CN115340190A - Intelligent ecological floating island device capable of autonomously selecting and purifying water area - Google Patents
Intelligent ecological floating island device capable of autonomously selecting and purifying water area Download PDFInfo
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- C02F3/00—Biological treatment of water, waste water, or sewage
- C02F3/32—Biological treatment of water, waste water, or sewage characterised by the animals or plants used, e.g. algae
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- C—CHEMISTRY; METALLURGY
- C02—TREATMENT OF WATER, WASTE WATER, SEWAGE, OR SLUDGE
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- C02F2209/00—Controlling or monitoring parameters in water treatment
- C02F2209/005—Processes using a programmable logic controller [PLC]
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Abstract
The invention provides an intelligent ecological floating island device capable of autonomously selecting and purifying water areas, which comprises: the system comprises a main control unit, a power supply unit, a propulsion unit, an anchoring unit, a monitoring unit, a communication unit, a positioning unit, upper computer software and a cloud platform, wherein the main control unit plans a movement route, reads sensor data, evaluates the water quality condition and controls the floating island to move; the propelling unit adjusts the rotating speed of propellers at two sides to make the floating island move forward, backward or turn; an iron anchor is suspended by a motor through a thin rope to form an anchoring unit; a floating bed is used for carrying plants to form a purification device for purifying the water body; the positioning unit realizes positioning, cruising and obstacle avoidance. The invention has the beneficial effects that: the problems that the traditional ecological floating island is not easy to be standardized and popularized, the mechanical operation degree is low, the manufacturing construction period is long and the like are solved, and a low-energy-consumption clean environment-friendly treatment mode is provided for the treatment of the eutrophic water body in China.
Description
Technical Field
The invention relates to the technical field of resources and environment, in particular to an intelligent ecological floating island device capable of autonomously selecting and purifying a water area.
Background
With the rapid development of economy, the problem of water environment pollution in China is increasingly serious, and the problems of water quality deterioration and eutrophication in lakes, reservoirs, ponds and the like are increasingly prominent. At present, the treatment mode with high cost, high energy consumption and low automation degree is basically adopted in the field of water quality treatment of the above-mentioned static water environment in China, wherein the main representatives are as follows: the method comprises the steps of putting extensive chemical reagents, paving water purifying equipment with large area and high energy consumption and planting fixed aquatic plants. The traditional water purification mode can not meet the requirement of people on low-carbon and high-efficiency water purification in actual life. At present, the research and the application of the water quality treatment engineering of China on the mobile ecological floating island are still relatively insufficient. In the treatment process, considering that pollutants may diffuse and migrate along with water flow, the floating island coverage area needs to reach more than 30% of the water surface to achieve a certain purification effect. Therefore, the market puts forward the need of improving the treatment efficiency of the floating island, meeting the social sustainable development and improving the treatment benefit by using the ecological lever with low energy consumption.
Disclosure of Invention
In order to solve the problems, the invention provides an intelligent ecological floating island device capable of autonomously selecting and purifying water areas, which integrates the fields of ecology, automatic design, mechanical design and computer programs, so that the ecological management work of the water areas is more economical, flexible and intelligent, and the development requirements of the modern society are met.
The intelligent ecological floating island device comprises a main control unit, a power supply unit, a propelling unit, an anchoring unit, a monitoring unit, a communication unit, a positioning unit, upper computer software and a cloud platform, wherein the propelling unit comprises a propeller, and comprises an iron anchor, a speed reducing motor and an ultrasonic receiving and transmitting device;
starting up the upper computer, initializing the system, obtaining the raster data of the shape of the water area to be treated through a remote sensing or geographic information database, and inputting the data into the software of the upper computer; calculating to obtain an s-shaped optimal path by using a traversal algorithm in the upper computer software according to the longitude and latitude information of the target water area, and sending the optimal path to the floating island main control unit through the cloud platform;
the main control unit starts the propellers at the two sides and starts to slowly cruise; in the navigation process, the main control unit compares the current position acquired by the positioning unit with a preset track in real time, and if the floating island track deviates, the track is corrected through a control algorithm; the ultrasonic transceiver on the side of the floating island detects obstacles in the moving process of the floating island and realizes autonomous obstacle avoidance under the control of the main control unit; the main control unit controls the speed by adjusting the rotating speed of propellers on two sides of the floating island and realizes steering by using differential speed;
when the floating island moves, the monitoring unit reads water quality data in real time, and a built-in program of the main control unit judges the water quality condition; when the main control unit judges that the water quality score is inferior to the threshold value, the propeller is closed, and the system judges to start treatment;
before anchoring, an ultrasonic receiving and transmitting device on the floating island transmits a signal to the water bottom to measure the water depth d, and a main control unit determines the anchoring length and simultaneously deals with the rising of the water level;
after the anchor is released, the ultrasonic transceiver measures the water depth once every half of the time, and when the water level is detected to rise or fall, the main control unit controls the motor to adjust the length of the released anchor rope;
after the floating island is stopped, the detection unit collects water quality information every 4 hours, and when the water quality is continuously collected for multiple times and is better than a threshold value, the main control unit controls the speed reduction motor to lift the iron anchor to the bottom of the floating island; the main control unit controls the propeller to start, and the floating island continuously traverses the rest water area along the original fixed track until the treatment of the whole water area is completed; the communication unit is adopted in the whole process to upload the water quality and the position coordinates to the cloud platform, and a user can check data and issue an instruction after logging in the cloud platform through the terminal, so that the functions of one-key recall and going to a specific position can be realized.
