CN112462020A - Wind-solar complementary twin-hull unmanned water quality monitoring ship - Google Patents
Wind-solar complementary twin-hull unmanned water quality monitoring ship Download PDFInfo
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Abstract
The invention relates to a wind-solar complementary twin-hull unmanned water quality monitoring ship, which comprises a buoyancy ship body, a connecting platform, a support frame and a remote control operating system, wherein the connecting platform is fixedly connected with the buoyancy ship body, the support frame is fixedly connected with two sides of the buoyancy ship body to form an integral structure, solar cell panels are uniformly distributed on the surface of the connecting platform, the remote control operating system is arranged in the connecting platform, a water quality monitoring pool is arranged at the bottom of the buoyancy ship body, the remote control operating system comprises a system state ensuring unit, a data acquisition and transmission unit, a central processing unit and a safety protection unit, a water quality detecting instrument, a signal receiving and transmitting device, a camera and a propeller type wind speed sensor are arranged on the upper platform of the support frame, and a wind blade. The invention has the characteristics of small equipment volume, low failure rate, convenient operation, high reliability and the like, is suitable for rivers and lakes with small wind waves, sewage treatment pools, water pumping pump stations and other water bodies, can monitor the water quality in real time, and greatly improves the detection efficiency.
Description
Technical Field
The invention belongs to the technical field of water quality detection, and particularly relates to a wind-solar complementary twin-hull unmanned water quality monitoring ship.
Background
The traditional water environment monitoring and underwater topography measurement is generally carried out by renting ships, and the traditional field measurement work of related monitoring is carried out by marking to a specified place, so that a large amount of manpower and material resources are required, the measurement precision requirement and the research requirement are difficult to meet, and in sudden water environment pollution monitoring, the flexibility is insufficient, and the requirement of carrying out rapid, efficient, flexible and high-precision multi-parameter water environment synchronous monitoring is difficult to support. The water quality detector on the current market adopts a battery to supply power, has insufficient power and can cruise for 8 hours. The device is mainly used for water sampling and water quality monitoring, underwater landform surveying and mapping, hydrological measurement, water surface garbage cleaning, patrol, rescue and the like. While fully functional, these functions have not been integrated. Patent publication No. CN110243411A discloses a multifunctional twin-hull type water environment unmanned monitoring ship, which is characterized by comprising a first ship hull (1), a second ship hull (2) connected with the first ship hull (1), and a central carrying platform (3) arranged between the first ship hull (1) and the second ship hull (2), wherein power devices (4) are respectively arranged on the first ship hull (1) and the second ship hull (2), a water environment monitoring device (5), a central controller (6) connected with the water environment monitoring device (5), and a wireless remote control device (7) connected with the central controller (6) are respectively arranged on the central carrying platform (3), and an expansion interface (8) is arranged on the central controller (6); the water environment monitoring device (5) comprises real-time water quality monitoring equipment (51), underwater terrain measuring equipment (52), water flow speed and flow rate monitoring equipment (53) and underwater animal and plant monitoring equipment (54).
Disclosure of Invention
The invention aims to overcome the defects of the technology and provide a double-body unmanned water quality monitoring ship, which integrates data collection, analysis, normalization and storage, and realizes the functions of water sampling, water quality monitoring, hydrological measurement and the like.
In order to achieve the purpose, the invention adopts the following technical scheme: a wind-solar complementary twin-hull unmanned water quality monitoring ship is characterized in that: the device comprises an H-shaped buoyancy ship body, a connecting platform, a support frame and a remote control operating system which are overlooked, wherein the connecting platform is fixedly connected with the buoyancy ship body, the support frame is fixedly connected with two sides of the buoyancy ship body to form an integral structure, solar cell panels are uniformly distributed on the surface of the connecting platform, the remote control operating system is arranged in the connecting platform, a water quality monitoring pool is arranged at the bottom of the buoyancy ship body, the remote control operating system comprises a system state ensuring unit, a data acquisition and transmission unit, a central processing unit and a safety protection unit, a platform at the upper part of the support frame is provided with a water quality detection instrument, a signal receiving and transmitting device, a wide-angle camera, a work indicator lamp and a propeller type wind speed sensor, and a wind blade and a generator are.
