CN108166467A - A kind of water plant with unmanned boat integration of operation removes equipment and its method of work - Google Patents
A kind of water plant with unmanned boat integration of operation removes equipment and its method of work Download PDFInfo
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- CN108166467A CN108166467A CN201810045863.9A CN201810045863A CN108166467A CN 108166467 A CN108166467 A CN 108166467A CN 201810045863 A CN201810045863 A CN 201810045863A CN 108166467 A CN108166467 A CN 108166467A
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- unmanned boat
- processor
- water plant
- apparatus body
- driving
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 83
- 230000010354 integration Effects 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 239000003643 water by type Substances 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000001141 propulsive effect Effects 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 2
- 241000196324 Embryophyta Species 0.000 description 45
- 230000000694 effects Effects 0.000 description 5
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000007599 discharging Methods 0.000 description 2
- 230000012010 growth Effects 0.000 description 2
- 208000012260 Accidental injury Diseases 0.000 description 1
- 244000058871 Echinochloa crus-galli Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 235000015225 Panicum colonum Nutrition 0.000 description 1
- RAFZYSUICBQABU-HMMYKYKNSA-N Phytal Chemical compound CC(C)CCCC(C)CCCC(C)CCC\C(C)=C\C=O RAFZYSUICBQABU-HMMYKYKNSA-N 0.000 description 1
- RAFZYSUICBQABU-QYLFUYDXSA-N Phytal Natural products CC(C)CCC[C@@H](C)CCC[C@@H](C)CCC\C(C)=C/C=O RAFZYSUICBQABU-QYLFUYDXSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- RAFZYSUICBQABU-UHFFFAOYSA-N phytenal Natural products CC(C)CCCC(C)CCCC(C)CCCC(C)=CC=O RAFZYSUICBQABU-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D44/00—Harvesting of underwater plants, e.g. harvesting of seaweed
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Marine Sciences & Fisheries (AREA)
- Environmental Sciences (AREA)
Abstract
The invention discloses a kind of water plants with unmanned boat integration of operation to remove equipment and its method of work,Including unmanned boat and remove apparatus body,Unmanned boat includes the first control mechanism,It removes apparatus body and includes the second control mechanism,Cutting part,Storing portion and screw propulsion mechanism,Second control mechanism includes second processor,Second driving device,Second navigation device and the second positioning device,Second navigation device removes the travelling route of apparatus body for generating,Second positioning device removes the second position information of apparatus body for obtaining,Cutting part includes underwater camera and cutter device,Underwater camera is used to shoot underwater environment,Cutter device is used to remove water plant,Storing portion includes storage mesh bag,Electrohydraulic push rod and movable tray,Movable tray is connect by Electrohydraulic push rod with storing portion,Screw propulsion mechanism is connect with the second driving device,Screw propulsion mechanism is set to housing tail end,For controlling the submarine courses for removing apparatus body.
Description
Technical field
The present invention relates to underwater operation field, more particularly to a kind of water plant with unmanned boat integration of operation remove equipment and its
Method of work.
Background technology
On having the water surface of ship's navigation, due to the presence of water plant, ship especially generates very the ship for using power
Big harm, even damages ship, influences the service life of ship；And to general waters, may due to the prosperous length of water plant,
So as to encroach on the space of the water surface, the growth of other aquatic animals is influenced, it is also possible to due to the prosperous length of water plant, make part water plant dead
It generates and rots, pollute environment, therefore it is very necessary that water plant, which is periodically purged,.
At present, most of water plant administers the water plant for only removing water plant or phytal zone on the water surface, for water-bed depths
Water plant do not put and comprehend, can if things go on like this destroy the ecological environment in waters.
Invention content
Goal of the invention：The shortcomings that in order to overcome in background technology, combines an embodiment of the present invention provides one kind with unmanned boat
The water plant of operation removes equipment and its method of work, the problem of can effectively solve the problem that involved in above-mentioned background technology.
