CN108301456A - Submarine decontamination machine people and its application method - Google Patents
Submarine decontamination machine people and its application method Download PDFInfo
- Publication number
- CN108301456A CN108301456A CN201810038013.6A CN201810038013A CN108301456A CN 108301456 A CN108301456 A CN 108301456A CN 201810038013 A CN201810038013 A CN 201810038013A CN 108301456 A CN108301456 A CN 108301456A
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- China
- Prior art keywords
- robot
- filter
- filter chamber
- machine people
- control system
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 238000005202 decontamination Methods 0.000 title claims abstract description 15
- 230000003588 decontaminative effect Effects 0.000 title claims abstract description 15
- 238000000034 method Methods 0.000 title claims abstract description 12
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 33
- 238000004140 cleaning Methods 0.000 claims abstract description 17
- 238000012544 monitoring process Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 239000010802 sludge Substances 0.000 claims abstract description 7
- 239000010865 sewage Substances 0.000 claims abstract description 4
- 238000011144 upstream manufacturing Methods 0.000 claims abstract description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000001914 filtration Methods 0.000 claims 1
- 238000009360 aquaculture Methods 0.000 abstract description 9
- 244000144974 aquaculture Species 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000009395 breeding Methods 0.000 abstract description 3
- 230000001488 breeding effect Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000011109 contamination Methods 0.000 description 3
- 241000143060 Americamysis bahia Species 0.000 description 2
- 239000004568 cement Substances 0.000 description 2
- 239000000919 ceramic Substances 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F5/00—Dredgers or soil-shifting machines for special purposes
- E02F5/28—Dredgers or soil-shifting machines for special purposes for cleaning watercourses or other ways
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/88—Dredgers; Soil-shifting machines mechanically-driven with arrangements acting by a sucking or forcing effect, e.g. suction dredgers
- E02F3/90—Component parts, e.g. arrangement or adaptation of pumps
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Mining & Mineral Resources (AREA)
- Civil Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses submarine decontamination machine people and its application method, which includes：The traveling mechanism for being used to carry and transport set on bottom, traveling mechanism is connected in the control system of robot interior, control system is connected with radio receiver, robot interior is filter chamber, filter chamber upstream is connected at the sewage discharge tube of the preceding bottom of robot, filter is set in filter chamber, it is covered at the top of filter chamber and corresponds to filter top position equipped with transparent sludge manual cleaning window, it is equipped with self prime pump in filter downstream connection, the outlet of self prime pump is connected at the suction type water outlet of robot upper back, tail portion is equipped with the video monitoring camera lens of connection control system after robot.Robot of the present invention can reach clears up aquaculture pool bottom object in a manner of mechanical automation in real time, it ensure that cultivation water, the breeding environment and growth efficiency of aquatic products are improved, while also improving the production efficiency of aquaculture and improving its economic benefit.
Description
Technical field
The present invention relates to a kind of aquaculture machinery devices more particularly to one kind can carrying out water-bed cleaning dirt work automatically
The submarine decontamination machine people of industry and its application method.
Background technology
Conventional aquaculture at present, especially for water-bed fishes and shrimps pond or pond for cement or ceramic tile, tank water
Deeply within 2 meters；Its water-bed dirt is most could handle base sludge dirt behind the dry pool due to being present in the bottom, so
Normal cultivation health is not only affected, the normal growth of aquatic products is also affected.So how to realize to aquaculture pool bottom
The normal handling of portion's dirt is culture fishery urgent problem to be solved always.For this purpose, the present inventor is in order to solve above-mentioned ask
Topic, puts into larger research and development, designs the solution of the present invention to solve the above problems.
Invention content
It is an object of the invention to overcome the deficiencies of the prior art and provide submarine decontamination machine people, reach with machine automatization
The mode of change clears up aquaculture pool bottom object in real time, ensure that cultivation water, improve aquatic products breeding environment and
Growth efficiency, while also improving the production efficiency of aquaculture and improving its economic benefit.
