CN211770493U - Submarine formula unmanned aerial vehicle dosing device under water - Google Patents
Submarine formula unmanned aerial vehicle dosing device under water Download PDFInfo
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- CN211770493U CN211770493U CN202020105882.9U CN202020105882U CN211770493U CN 211770493 U CN211770493 U CN 211770493U CN 202020105882 U CN202020105882 U CN 202020105882U CN 211770493 U CN211770493 U CN 211770493U
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Abstract
The utility model provides a submarine formula unmanned aerial vehicle dosing device under water, the cabin body including submarine formula, the afterbody of the cabin body is provided with screw propulsion, including air compressor unit cabin, gas pitcher cabin, floating cabin, add medicine cabin, battery compartment in the cabin body, install the air compressor unit in the air compressor machine cabin, install the gas holder of a plurality of and air compressor unit intercommunication in the gas pitcher cabin, the gas holder respectively with floating cabin, add medicine cabin gas intercommunication, floating cabin respectively with cabin body outside, add medicine cabin gas intercommunication, add the medicine cabin and install the stirring subassembly, install the spout of offeing medicine in the bottom, be provided with the power supply module that provides electric energy for the dosing device in the battery compartment. But the medication device realized location and remote control function, be convenient for different positions, the different degree of depth under the surface of water and put the medicine to guarantee the precision and the accuracy of offeing medicine.
Description
Technical Field
The utility model belongs to water ecological remediation device field especially relates to a submarine formula unmanned aerial vehicle medication dosing device under water.
Background
With the continuous acceleration of the industrialization process, a large amount of wastewater is discharged into the urban river channels, and serious pollution is caused to the river channel water body. The sediment is an important component of a water body ecological system, and the desilting is one of the main means for improving the water body pollution of the river channel at present. Before the water pollution source is thoroughly and effectively controlled, even after sediment dredging is completed, pollutants entering the water body can be continuously accumulated in the sediment, so that the black and odorous sediment is gradually aggravated. Another method for improving the bottom sediment is to add a remediation agent to the riverbed to perform bottom sediment remediation, and the general operation is to add a proper amount of chemical agent, such as an oxidant, to improve the structure and characteristics of the surface of the bottom sediment, improve the self-cleaning capability of the bottom sediment, and simultaneously relieve the release of pollutants to the overlying water. However, in the actual engineering application, the pharmaceutical agents are sprayed and stirred on the water surface, and the oxidizing agents can contact the bottom mud after reacting with the reducing substances in the water, so that the effect of the pharmaceutical agents is reduced. To solve this problem, in some practical cases, the amount of the added oxidant is increased, which not only increases the cost of the medicament, but also affects the living environment of aquatic organisms, even causes massive death of aquatic organisms, and causes bad ecological effects, which is one of the important reasons for the oxidant to be resisted in the application of water body restoration. Accordingly, there is a need in the art to develop new dosing solutions to improve the efficiency of oxidant use while reducing the impact on aquatic organisms.
Disclosure of Invention
In view of this, the utility model aims at providing a submarine formula unmanned aerial vehicle dosing device under water, the device be but the remote control, can fix a position, underwater dosing equipment, can put forward the medicine according to the demand at the different degree of depth, improves the accurate nature of the medicine of putting.
In order to achieve the above purpose, the technical scheme of the utility model is realized like this:
the utility model provides a submarine formula unmanned aerial vehicle medication dosing device under water, is including the cabin body that is submarine formula, the afterbody of the cabin body is provided with screw propulsion, including air compressor unit cabin, gas pitcher cabin, the floating cabin, add medicine cabin, battery compartment in the cabin, install the air compressor unit in the air compressor machine cabin, the gas holder of a plurality of and air compressor unit intercommunication is installed to the gas pitcher cabin, the gas holder respectively with the floating cabin, add medicine cabin gas intercommunication, the floating cabin respectively with cabin body outside, add medicine cabin gas intercommunication, add the medicine cabin and install the stirring subassembly, the bottom is installed and is thrown medicine the spout, be provided with the power supply subassembly that provides the electric energy for the medication dosing device in the battery compartment.
Further, the bottom of the dosing chamber is recessed inwards, and the dosing nozzle is arranged at the lowest position.