Technical solution：A kind of water plant with unmanned boat integration of operation removes equipment, including unmanned boat, remove apparatus body with
And bindiny mechanism, the unmanned boat include the first control mechanism, first control mechanism includes first processor, the first driving
Device, the first navigation device and the first positioning device, the first processor respectively with the first driving means, described
One navigation device and first positioning device connection, first navigation device are used to generate the first boat of the unmanned boat
Walking along the street line, for the unmanned boat to be driven to navigate by water, first positioning device is used to obtain the nothing first driving means
The first position information of people's ship, the removing apparatus body include the second control mechanism, cutting part, storing portion and screw propulsion
Mechanism, second control mechanism include second processor, the second driving device, the second navigation device and the second positioning dress
Put, the second processor respectively with second driving device, second navigation device and second positioning device
Connection, second navigation device are used to generate the travelling route for removing apparatus body, and second positioning device is used for
The second position information for removing apparatus body is obtained, the cutting part is set to the front end for removing apparatus body, institute
It states cutting part and includes underwater camera, cutter device and spotlight, the underwater camera is connect with the second processor,
For shooting underwater environment, second driving device is connect respectively with the cutter device and the spotlight, described to cut
Device is cut for removing water plant, for the spotlight for illuminating predeterminable area, the storing portion includes storage mesh bag, Electrohydraulic push rod
And movable tray, the Electrohydraulic push rod are connect with second driving device, the movable tray passes through the Electrohydraulic push rod
It is connect with the storing portion, the screw propulsion mechanism is connect with second driving device, the screw propulsion mechanism setting
In the housing tail end, for controlling the submarine courses for removing apparatus body, the removing equipment is led to the unmanned boat
Cross bindiny mechanism's connection.
As a kind of preferred embodiment of the present invention, the unmanned boat further includes warning mechanism, and the warning mechanism includes electricity
Sub- buoy and connecting line, the electronics buoy is by connecting line connection in closed ring.
As a kind of preferred embodiment of the present invention, the electronics buoy includes third positioning device, the third positioning dress
It puts and is connect with the first processor, for the third place information that obtains the third positioning device and by the third place
Information is sent to the first processor.
As a kind of preferred embodiment of the present invention, the movable tray includes sealing rubber ring with storing portion junction,
The sealing rubber ring is fixed on the pedestal in the storing portion and the surrounding of the movable tray.
As a kind of preferred embodiment of the present invention, the storing portion further includes lock and lock ring, and the lock is uniformly set
The opening of the storage mesh bag is placed in, the lock ring is set to the inside in the storing portion and the movable tray, described
Lock is connect with the lock ring.
As a kind of preferred embodiment of the present invention, including following work step：
A) second processor sets default waters in second navigation device；
B) second navigation device automatically generates the travelling route for removing apparatus body in the default waters and will
The travelling route is sent to the second processor；
C) second processor exports traveling signal to second driving device, and second driving device drives the spiral shell
Rotation propulsive mechanism is advanced according to the travelling route；
D) shooting picture is sent to the second processor by the underwater camera in real time；
E) whether there is default water plant in the picture that the second processor judgement receives；
F) if so, the second processor extracts the location information of the root of the default water plant；
G) second processor exports elongation signal to second driving device, and second driving device drives the electricity
Liquid push rod extends downwards；
H) second processor exports cutoff signal to second driving device, is cut described in the second driving device driving
Cut the root that device cuts the default water plant.
As a kind of preferred embodiment of the present invention, further included before step a：
The first processor sets predeterminable area in first navigation device；
First navigation device automatically generates first in the unmanned boat to the predeterminable area and the predeterminable area
First navigation route is simultaneously sent to the first processor by navigation route；
The first processor exports the first navigational signals to the first driving means, described in first driving means driving
Unmanned boat is navigated by water according to first navigation route.
As a kind of preferred embodiment of the present invention, step b is further included：
The navigation device generates the boundary route of the predeterminable area and the boundary route is sent to first processing
Device；
The first processor exports the second navigational signals to the first driving means, described in first driving means driving
Unmanned boat is navigated by water along the boundary route；
In above process, the warning mechanism is arranged on the boundary route by the unmanned boat, and the warning mechanism will
The water surface of the predeterminable area intercepts.
As a kind of preferred embodiment of the present invention, the warning mechanism is arranged on the boundary route by the unmanned boat
It further includes：
When the unmanned boat arranges the warning mechanism for the first time, the third positioning device sends electricity to the first processor
The third place information of sub- buoy, the first processor record the third place information respectively；
The first processor judges whether the electronics buoy deviates predeterminated position according to the third place information of real-time reception；
If so, the unmanned boat carries out position correction to the electronics buoy.
As a kind of preferred embodiment of the present invention, finished if the storage mesh bag has been collected, the removing apparatus body
It emerges and the water plant in the storage mesh bag is offloaded on the unmanned boat to the unmanned place, return again to water-bed operation.