Furthermore, the main control unit adopts an STM32F103C8T6 single chip microcomputer and is used for planning a movement route, reading sensor data, evaluating the water quality condition and controlling the movement of the floating island.
Furthermore, the anchoring unit comprises a direct current motor with a reduction box and a power-off brake, the power-off brake and the reduction box are connected to a rotating shaft of the direct current motor, the power-off brake comprises a transmission shaft, an armature, a brake disc, a spring and a flange disc, the iron anchor is a spherical iron anchor with the anchor weight of 50kg, the spherical iron anchor is fixed in a liftable iron anchor fixing mode, the direct current motor with the reduction box is used for traction, and the radius of the transmission shaft is maximally 3cm; the speed reducing motor is a 42GX775R speed reducing motor with rated torque of 45 kg-cm, rated rotating speed of 15R/min and power of 28W; the ultrasonic transceiver transmits a signal to the water bottom, and measures the water depth d, so as to determine the anchor releasing length; the iron anchor is prevented from falling down when the direct current motor is stopped by the power-off brake, the armature is attracted and separated from the brake disc when the power-off brake is powered on, the transmission shaft can normally rotate, electromagnetic force disappears when the direct current motor is powered off, the armature is pressed by the spring under the action of the power-off brake, and friction torque is generated between the brake disc, the armature and the flange disc to prevent the iron anchor from falling down.
Furthermore, the propulsion unit adopts a T60 underwater propeller, the propeller adopts a 2216 direct current brushless motor, the single thrust is 1.65-2.1 kg, the maximum outer diameter of the propeller is 77mm, the total length is 92mm, and the propeller is used for adjusting the rotating speed of propellers at two sides to enable the floating island to move forwards, backwards or turn.
Furthermore, the power supply unit adopts a solar panel to convert light energy into electric energy, the electric energy is stored in a lithium battery, and the output of the lithium battery supplies power to all electronic equipment on the floating island after passing through the overvoltage conversion circuit.
Furthermore, the solar cell panel adopts a panel with 50W power, the area is 640mm-530mm, the battery is selected, a lithium battery is adopted, and the size of the battery is selected to be 12.6V/20A.
Furthermore, the monitoring unit comprises five water quality monitoring sensors, a sensor protection device and a signal processing circuit, wherein the sensor protection device comprises a probe externally attached protective shell, specifically, the height of the inner cylinder is 20cm, the diameter of the inner cylinder is 10cm, 2mm inner diameter holes are uniformly distributed below the cylinder wall, the bottom cover of the inner cylinder can be rotated open, and 2mm inner diameter holes are uniformly distributed; the inner cylinder is directly fixed below the equipment main body, and plays a role in filtering sediment and suspended matters; the outer cylinder is connected with the equipment main body through an ABS bearing and mainly plays a role in protecting the sensor from water flow impact; the height is 50cm, the diameter is 20cm, the asymmetric arc plates with equal height are attached to the outside, holes with the diameter of 10mm are uniformly distributed on the periphery of the outer cylinder, the bottom cover can be unscrewed, and the holes with the diameter of 20mm are designed for silt to leave the protective shell under the action of gravity; this casing is the double-deck nested cask of inside and outside cloth hole, and this cask material is ABS plastics, can be under the chinampa motion condition, and the impulse that will remove in-process rivers and bring through rotatory mode turns into the rotation vector and offsets the impact of rivers to the sensor when the low-speed removes, can effectively play the effect of monitoring the sensor in the guard period.