Furthermore, submersible pumps for respectively conveying water outside the cabin body to the dosing cabin and the floating and sinking cabin are installed in the cabin body.
Further, the gas storage tank is respectively in gas communication with the floating and sinking cabin and the dosing cabin through gas pipelines, and one-way valves are installed in the gas pipelines.
Furthermore, the side wall of the floating and sinking cabin is provided with a one-way valve which is used for being communicated with the medicine adding cabin, and the top of the floating and sinking cabin is provided with a one-way valve which is used for being communicated with the external gas of the cabin.
Furthermore, the dosing cabin is communicated with a one-way valve at the top of the floating and sinking cabin through a gas pipeline.
Furthermore, the dosing device further comprises a navigation cabin and a remote control cabin, wherein a GPS satellite navigation system is installed in the navigation cabin, and a remote control device receiver is installed in the remote control cabin.
Further, a camera with a lighting device is installed at the top of the cabin body, and a camera with a lighting device is installed at the bottom of the medicine adding cabin.
Further, a distance detector is installed at the bottom of the cabin.
Furthermore, a one-way valve for discharging the water stored in the floating and sinking cabin to the outside of the cabin body is arranged at the bottom of the floating and sinking cabin.
Further, the top of the cabin body is provided with a hanging ring, and both sides of the cabin body are provided with boat wings.
A method for repairing a water body by using the submarine type underwater unmanned aerial vehicle chemical dosing device comprises the following steps:
s1: putting a repairing medicament into the medicament adding cabin, starting an air compressor unit to fill a gas storage tank, and putting the medicament adding device into a water area needing water body repairing;
s2: the submersible pump is started to inject water into the dosing cabin, the stirring assembly is started to uniformly mix the medicaments, water is injected into the floating and sinking cabin to realize the sinking of the dosing device, and the air in the floating and sinking cabin is discharged out of the cabin through the one-way valve at the top of the floating and sinking cabin;
s3: the dosing device is moved to a place needing dosing through the spiral propeller and the floating and sinking cabin counterweight, a one-way valve between the air storage tank and the dosing cabin is started to pressurize the dosing cabin, and the pesticide is sprayed to the surface of the bottom mud from the dosing nozzle;
s4: starting a one-way valve in a gas pipeline of a gas storage tank communicated with the floating and sinking cabin to inflate the floating and sinking cabin to realize the upward floating of the dosing device, and simultaneously opening the one-way valve communicated with the outside of the floating and sinking cabin to discharge the stored water in the floating and sinking cabin out of the cabin;
s5: and repeating the steps S2-S4 until the dosing device is pulled out of the water surface after the spraying is finished, thereby finishing the dosing.
Compared with the prior art, submarine formula unmanned aerial vehicle medication dosing device under water have following advantage:
but the medication device realized location and remote control function, be convenient for different positions, the different degree of depth under the surface of water and put the medicine to guarantee the precision and the accuracy of offeing medicine. The design of the floating-sinking cabin can realize the independent floating of the cabin body, thereby greatly increasing the flexibility of the cabin body. The design of the medicine adding cabin ensures that the medicine is dissolved and mixed immediately, thereby improving the utilization rate of the medicine as much as possible.
Drawings
The accompanying drawings, which form a part hereof, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention without undue limitation. In the drawings:
fig. 1 is a schematic view of an internal structure of a submarine type underwater unmanned aerial vehicle chemical dosing device according to an embodiment of the present invention;
fig. 2 is a schematic bottom structure diagram of the submarine type underwater unmanned aerial vehicle chemical dosing device according to the embodiment of the present invention;
fig. 3 is a schematic view of the distribution of the cabin of the submarine type underwater unmanned aerial vehicle chemical dosing device according to the embodiment of the present invention;
fig. 4 is the embodiment of the utility model provides a submarine formula unmanned aerial vehicle dosing unit under water's solid-state diagram.