The present invention realizes following advantageous effect：
Water plant provided by the invention removes equipment and administers deep water with removing the method for apparatus body integration of operation using unmanned boat
The mistake in area is filled with water grass, and the unmanned boat arranges warning mechanism on the water surface, and the warning mechanism makees the removing apparatus body
Industry district intercepting avoids other ships or the personal operating area for entering the removing apparatus body and comes to harm, described clear
Except apparatus body then enters water-bed cutting water plant, when storage mesh bag collects full, then return and unload water plant at the unmanned boat
On to the unmanned boat, it is further continued for returning to original place operation, avoids reducing working efficiency due to round-trip bank is unloaded, the storage net
Bag is connect with the removing apparatus body using lock with lock ring, is easily installed and is dismantled.
Description of the drawings
Attached drawing herein is incorporated into specification and forms the part of this specification, shows the implementation for meeting the disclosure
Example, and in specification together for explaining the principle of the disclosure.Fig. 1 is provided by the invention a kind of and unmanned boat integration of operation
Water plant removes device structure schematic diagram；
Structure diagram when Fig. 2 is removing equipment underwater operation provided by the invention；
Fig. 3 is warning mechanism structure diagram provided by the invention；
Fig. 4 is that a kind of water plant with unmanned boat integration of operation provided by the invention removes equipment flow chart of work methods；
Fig. 5 is default water plant cutting method flow chart provided by the invention；
Fig. 6 is water plant discharging method flow chart provided by the invention；
Fig. 7 is warning mechanism method for arranging flow chart provided by the invention；
Fig. 8 is electronics buoy position correcting method flow chart provided by the invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
Embodiment one
As shown in Figure 1, 2, 3, a kind of water plant with unmanned boat integration of operation removes equipment, including unmanned boat 1, removes apparatus body
2 and bindiny mechanism 3, unmanned boat 1 includes the first control mechanism 4, and the first control mechanism 4 includes the driving of first processor 5, first
Device 6, the first navigation device 7 and the first positioning device 8, first processor 5 navigate respectively with first driving means 6, first
7 and first positioning device 8 of device connects, and the first navigation device 7 is used to generate the first navigation route of unmanned boat 1, and first drives
For dynamic device 6 for unmanned boat 1 to be driven to navigate by water, the first positioning device 8 is used to obtain the first position information of unmanned boat 1, and removing is set
Standby ontology 2 includes the second control mechanism 9, cutting part 10, storing portion 11 and screw propulsion mechanism 12, and the second control mechanism 9 wraps
Second processor 13, the second driving device 14, the second navigation device 15 and the second positioning device 16, second processor 13 is included to divide
It is not connect with the second driving device 14, the second navigation device 15 and the second positioning device 16, the second navigation device 15 is used to give birth to
Into the travelling route for removing apparatus body 2, the second positioning device 16 removes the second position information of apparatus body 2 for obtaining,
Cutting part 10 is set to the front end for removing apparatus body 2, and cutting part 10 includes underwater camera 17, cutter device 18 and optically focused
Lamp 19, underwater camera 17 are connect with second processor 13, for shooting underwater environment, the second driving device 14 respectively with cutting
Device 18 and spotlight 19 connect, and for removing water plant, spotlight 19 is used to illuminate predeterminable area, storing portion cutter device 18
11 include storage mesh bag 20, Electrohydraulic push rod 21 and movable tray 22, Electrohydraulic push rod 21 connect with the second driving device 14, activity
Chassis 22 is connect by Electrohydraulic push rod 21 with storing portion 11, and screw propulsion mechanism 12 is connect with the second driving device 14, and spiral pushes away
Housing tail end is set into mechanism 12, for controlling the submarine courses for removing apparatus body 2, equipment is removed and passes through with unmanned boat 1
Bindiny mechanism 3 connects.
Unmanned boat 1 further includes warning mechanism, and warning mechanism includes electronics buoy 23 and connecting line 24, and electronics buoy 23 is logical
The connection of connecting line 24 is crossed in closed ring.
Electronics buoy 23 includes third positioning device 25, and third positioning device 25 is connect with first processor 5, for obtaining
The third place information is simultaneously sent to first processor 5 by the third place information of third positioning device 25.
Movable tray 22 includes sealing rubber ring 26 with 11 junction of storing portion, and sealing rubber ring 26 is fixed on the bottom in storing portion 11
The surrounding of seat and movable tray 22.