Furthermore, the communication unit adopts a BC26 module carrying a narrow-band Internet of things technology to output and input information, adopts an MQTT protocol, supports China Mobile, china telecom, oneNet/Andlink and Aliyun IoT cloud platforms, packages and sends water quality information and position coordinates to the cloud platform, and a user can check data or send an instruction to the floating island after logging in the cloud platform on terminal equipment, so that bidirectional data transmission between the floating island and the terminal is realized.
Furthermore, the positioning unit selects an ATK-S1216F8-BD GPS/Beidou module to acquire longitude and latitude information, and supports various communication baud rates and positioning accuracy of 2.5mCEP.
Furthermore, before the operation of the software of the upper computer, grid data of the shape of the water area to be treated is obtained through remote sensing or a geographic information database, a row number and a column number are arranged in the water area with a certain size and square, the upper computer traverses all grids of the water area line by line to plan an advancing route of the floating island, and then the upper computer forwards the obtained route to the floating island through the cloud platform of the internet of things.
The technical scheme provided by the invention has the beneficial effects that: the device has the advantages of ingenious design, convenient operation, low energy consumption, low wear rate under normal use, low return and high yield and the like. The invention can realize the simultaneous monitoring and water area treatment. Compared with the defects of large water area occupation, low automation degree, difficult standardized popularization and the like of the traditional floating island and the problems of large chemical reagent feeding side effect, low economic benefit of physical extraction treatment and the like, the method can treat the eutrophic water body to a certain extent within acceptable time on the premise of not generating secondary pollutants. Provides an effective device and method for treating water body ground of lakes, reservoirs, ponds and the like which are widely existed in China and are easy to cause eutrophication.
Drawings
The invention will be further described with reference to the following drawings and examples, in which:
fig. 1 is a 3D model diagram of a floating island according to an embodiment of the present invention.
Fig. 2 is a three-dimensional view of a floating island in an embodiment of the invention.
Fig. 3 is a system composition diagram of a floating island in an embodiment of the invention.
Fig. 4 is a flow chart of the operation of the floating island in the embodiment of the invention.
Detailed Description
For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.
The embodiment of the invention provides an intelligent ecological floating island device, equipment and storage equipment capable of autonomously selecting and purifying a water area.
Referring to fig. 1, fig. 1 is a flowchart of an intelligent ecological floating island device capable of autonomously selecting and purifying a water area according to an embodiment of the present invention, which specifically includes:
according to the attached figure 1, the intelligent ecological floating island device capable of autonomously moving and selecting a purification area comprises: the system comprises a main control unit 1, a power supply unit 2, a propulsion unit 3, an anchoring unit 4, a monitoring unit 5 (including a sensor protection device), a water quality repairing unit 6, a communication unit 7, a positioning unit 8, a waterproof unit 9, a cloud platform 10 and upper computer software 11.
The main control unit 1: the method is used for planning a movement route, reading sensor data, evaluating the water quality condition and controlling the movement of the floating island. By comprehensively considering the number of I/O ports, the number of interrupts, the data processing frequency, the serial port resource, the compatibility with other modules and other performance requirements, and then integrating the factors such as equipment cost, development difficulty and the like, the STM32F103C8T6 single chip microcomputer with high performance, low power consumption and low cost is selected as a main control unit, the main control unit adopts a 32-bit MCU of an ARM Cortex-M3 kernel, the 72MHz main frequency can provide enough instruction execution speed, 64K Flash can store enough codes, 37 GPIOs can meet the use requirements of various units such as a water quality sensor, a motor, a TIM-IoT module, a GPS module, an ultrasonic sensor and the like, 2 12-bit ADCs can convert analog signals acquired by the sensor into digital signals, and 4 16-bit timers, wherein 1 can generate PWM output for controlling the motor, 16-bit kernels and 68 external interrupts can provide enough event processing capability, and the chip supports the working temperature of-40-85 ℃, and can fully adapt to the outdoor working environment.