Description of reference numerals:
101-a remote control cabin; 102-air compressor bay; 103-gas tank cabin; 104-floating and sinking cabin; 105-a dosing chamber; 107-navigation capsule; 108-a battery compartment; 1-a camera; 2-hoisting rings; 3-a screw propeller; 4. 5-LED lamps; 6-rotatable camera; 7-a remote control device receiver; 8-GPS satellite navigation system; 9-an air compressor unit; 10-gas conveying pipe; 11-gas storage tank group; 12-a submersible pump; 13. 15, 16, 17, 18, 27-electronic one-way valves; 14-side water conveying pipe; 17-1, 17-2-vent pipe; 19-a distance detector; 20-a helical agitator; 21. 22-speed regulating motor; 23-a storage battery; 24-a submersible pump water inlet; 25-a dosing nozzle; 26-adding medicine mouth.
Detailed Description
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
As shown in fig. 1 and 2, the submarine type underwater unmanned aerial vehicle chemical dosing device provided by the present invention comprises 6 cabin bodies and 1 pair of submarine wings 106, wherein the 6 cabin bodies are respectively a remote control cabin 101, an air compressor cabin 102, a gas tank cabin 103, a sink-float cabin 104, a chemical dosing cabin 105, a navigation cabin 107 and a battery cabin 108; the air compressor unit cabin, the air tank cabin, the floating and sinking cabin and the dosing cabin are sequentially arranged from head to tail, the remote control cabin is arranged at the forefront of the cabin body, the navigation cabin is arranged above the remote control cabin and the air compressor unit cabin, and the battery cabin is arranged above the floating and sinking cabin and the dosing cabin.
Specifically, the remote control cabin 101 has a remote control receiver 7 installed therein;
an air compressor unit 9 is arranged in the air compressor unit cabin 102; the air compressor unit 9 is connected to a gas tank group 11 in the gas tank compartment 103 via a gas pipe 10, wherein the gas tank group 11 is composed of four gas tanks.
As shown in fig. 1 and 3, the sink-float compartment 104 mainly provides the device with the capability of sinking and floating up and down, the sink-float compartment 104 is provided with a submersible pump 12 and is communicated with a gas storage tank through a gas pipeline, and the gas pipeline is provided with an electronic one-way valve 18 to realize the function of one-way gas delivery in the direction of the sink-float compartment 104; the top of the floating and sinking cabin 104 is provided with a vent pipe 17-1 communicated with the outside of the cabin body, the tail end of the vent pipe 17-1 is provided with an electronic one-way valve 17, and the opening direction of the electronic one-way valve 17 is from the inside of the cabin to the outside of the device; when the device is submerged, the submersible pump 12 pumps water from the water through the submersible pump water inlet 24 (as shown in fig. 4) at the bottom and releases the water into the floating and sinking chamber 104 from the top, and meanwhile, the air in the chamber is discharged out of the chamber through the air pipe 17-1 of the floating and sinking chamber 104 by the electronic one-way valve 17; when the device is lifted, the electronic one-way valve 18 is opened, the gas stored in the gas storage tank 11 in advance is released into the floating and sinking cabin 104 in one way, the electronic one-way valve 13 is installed at the bottom of the floating and sinking cabin 104, and the stored water in the floating and sinking cabin 104 is pressed out of the cabin body in one way from the electronic one-way valve 13.
A spiral stirrer 20 is arranged in the dosing cabin 105, preferably, the position of a stirring head of the spiral stirrer 20 is located at a position which is 1/3 upward from the bottom of the dosing cabin, a speed regulating motor 21 with a waterproof shell is connected above the spiral stirrer 20, and the speed regulating motor 21 is connected with the top of the dosing cabin 105; three electronic one- way valves 15, 16 and 27 are further arranged at the joint of the dosing cabin 105 and the sinking and floating cabin 104, wherein the electronic one-way valve 15 is connected with a submersible pump 12 in the sinking and floating cabin through a side water delivery pipe 14, the electronic one-way valve 16 is connected with an air storage tank 11 in the air storage tank 103 through an air pipe (not shown in the figure), the electronic one-way valve 27 is connected with the air pipe 17-1 through an air pipe 17-2, and the air pipe 17-2 can also be directly extended out of the cabin body; a distance detector 19 is arranged at the bottom of the dosing chamber 105 close to the sinking and floating chamber 104 and can detect the distance between the device and the bottom of the water body; two dosing nozzles 25 are provided at the bottom of the dosing chamber 105 (see fig. 3 and 4); when the device is submerged in a water body, water in the water body to be used can be pumped by the submersible pump 12 before spraying the medicine and enters the medicine adding cabin 105 through the electronic one-way valve 15, meanwhile, redundant air in the cabin is discharged by the electronic one-way valve 27 through the electronic one-way valve 17 to ensure the air pressure balance in the cabin, at the moment, the water is used as a solvent to dissolve the medicine added in advance, the medicine and the solvent are fully mixed by the spiral stirrer 20, then, the gas in the gas storage tank 11 is discharged into the medicine adding cabin 105 through the electronic one-way gas valve 16, and the medicine which is fully dissolved is pressed out through the medicine adding nozzle 25.
