阅读说明：本技术 一种用于河道管理的全自动无人船及其应用 (Full-automatic unmanned ship for river channel management and application thereof ) 是由 刘涛 施怀荣 王达 孟令寒 邓伟 于 2019-09-29 设计创作，主要内容包括：一种用于河道管理的全自动无人船,包船体、导航系统、垃圾清理系统和动力系统,所述的船体包括船底、船舱、驾驶室；所述的垃圾清理系统包括链板传送带、破碎机、压榨机、垃圾贮存室；所述的动力系统包括侧推螺旋桨和主推螺旋桨,所述的垃圾清理系统和动力系统设置在船底上。本发明的全自动无人船能够实现无人作业、远程监控和自主巡航,大大降低了目前人工打捞的人力投入,提高了河道监测和清理的自动化,并能够利用4G网络和物联网技术实现远程的控制和污染的监控。(A full-automatic unmanned ship for river channel management comprises a ship body, a navigation system, a garbage cleaning system and a power system, wherein the ship body comprises a ship bottom, a cabin and a cab; the garbage cleaning system comprises a chain plate conveyor belt, a crusher, a squeezer and a garbage storage chamber; the power system comprises a side-push propeller and a main-push propeller, and the garbage cleaning system and the power system are arranged on the ship bottom. The full-automatic unmanned ship can realize unmanned operation, remote monitoring and autonomous cruising, greatly reduces the manpower input of current manual salvage, improves the automation of river channel monitoring and cleaning, and can realize remote control and pollution monitoring by utilizing 4G network and Internet of things technology.)

1. A full-automatic unmanned ship for river management comprises a ship body, a control system, a navigation system, a garbage cleaning system and a power system, and is characterized in that the ship body comprises a ship bottom (10), a cabin (6) and a cab (3); the garbage cleaning system comprises a chain plate conveyor belt (13), a crusher (14), a squeezer (19) and a garbage storage chamber (15); the power system comprises a side-push propeller (1), a main-push propeller (12) and a power battery system (18) for providing power, and the garbage cleaning system and the power system are arranged on the ship bottom (10).

2. The fully automated unmanned ship of claim 1, wherein: the navigation system comprises a millimeter wave radar (2) arranged at the bow of the ship, a maritime satellite receiving terminal and an inertial navigation module (5) which are positioned at the top of a cabin, a gyroscope (7) and a 4G antenna (8) which are positioned at the stern of the ship, wherein the millimeter wave radar (2) detects the surrounding condition of the ship body and sends signals to the navigation system; the navigation system is connected with the stern gyroscope (7) and the control system through signals, and the control system receives the signals of the navigation system and adjusts the working states controlled by the side-push propellers (1) and the main-push propellers (12) according to the signal indication to control the balance and the advancing direction of the movement of the ship body.

3. The fully automated unmanned ship of claim 2, wherein: a shore-based intelligent terminal system is arranged on the shore to be used for remote monitoring of the unmanned ship, and the navigation system is in signal cooperation with the shore-based intelligent terminal system and the control system to realize automatic driving; the millimeter wave radar (2) transmits signals to the navigation system and the control system after detecting the water path condition to determine the action direction, and the control system controls the power system to provide power support and adjusts the advancing route according to information fed back by the radar or the navigation system in the advancing process.

4. The fully automated unmanned ship of claim 1, wherein: the ship bottom (10) is of a W-shaped ship bottom structure, a plurality of fixed anchor points (9) are arranged on two side edges of the ship bottom (10), side-push propellers (1) are respectively arranged on two sides of the front portion of the ship bottom (10), a garbage guide groove (20) is arranged in the middle of the front portion of the ship bottom, a garbage cleaning system is installed in the garbage guide groove (20), and a main push propeller (12) is arranged at the tail portion of the ship bottom.

5. The fully automated unmanned ship of claim 4, wherein: a chain plate conveying belt (13) of a garbage cleaning system is arranged in the diversion trench (20) in a downward-inclined 45-degree mode, the front end of the chain plate conveying belt extends into the water by 10-20cm, the tail end of the chain plate conveying belt (13) is connected with an inlet of a crusher (14), an outlet of the crusher (14) is connected with a squeezer (19), and the squeezer (19) presses garbage and then discharges the garbage into a garbage storage chamber for temporary storage.