The system state ensuring unit comprises a power supply system, a power device and a central processing unit, wherein the power supply system comprises a solar cell panel, a wind power generation unit and a storage battery to form a wind-solar complementary power supply; the power device provides propulsion power for the monitoring ship, and the central processing unit is responsible for controlling the advancing directions of the power device and the ship body; the data acquisition and transmission unit is connected with the central processing unit, transmits data through the water quality sensor and compares the data with a set standard value, and transmits the data to the Internet of things cloud platform in real time.
The data acquisition and transmission unit comprises a dissolved oxygen water quality sensor, a PH degree water quality sensor, a conductivity water quality sensor, a temperature sensor and a turbidity water quality sensor, the four sensors are arranged in the monitoring pool water inside the buoyancy ship body, and the water quality detection instrument comprises a dissolved oxygen water quality monitoring device, a PH degree water quality monitoring device, a conductivity water quality monitoring device, a temperature water quality monitoring device and a turbidity water quality monitoring device.
The central processing unit comprises an arithmetic logic unit, a register group and a state register, wherein the arithmetic logic unit completes fixed-point arithmetic operation, logic operation and various shifting operations on collected information, and the general register group is used for storing operands participating in the operation and intermediate results of the operation; the status register is used as a judgment condition of the branch instruction.
The safety protection unit comprises a standby storage battery, a wind power identifier, an automatic collision preventing device and an automatic return device, wherein the wind power identifier is used for identifying wind power and transmitting a wind power signal to the central processing unit; the automatic collision-preventing device automatically measures the speed of the ship body and the distance between obstacles by adopting laser and sonar technologies, so that a collision-preventing function is realized; the automatic return flight device utilizes a battery management system, starts a standby storage battery when the power is low, and automatically returns flight according to an initial GPS positioning system.
The power device comprises a motor, a worm gear reducer, a first bevel gear transmission pair, a second bevel gear transmission pair, a third transmission shaft, a first bevel gear transmission pair, a second bevel gear transmission pair, a shaft tube, a propeller and a rudder blade, wherein the motor is connected with the first transmission shaft through a coupling, the first transmission shaft is connected with a worm gear mechanism, the second transmission shaft and the second bevel gear transmission pair through the first bevel gear transmission pair to form a Z-shaped transmission structure, the second bevel gear transmission pair is connected with the third transmission shaft, the shaft end of the third transmission shaft is keyed with the propeller, the first, the second and the third transmission shafts are respectively supported on the shaft tube through bearings, and the rudder blade is fixedly connected on a shell of the.
The buoyancy ship body is characterized in that a columnar illuminating lamp is vertically and fixedly connected to the connecting platform, automatic collision prevention devices are mounted on two sides of the front portion of the buoyancy ship body, and full-rotation propellers are symmetrically arranged at the front and back and left and right of the bottom of the buoyancy ship body.
And the two side arms of the support frame are provided with wind-resistant damping grooves for reducing the wind resistance of the support frame when the wind power is larger.
The invention has the following beneficial effects:
the intelligent control system controls the advancing direction of a ship body turbine, analyzes water quality data (pH, temperature, dissolved oxygen, conductivity and turbidity) in real time by using intelligent information processing capacity, uploads the water quality data to a cloud service platform for checking, an automatic navigation avoidance system detects the environmental state and the operation state of a self body to confirm whether the ship needs to be navigated back, and multi-block water quality purification ensures the purification amount and quality. The cloud platform APP service of the double-body unmanned water quality monitoring ship is added, and data collection, analysis, normalization and storage are integrated; a wind-solar complementary system is added, and wind power generation and solar power generation are combined, so that the product has longer cruising ability; AI is from keeping away navigation ability automated inspection surrounding environment and equipment self state, appears the electric quantity not enough, trouble, bad weather scheduling problem, and unmanned water quality monitoring ship of binary will automatic return journey, prevents that equipment from being detained the aquatic.
(1) The cruising ability is strong. The solar energy is adopted for power storage, and simultaneously, the wind energy is utilized for power storage, so that the cruising ability is greatly improved, and the battery replacement frequency is reduced.
(2) And continuously monitoring and early warning on line. Monitoring data are transmitted, the data are transmitted to the cloud platform and compared with the specified data, an alarm is given out when the alarm threshold value is exceeded, and the system can work for a long time under the unattended condition.
(3) Dual mode handover. The system has two modes of automatic navigation and handheld terminal control navigation according to the designated navigation route.