As shown in figure 4, the rear part of the device is provided with two screw propellers 3 which are connected with a speed regulating motor 22 with a waterproof shell in a medicine adding cabin 105, and the advancing speed and the direction of the device can be changed after the speed of the two screw propellers 3 is adjusted and controlled.
Preferably, as shown in fig. 4, the dosing chamber 105 is provided with a 360-degree rotatable camera 6 and an illumination assembly (LED lights 4 and 5) on the outside of the bottom floor to observe the conditions of the bottom of the body of water.
The navigation cabin 107 is internally provided with a GPS satellite navigation system 8 for positioning the position of the dosing device in real time, and the mobile control device on the bottom surface is connected in a matching way, so that the running track of the dosing device can be set in advance in the actual operation process, and the position of the dosing device is controlled by controlling the screw propeller 3 to enable the dosing device to run according to the set track.
The camera 1 with lighting equipment (which can be an LED lamp) is arranged at the top outside the navigation cabin 107, so that the condition of the device in front of underwater can be monitored in real time.
A battery 23 is installed in the battery compartment 108 to supply power for the operation of the entire apparatus.
Preferably, a hanging ring 2 is arranged above the gas tank 103, and a rope can be fixed to facilitate lifting of the device.
Of course, the utility model discloses still include control module, this control module sets up in the cabin body, and this control module is connected with all power consumption parts in the medication dosing device, and it needs to explain that this control module is current control module, like singlechip, PLC etc. and also be current relation of connection with other power consumption parts, like line connection, signal connection etc..
The working process of the medicine feeding device is as follows:
s1: when on land, the solid medicament can be added into the medicament adding bin 105 through the medicament adding port 26, and after the air compressor set is started to fill the air storage tank, the medicament adding device is put into a water area needing water body restoration;
s2: the submersible pump is started to inject water into the dosing chambers respectively, meanwhile, the one- way valves 17 and 27 are opened to discharge air in the dosing chambers out of the chambers through the vent pipes 17-1 and 17-2, the air pressure in the dosing chambers is guaranteed to be normal pressure, and the stirring assembly is started to uniformly mix the medicaments;
s3: the distance between the bottom of the cabin body and the surface of the sediment is fed back to the control module in real time through a distance detection instrument 19 arranged at the bottom of the chemical adding cabin, the distance between the bottom of the cabin body and the surface of the sediment is set to be within a corresponding range in advance, generally, the distance is 20cm-100cm, the distance is too small, the control module controls related parts to float upwards to enlarge the distance, and the control module controls related parts to sink to reduce the distance.
Specifically, the sinking operation: water is injected into the floating and sinking cabin through the submersible pump, so that the chemical dosing device sinks, and air in the floating and sinking cabin is discharged out of the cabin through the vent pipe 17-1 and the one-way valve 17.
Floating operation: and starting a check valve 18 in a gas pipeline of the gas storage tank communicated with the floating and sinking cabin to inflate the floating and sinking cabin to realize the floating of the dosing device, and simultaneously opening a check valve 13 of the floating and sinking cabin communicated with the outside of the cabin to discharge the stored water in the floating and sinking cabin out of the cabin.
