CN215828563U - Unmanned ship for in-situ remediation of black and odorous water body in river - Google Patents

Abstract

The invention discloses an unmanned ship for in-situ remediation of black and odorous water in a river channel, which comprises a ship body running system, an aggregate liquid feeding system, a blast aeration system, a carbon fiber ecological grass feeding system, an automatic control system, a power supply system and the like; the ship body running system is used for controlling the unmanned ship to run in a forward stop, left-right steering and acceleration and deceleration mode; the coagulation liquid adding system is used for adding coagulation liquid into river water to remove organic matters and pollutants in the black and odorous water body; the blast aeration system is used for uniformly blowing fine airflow into river water so as to increase dissolved oxygen in the water body; the carbon fiber ecological grass throwing system is used for throwing carbon fiber ecological grass into river water to provide a carrier attached by microorganisms, so that large biomass is formed to effectively degrade organic matters in the water body; the automatic control system is used for wirelessly controlling the mechanical device driven by the electrical equipment on the unmanned ship to work on the river bank through the mobile phone. The device has obvious black and odorous water body repairing effect, wide operation area, high safety and wide application prospect.

Description

Unmanned ship for in-situ remediation of black and odorous water body in river

Technical Field

The invention relates to the field of water body restoration, in particular to an unmanned ship for in-situ restoration of black and odorous water bodies in riverways.

Background

The black and odorous water body in the river channel is caused by the fact that industrial wastewater and domestic sewage are discharged into the river channel in large quantity, at present, research on the black and odorous water body restoration technology mainly focuses on black and odorous water body restoration process methods such as an in-situ restoration technology and a combined restoration technology, and research and development on black and odorous water body restoration equipment are few. Therefore, research and development of novel black and odorous water body repairing equipment are urgently needed to improve repairing effect and operating efficiency and reduce operation difficulty and health hazard.

The existing black and odorous water body restoration equipment mainly comprises: floating type repairing devices, fixed type repairing devices, immersion type repairing devices, filtering type repairing devices and the like. The floating type restoration device mainly comprises an ecological floating island, a microorganism floating island, a purification ship and the like, wherein the ecological floating island generally comprises a floating seat, a purification seat, an ecological planting groove, an aeration device and the like; the microbial floating island comprises a biological floating island main body, a biological column filled with microbial fillers, a micro-nano bubble generator, plant cultivation holes and the like; the purifying ship consists of a ship body (30), an aerobic biological rotating disk processing device on the ship and the like. The fixed restoration device mainly comprises ecological in-situ restoration treatment equipment, a long-acting ecological restoration device, a microorganism three-dimensional restoration device and the like, wherein the ecological in-situ restoration treatment equipment comprises a concrete base, a biological reaction device, a micro aerator and the like; the long-acting ecological restoration device consists of an ecological floating bed, a slow-release net cage, a reoxygenation device connected to a river bank and the like; the microorganism three-dimensional restoration device comprises a main body bracket fixed at the bottom of a water body, superfine fiber three-dimensional fillers, an aeration device connected to a river bank and the like. The submerged ecological restoration device mainly comprises a submerged ecological restoration water cube and the like, wherein the submerged ecological restoration water cube comprises a steel cable for suspension, a net-shaped framework, submerged plants, a planting interface, microbial fillers, a light source and the like. The filtering type repairing device mainly comprises a cuboid repairing device, an ecological repairing and purifying device and the like, wherein the cuboid repairing device comprises a rectangular shell, a water inlet, a garbage collecting box, an electrolytic rod, a disinfection layer, a deodorization layer, a water outlet and the like; the ecological restoration and purification device comprises an anti-corrosion fixed pipe, an internal filter pipe, a filter plate, a microorganism attachment device and the like. The existing black and odorous water body repairing equipment has the problems of small repairing operation range, low equipment utilization efficiency, high implementation process difficulty, inconvenience in replacement and maintenance, high health hazard of workers and the like.

Disclosure of Invention

The purpose of the invention is as follows: the invention aims to provide an unmanned ship for in-situ remediation of black and odorous water in a river channel, which adopts wireless remote control unmanned ship mechanical equipment to work so as to realize large-area and high-efficiency in-situ remediation operation of the black and odorous water, and improve the safety, rapidity and convenience of the remediation operation of the black and odorous water.