6. The fully automated unmanned ship of claim 1, wherein: cab (3) and cabin (6) be located the hull on the bottom, cab (3) are located the hull front end, cab (3) top is provided with warning light (4), cabin (6) are located cab (3) back, install in cab (3) and control platform (16), seat (17), it is provided with the rudder to control on platform (16), the switch board, on-board computer, control panel, alarm device and automatic-manual switching handle, cabin (6) both sides are provided with ventilation window (11), install power battery system (18) that provide power and power management in cabin (6), power battery system (18) provide the power for driving system, navigation, control system, rubbish clearance system.

7. The fully automated unmanned ship of claim 1, wherein: the on-line water quality monitoring device is installed in the cabin (6) and comprises a thermometer, a pH monitor, a dissolved oxygen monitor, an ORP monitor, an ammonia nitrogen monitor and a turbidity meter, and the water quality monitoring device is associated with a master control platform of a shipborne computer.

8. The fully automated unmanned ship of claim 5, wherein: the chain plate conveying belt (13) consists of a chain plate belt formed by connecting a plurality of groove-shaped chain plates in series and driving equipment, wherein the groove-shaped chain plates are connected in series by two driving chains connected in series from two sides of the chain plates; the crusher (14) is selected from a roll crusher, and the press (19) is selected from a screw press.

9. The fully automated unmanned ship of claim 1, wherein: the control console in the cab (3) is provided with a monitoring console and a control system, and the monitoring console displays the position of the ship body, real-time monitoring information of the river water body and the working state of the ship body; the control system comprises a shipborne computer, a radar receiving and processing module, a real-time carrier phase difference technology module, an inertial navigation data processing module, a chain plate conveyor belt control module, a crusher control module, a control module of a squeezer and water quality monitoring equipment, a power control module and an emergency early warning module.

10. Use of a fully automated unmanned ship according to any of claims 1-9, characterized in that: the unmanned ship is used for garbage cleaning and water quality monitoring of polluted water bodies of rivers, lakes or ditches.

Technical Field

The invention relates to a full-automatic unmanned management ship, in particular to a full-automatic unmanned ship for water pollution management of rivers, lakes or ditches, belonging to outdoor polluted water management equipment.

Background

With the growth of population and the development of society, particularly the development of industry, the aquatic ecological environment is gradually polluted by domestic and industrial garbage, a lot of domestic and industrial garbage is discarded in a lot of water bodies due to poor management of the garbage, a lot of algae such as blue algae, green algae and diatom are propagated in a lot because waste water containing a lot of nitrogen and phosphorus enters the water bodies in domestic and industrial and agricultural production, a layer of blue-green floating foam with fishy smell is formed on the water surface, which is called as water bloom, the water bloom can cause water quality deterioration, oxygen in the water can be exhausted seriously to cause fish death, and some water can generate pollution such as black and odor, and the pollution to the surrounding environment and the ecological environment is also seriously influenced.

For many years, cleaning tools for cleaning rivers are in various forms, but mainly adopt a manual fishing type, so that time and labor are wasted, and the problems that cleaning is not clean, dead corners cannot enter and cannot be cleaned exist. In recent years, automatic river channel cleaning machines are gradually released and put into use, but the novel river channel cleaning machine also has great problems, such as general practicability, higher manufacturing cost, higher maintenance cost and running cost, complex installation, complex operation and easy failure.

The novel unmanned ship is developed by combining the current communication technology and the Internet of things technology, aims to solve the problem of water pollution of rivers and lakes, and can realize salvaging, cleaning and monitoring of the river pollution without the need of always watching by people.

Disclosure of Invention

One of the purposes of the invention is to provide a full-automatic unmanned ship for river channel management.

