);
the telescopic rod mounting chamber (41) is arranged in the stirring ring seat (31), and the telescopic rod mounting chamber (41) is communicated between the fixed disc mounting chamber (35) and the transverse moving block mounting chamber (38);
the middle part of the resetting telescopic rod (42) is hinged in the telescopic rod mounting chamber (41);
the sliding block (43) is connected in the transmission ring groove (37) in a limiting and sliding mode, one end of the reset telescopic rod (42) is hinged to the sliding block (43), and the other end of the reset telescopic rod (42) is hinged to the transverse moving block (39);
the two stirring rods (44) are symmetrically arranged below the stirring ring seat (31), a transverse moving groove is formed in the bottom end of the stirring ring seat (31), the bottom end of the transverse moving groove is communicated with the inside of the transverse moving block installation chamber (38), and the stirring rods (44) penetrate through the transverse moving groove and are connected with the transverse moving block (39).
7. The unmanned ship for putting medicaments for water quality treatment according to claim 6, wherein the inner ring end of the stirring ring seat (31) is in an inclined closing-up arrangement from bottom to top.
8. A chemical delivery unmanned ship for water treatment as claimed in claim 6, wherein the stirring rod (44) is connected in the traverse groove in a limited sliding manner.
9. A chemical agent delivery unmanned ship for water quality control according to claim 7, wherein the chemical agent dissolving unit (13) further comprises:
the material scattering block (45) is fixedly connected to the inner ring end of the stirring ring seat (31), and the top end of the material scattering block (45) is arranged in a semi-elliptical shape;
the material scattering grooves (46) are circumferentially arranged at the side ends of the material scattering blocks (45), and the bottom ends of the material scattering grooves (46) are parallel to the inner ring end of the stirring ring seat (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111522496.5A CN114192039A (en) | 2021-12-13 | 2021-12-13 | A medicament puts in unmanned ship for water quality control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111522496.5A CN114192039A (en) | 2021-12-13 | 2021-12-13 | A medicament puts in unmanned ship for water quality control |
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| Publication Number | Publication Date |
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| CN114192039A true CN114192039A (en) | 2022-03-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111522496.5A Withdrawn CN114192039A (en) | 2021-12-13 | 2021-12-13 | A medicament puts in unmanned ship for water quality control |
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| Country | Link |
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| CN (1) | CN114192039A (en) |
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