The technical scheme is as follows: an unmanned ship for in-situ remediation of black and odorous water in a river comprises a ship body running system, an aggregate feeding system, a blast aeration system, a carbon fiber ecological grass feeding system, an automatic control system and a power supply system; the ship body running system is used for controlling the unmanned ship to run in a forward stop, left-right steering and acceleration and deceleration mode; the coagulation liquid adding system is used for adding a proper amount of coagulation liquid into river water to remove organic matters and pollutants in the black and odorous water body; the blast aeration system is used for uniformly blowing fine airflow into river water so as to increase dissolved oxygen in the water body; the carbon fiber ecological grass throwing system is used for throwing carbon fiber ecological grass into river water to provide a carrier attached by microorganisms, so that large biomass is formed to effectively degrade organic matters in the water body; the automatic control system is used for wirelessly controlling the mechanical device driven by the electrical equipment on the unmanned ship to work on the river bank through the mobile phone; the power supply system provides power for the electric equipment on the unmanned ship.

The hull travel system includes: the bottom in the hull is provided with a deck, a hull propulsion motor is arranged on the deck at the rear part in the hull, an impeller is arranged at the left and right middle positions of the outer side of the rear lower part of the hull, the hull propulsion motor is connected with the impeller through a coupling at the propulsion part of the hull, a rotating shaft of the impeller penetrates through the thin wall part at the rear lower part of the hull for sealing treatment, the hull propulsion motor drives the impeller to rotate to generate thrust, and the rotating speed of the hull propulsion motor determines the advancing speed of the hull; a rudder driving motor and a rudder driving mechanism are arranged at the rear part in the ship body; a rudder is arranged below the rudder driving mechanism and is positioned at the left and right middle positions right behind the impeller; the rudder driving mechanism is formed by connecting a slider-crank mechanism and a ball screw in series, a slider in the slider-crank mechanism is a square nut, and a clearance is reserved for matching of a revolute pair A to prevent the phenomenon of locking; the forward/reverse rotation of the rudder driving motor drives a square nut on the ball screw to move rightwards/leftwards, and the square nut moves rightwards/leftwards to drive the rudder to rotate rightwards/leftwards so as to enable the ship body to turn rightwards/leftwards; the more forward/reverse turns of the rudder driving motor, the greater the rightward/leftward movement distance of the square nut, and the greater the rightward/leftward steering angle of the ship body; and left/right steering limit switches are arranged at the left/right ends of the ball screw, and the rotation angle range of the rudder is controlled within +/-50 degrees.

The aggregate feeding system comprises: a liquid storage tank is installed on a machine frame at the front part of the ship body, a stirring motor is installed on the upper part of the liquid storage tank, a stirring blade is connected below the stirring motor, and the stirring blade is positioned in the liquid storage tank; the lower part of the liquid storage tank is connected with an aggregate feeding pipe, the aggregate feeding pipe is sequentially provided with a rotary valve, a flowmeter and an aggregate feeding electromagnetic valve, the lower end of the aggregate feeding pipe is bilaterally symmetrically provided with two bifurcate aggregate liquid outlet pipes which are tightly attached to the ship body, the aggregate liquid outlet pipes are provided with a plurality of thin pipes, and the thin pipes penetrate out of the ship body and face the river surface; when the stirring motor rotates, 3 stirring blades distributed at intervals of 120 degrees are driven to rotate, so that the coagulation liquid in the liquid storage tank is uniformly stirred. The flow of the coagulant is set by observing the reading of the flowmeter and manually adjusting the rotary valve. The aggregate feeding electromagnetic valve controls whether the aggregate is fed into river water or not under the control of an electric signal. The multiple scattered thin pipes can uniformly feed the coagulation liquid into the river water in a larger atmosphere.