The invention relates to a full-automatic unmanned ship for river channel management, which comprises a ship body, a control system, a navigation system, a garbage cleaning system and a power system, wherein the ship body comprises a ship bottom, a cabin and a cab; the garbage cleaning system comprises a chain plate conveyor belt, a crusher, a squeezer and a garbage storage chamber; the power system comprises a side-push propeller, a main-push propeller and a power battery for supplying power, and the garbage cleaning system and the power system are arranged on the ship bottom.

Further, the size of the ship body is 6.6 meters in length, 3 meters in width and 2.6 meters in total height.

Furthermore, the navigation system comprises a millimeter wave radar arranged at the bow of the ship, a maritime satellite receiving terminal and an inertial navigation module which are positioned at the top of the cabin, a gyroscope and a 4G antenna which are positioned at the stern, wherein the radar detects the surrounding condition of the ship body and sends signals to the navigation system; the navigation system is connected with the stern gyroscope and the control system through signals, and the control system receives the signals of the navigation system and adjusts the working states controlled by the side-push propellers and the main-push propellers according to the signal indication to control the balance direction and the advancing direction of the movement of the ship body.

The 4G antenna has the functions of signal receiving and transmitting and the like, and the gyroscope plays a role in controlling the stability of the ship body in advancing. When the front of the ship body meets an obstacle in the driving process, the signal is received by the satellite receiver and transmitted to the navigation system, the commands of advancing, retreating, left-right steering and the like are sent out, meanwhile, a advancing program can be set in the navigation system in advance, the advancing path is controlled, and at the moment, the satellite receiver is used as a second guarantee to prevent accidents such as ship body collision and the like. The whole ship body realizes an unmanned driving state through the combination of navigation, control and a target recognition system, and meanwhile, a shore-based intelligent terminal system is arranged on the shore to carry out manual operation and control on inspection, so that the monitoring and prevention effects are achieved.

Furthermore, a shore-based intelligent terminal system is arranged on the shore for remote monitoring, and the navigation system is in signal cooperation with the shore-based intelligent terminal system and the control system to realize automatic driving; the control system controls the power system to provide power support and changes the advancing route according to the information fed back by the radar or the navigation system in the advancing process

Further, the ship bottom is of a W-shaped ship bottom structure, fixed anchor points are arranged on two side edges of the ship bottom, side-push propellers are arranged on two sides of the front portion of the ship bottom respectively, a garbage guide groove is formed in the middle of the front portion of the ship bottom, a garbage cleaning system is installed in the garbage guide groove, and a main push propeller is arranged at the tail portion of the ship bottom.

Furthermore, a chain plate conveying belt of a garbage cleaning system is arranged in the diversion trench in a downward-inclined 45-degree mode, the front end of the tail end of the chain plate conveying belt extends into the water by 10-20cm, the tail end of the chain plate conveying belt is connected with an inlet of a crusher, an outlet of the crusher is connected with a squeezer, and the squeezer presses garbage and discharges the garbage to a garbage storage chamber for temporary storage.

Furthermore, the cab and the cabin are located on the bottom of the ship, the cab is located at the front end of the ship body, the warning lamp is arranged at the top of the cab, the cabin is located behind the cab, a rudder, a seat, a control cabinet, a shipborne computer, a control panel, an alarm device and an automatic and manual switching handle are installed in the cab, ventilation windows are arranged on two sides of the cabin, a rechargeable power battery is installed in the cabin, and the power battery provides a power supply for a power system, a navigation system, a control system and a garbage cleaning system.

The driving device comprises a driving shaft and a driven shaft which are arranged at two ends of the chain plate belt, the driving chains at two sides of the chain plate belt are sleeved on the driving shaft and the driven shaft, the driving shaft is positioned at the upper part of the chain plate conveyer belt, and one end of the driving shaft is connected with a driving motor; the crusher is selected from a roll crusher or a screw press.

Further, install online water quality monitoring equipment in the cabin, online water quality monitoring equipment include thermometer, pH monitor, dissolved oxygen monitor, ORP monitor, ammonia nitrogen monitor and turbidity meter, water quality testing equipment is associated with the total control platform of on-board computer.