The power supply unit 2: the solar panel and the lithium battery are powered in a mixed mode, so that the adaptability and the cruising ability in complex weather are enhanced; the solar cell panel is adopted to convert the light energy into the electric energy which is stored in the lithium battery, and the output of the lithium battery supplies power to all electronic equipment on the floating island after passing through the overvoltage conversion circuit. In the selection of the solar cell panel, the contradiction between the generating power and the occupied area is balanced, so that the generating power is matched with the power consumption of the floating island and the battery capacity, and the excessive occupied area of the floating island is avoided. Theoretical calculation and experimental tests prove that in the embodiment, the solar cell panel adopts a 50W power cell panel, the area is 640mm × 530mm, and the sufficient power generation power is ensured while the solar cell panel occupies a small area. In the aspect of battery selection, a lithium battery is adopted, and experimental tests and theoretical measurement show that the battery size is 12.6V \20A, so that sufficient endurance can be ensured. Meanwhile, a power supply control unit is arranged on the floating island to manage the charging and discharging of the battery, so that the dangers of overcharge, overdischarge, overcurrent, short circuit and the like can be effectively avoided.
The propulsion unit 3: the T60 underwater propeller is adopted, the propeller is driven by the motor to rotate to provide power for the floating island, and the power is used for adjusting the rotating speed of the propellers at two sides to enable the floating island to move forwards, backwards or steer; the propeller adopts a 2216 direct current brushless motor, the single thrust is 1.65-2.1 kg, the power is small, and the control is convenient. The maximum outer diameter of the propeller is 77mm, and the total length is 92mm.
The anchoring unit 4: the brake comprises a direct current motor with a reduction box and a power-off brake, wherein the power-off brake and the reduction box are connected to a rotating shaft of the direct current motor, and the power-off brake comprises a transmission shaft, an armature, a brake disc, a spring and a flange disc. The ship anchor is fixed by adopting a lifting iron anchor fixing mode, and the direct current motor is used for suspending the iron anchor through a thin rope to form the ship anchor. In the embodiment, in the application scene of a common lake, in order to prevent the ship anchor from being hung by sundries such as branches under water, a spherical iron anchor with the anchor weight of 50kg is adopted. The direct current motor with a reduction box is used for traction, the maximum radius of a transmission rotating shaft is 3cm, and a 42GX775R reduction motor with the rated torque of 45kg cm, the rated rotating speed of 15R/min and the power of 28W is selected. An ultrasonic transceiver is arranged to transmit signals to the water bottom and measure the water depth d, so that the anchoring length is determined. The iron anchor is prevented from dropping when the motor is stopped by adopting the power-off brake. When the power-off brake is switched on, the armature is attracted and separated from the brake disc, the transmission shaft can normally rotate, when the power-off brake is switched off, the electromagnetic force disappears, the spring presses the armature, and friction torque is generated between the brake disc, the armature and the flange disc to prevent an iron ball from falling. The floating island is prevented from shifting due to the influence of wind, water flow and water level fluctuation, and the target water surface can be accurately controlled.
The monitoring unit 5: the system comprises five water quality monitoring sensors, a sensor protection device and a signal processing circuit; the sensors are arranged according to a five-point sampling method, and monitoring points are arranged around and in the center of the floating island. The value of the monitoring result is averaged by five sensors, thereby increasing the accuracy and reliability of water quality monitoring. The method can be flexibly selected according to factors such as indexes to be monitored, economic cost, sensitivity, durability in different scenes, compatibility with a main control unit and the like. The monitoring sensor is externally attached with a protective shell, and the protection grade is IP68. The probe is externally attached with a protective shell design: the height of the inner cylinder is 20cm, the diameter of the inner cylinder is 10cm, 2mm inner diameter holes are uniformly distributed below the cylinder wall, and a cover at the bottom of the inner cylinder can be unscrewed and is uniformly distributed with 2mm inner diameter holes. The inner cylinder is directly fixed below the main body of the equipment, and plays a role in filtering silt and suspended matters. The height of the outer cylinder is 50cm, the diameter of the outer cylinder is 20cm, the outer cylinder is connected with the equipment main body through an ABS bearing, the sensor is mainly protected from being impacted by water flow, asymmetric arc plates with the same height as that shown in figure 1 are attached to the outer cylinder, holes with the diameter of 10mm are uniformly distributed on the periphery of the outer cylinder, the bottom cover can be unscrewed, and holes with the diameter of 20mm are designed for enabling silt to leave the protective shell under the action of gravity. The shell is a double-layer nested barrel with inner and outer holes. The barrel is made of ABS plastic, and impulse caused by water flow in the moving process can be converted into rotation quantity in a rotating mode under the condition of motion of the floating island to offset impact of the water flow on the sensor when the floating island moves at a low speed. Through scientific experiments, the effect of monitoring the sensor in the protection period can be effectively achieved. In this embodiment, the self-cleaning wide-range COD sensor (Y551-C) is selected depending on the target treatment object COD. The sensitivity of the sensor is equal to or less than 5 percent, and through scientific experiments, the working time of the sensor can meet the requirement under the working condition.