The blast aeration system comprises: an air compressor is installed in the middle of the middle rear portion of the deck, two electric push rods are installed on the left side and the right side of the middle of the rack respectively, the lower ends of the electric push rods are connected with a push-rotating pipe, a rotating shaft of the push-rotating pipe penetrates through the ship body, the lower end of each push-rotating pipe is connected with an aeration rod, a plurality of miniature aeration holes are formed in the aeration rods, the tail ends of the aeration rods are provided with covers, the aeration rods are connected with the air compressor through air conveying pipes, and air conveying electromagnetic valves are installed at the connection positions of the air compressor and the air conveying pipes; the electric push rod controls the pushing and rotating pipe to unfold or fold under the control of an electric signal, and the aeration rod fixedly connected with the pushing and rotating pipe also unfolds or folds along with the electric push rod; unfolding limit switches are arranged on two sides of the ship body to limit the depth of the aeration rod unfolded into river water; the relay connected with the air compressor is controlled by an electric signal to start or stop the air compressor to compress air, and the air transmission solenoid valve is controlled by an electric signal to output compressed air to an air transmission pipe; the compressed air is output into the aeration rod by the air pipe, and the compressed air in the aeration rod is blown out by the micro aeration holes in a fine airflow manner; the cover at the end of the aeration rod can be unscrewed or replaced to drain away the accumulated water in the aeration rod.

Ecological grass dispensing system of carbon fiber includes: a grass storage box is arranged at the rear part of the rack, and a carbon fiber ecological grass throwing control blade is arranged at an outlet at the bottom of the grass storage box; the lower part of the grass storage box is provided with a carbon fiber ecological grass throwing driving motor and a carbon fiber ecological grass throwing coupler and is connected with a carbon fiber ecological grass throwing control blade; carbon fiber ecological grass is contained in the grass storage box and is discharged through a bottom outlet; the carbon fiber ecological grass can gradually move towards the outlet at the bottom of the grass storage box under the action of gravity; the 5 carbon fiber ecological grass throwing control blades are distributed at intervals of 72 degrees, and when the carbon fiber ecological grass throwing control blades do not rotate, the carbon fiber ecological grass with cylindrical particles cannot be discharged from an outlet at the bottom of the grass storage box; when the carbon fiber ecological grass is put in and the control blade rotates, the carbon fiber ecological grass with cylindrical particles is discharged from the outlet at the bottom of the grass storage box and falls into river water through the discharge groove. The carbon fiber ecological grass throwing driving motor rotates to drive the carbon fiber ecological grass throwing control blades to rotate, and the rotating speed of the carbon fiber ecological grass throwing driving motor determines the speed of throwing the carbon fiber ecological grass into river water.

The automatic control system includes: the PLC and the relay are installed in the electrical control cabinet, the touch screen is installed on the outer side face of the electrical control cabinet, and the sensors are installed on the left side and the right side of the ship body; the ship body driving button, the ultrasonic sensor for detecting the distance between the unmanned ship and the obstacle, the ship body steering button, the left/right steering limit switch, the aggregate stirring button, the aggregate feeding button, the air compressor button, the aeration rod unfolding or folding button, the left/right unfolding limit switch, the blast aeration button and the carbon fiber ecological grass feeding button are in signal connection with the input end of the PLC; the ship body propulsion motor, the rudder driving motor, the stirring motor, the aggregate feeding electromagnetic valve, the air compressor, the left/right electric push rods, the left/right gas transmission electromagnetic valve and the carbon fiber ecological grass feeding driving motor are in signal connection with the output end of the PLC, and the PLC outputs signals to the relays, the electromagnetic valves and the like after operation, so that the motors, the electric push rods, the electromagnetic valves and the like are driven to work.

The wireless communication system includes: the PLC and NB-IoT wireless gateway are installed in the electrical control cabinet; debugging the unmanned ship operation mode through a touch screen arranged on the outer side surface of the electrical control cabinet; or wireless communication remote control is carried out through the mobile phone APP.

The power supply system comprises a storage battery pack and a power inverter, wherein the storage battery pack can provide 400W direct current or convert the direct current into 220V alternating current through the power inverter, and the alternating current is used by each electric device on the unmanned ship.

Preferably, the blast aeration system blows fine air flow uniformly into the river water in the depth of 1.5 m.

Preferably, the ecological grass of carbon fiber is glued into the cylinder graininess by water-soluble glue, utilizes this shape and self gravity, conveniently discharges from the export, in time falls into the river effectively.