The technical solution adopted by the present invention to solve the technical problems is：Submarine decontamination machine people, including：Set on robot
The traveling mechanism that bottom is used to carry and transport, traveling mechanism are connected in the control system of robot interior, control system
It is connected with radio receiver, robot interior is filter chamber, and filter chamber upstream is connected at the sewage discharge tube of the preceding bottom of robot,
Filter is set in filter chamber, is covered at the top of filter chamber and corresponds to filter top position equipped with transparent sludge manual cleaning
Window is equipped with self prime pump in filter downstream connection, and the outlet of self prime pump is connected at the negative of robot upper back
Pressure type water outlet, tail portion is equipped with the video monitoring camera lens of connection control system after robot.
Further, it is additionally provided with beside the robot filter chamber and opens negative pressure adjusting device, opening negative pressure adjusting device includes：
Bear a heavy burden lifting chamber, and lifting chamber one end of bearing a heavy burden is equipped with the water sucking mouth for connecting external suction type water outlet, and control, which is arranged, in water sucking mouth inhales
The solenoid valve of mouth of a river open and close, connection bear a heavy burden lifting intracavitary bottom equipped with gas-guide tube, and the gas-guide tube other end connects self prime pump.
In this way, when robot will dive into the water, solenoid valve is opened, so that flow is entered heavy burden lifting intracavitary, is then shut off solenoid valve,
To make robot drop to the bottom.When needing to rise, solenoid valve is closed, self prime pump will bear a heavy burden by gas-guide tube to be lifted
The water of intracavitary is taken away, and lifting intracavitary of bearing a heavy burden makes robot float on the surface of the water full of air.
Submarine decontamination machine people limits the use of in the water-bed fishes and shrimps pond for cement or ceramic tile, and the pond depth of water is within 2 meters；It uses
It is preceding it is ensured that thering is enough electricity, shell not to rupture.After cell phone application software is by being wirelessly connected robot, robot is logical
After crossing self-check program, it is put into pond, robot can start Negative pressure machine structure in ontology, and robot is allowed to be sunk to by preset track
The bottom, by the video monitoring camera lens in robot shells, after confirming underwater environment, robot starts program of removing contamination, robot
Start to remove contamination；When robot works after a certain period of time, internal processes detect has expired in sludge container or filter pressure is excessive
When, robot opens negative pressure adjusting device, and robot is allowed to emerge, and is returned on the bank with driving mechanism by ultrasonic ranging band,
By manually removing the dirt in robot sludge container storehouse, if electricity is normal, lower water will be continued and removed contamination, if not enough power supply,
The original place for just automatically returning to lower water to be charged is operated again.
The invention also discloses the application method of above-mentioned robot, operating process includes the following steps：
Robot charging is placed into pond by step 1, selects automatic mode or manual mode；Robot enters basin bottom, leads to
Cross video monitoring Shot Detection basin bottom environment；
Step 2, the ambient image information transmitted according to video monitoring camera lens select path planning pattern by cell phone application software,
According to actual needs, control robot walks at the bottom, completes route planning, and the route that robot passes by is practical work
Automatic cruising route when making；
Step 3, robot are grasped by planning good underwater cleaning route, the speed of travel and clean-up intensity as needed
Make；Side wall including pond can also be cleared up；
Step 4 starts robot into cleaning pattern on probation, observer robot operation；
Step 5, the cleaning period that robot work is set by cell phone application software and clearing times；
Step 6, robot proceed by automatic cleaning automatically into standby mode into after clearing up the period；
Step 7, submarine decontamination machine people understand the first position that lower water is warned and automatically returned on mobile phone after filling rubbish；Separately set
Determine robot when robot electric energy drops to the first position that only may return to lower water and automatically returns to sewer volume first position；
Step 8, by staff clear up robot in rubbish after, repeating to step 1 makes robot be run automatically by step.
In conclusion robot of the present invention and application method, can reach in a manner of mechanical automation to aquaculture water
Bottom of pond object is cleared up in real time, ensure that cultivation water, is improved the breeding environment and growth efficiency of aquatic products, is also improved simultaneously
The production efficiency of aquaculture and improve its economic benefit.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the control flow chart of the embodiment of the present invention 1.