Water quality restoration unit 6: purifying the water body by the plants carried by the floating bed; according to the overall requirements of monitoring and governing work, the working environment of the current working water area, governing targets, planning and the like, and considering salinity resistance, pollution resistance and the like of the aquatic plants, the appropriate aquatic plants are selected and planted in the period of relatively stable growth. In the embodiment, the aquatic plant of the water spinach is selected to carry out scientific experiments aiming at pollution indexes such as COD, TP, ammonia nitrogen and the like. Through scientific experiments, the water spinach can grow and work well in the eutrophic water environment with the temperature of 20 ℃ of the water quality of raw water, the pH value of 7.90, the Total Phosphorus (TP) of 0.82mg/L and the NH4+ -N of 1.32mg/L, thereby achieving the expected effect of the experiments and meeting the relevant regulations. The water spinach is rich in available substances such as vitamin B, vitamin C, lignin and the like, and can be extracted and utilized after being properly treated, so that the economic benefit of the ecological floating island is improved.
The communication unit 7: by comprehensively considering aspects such as data stability, real-time performance, module power consumption, communication conditions and cost of a working environment, the BC26 module carrying a narrowband internet of things (NB-IoT) is adopted in the embodiment, and an MQTT protocol is adopted to support china mobile, china telecom, oneNET/Andlink, and aristo IoT internet of things cloud platforms. The water quality information and the position coordinates are packaged and sent to the cloud platform, and a user can check data or send an instruction to the floating island after logging in the cloud platform on the terminal device, so that bidirectional data transmission between the floating island and the terminal is realized. After a plurality of tests, the communication unit runs stably and can complete the target task.
The positioning unit 8: by considering factors such as positioning precision, power consumption, module compatibility, development difficulty and cost, the positioning unit is formed by a GPS and an ultrasonic distance meter and is used for realizing positioning, cruising and obstacle avoidance; an ATK-S1216F8-BD GPS/Beidou module is selected to acquire longitude and latitude information, the positioning unit is a GPS/Beidou dual-mode positioning module, the size is 25mm and 27mm, various communication baud rates are supported, the positioning accuracy is 2.5mCEP, and experimental tests show that the positioning unit is stable in performance, low in power consumption, good in compatibility and capable of completing tasks.
The waterproof unit 9: measures such as waterproof shells, glue pouring sealing, waterproof adhesive tape wrapping and the like are adopted for the control cabinet, the circuit board and the joints;
the cloud platform 10: and the Internet of things cloud platform is provided by an operator.
The upper computer software 11: the method is used for planning the flight path of the floating island; before the intelligent ecological floating island operates, grid data of the shape of a water area to be treated is obtained through a remote sensing or geographic information database, a row number and a column number are arranged in the water area of a certain size square, and the data form input into upper computer software is the grid data. And the upper computer traverses all the water area grids line by line and plans an advancing route of the floating island. And then the upper computer forwards the obtained route to the floating island through the Internet of things cloud platform. Through computer simulation test, the program can complete route planning of water areas of different shapes and sizes and complete transmission. In the embodiment, in the aspect of user terminal control, after the current position and the target point position are determined by adopting a calculation mode based on Qt development and a Floyd algorithm, the shortest cruising path is calculated according to the coordinate information of the water area, and then the shortest cruising path is sent to the floating island through the internet of things cloud platform.
The floating bed main part bears equipment and plant. The matrix is made of ABS plastic, and the overall area of the equipment needs to be comprehensively considered, such as the area of the water area to be treated, hydrodynamic factors during movement, transportability and the like (in the embodiment, the overall design specification of the equipment is 3 x 3m under the condition that the area of the water area to be treated is 100 mu).