The working principle is as follows: when the unmanned ship is repaired in situ in the black and odorous water body of the river channel, the ship body propulsion motor drives the impeller to rotate to generate driving force, and the rudder driving motor drives the rudder to rotate through the driving mechanism to realize the steering of the ship body; the stirring motor drives the stirring blades to rotate, so that the coagulation liquid is kept in a uniformly stirred state in the liquid storage tank, and the coagulation liquid is controlled by a coagulation liquid feeding electromagnetic valve to be fed into the river water body from a plurality of thin pipe orifices; compressed air generated by an air compressor is input into the aeration rod through the air transmission electromagnetic valve, the aeration rod is rotated to a deeper position of the river water body by the electric push rod, and a plurality of micro aeration holes on the aeration rod expose the compressed air into the water body continuously; the carbon fiber ecological grass with cylindrical particles is fully put in the grass storage box, and the carbon fiber ecological grass throwing driving motor drives the carbon fiber ecological grass throwing control blades at the outlet at the bottom of the grass storage box to rotate so as to continuously and slowly throw the carbon fiber ecological grass into the river water body; the storage battery pack supplies power to the motors, the electromagnetic valves and the electric control cabinet, and the electric control cabinet receives control signals sent from a river bank and drives the motors and the electromagnetic valves to work, so that unmanned operation is realized.

Has the advantages that: compared with the prior art, the invention has the following remarkable advantages: the unmanned ship combines a plurality of restoration technologies of 'blast aeration, coagulation liquid adding and carbon fiber ecological grass putting', the restoration effect is obvious and effective, the operation efficiency is high, the operation range is large, and the unmanned ship can move on the river surface in an S-shaped manner to cover the whole river surface range; the unmanned ship is convenient to operate and control, and workers can control the unmanned ship to operate remotely on the river bank; the operation safety is high, and the health hazard to workers is small when the workers carry out the black and odorous water body repairing operation; the unmanned ship has low operation cost, and the operation of repairing the black and odorous water body on the river surface with large area can be carried out by one unmanned ship; the unmanned ship has good adjustability for the black and odorous water body restoration technology, and can realize the optimized restoration effect by adding the mixed condensate with different formulas, adding different types of biomembrane carriers and the like.

Drawings

FIG. 1 is a schematic view of the unmanned ship of the present invention;

FIG. 2 is a schematic view of the rudder drive mechanism of the present invention;

FIG. 3 is a view showing the structure of the coagulant adding apparatus according to the present invention;

FIG. 4 is a view showing the construction of a blast aeration apparatus according to the present invention;

FIG. 5 is a structural diagram of the carbon fiber ecological grass throwing device of the present invention;

FIG. 6 is a schematic view of an automatic control system of the present invention;

fig. 7 is a diagram of wireless communication according to the present invention.

Detailed Description

The technical scheme of the invention is further explained by combining the attached drawings.

As shown in fig. 1, the unmanned ship for in-situ remediation of black and odorous water in a river channel mainly comprises a ship body driving system, a coagulation liquid adding system, a blast aeration system, a carbon fiber ecological grass adding system, an automatic control system, a power supply system and the like. The ship body running system realizes the advancing, left-right steering, acceleration and deceleration running, stopping and the like of the unmanned ship. The coagulant adding system realizes that proper amount of coagulant is added into river water so as to rapidly remove organic matters and pollutants in the black and odorous water body within a period of time. The blast aeration system can uniformly blow fine airflow into the river water within the depth range of 1.5m so as to increase the dissolved oxygen in the water body. The carbon fiber ecological grass feeding system feeds carbon fiber ecological grass which is adhered into cylindrical particles by water-soluble glue into river water, provides an attachment carrier for microorganisms, and effectively degrades organic matters in a water body by forming larger biomass. The automatic control system realizes wireless control of electrical equipment on the unmanned ship on the river bank through a mobile phone, and the electrical equipment drives each mechanical device to work. The power supply system provides direct current and alternating current for the unmanned ship electric equipment.