Storing portion 11 further includes lock 27 and lock ring 28, and lock 27 is uniformly arranged on the opening of storage mesh bag 20, lock
Ring 28 is set to the inside in storing portion 11 and movable tray 22, and lock 27 is connect with lock ring 28.
Specifically, water plant removing equipment provided by the invention includes three parts, including unmanned boat 1, removes apparatus body 2
And bindiny mechanism 3, unmanned boat 1 include the first control mechanism 4 and warning mechanism, the first control mechanism 4 includes the first processing
Device 5, first driving means 6, the first navigation device 7 and the first positioning device 8, warning mechanism include electronics buoy 23 and connect
Wiring 24, electronics buoy 23 include third positioning device 25, remove 2 second control mechanism 9 of apparatus body, cutting part 10, storing
Portion 11 and screw propulsion mechanism 12, the second control mechanism 9 includes second processor 13, the second driving device 14, second is navigated
15 and second positioning device 16 of device, cutting part 10 include underwater camera 17, cutter device 18 and spotlight 19, storing
Portion 11 includes storage mesh bag 20, Electrohydraulic push rod 21, movable tray 22, lock 27 and lock ring 28.
Wherein, unmanned boat 1 is two independent working cells with removing apparatus body 2, and the two, can be real by wireless connection
Existing remote data interaction, the two also include physical connection, i.e., are connected by bindiny mechanism 3,1 bottom of unmanned boat is provided with connection
Mouthful, the top for removing apparatus body 2 is provided with identical connector, and bindiny mechanism 3 connects unmanned boat 1 with removing by connector
Apparatus body 2, when unmanned boat 1, which carries, removes apparatus body 2 to predeterminable area, connection structure keeps connection status, works as removing
When apparatus body 2 needs to enter underwater operation, bindiny mechanism 3 disconnects, and divides at this point, removing apparatus body 2 with bindiny mechanism 3
From bindiny mechanism 3 still keeps connection status with unmanned boat 1.
23 built-in miniature motor of electronics buoy, motor can slightly adjust the position of electronics buoy 23, it made not occur as possible
Deviate, reflecting piece is provided on connecting line 24, there is conspicuous effect.
It removes and is divided into two adjacent separate spaces inside apparatus body 2, cutting part 10 is set as streamline structure, cutting
The front end in portion 10 is provided with underwater camera 17 and spotlight 19, and the bottom of cutting part 10 is provided with cutter device 18, removes
When apparatus body 2 is detached with bindiny mechanism 3, spotlight 19, which synchronizes, to be opened, and 11 bottom opening of storing portion is provided with a movable tray
22, size and the storing portion 11 of movable tray 22 coincide, and one end of Electrohydraulic push rod 21 is connect with storing portion 11, the other end and activity
Chassis 22 connects, and junction is provided with sealing rubber ring 26, and when Electrohydraulic push rod 21 does not extend, movable tray 22 is sealed with storing portion 11
Connection, storage mesh bag 20 are positioned in storing portion 11, are stored the opening of mesh bag 20 towards cutter device 18, are latched 27 and lock ring 28
Connection status is kept, the second control mechanism 9, which is embedded in, removes apparatus body 2, and the second control mechanism 9 has water-proof function, spiral
Propulsive mechanism 12 is set to the tail portion for removing apparatus body 2.
Embodiment two
As shown in figure 4, a kind of water plant with unmanned boat integration of operation removes the method for work of equipment, including following work step：
A) second processor 13 sets default waters in the second navigation device 15；
B) the second navigation device 15, which automatically generates, removes apparatus body 2 in the travelling route preset in waters and sends out travelling route
Give second processor 13；
C) second processor 13 exports traveling signal, the second driving device 14 driving screw propulsion mechanism to the second driving device 14
12 advance according to travelling route；
D) shooting picture is sent to second processor 13 by underwater camera 17 in real time；
E) second processor 13 judges whether there is default water plant in the picture received；
F) if so, second processor 13 extracts the location information of the root of default water plant；
G) second processor 13 to the second driving device 14 export elongation signal, the second driving device 14 drive Electrohydraulic push rod 21 to
Lower elongation；
H) second processor 13 exports cutoff signal to the second driving device 14, and the second driving device 14 driving cutter device 18 is cut
Cut the root of default water plant.