Relates to the fields of water quality detection, water quality purification, intelligent unmanned machinery, unmanned navigation, wind power generation and solar power generation, in particular to the fields of water quality detection, water quality safety, ship engineering, information processing and wind-solar hybrid.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic transmission diagram of the power plant;
FIG. 3 is a schematic view of the internal structural arrangement of the buoyant hull;
fig. 4 is a workflow block diagram of the present invention.
In the figure: 1. the device comprises a buoyancy ship body, 2, a connecting platform, 3, a support frame, 4, a lighting lamp, 5, a support frame, 6, a water quality detecting instrument, 6-1, dissolved oxygen water quality monitoring equipment, 6-2, PH degree water quality monitoring equipment, 6-3, conductivity water quality monitoring equipment, 6-4, temperature water quality monitoring equipment, 6-5, turbidity water quality monitoring equipment, 7, 8, a signal receiving and sending device, 9, a high-definition wide-angle camera, 10, a work indicator lamp, 11, a propeller type wind speed sensor, 12, a wind power blade, 13, a generator, 14, an anti-wind damping groove, 15, a full-rotation propeller, 16, 17, an automatic collision preventer, 18, a motor, 19, a coupling, 20, 27, a first bevel gear transmission pair and a second bevel gear transmission pair, 21, a worm, 22, a first transmission shaft, a second transmission shaft, a third transmission shaft, 23, 24, a propeller, 25, The water quality monitoring device comprises a bevel gear box shell, 26, a rudder blade, 28, a shaft tube, 29, a worm wheel, 30, a storage battery, 31, a propeller mounting hole, 32, a water outlet, 33, a water quality monitoring pool, 34 and a water inlet.
Detailed Description
The following detailed description of the preferred embodiments will be made in conjunction with the accompanying drawings.
Referring to the attached drawing 1 in detail, the embodiment provides a wind-solar complementary twin-hull unmanned water quality monitoring ship, which comprises an H-shaped buoyancy ship body 1, a connecting platform 2, a support frame 5 and a remote control operating system, wherein the connecting platform is fixedly connected with the buoyancy ship body, the support frame is fixedly connected with two sides of the buoyancy ship body to form an integral structure, solar panels 3 are uniformly distributed on the surface of the connecting platform, the remote control operating system is arranged in the connecting platform, a water quality monitoring pool 33 is arranged at the bottom of the buoyancy ship body and is arranged at the central position of the H-shaped buoyancy ship body, the water quality monitoring pool is communicated with a water outlet 32 and a water inlet 34 which are arranged on circular shuttle-shaped ship bodies at two sides through a water channel, and filters. The propeller mounting hole 31 is arranged on the H-shaped buoyancy ship body; the remote control operating system comprises a system state ensuring unit, a data acquisition and transmission unit, a central processing unit and a safety protection unit, wherein a platform at the upper part of the support frame is provided with a water quality detecting instrument, a signal receiving and transmitting device 7 and 8, a high-definition wide-angle camera 9, a work indicating lamp 10 and a propeller type wind speed sensor 11, the inner side of the top of the support frame is fixedly connected with a wind blade 12, and the wind blade is connected with a generator 13 to form a wind power generation mechanism. The system state ensuring unit comprises a power supply system, a power device and a central processing unit, wherein the power supply system comprises a solar cell panel, a wind power generation unit and a storage battery to form a wind-solar complementary power supply; the power device provides propulsion power for the monitoring ship, and the central processing unit is responsible for controlling the advancing directions of the power device and the ship body; the data acquisition and transmission unit is connected with the central processing unit, transmits data through the water quality sensor and compares the data with a set standard value, and transmits the data to the Internet of things cloud platform in real time. The data acquisition and transmission unit comprises a dissolved oxygen water quality sensor, a PH degree water quality sensor, a conductivity water quality sensor, a temperature sensor and a turbidity water quality sensor, the four sensors are arranged in monitoring pool water inside the buoyancy ship body, and the water quality detection instrument 6 comprises dissolved oxygen water quality monitoring equipment 6-1, PH degree water quality monitoring equipment 6-2, conductivity water quality monitoring equipment 6-3, temperature water quality monitoring equipment 6-4 and turbidity water quality monitoring equipment 6-5. The central processing unit comprises an arithmetic logic unit, a register group and a state register, wherein the arithmetic logic unit completes fixed-point arithmetic operation, logic operation and various shifting operations on collected information, and the general register group is used for storing operands participating in the operation and intermediate results of the operation; the status register is used as a judgment condition of the branch instruction. The safety protection unit comprises a standby storage battery 30, a wind power identifier, an automatic collision preventing device and an