As shown in fig. 1 and 2, the hull travel system is composed of a hull 30, a deck 29, a hull propulsion motor 21, a hull propulsion coupling 20, an impeller 19, a rudder drive motor 14, a rudder drive mechanism 16, a rudder 17, and the like. The hull 30 has a length of about 2.2m, a width of about 0.97m, and a depth of about 105 mm. The ship body propelling motor 21 is arranged on a deck 29 at the inner rear part of a ship body 30, the impeller 19 is arranged at the left-right central position of the outer side of the rear lower part of the ship body 30, the ship body propelling motor 21 is connected with the impeller 19 through a ship body propelling part coupling 20, the rotating shaft of the impeller 19 penetrates through the thin wall part at the rear lower part of the ship body 30 to be sealed, the ship body propelling motor 21 drives the impeller 19 to rotate to generate forward propelling force, and the rotating speed of the ship body propelling motor 21 determines the advancing speed of the ship body 30. A rudder driving motor 14 and a rudder driving mechanism 16 are arranged at the rear part in the ship body 30; a rudder 17 is attached below the rudder drive mechanism 16, and the rudder 17 is positioned right behind the impeller 19 at the right and left center position. The rudder drive mechanism 16 is formed by connecting a slider-crank mechanism and a ball screw in series, and a square nut 141 is used as a slider, wherein a fit clearance of the revolute pair a is left slightly larger to prevent the occurrence of a seizure phenomenon. The forward and reverse rotation of the rudder drive motor 14 drives the square nut 141 on the ball screw to move to the right and left, and the right and left movement of the square nut 141 drives the rudder 17 to rotate to the right and left, so that the ship body 30 turns to the right and left. The more the number of forward and reverse rotations of the rudder drive motor 14, the greater the distance the square nut 141 moves to the right and left, and the greater the steering angle of the hull 30 to the right and left. Left and right steering limit switches are arranged at the left and right ends of the ball screw, and the rotation angle range of the steering rudder 17 is controlled to be minus 50 degrees to plus 50 degrees.

As shown in fig. 1 and 3, the aggregate feeding system comprises a liquid storage tank 7, a rotary valve 5, a flow meter 3, an aggregate feeding electromagnetic valve 2, an aggregate feeding pipe 1, a stirring motor 4, stirring blades 6 and the like. A liquid storage tank 7 is arranged at the front part of the rack, a stirring motor 4 is arranged at the upper part of the liquid storage tank 7, a stirring blade 6 is connected below the stirring motor 4, and the stirring blade 6 is positioned in the liquid storage tank 7; the lower part of the liquid storage tank 7 is connected with an aggregate feeding pipe 1, a rotary valve 5, a flowmeter 3 and an aggregate feeding electromagnetic valve 2 are sequentially arranged on the aggregate feeding pipe 1, two bifurcate aggregate liquid outlet pipes 111 tightly attached to the ship body are symmetrically arranged at the lower end of the aggregate feeding pipe 1 in a left-right mode, a plurality of thin pipes 112 are communicated with each aggregate liquid outlet pipe 111, and the thin pipes 112 penetrate out of the ship body 30 and face the river surface. The stirring motor 4 rotates to drive 3 stirring blades 6 distributed at intervals of 120 degrees to rotate, so that the coagulation liquid in the liquid storage tank 7 is uniformly stirred. The flow rate of the coagulant is set by observing the reading of the flow meter 3 and manually adjusting the rotary valve 5. The aggregate feeding electromagnetic valve 2 controls whether the aggregate is fed into river water or not under the control of an electric signal. The multiple thin pipes 112 which are scattered and arranged realize that the coagulation liquid is uniformly added into the river water in a larger atmosphere.

As shown in fig. 1 and 4, the blast aeration system is composed of an air compressor 22, an air delivery electromagnetic valve 23, an air delivery pipe 24, an electric push rod 26, an aeration rod 27, a micro aeration hole 18 and the like. The air compressor 22 is mounted in a left-right central position on the deck 29 toward the rear. Two electric push rods 26 are respectively arranged on the left side and the right side of the middle of the frame, the lower end of each electric push rod 26 is connected with a push rotating pipe 301, the rotating shafts of the left push rotating pipe 301 and the right push rotating pipe 301 transversely penetrate through the ship body 30, the lower end of each push rotating pipe 301 is connected with an aeration rod 27, each aeration rod 27 is provided with dozens of micro aeration holes 18, the tail end of each aeration rod 27 is provided with a cover 303, each aeration rod 27 is connected with an air compressor 22 through an air conveying pipe 24, and the joint of the air compressor 22 and the air conveying pipe 24 is provided with an air conveying electromagnetic valve 23. The electric push rod 26 controls the pushing and rotating pipe 301 to unfold or fold under the control of an electric signal, and the aeration rod 27 fixedly connected with the pushing and rotating pipe 301 also unfolds or folds along with the pushing and rotating pipe 301. Left and right side expansion limit switches are installed on the left and right sides of the ship body 30 to limit the depth of the aeration rod 27 expanded into river water. The relay connected with the air compressor 22 is controlled by an electric signal to start or stop the air compressor, and the air delivery solenoid valve 23 is controlled by an electric signal to output compressed air to the air delivery pipe 24. The air pipe 24 can output compressed air into the aeration rod 27, and the micro aeration holes 18 blow the compressed air in the aeration rod 27 outwards in a fine airflow. The cover 303 at the end of the aeration rod 27 can be unscrewed or replaced to drain the accumulated water in the aeration rod 27.