It is further included before step a：
First processor 5 sets predeterminable area in the first navigation device 7；
First navigation device 7 automatically generates the first navigation route in unmanned boat 1 to predeterminable area and predeterminable area and by
One navigation route is sent to first processor 5；
First processor 5 exports the first navigational signals to first driving means 6, and first driving means 6 drive unmanned boat 1 according to the
One navigation route navigates by water.
If storage mesh bag 20 has been collected and finished, remove apparatus body 2 and emerge to unmanned place and will store in mesh bag 20
Water plant be offloaded on unmanned boat 1, return again to water-bed operation.
Specifically, it before the present invention works, needs first to determine the region of operation, user is by remote terminal and first processor
5 and second processor 13 establish connection respectively, using remote terminal editor predeterminable area and predeterminable area is sent to first
Predeterminable area is marked in the first navigation device 7 for processor 5 and second processor 13, first processor 5, and first leads
Boat device 7 automatically generates the first navigation route in unmanned boat 1 to predeterminable area and predeterminable area and by the first navigation route
Be sent to first processor 5, unmanned boat 1, which first carries, removes apparatus body 2 to predeterminable area, remove apparatus body 2 again with nobody
Ship 1 disconnects and the work that dives into the water.
For the present invention though for removing water plant, the type of water plant is excessive, and it is excessively luxuriant need to only to remove some growths sometimes
Type.As shown in figure 5, first determining the type of water plant removed, then the image of the water plant is imported at second by remote terminal
Device 13 is managed, removes apparatus body 2 during diving, shooting picture is sent to second processor by underwater camera 17 in real time
13, second processor 13 judges whether there is default water plant in picture, and default water plant, that is, image is stored in second processor 13
Water plant if so, in order to obtain best elimination effect, should be cut off from the root of water plant, second processor 13 further from
The location information of the root of default water plant is extracted in picture, the adjustment of second processor 13 removes the position of apparatus body 2, makes to cut
The root of the default water plant of the alignment of device 18 is cut, Electrohydraulic push rod 21 is extended to maximum length, and storage mesh bag 20 exposes opening, and open
Mouth is located at the dead astern of cutter device 18, and cutter device 18 starts, and the rotation of the subsequent blade of water plant of cut-out is involved in rear
Store mesh bag 20, as shown in fig. 6, whenever cutter device 18 work preset period of time after, remove apparatus body 2 return unmanned boat 1 into
Row discharging, the second positioning device 16 send the second position information for removing apparatus body 2, second processor to second processor 13
13 record second position information, first processor 5 send the first position information of unmanned boat 1 to second processor 13, and removing is set
At 2 traveling first position information of standby ontology, after equipment to be cleaned emerges, equipped with fishing device on unmanned boat 1, dress is salvaged
It puts including mechanical arm, fishing device unloads storage mesh bag 20 from removing apparatus body 2, will specially latch 27 from lock ring 28
On remove, the water plant stored in mesh bag 20 is poured on unmanned boat 1 by fishing device, then 27 lock is buckled in lock ring 28 again
On, it removes apparatus body 2 and returns and continue operation at the information of the second position.
Embodiment three
As shown in fig. 7, step b is further included：
Boundary route is simultaneously sent to first processor 5 by the boundary route of navigation device generation predeterminable area；
First processor 5 exports the second navigational signals to first driving means 6, and first driving means 6 drive unmanned boat 1 along boundary
Route navigates by water；
In above process, warning mechanism is arranged on the route of boundary by unmanned boat 1, and warning mechanism blocks the water surface of predeterminable area
It cuts.
Warning mechanism is arranged on the route of boundary and further includes by unmanned boat 1：
In the arrangement warning mechanism for the first time of unmanned boat 1, third positioning device 25 sends the of electronics buoy 23 to first processor 5
Three location informations, first processor 5 record the third place information respectively；
First processor 5 judges whether electronics buoy 23 deviates predeterminated position according to the third place information of real-time reception；
If so, unmanned boat 1 carries out position correction to electronics buoy 23.
Specifically, when removing 2 operation under water of apparatus body, unmanned boat 1 sets barrier in predeterminable area, avoids ship
Or it is personal by present invention accidental injury, the first navigation device 7 generates the boundary route of predeterminable area, and boundary route, that is, unmanned boat 1 is around pre-
If the navigation route of zone boundary, first processor 5 marks the set-point of several proportional spacings, unmanned boat on the route of boundary
1 on the route of boundary when often navigating by water to a set-point, then arranges warning mechanism in set-point.