automatic return device, wherein the wind power identifier is used for identifying wind power and transmitting a wind power signal to the central processing unit; the automatic collision-preventing device automatically measures the speed of the ship body and the distance between obstacles by adopting laser and sonar technologies, so that a collision-preventing function is realized; the automatic return flight device utilizes a battery management system, starts a standby storage battery when the power is low, and automatically returns flight according to an initial GPS positioning system. The power device comprises a motor 18, worm and worm gears 21 and 29, a first transmission shaft, a second transmission shaft and a third transmission shaft 22, a first bevel gear transmission pair 20 and a second bevel gear transmission pair 27, a shaft tube 28, a propeller 24 and a rudder blade 26, wherein the motor is connected with the first transmission shaft through a coupling 19, the first transmission shaft is connected with the second transmission shaft through the first bevel gear transmission pair and a worm and worm gear mechanism, and the third transmission shaft is in key joint with the lower bevel gear 27 of the second bevel gear transmission pair to form a Z-shaped transmission structure. The third transmission shaft is keyed with a propeller, the first, second and third transmission shafts are supported on the shaft tube through bearings 23, and the rudder blade is fixed on the bevel gear box shell 25. The propeller rotates 360 degrees around the vertical axis under the action of the bevel gear device and the worm gear device, and is used for positioning, propelling and operating. The connecting platform is vertically and fixedly connected with a columnar illuminating lamp 4, automatic collision preventers 16 and 17 are arranged at two sides of the front part of the buoyancy ship body, and full-rotation propellers 15 are symmetrically arranged at the front, back, left and right of the bottom of the buoyancy ship body. The two side arms of the support frame are provided with wind-resistant damping grooves 14 for reducing the wind resistance of the support frame when the wind power is larger.
The structure of the embodiment will be further explained with reference to the drawings
The front and the back of the H-shaped hull of the twin-hull unmanned water quality testing ship are designed in a circular shuttle shape, so that the resistance of the hull can be reduced, and consumption-reducing navigation and stable floating are realized; an inverted U-shaped support frame is arranged above the H-shaped double-hull, the two sides of the inverted U-shaped support frame are fixedly connected with the H-shaped hull, and wind-resistant damping grooves are formed in the left side and the right side of the support frame, so that the weight of the hull is reduced while the wind resistance is reduced, the phenomenon that the hull is toppled over due to strong wind in the lateral direction is prevented, and the harm of the external environment to the hull is minimized. The wide angle camera has been put at the support frame top, can detect the surrounding environment constantly, realizes the effect of patrolling, carries out data record to the surrounding environment, passes to unmanned water quality monitoring ship cloud platform APP. When the unmanned water quality detection ship needs to be rescued in water, the unmanned water quality detection ship can also be used as a rescue ship, and the ship body can bear 100kg of load. A garbage recoverer can be additionally arranged on the ship body, so that garbage in water is recovered in the water quality detection process, and the environment is purified. The double-body unmanned water quality detection ship can adapt to the working range including reservoirs and lakes, the working environment is set when the water surface navigation work is executed, and the self-adaptive environment system can adjust the self working mode, for example, the self working mode enters the reservoir working mode in the reservoir working environment.
Before an underwater detection task is executed, a control terminal of the double-body unmanned water quality detection ship is used for starting a ship body self-checking program, whether the electric quantity of a ship body is sufficient or not is detected, whether a system of the ship body has a fault or not is detected, and a self-checking result is sent to the control terminal after the system self-checking is completed. If there is abnormity, an alarm is given, if there is no abnormity, the system for setting the automatic cruise and cruise routes is entered, and the cruise mode and the cruise route are set.
After the detection task is set, the double-body unmanned water quality detection ship is placed into water, the control terminal clicks to finally confirm that the task is started to be executed, when three-second ringing is heard, the ship body formally enters a working mode, the central controller receives an order, the sonar judgment system, the ultrasonic response system and the wide-angle camera shooting information collection system firstly operate to jointly analyze the surrounding environment of the ship body, after the operable environment of a reservoir is detected, the central controller controls the propeller at the bottom of the H-shaped ship body to enable the power system to start to execute the order, and according to the external state detected by the information collection system, the central controller plans an advancing route and starts the propeller to advance.