The method is characterized in that a floating island main body is manufactured (in an example, the whole floating island is made of ABS materials, the length and the width of the main body are 3m, the height is 0.5m, the wall thickness is 0.03cm, the inside is hollow and closed, a middle main body 2 x 3m of the floating island is 1m, detachable ABS plastic blocks are formed on two sides, the length is 0.375m, the height is 0.5m, the inside is hollow and closed, buckles are arranged on the periphery of the middle main body and can be connected with one another, the floating island main body can provide buoyancy of more than 18000N, the mode of connecting and forming modules is increased through connecting bayonets, the buoyancy of the floating island is increased, a heavy anchor and a motor part are supported by the floating island, and ABS plastics are filled on the lower part.
After the selection of the above-mentioned units is completed, the assembly of the members and the floating island body is performed according to fig. 1 and 1. In this embodiment, the substrate is made of ABS plastic. The small grids on the two sides can be detached and additionally arranged, so that the area of the floating island can be flexibly adjusted; the bottom parts of the two sides of the floating island are respectively provided with a propeller thruster; a hole is formed in the center of the floating bed, a 50kg weight ball is hung through a lifting rope to serve as a ship anchor, and the other end of the lifting rope is pulled by a reducing motor with a power-off brake; the solar cell panel, the lithium battery and the control cabinet are arranged in the middle of the floating island, and a main circuit of the main control unit and the floating island is arranged in the control cabinet; the sensors are arranged at the four corners and the center of the lower side of the floating island according to a five-point sampling method. The sensor is covered with the protective housing, and the protective housing is divided into an inner layer and an outer layer. The specific distribution of the components on the floating island body is shown in fig. 1 and 2. The operation of each part of the floating island is shown in figure 3. After the main control unit, the power supply unit, the propulsion unit, the anchoring unit, the monitoring unit (including the sensor protection device), the communication unit, the positioning unit, the waterproof device and the upper computer software are assembled, appropriate aquatic plants are selected according to target treatment objects, and reasonable point location planting is carried out.
After the assembly of the floating island is completed, according to a target treatment object, a treatment scheme is formulated by professionals according to specific conditions, appropriate aquatic plants are selected, and reasonable point positions are planted. The staff weighs the whole equipment, and compares the weighed whole equipment with the calculated predicted buoyancy to judge whether the hollow plastic composition unit needs to be added, in the example, when the gravity buoyancy threshold value is calculated, the gravity is not more than 70% of the buoyancy before launching. And (4) carrying out final inspection and debugging on the equipment by the staff, and launching the equipment. After the device is launched and started, the floating island executes the following working procedures according to fig. 4:
(1) Starting up the system, initializing the system, obtaining the raster data of the water area shape to be treated through remote sensing or a geographic information database, and inputting the data into an upper computer. And the upper computer calculates an s-shaped optimal path according to the longitude and latitude information of the target water area by using a traversal algorithm, and sends the optimal path to the floating island main control unit through the cloud platform.
(2) The main control unit starts the propulsion motors at the two sides and starts to slowly cruise. And in the navigation process, the main control unit compares the current position acquired by the GPS with a preset track in real time, and if the track of the floating island deviates, the track is corrected through a control algorithm. The ultrasonic transceiver on the side of the floating island can detect obstacles in the moving process of the floating island, and autonomous obstacle avoidance is realized under the control of the main control unit. The main control unit controls the speed by adjusting the rotating speed of the propellers at the two sides of the floating island and realizes steering by using differential speed.
(3) The floating island can read water quality data in real time while moving, and a program built in the main control unit judges the water quality condition. When the main control unit judges that the water quality score is less than the threshold value, the propeller is closed, and the system judges to start treatment.
(4) Before anchoring, an ultrasonic transceiver on the floating island transmits a signal to the water bottom to measure the water depth d, the main control unit determines the anchoring length, and the length is 1.1-1.3 d to ensure that an iron ball touches the bottom and simultaneously cope with the water level rising.
(5) After anchoring, the ultrasonic transceiver measures the water depth once every half of the time, and when the water level is detected to rise or fall, the main control unit controls the motor to adjust the length of the released anchor rope.
(6) After the floating island is stopped, the monitoring sensor collects water quality information every 4 hours, and when the water quality is better than a threshold value for 6 times continuously, the main control unit controls the speed reduction motor to lift the iron ball to the bottom of the floating island (after the motor is powered off, the iron ball cannot fall under the action of the power-off brake).
(7) The main control unit controls the propeller to start, and the floating island continuously traverses the rest water area along the original fixed track until the treatment of the whole water area is completed.