Wherein, electronics buoy 23 can generate deviation, electronics buoy 23 and third positioning device 25 1 under the action of the forces of the wind
One corresponds to, as shown in figure 8, unmanned boat 1, when arranging warning mechanism, first processor 5 records the third of each electronics buoy 23
Location information simultaneously preserves respectively, and first processor 5 is centered on the third place information, and radius establishes preset range for 1 meter, in police
After showing arrangement of mechanism, first processor 5 judges whether electronics buoy 23 deviates according to the third place information of real-time reception
Predeterminated position, if electronics buoy 23 drifts out preset range, first processor 5 can determine whether that electronics buoy 23 deviates default position
It puts, unmanned boat 1 is travelled to 23 current position of electronics buoy and transferred them in preset range.
The above embodiments merely illustrate the technical concept and features of the present invention, and the purpose is to allow be familiar with the skill of the technical field
Art personnel can understand present disclosure and implement according to this, can not be limited the scope of the invention with this.All bases
Equivalent changes or modifications made by spirit of the invention, should be covered by the protection scope of the present invention.
Claims (10)
1. a kind of water plant with unmanned boat integration of operation removes equipment, including unmanned boat, apparatus body and bindiny mechanism are removed,
It is characterized in that, the unmanned boat includes the first control mechanism, first control mechanism includes first processor, the first driving
Device, the first navigation device and the first positioning device, the first processor respectively with the first driving means, described
One navigation device and first positioning device connection, first navigation device are used to generate the first boat of the unmanned boat
Walking along the street line, for the unmanned boat to be driven to navigate by water, first positioning device is used to obtain the nothing first driving means
The first position information of people's ship, the removing apparatus body include the second control mechanism, cutting part, storing portion and screw propulsion
Mechanism, second control mechanism include second processor, the second driving device, the second navigation device and the second positioning dress
Put, the second processor respectively with second driving device, second navigation device and second positioning device
Connection, second navigation device are used to generate the travelling route for removing apparatus body, and second positioning device is used for
The second position information for removing apparatus body is obtained, the cutting part is set to the front end for removing apparatus body, institute
It states cutting part and includes underwater camera, cutter device and spotlight, the underwater camera is connect with the second processor,
For shooting underwater environment, second driving device is connect respectively with the cutter device and the spotlight, described to cut
Device is cut for removing water plant, for the spotlight for illuminating predeterminable area, the storing portion includes storage mesh bag, Electrohydraulic push rod
And movable tray, the Electrohydraulic push rod are connect with second driving device, the movable tray passes through the Electrohydraulic push rod
It is connect with the storing portion, the screw propulsion mechanism is connect with second driving device, the screw propulsion mechanism setting
In the housing tail end, for controlling the submarine courses for removing apparatus body, the removing equipment is led to the unmanned boat
Cross bindiny mechanism's connection.
2. a kind of water plant with unmanned boat integration of operation according to claim 1 removes equipment, it is characterised in that：The nothing
People's ship further includes warning mechanism, and the warning mechanism includes electronics buoy and connecting line, and the electronics buoy passes through the company
Wiring connection is in closed ring.
3. a kind of water plant with unmanned boat integration of operation according to claim 2 removes equipment, it is characterised in that：The electricity
Sub- buoy includes third positioning device, and the third positioning device is connect with the first processor, for obtaining the third
The third place information is simultaneously sent to the first processor by the third place information of positioning device.
4. a kind of water plant with unmanned boat integration of operation according to claim 1 removes equipment, it is characterised in that：The work
Dynamic chassis includes sealing rubber ring with storing portion junction, and the sealing rubber ring is fixed on pedestal and the institute in the storing portion
State the surrounding of movable tray.
5. a kind of water plant with unmanned boat integration of operation according to claim 1 removes equipment, it is characterised in that：The storage
Object portion further includes lock and lock ring, and the lock is uniformly arranged on the opening of the storage mesh bag, and the lock ring is set to
The inside in the storing portion and the movable tray, the lock are connect with the lock ring.