S4: the advancing speed and the advancing direction are controlled by controlling the speed of the two screw propellers, so that the medicine feeding device advances according to an advance map set in advance, after the medicine feeding device advances to an area needing medicine feeding, the medicine feeding nozzle 25 is opened to spray the medicine to the surface of bottom mud from the medicine feeding nozzle, and meanwhile, a one-way valve between the air storage tank and the medicine feeding cabin is opened to inflate the medicine feeding cabin, so that the pressure in the medicine feeding cabin is ensured.
S5: and repeating the steps S2-S4 until the dosing device is pulled out of the water surface through the hanging ring 2 after the spraying is finished, namely, the dosing is finished, the liquid medicine can be pulled out of the water surface midway, and the steps S1-S4 are repeated after the dosing until the dosing is finished according to the set travelling route.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The utility model provides a submarine formula unmanned aerial vehicle dosing device under water which characterized in that: including the cabin body that is submarine formula, the afterbody of the cabin body is provided with screw propeller, including air compressor unit cabin, gas pitcher cabin, float and sink the cabin, add medicine cabin, battery cabin in the cabin, the air compressor unit is installed to the air compressor machine under-deck, install the gas holder of a plurality of and air compressor unit intercommunication in the gas pitcher cabin, the gas holder respectively with float and sink the cabin, add medicine cabin gas intercommunication, float and sink the cabin respectively with the cabin body outside, add medicine cabin gas intercommunication, add the medicine under-deck and install the stirring subassembly, the spout of offeing medicine is installed to the bottom, be provided with the power supply subassembly that provides electric energy for the medicine device in the battery cabin.
2. The submarine type underwater unmanned aerial vehicle dosing device according to claim 1, wherein: the bottom of the dosing cabin is inwards sunken, and the dosing nozzle is arranged at the lowest position.
3. The submarine type underwater unmanned aerial vehicle dosing device according to claim 1, wherein: and submersible pumps for respectively conveying water outside the cabin body to the dosing cabin and the floating and sinking cabin are arranged in the cabin body.
4. The submarine type underwater unmanned aerial vehicle dosing device according to claim 1, wherein: the gas storage tank is respectively communicated with the floating and sinking cabin and the dosing cabin through gas pipelines, and one-way valves are installed in the gas pipelines.
5. The submarine type underwater unmanned aerial vehicle dosing device according to claim 4, wherein: the lateral wall of the floating and sinking cabin is provided with a one-way valve which is used for being communicated with the medicine adding cabin gas, the top of the floating and sinking cabin is provided with a one-way valve which is used for being communicated with the external gas of the cabin body, and the bottom of the floating and sinking cabin is provided with a one-way valve which is used for discharging the stored water in the floating and sinking cabin to the outside of the cabin body.
6. The submarine type underwater unmanned aerial vehicle dosing device according to claim 5, wherein: the dosing cabin is communicated with a one-way valve at the top of the floating and sinking cabin through a gas pipeline.
7. The submarine type underwater unmanned aerial vehicle dosing device according to claim 1, wherein: the dosing device further comprises a navigation cabin and a remote control cabin, wherein a GPS satellite navigation system is installed in the navigation cabin, and a remote control device receiver is installed in the remote control cabin.
8. The submarine type underwater unmanned aerial vehicle dosing device according to claim 1, wherein: the camera that has lighting apparatus is installed at the top of the cabin body, add the camera that medicine cabin bottom portion installed has lighting apparatus, rings are installed at the top of the cabin body, and boat wing is installed to both sides.
9. The submarine type underwater unmanned aerial vehicle dosing device according to claim 1, wherein: and a distance detection instrument is installed at the bottom of the cabin body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020105882.9U CN211770493U (en) | 2020-01-17 | 2020-01-17 | Submarine formula unmanned aerial vehicle dosing device under water |
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| CN202020105882.9U CN211770493U (en) | 2020-01-17 | 2020-01-17 | Submarine formula unmanned aerial vehicle dosing device under water |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114837150A (en) * | 2022-04-24 | 2022-08-02 | 哈工大机器人集团(杭州湾)国际创新研究院 | Water surface self-cruising skimmer |
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2020
- 2020-01-17 CN CN202020105882.9U patent/CN211770493U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114837150A (en) * | 2022-04-24 | 2022-08-02 | 哈工大机器人集团(杭州湾)国际创新研究院 | Water surface self-cruising skimmer |
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