Specific implementation mode
Embodiment 1
Submarine decontamination machine people described in the embodiment of the present invention 1, as shown in Figure 1, 2, including：Set on robot bottom for holding
It carries and the traveling mechanism 1 of transport, traveling mechanism is connected in the control system of robot interior, control system is connected with wirelessly
Reception device, robot interior are filter chamber, and filter chamber upstream is connected at the sewage discharge tube 2 of the preceding bottom of robot, in filter chamber
Filter 3 is set, is covered at the top of filter chamber and is equipped with transparent sludge manual cleaning window 4 corresponding to filter top position,
It is equipped with self prime pump 5 in filter downstream connection, the outlet of self prime pump is connected at the suction type of robot upper back
Water outlet 6, tail portion is equipped with the video monitoring camera lens 7 of connection control system after robot
It is additionally provided with beside the robot filter chamber and opens negative pressure adjusting device 12, opening negative pressure adjusting device includes：It bears a heavy burden and lifts
Chamber, lifting chamber one end of bearing a heavy burden are equipped with the water sucking mouth for connecting external suction type water outlet, and control water sucking mouth open and close is arranged in water sucking mouth
Solenoid valve, connection lifting intracavitary bottom of bearing a heavy burden is equipped with gas-guide tube, and the gas-guide tube other end connects self prime pump.
Embodiment 2
The application method of submarine decontamination machine people, operating process described in the embodiment of the present invention 2 include the following steps：
Robot charging is placed into pond by step 1, selects automatic mode；Robot enters basin bottom, passes through video monitoring
Shot Detection basin bottom environment；
Step 2, the ambient image information transmitted according to video monitoring camera lens select path planning pattern by cell phone application software,
According to actual needs, control robot walks at the bottom, completes route planning, and the route that robot passes by is practical work
Automatic cruising route when making；
Step 3, robot are grasped by planning good underwater cleaning route, the speed of travel and clean-up intensity as needed
Make；Side wall including pond can also be cleared up；
Step 4 starts robot into cleaning pattern on probation, observer robot operation；
Step 5, the cleaning period that robot work is set by cell phone application software and clearing times；
Step 6, robot proceed by automatic cleaning automatically into standby mode into after clearing up the period；
Step 7, submarine decontamination machine people understand the first position that lower water is warned and automatically returned on mobile phone after filling rubbish；Separately set
Determine robot when robot electric energy drops to the first position that only may return to lower water and automatically returns to sewer volume first position；
Step 8, by staff clear up robot in rubbish after, repeating to step 1 makes robot be run automatically by step.
The above described is only a preferred embodiment of the present invention, not making in any form to the structure of the present invention
Limitation.It is every according to the technical essence of the invention to any simple modification, equivalent change and modification made by above example,
In the range of still falling within technical scheme of the present invention.
Claims (3)
1. submarine decontamination machine people, which is characterized in that including：The traveling mechanism for being used to carry and transport set on robot bottom,
Traveling mechanism is connected in the control system of robot interior, and control system is connected with radio receiver, robot interior
For filter chamber, filter chamber upstream is connected at the sewage discharge tube of the preceding bottom of robot, filter is arranged in filter chamber, is covered in filtering
Top of chamber corresponds to filter top position and is equipped with transparent sludge manual cleaning window, and self-priming is equipped in filter downstream connection
Formula water pump, the outlet of self prime pump are connected at the suction type water outlet of robot upper back, and tail portion is equipped with after robot
Connect the video monitoring camera lens of control system.
2. submarine decontamination machine people according to claim 1, it is characterised in that：It is also set beside the robot filter chamber
Negative pressure adjusting device is opened, opening negative pressure adjusting device includes：Bear a heavy burden lifting chamber, and lifting chamber one end of bearing a heavy burden, which is equipped with, connects external negative pressure
The solenoid valve of control water sucking mouth open and close is arranged in water sucking mouth in the water sucking mouth of formula water outlet, and connection heavy burden lifting intracavitary bottom is equipped with
Gas-guide tube, the gas-guide tube other end connect self prime pump；The top of propulsion system is protected equipped with waterproof behind the robot body
Shield.