As shown in fig. 1 and 5, the carbon fiber ecological grass throwing system comprises a grass storage box 13, a carbon fiber ecological grass throwing drive motor 10, a carbon fiber ecological grass throwing coupler 11, a carbon fiber ecological grass throwing gearbox 12, carbon fiber ecological grass throwing control blades 15 and the like. The rear part of the frame is provided with a grass storage box 13, and an outlet 133 at the bottom of the grass storage box is provided with carbon fiber ecological grass throwing control blades 15; the lower part of the grass storage box 13 is provided with a carbon fiber ecological grass throwing driving motor 10 and a carbon fiber ecological grass throwing coupling 11, and is connected with a carbon fiber ecological grass throwing control blade 15. Hold the ecological grass of carbon fiber who becomes cylindric granule by water-soluble adhesive splice in the grass storage box 13, the ecological grass of carbon fiber can remove to grass storage box bottom export 133 gradually under the action of gravity. The 5 carbon fiber ecological grass throwing control blades 15 are distributed at intervals of 72 degrees, and when the carbon fiber ecological grass throwing control blades 15 do not rotate, the carbon fiber ecological grass with cylindrical particles cannot be discharged from the outlet 133 at the bottom of the grass storage box; when the carbon fiber ecological grass throwing control blade 15 rotates, the carbon fiber ecological grass with cylindrical particles is discharged from the outlet 133 at the bottom of the grass storage box and falls into river water through the discharge chute 134. The carbon fiber ecological grass throwing driving motor 10 rotates to drive the carbon fiber ecological grass throwing control blade 15 to rotate, and the rotating speed of the carbon fiber ecological grass throwing driving motor 10 determines the speed of throwing the carbon fiber ecological grass into river water.

As shown in fig. 1, 6 and 7, the automatic control system mainly comprises a PLC, a touch screen, relays, electromagnetic valves, sensors, and the like. PLC, relays and the like are installed in the electric control cabinet 8, touch screens and the like are installed on the outer side face of the electric control cabinet 8, and sensors are installed on the left side and the right side of the ship body 30. Signals of a ship body driving button, an ultrasonic sensor, a ship body steering button, a left and right steering limit switch, an aggregate stirring button, an aggregate feeding button, an air compressor button, an aeration rod unfolding and folding button, a left and right side unfolding limit switch, a blast aeration button, a carbon fiber ecological grass feeding button and the like are connected to the input end of the PLC. The output end of the PLC is connected with a ship body propelling motor 21, a rudder driving motor 14, a stirring motor 4, an aggregate feeding electromagnetic valve 2, an air compressor 22, a left side and right side electric push rod 26, a left side and right side air transmission electromagnetic valve 23, a carbon fiber ecological grass feeding driving motor 10 and the like. Control signals are input through wireless communication or touch screen operation and the like, and PLC operation outputs signals to the relays, the electromagnetic valves and the like, so that the motors, the electric push rods 26, the electromagnetic valves and the like are driven to work.

As shown in fig. 7, the wireless communication system mainly includes a PLC, a touch screen, an NB-IoT wireless gateway, a cloud platform, a mobile phone APP, and the like, the PLC and the NB-IoT wireless gateway are installed in the electrical control cabinet 8, and the touch screen is installed on the outer side surface of the electrical control cabinet 8. The control signal is input through the touch screen operation, and the touch screen is used during unmanned ship operation debugging; carry out wireless communication through cell-phone APP, use when unmanned ship normal operating.

As shown in fig. 1, the power supply system is composed of a battery pack 28, a power inverter 25, and the like. The battery pack 28 can provide 400W direct current or convert the direct current into 220V alternating current through the power inverter 25 for each electric device on the unmanned ship.