Furthermore, a monitoring console and a control system are arranged in the cab, and the monitoring console displays the position of the ship body, real-time monitoring information of the river water body and the working state of the ship body; the control system comprises a radar receiving and processing module, a real-time carrier phase differential technology module, an inertial navigation data processing module, a chain plate conveyor belt control module, a crusher control module, a control module of a squeezer and water quality monitoring equipment, a power control module and an emergency early warning module.

The cab integrates all information collecting and controlling systems of the whole ship, and comprises a device for receiving and processing millimeter wave radar, a real-time carrier phase differential technology, inertial navigation data and a device for controlling the start and stop of a chain plate conveying belt, a crusher, a squeezer and a water quality monitoring device. The millimeter wave radar can measure the distance of the obstacle within 40 meters in the front direction, the left direction and the right direction and transmit signals to the main control computer, and the main control computer controls the side-push propeller and the main-push propeller to actively avoid the obstacle; the water quality monitoring equipment automatically records water quality data every 1 hour and records the coordinates of monitoring point positions; the real-time carrier phase differential equipment can position the equipment; and the inertial navigation data carries out autonomous positioning navigation.

When machine trouble appears, when the screw was twined, the machine burns out the circumstances such as, the urgent early warning system in the control room can report to the police to intelligent terminal equipment ashore, and urgent early warning system display screen can the flashing red light, instructs which places go wrong. The monitored personnel can remotely change the advancing route of the ship body on the shore after finding a fault, and if the purpose cannot be achieved, rescue personnel can be dispatched to carry out emergency treatment and manually enter the ship body for operation.

Another object of the present invention is to provide a method for managing water or use of the fully automatic unmanned ship of the present invention for garbage cleaning and water quality monitoring of polluted water in rivers, lakes or ditches.

The invention has the beneficial effects that:

1. the side-push propeller provided by the embodiment of the invention can reduce the turning radius of the ship body, and can realize the unchanged posture and the lateral movement of the ship body after being matched with the main-push propeller to rotate for 90 degrees.

2. The front part of the ship body provided by the embodiment of the invention is provided with the U-shaped garbage collecting tank, and garbage in the range of the ship head can be gathered on the conveying belt in the advancing process of the ship body.

3. The chain plate conveying belt provided by the embodiment of the invention can convey water surface garbage to a crusher in a ship body, is of a hollow structure, and can filter water of the garbage in the collection and conveying process and reduce the load of the ship body.

4. The garbage crusher provided by the embodiment of the invention can crush the collected garbage so as to facilitate the next step of compression and storage.

5. The squeezing machine provided by the embodiment of the invention can squeeze the crushed garbage to reduce the volume of the garbage and store the liquid generated by squeezing.

6. The radar, the maritime satellite system and the inertial navigation provided by the embodiment of the invention can enable the ship to carry out track tracking, autonomous cruising, active obstacle avoidance and remote control.

7. The online water quality monitoring equipment provided by the embodiment of the invention can perform real-time online monitoring on water temperature, pH, dissolved oxygen, ORP, ammonia nitrogen and turbidity, and a group of data is obtained by monitoring every hour and is transmitted back to a computer and a mobile terminal through the 4G module.

Description of the drawings:

fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic diagram of the overall structure of the present invention.

Fig. 3 is a first schematic view of the bottom of the vessel of fig. 1.

Figure 4 is a second schematic view of the bottom of the vessel of figure 1.

In the figure, a side-push propeller 1, a millimeter wave radar 2, a cab 3, a warning light 4, a marine satellite receiving terminal 5, an inertial navigation module 6, a cabin 7, a gyroscope 84G antenna, a fixed anchor point 9, a ship bottom 10, a ventilation window 11, a main push propeller 12, a chain plate conveyor belt 13, a crusher 14, a garbage storage chamber 15, a control platform 16, a seat 17, a power battery system 18, a squeezer 19 and a diversion trench 20.

Detailed Description

In order to better understand the present invention, the following examples are further provided to illustrate the present invention, but the present invention is not limited to the following examples.