3. the application method of submarine decontamination machine people described in claim 1, it is characterised in that：The operating process packet of the robot
Include following steps：
Robot charging is placed into pond by step 1, selects automatic mode or manual mode；Robot enters basin bottom, leads to
Cross video monitoring Shot Detection basin bottom environment；
Step 2, the ambient image information transmitted according to video monitoring camera lens select path planning pattern by cell phone application software,
According to actual needs, control robot walks at the bottom, completes route planning, and the route that robot passes by is practical work
Automatic cruising route when making；
Step 3, robot are grasped by planning good underwater cleaning route, the speed of travel and clean-up intensity as needed
Make；Side wall including pond can also be cleared up；
Step 4 starts robot into cleaning pattern on probation, observer robot operation；
Step 5, the cleaning period that robot work is set by cell phone application software and clearing times；
Step 6, robot proceed by automatic cleaning automatically into standby mode into after clearing up the period；
Step 7, submarine decontamination machine people understand the first position that lower water is warned and automatically returned on mobile phone after filling rubbish；Separately set
Determine robot when robot electric energy drops to the first position that only may return to lower water and automatically returns to sewer volume first position；
Step 8, by staff clear up robot in rubbish after, repeating to step 1 makes robot be run automatically by step.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810038013.6A CN108301456A (en) | 2018-01-16 | 2018-01-16 | Submarine decontamination machine people and its application method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810038013.6A CN108301456A (en) | 2018-01-16 | 2018-01-16 | Submarine decontamination machine people and its application method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108301456A true CN108301456A (en) | 2018-07-20 |
Family
ID=62868998
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810038013.6A Pending CN108301456A (en) | 2018-01-16 | 2018-01-16 | Submarine decontamination machine people and its application method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108301456A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110764518A (en) * | 2019-10-31 | 2020-02-07 | 五邑大学 | Underwater dredging robot path planning method and device, robot and storage medium |
| CN111794360A (en) * | 2020-07-06 | 2020-10-20 | 广东交通职业技术学院 | Sewage suction machine and sewage suction method |
| CN113417328A (en) * | 2021-07-23 | 2021-09-21 | 绍兴柏莉建设有限公司 | River channel dredging equipment with silt dewatering mechanism |
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| CN106936895A (en) * | 2017-02-14 | 2017-07-07 | 上海庆科信息技术有限公司 | A kind of Cloud Server, sweeper and sweeper control system |
| CN107336803A (en) * | 2017-08-15 | 2017-11-10 | 长沙紫宸科技开发有限公司 | Garbage on water or floating plant cleaning equipment |
| CN107555046A (en) * | 2017-09-11 | 2018-01-09 | 太仓迭世信息科技有限公司 | Intelligent the cleaning system and its method of work of robot and garbage truck cooperating |
| CN207829045U (en) * | 2018-01-16 | 2018-09-07 | 广东联芯智能科技有限公司 | Submarine decontamination machine people |
-
2018
- 2018-01-16 CN CN201810038013.6A patent/CN108301456A/en active Pending
Patent Citations (10)
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| JPH0527839A (en) * | 1991-07-19 | 1993-02-05 | Matsushita Electric Ind Co Ltd | Mobile robot |
| CN1951296A (en) * | 2005-10-17 | 2007-04-25 | 乐金电子(天津)电器有限公司 | Vacuum cleaner |
| CN103847536A (en) * | 2012-11-30 | 2014-06-11 | 英业达科技有限公司 | Vehicular device and method for monitoring charging of electric vehicle |
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| CN205206406U (en) * | 2015-12-15 | 2016-05-04 | 南京信息工程大学 | Machine people cleans under water |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110764518A (en) * | 2019-10-31 | 2020-02-07 | 五邑大学 | Underwater dredging robot path planning method and device, robot and storage medium |
| CN110764518B (en) * | 2019-10-31 | 2021-05-11 | 五邑大学 | Underwater dredging robot path planning method and device, robot and storage medium |
| CN111794360A (en) * | 2020-07-06 | 2020-10-20 | 广东交通职业技术学院 | Sewage suction machine and sewage suction method |
| CN113417328A (en) * | 2021-07-23 | 2021-09-21 | 绍兴柏莉建设有限公司 | River channel dredging equipment with silt dewatering mechanism |
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