The unmanned ship for in-situ remediation of the black and odorous water body in the river channel is convenient to operate, the external dimension of the unmanned ship is 2200mm multiplied by 970mm multiplied by 1100mm, and the full load weight is less than 150Kg, so that the unmanned ship can be conveniently transported to the river surface to carry out black and odorous water body remediation operation and transported back to the unmanned ship; the unmanned ship has the operation speed of 5Km/h, a large operation range, the operation width of about 1m, the operation depth of about 1.5m and the S-shaped movement operation on the river surface so as to cover the whole river surface range. The unmanned ship can be controlled to carry out black and odorous water body restoration operation only by operating the mobile phone APP, and only the coagulation liquid and the carbon fiber ecological grass need to be added periodically during operation. The unmanned ship for in-situ remediation of the black and odorous water body in the river channel is high in operation safety, the distance for remotely controlling the unmanned ship to operate on the river bank can reach more than 3Km, and the health hazard of workers during the black and odorous water body remediation operation is small. The unmanned ship for in-situ remediation of the black and odorous water body in the river has low operation cost, and the unmanned ship can be used for movably performing the black and odorous water body remediation operation on the large-area river surface. The unmanned ship for in-situ remediation of the black and odorous water body in the river has good adjustability of the black and odorous water body remediation technology, and can be used for adding different-formula coagulation liquids, adding different types of biofilm carriers and the like.

Claims (10)

1. An unmanned ship for in-situ remediation of black and odorous water in a river course is characterized by comprising a ship body driving system, an aggregate feeding system, a blast aeration system, a carbon fiber ecological grass feeding system, an automatic control system and a power supply system; the ship body running system is used for controlling the unmanned ship to run in a forward stop mode, a left-right steering mode and an acceleration and deceleration mode; the coagulation liquid adding system is used for adding a proper amount of coagulation liquid into river water to remove organic matters and pollutants in the black and odorous water body; the blast aeration system is used for uniformly blowing fine airflow into river water so as to increase dissolved oxygen in the water body; the carbon fiber ecological grass throwing system is used for throwing carbon fiber ecological grass into river water to provide a carrier for microorganism adhesion, and large biomass is formed to effectively degrade organic matters in a water body; the automatic control system is used for wirelessly controlling the mechanical device driven by the electrical equipment on the unmanned ship to work on the river bank through a mobile phone; the power supply system provides power for the electric equipment on the unmanned ship.

2. The riverway black and odorous water body in-situ remediation unmanned ship of claim 1, wherein the hull driving system comprises: a deck (29) is arranged at the bottom in the ship body (30), a ship body propelling motor (21) is installed on the deck (29) at the inner rear part of the ship body (30), an impeller (19) is installed at the left and right central positions of the outer side of the rear lower part of the ship body (30), the ship body propelling motor (21) is connected with the impeller (19) through a ship body propelling part coupling (20), a rotating shaft of the impeller (19) penetrates through a thin wall part at the rear lower part of the ship body (30) to be sealed, and the ship body propelling motor (21) drives the impeller (19) to rotate to generate thrust; a rudder driving motor (14) and a rudder driving mechanism (16) are arranged at the rear part in the ship body (30); a rudder (17) is arranged below the rudder driving mechanism (16), and the rudder (17) is positioned at the left and right central positions right behind the impeller (19); the rudder driving mechanism (16) is formed by connecting a slider-crank mechanism and a ball screw in series, a slider in the slider-crank mechanism is a square nut (141), and a clearance is reserved for matching of a revolute pair A; the forward/reverse rotation of the rudder driving motor (14) drives a square nut (141) on the ball screw to move rightwards/leftwards, and the square nut (141) moves rightwards/leftwards to drive a rudder (17) to rotate rightwards/leftwards so that the ship body (30) turns rightwards/leftwards.

3. The riverway black and odorous water body in-situ remediation unmanned ship of claim 1, wherein the coagulant adding system comprises: a liquid storage tank (7) is installed on a frame at the front part of the ship body, a stirring motor (4) is installed on the upper part of the liquid storage tank (7), a stirring blade (6) is connected below the stirring motor (4), and the stirring blade (6) is located inside the liquid storage tank (7); liquid reserve tank (7) sub-unit connection thoughtlessly congeals liquid and throws pipe (1), the thoughtlessly congeals liquid and throws solenoid valve (2) on throwing pipe (1) and being equipped with rotary valve (5), flowmeter (3), the thoughtlessly congeals liquid and throwing pipe (1) lower extreme bilateral symmetry and be equipped with forked two and hug closely congeals liquid drain pipe (111) of hull, be equipped with a plurality of tubules (112) on thoughtlessly congeals liquid drain pipe (111), tubule (112) are worn out towards the river face from hull (30).