(8) The NB-IoT module is adopted in the whole process to upload the water quality and the position coordinates to the cloud, a user can check data and issue instructions after logging in a cloud platform, and the functions of one-key recall, going to a specific position and the like can be achieved.
Note that the above parameters are based only on the particular equipment used in the example for the example water area remediation, which may actually require a professional to determine based on the remediation monitoring objective.
The invention has the beneficial effects that: the device has the advantages of ingenious design, convenient operation, low energy consumption, low wear rate under normal use, low return and high yield and the like. The invention can realize the simultaneous monitoring and water area management. Compared with the defects of large water area, low automation degree, difficult standardized popularization and the like of the traditional floating island, and the problems of large chemical reagent feeding side effect, low economic benefit of physical extraction treatment and the like, the method can treat the eutrophic water body to a certain extent within acceptable time on the premise of not generating secondary pollutants. Provides an effective device and method for treating water body ground of lakes, reservoirs, ponds and the like which are widely existed in China and are easy to cause eutrophication.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a can independently select ecological chinampa device of intelligence of purifying waters which characterized in that: the method comprises the following steps: the system comprises a main control unit, a power supply unit, a propulsion unit, an anchoring unit, a monitoring unit, a communication unit, a positioning unit, upper computer software and a cloud platform, wherein the propulsion unit comprises a propeller and comprises an iron anchor, a speed reduction motor and an ultrasonic receiving and transmitting device;
starting up the upper computer, initializing the system, obtaining the raster data of the shape of the water area to be treated through a remote sensing or geographic information database, and inputting the data into the software of the upper computer; calculating to obtain an s-shaped optimal path by using a traversal algorithm in the upper computer software according to the longitude and latitude information of the target water area, and sending the optimal path to the floating island main control unit through the cloud platform;
the main control unit starts the propellers at the two sides and starts to slowly cruise; in the navigation process, the main control unit compares the current position acquired by the positioning unit with a preset track in real time, and if the floating island track deviates, the track is corrected through a control algorithm; the ultrasonic transceiver on the side of the floating island detects obstacles in the moving process of the floating island and realizes autonomous obstacle avoidance under the control of the main control unit; the main control unit controls the speed by adjusting the rotating speed of propellers on two sides of the floating island and realizes steering by using differential speed;
when the floating island moves, the monitoring unit reads water quality data in real time, and a built-in program of the main control unit judges the water quality condition; when the main control unit judges that the water quality score is inferior to the threshold value, the propeller is closed, and the system judges to start treatment;
before anchoring, an ultrasonic receiving and transmitting device on the floating island transmits a signal to the water bottom to measure the water depth d, and the main control unit determines the anchoring length and simultaneously deals with the water level rising;
after the anchor is released, the ultrasonic transceiver measures the water depth once every half of the time, and when the water level is detected to rise or fall, the main control unit controls the motor to adjust the length of the released anchor rope;
after the floating island is stopped, the detection unit collects water quality information every 4 hours, and when the water quality is continuously collected for multiple times and is better than a threshold value, the main control unit controls the speed reduction motor to lift the iron anchor to the bottom of the floating island; the main control unit controls the propeller to start, and the floating island continuously traverses the rest water area along the original fixed track until the treatment of the whole water area is completed; the communication unit is adopted in the whole process to upload the water quality and the position coordinates to the cloud platform, and a user can check data and issue an instruction after logging in the cloud platform at a terminal, so that the functions of recalling and going to a specific position by one key can be realized.
2. The intelligent ecological floating island device capable of automatically and selectively purifying water areas according to claim 1, wherein: the main control unit adopts an STM32F103C8T6 single chip microcomputer and is used for planning a movement route, reading sensor data, evaluating the water quality condition and controlling the movement of the floating island.