6. the work side of equipment is removed according to a kind of water plant with unmanned boat integration of operation of claim 1-5 any one of them
Method, it is characterised in that：Including following work step：
A) second processor sets default waters in second navigation device；
B) second navigation device automatically generates the travelling route for removing apparatus body in the default waters and will
The travelling route is sent to the second processor；
C) second processor exports traveling signal to second driving device, and second driving device drives the spiral shell
Rotation propulsive mechanism is advanced according to the travelling route；
D) shooting picture is sent to the second processor by the underwater camera in real time；
E) whether there is default water plant in the picture that the second processor judgement receives；
F) if so, the second processor extracts the location information of the root of the default water plant；
G) second processor exports elongation signal to second driving device, and second driving device drives the electricity
Liquid push rod extends downwards；
H) second processor exports cutoff signal to second driving device, is cut described in the second driving device driving
Cut the root that device cuts the default water plant.
7. a kind of water plant with unmanned boat integration of operation according to claim 6 removes the method for work of equipment, feature
It is：It is further included before step a：
The first processor sets predeterminable area in first navigation device；
First navigation device automatically generates first in the unmanned boat to the predeterminable area and the predeterminable area
First navigation route is simultaneously sent to the first processor by navigation route；
The first processor exports the first navigational signals to the first driving means, described in first driving means driving
Unmanned boat is navigated by water according to first navigation route.
8. a kind of water plant with unmanned boat integration of operation according to claim 6 removes the method for work of equipment, feature
It is：Step b is further included：
The navigation device generates the boundary route of the predeterminable area and the boundary route is sent to first processing
Device；
The first processor exports the second navigational signals to the first driving means, described in first driving means driving
Unmanned boat is navigated by water along the boundary route；
In above process, the warning mechanism is arranged on the boundary route by the unmanned boat, and the warning mechanism will
The water surface of the predeterminable area intercepts.
9. a kind of water plant with unmanned boat integration of operation according to claim 8 removes the method for work of equipment, feature
It is：The warning mechanism is arranged on the boundary route and further includes by the unmanned boat：
When the unmanned boat arranges the warning mechanism for the first time, the third positioning device sends electricity to the first processor
The third place information of sub- buoy, the first processor record the third place information respectively；
The first processor judges whether the electronics buoy deviates predeterminated position according to the third place information of real-time reception；
If so, the unmanned boat carries out position correction to the electronics buoy.
10. a kind of water plant with unmanned boat integration of operation according to claim 6 removes the method for work of equipment, feature
It is：If the storage mesh bag has been collected and finished, the removing apparatus body emerges the receipts to the unmanned place
The water plant in mesh bag that receives is offloaded on the unmanned boat, returns again to water-bed operation.
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| CN109699278A (en) * | 2018-11-23 | 2019-05-03 | 南县伟业机械制造有限公司 | A kind of underwater avoidance grass trimmer |
| CN112829894A (en) * | 2021-01-26 | 2021-05-25 | 浙大城市学院 | An automatic lift and recovery device for visual navigation of an aquatic robot |
| CN113853935A (en) * | 2021-09-17 | 2021-12-31 | 青岛五叠纪智能科技有限公司 | All-weather underwater aquatic plant cutting device based on bionic fish |
| CN114477466A (en) * | 2022-02-25 | 2022-05-13 | 苏州硕亚环保科技有限公司 | Composite fiber floating type wetland system |
| CN115428650A (en) * | 2021-06-04 | 2022-12-06 | 缪磊 | A visual multifunctional aquatic grass harvester and harvesting method |
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| CN109699278A (en) * | 2018-11-23 | 2019-05-03 | 南县伟业机械制造有限公司 | A kind of underwater avoidance grass trimmer |
| CN112829894A (en) * | 2021-01-26 | 2021-05-25 | 浙大城市学院 | An automatic lift and recovery device for visual navigation of an aquatic robot |
| CN112829894B (en) * | 2021-01-26 | 2021-11-30 | 浙大城市学院 | Automatic lifting and recovering device for visual navigation of water robot |
| CN115428650A (en) * | 2021-06-04 | 2022-12-06 | 缪磊 | A visual multifunctional aquatic grass harvester and harvesting method |
| CN113853935A (en) * | 2021-09-17 | 2021-12-31 | 青岛五叠纪智能科技有限公司 | All-weather underwater aquatic plant cutting device based on bionic fish |
| CN114477466A (en) * | 2022-02-25 | 2022-05-13 | 苏州硕亚环保科技有限公司 | Composite fiber floating type wetland system |
| CN114477466B (en) * | 2022-02-25 | 2023-11-03 | 苏州硕亚环保科技有限公司 | Composite fiber floating wetland system |
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