4. The riverway black and odorous water body in-situ remediation unmanned ship of claim 1, wherein the blast aeration system comprises: an air compressor (22) is installed at the middle position of the middle rear part of a deck (29), two electric push rods (26) are installed on the left side and the right side of the middle part of a rack respectively, the lower end of each electric push rod (26) is connected with one push-rotating pipe (301), the rotating shaft of each push-rotating pipe (301) transversely penetrates through a ship body (30), the lower end of each push-rotating pipe (301) is connected with one aeration rod (27), a plurality of micro aeration holes (18) are formed in each aeration rod (27), a cover (303) is installed at the tail end of each aeration rod (27), each aeration rod (27) is connected with the air compressor (22) through an air conveying pipe (24), and an air conveying electromagnetic valve (23) is installed at the connection part of the air compressor (22) and the air conveying pipe (24); the electric push rod (26) controls the pushing and rotating pipe (301) to be unfolded or folded under the control of an electric signal, and the aeration rod (27) fixedly connected with the pushing and rotating pipe (301) is also unfolded or folded along with the electric push rod; the two sides of the ship body (30) are provided with unfolding limit switches for limiting the depth of the aeration rod (27) unfolded into river water.

5. The riverway black and odorous water body in-situ remediation unmanned ship of claim 1, wherein the carbon fiber ecological grass throwing system comprises: a grass storage box (13) is installed at the rear part of the rack, and carbon fiber ecological grass throwing control blades (15) are installed at an outlet (133) at the bottom of the grass storage box; the lower part of the grass storage box (13) is provided with a carbon fiber ecological grass throwing driving motor (10) and a carbon fiber ecological grass throwing coupler (11) and is connected with a carbon fiber ecological grass throwing control blade (15); the carbon fiber ecological grass in the grass storage box (13) is discharged through a bottom outlet (133).

6. The riverway black and odorous water body in-situ remediation unmanned ship according to claim 1, wherein the automatic control system comprises a PLC and a relay which are installed in an electrical control cabinet (8), a touch screen is installed on the outer side face of the electrical control cabinet (8), and each sensor is installed on the left side and the right side of a ship body (30); the ship body driving button, the ultrasonic sensor for detecting the barrier, the ship body turning button, the left/right turning limit switch, the aggregate stirring button, the aggregate feeding button, the air compressor button, the aeration rod unfolding or folding button, the left/right unfolding limit switch, the blast aeration button and the carbon fiber ecological grass feeding button are in signal connection with the input end of the PLC; the device comprises a ship body propelling motor (21), a rudder driving motor (14), a stirring motor (4), an aggregate feeding electromagnetic valve (2), an air compressor (22), a left/right electric push rod (26), a left/right gas transmission electromagnetic valve (23), a carbon fiber ecological grass feeding driving motor (10) and a PLC output end, wherein the ship body propelling motor, the rudder driving motor (14), the stirring motor (4), the aggregate feeding electromagnetic valve, the air compressor, the left/right electric push rod, the left/right gas transmission electromagnetic valve (23) and the carbon fiber ecological grass feeding driving motor are in signal connection.

7. The unmanned vessel for in-situ remediation of black and odorous water in a river channel according to claim 1, further comprising a wireless communication system, the wireless communication system comprising: a PLC and NB-IoT wireless gateway installed within an electrical control cabinet (8); the unmanned ship operation mode is debugged through a touch screen arranged on the outer side surface of the electrical control cabinet (8); or wireless communication remote control is carried out through the mobile phone APP.

8. The riverway black and odorous water body in-situ remediation unmanned ship of claim 1, wherein the power supply system comprises a storage battery pack (28) and a power inverter (25), the storage battery pack (28) can provide 400W direct current or be inverted into 220V alternating current through the power inverter (25) for use by each electric device on the unmanned ship.

9. The riverway black and odorous water body in-situ remediation unmanned ship of claim 1 or 4, wherein the blast aeration system blows fine air flow uniformly into the river water within the depth of 1.5 m.

10. The riverway black and odorous water body in-situ remediation unmanned ship of claim 1, wherein the carbon fiber ecological grass is adhered into cylindrical particles by water soluble glue.

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