3. The intelligent ecological floating island device capable of automatically and selectively purifying water areas according to claim 1, wherein: the anchoring unit comprises a direct current motor with a reduction box and an electric brake, the electric brake and the reduction box are connected to a rotating shaft of the direct current motor, the electric brake comprises an armature, a brake disc, a spring and a flange disc, the iron anchor is a spherical iron anchor with the anchor weight of 50kg, the spherical iron anchor is fixed in a lifting iron anchor fixing mode, the direct current motor with the reduction box is used for traction, and the radius of a transmission shaft is 3cm at most; the speed reducing motor is a 42GX775R speed reducing motor with rated torque of 45kg cm, rated rotating speed of 15R/min and power of 28W; the ultrasonic transceiver transmits a signal to the water bottom, and measures the water depth d, so as to determine the anchor releasing length; the electric brake is adopted to prevent the iron anchor from dropping when the direct current motor is stopped, when the electric brake is powered on, the armature is attracted and separated from the brake disc, the transmission shaft can normally rotate, when the direct current motor is powered off, the electromagnetic force disappears, the spring presses the armature under the action of the electric brake, and friction torque is generated between the brake disc, the armature and the flange disc to prevent the iron anchor from dropping.
4. The intelligent ecological floating island device capable of automatically and selectively purifying water areas according to claim 1, wherein: the propulsion unit adopts a T60 underwater propeller, the propeller adopts a 2216 direct current brushless motor, the single thrust is 1.65-2.1 kg, the maximum outer diameter of the propeller is 77mm, the total length is 92mm, and the propeller is used for adjusting the rotating speed of propellers at two sides to enable the floating island to move forwards, backwards or steer.
5. The intelligent ecological floating island device capable of automatically and selectively purifying water areas as claimed in claim 1, wherein: the power supply unit adopts a solar panel to convert light energy into electric energy, the electric energy is stored in a lithium battery, and the output of the lithium battery supplies power to all electronic equipment on the floating island after passing through the overvoltage conversion circuit.
6. The intelligent ecological floating island device capable of automatically and selectively purifying water areas according to claim 5, wherein: the solar cell panel adopts a 50W power cell panel, the area is 640mm-530mm, the battery is selected, a lithium battery is adopted, and the size of the battery is selected to be 12.6V/20A.
7. The intelligent ecological floating island device capable of automatically and selectively purifying water areas according to claim 1, wherein: the monitoring unit comprises five water quality monitoring sensors, a sensor protection device and a signal processing circuit, wherein the sensor protection device comprises a probe externally attached protective shell, specifically, the height of the inner cylinder is 20cm, the diameter of the inner cylinder is 10cm, 2mm inner diameter holes are uniformly distributed below the cylinder wall, a cover at the bottom of the inner cylinder can be screwed open, and 2mm inner diameter holes are uniformly distributed; the inner cylinder is directly fixed below the equipment main body, and plays a role in filtering silt and suspended matters; the outer cylinder is connected with the equipment main body through an ABS bearing and mainly plays a role in protecting the sensor from water flow impact; the height is 50cm, the diameter is 20cm, asymmetric arc plates with the same height are attached to the outside, holes with the diameter of 10mm are uniformly distributed on the periphery of the outer cylinder, the bottom cover can be unscrewed, and holes with the diameter of 20mm are designed for the silt to leave the protective shell under the action of gravity; this casing is the double-deck nested cask of inside and outside cloth hole, and this cask material is ABS plastics, can be under the chinampa motion condition, and the impulse that will remove in-process rivers and bring through rotatory mode turns into the rotation vector and offsets the impact of rivers to the sensor when the low-speed removes, can effectively play the effect of monitoring the sensor in the guard period.
8. The intelligent ecological floating island device capable of automatically and selectively purifying water areas as claimed in claim 1, wherein: the communication unit adopts a BC26 module carrying a narrowband Internet of things technology to output and input information, adopts an MQTT protocol, supports China Mobile, china telecom, oneNet/Andlink and Ali cloud IoT cloud platforms, packages and sends water quality information and position coordinates to the cloud platform, and a user can check data or send instructions to a floating island after logging in the cloud platform on terminal equipment, so that bidirectional data transmission between the floating island and the terminal is realized.
9. The intelligent ecological floating island device capable of automatically and selectively purifying water areas as claimed in claim 1, wherein: the positioning unit selects an ATK-S1216F8-BD GPS/Beidou module to acquire longitude and latitude information, supports various communication baud rates and has the positioning accuracy of 2.5mCEP.
10. The intelligent ecological floating island device capable of automatically and selectively purifying water areas as claimed in claim 1, wherein: before the operation of the upper computer software, grid data of the shape of the water area to be treated is obtained through a remote sensing or geographic information database, a row number and a column number are arranged in a water area of a certain size square, the upper computer traverses all water area grids line by line to plan an advancing route of the floating island, and then the upper computer forwards the obtained route to the floating island through the Internet of things cloud platform.
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