When the power system is started, the water quality detection system starts to work, the central controller controls the water pumps in the H-shaped double-ship body to start to operate at low power and rise in water pressure, water is sucked into the detection pool in the ship body after large foreign matters are filtered from the water inlets in the double-ship body on the other side, when water flows through the detection pool, each detection sensor monitors the water quality, then the water is discharged into the reservoir through classified filtration, and monitoring data and ship body working state information are sent to the cloud platform terminal of the double-body unmanned water quality monitoring ship in real time. The cloud platform compares the monitoring data with standard data (preset on the cloud platform according to the requirements of a working area), and gives an alarm when the monitoring data exceeds the standard. Meanwhile, the monitoring ship realizes automatic positioning of a data exceeding area through 4 full-rotation propellers with 360 degrees, carries out depth detection and ensures the accuracy of data.
The power supply system provides power supply and power storage functions and mainly comprises a battery pack, a solar energy collecting mechanism and a wind power generation mechanism. The power storage system comprises solar power generation and wind power generation, direct current generated after light energy is converted is stored in the battery pack for the power supply system to use, the wind power generation system enables the wind power generation vane machine to rotate to generate power through natural wind and self movement of the double-body unmanned water quality inspection ship body, the power is stored in the battery pack after being rectified by the rectifier, and redundant electric energy can charge the standby storage battery. The power supply system mainly supplies power to a control system, a power system, a water quality detection and purification system, an information collection and transmission system and the like of the ship body.
The safety protection unit comprises an information collection and transmission system and a power supply system guarantee system.
The information collecting and transmitting system mainly comprises water quality sensors such as dissolved oxygen, PH, conductivity, temperature and turbidity, distance and object measuring devices such as ultrasonic waves and sonar, and speed measuring sensors such as a propeller type wind speed velocimeter. The data obtained by scanning the surrounding environment by the sonar and ultrasonic wave devices of the information collecting and transmitting system is stored in the central controller and is used as an execution command of the power system. Meanwhile, the central controller stores digital information converted by various sensors and devices in a central controller storage module, performs information interaction with a worker operation terminal through a transmission system, transmits information of the ship body, measured water quality information, external environment and the like, and transmits an instruction of the operation terminal and other necessary information to form an interaction platform for the central controller to issue an instruction for the ship body after judgment. The monitoring ship is provided with a propeller type wind speed sensor for sensing the wind power change of a working area, when the wind power of the working area exceeds 10 levels, the monitoring ship starts an automatic return function, returns to a wind-sheltering area according to a preset wind-sheltering route to shelter from wind, and sends alarm information to a cloud platform terminal of the monitoring ship.
In order to ensure the safety of the monitoring ship, when a detection task is automatically executed in the reservoir, the monitoring ship starts the collision avoidance system, when the front part of the monitoring ship has a barrier, the monitoring ship can determine the distance of the barrier through sonar and an ultrasonic range finder, a central controller processes data information, judges whether the barrier reaches the grade of non-passing, issues a corresponding self-avoidance instruction, and is matched with a power system to perform collision avoidance operation.
The power supply guarantee system can identify the power supply state in time, and when continuous rainy weather appears in the monitoring area, the battery pack may have insufficient energy storage. At the moment, the central controller compares the information such as the rotating speed of the wind blade, the solar power generation rate and the like to judge the cruising ability. When the cruising ability is poor, the standby storage battery is started, when the electric quantity of the standby storage battery reaches the lower limit of a set value, the monitoring ship starts the automatic return function, returns according to the preset position and sends alarm information to the monitoring ship cloud platform terminal.
After the cruising task is finished, the double-body unmanned water quality monitoring ship receives a return flight instruction, calculates a return flight route, and selects an optimal flight route to automatically return to a preset position point to wait for recovery.
The detailed description of the twin hull unmanned water quality monitoring vessel, described above with reference to the embodiments, is illustrative and not restrictive, and several embodiments can be cited within the limits of the present invention, and therefore changes and modifications that do not depart from the general concept of the present invention are intended to be covered by the present invention.
Claims (8)
1. A wind-solar complementary twin-hull unmanned water quality monitoring ship is characterized by comprising a ship body which is in an H shape when overlooking, a connecting platform, a supporting frame and a remote control operating system, the connecting platform is fixedly connected with the buoyancy ship body, the supporting frame is fixedly connected with the two sides of the buoyancy ship body to form an integral structure, solar cell panels are uniformly distributed on the surface of the connecting platform, a remote control operating system is arranged in the connecting platform, a water quality monitoring pool is arranged at the bottom of the buoyancy ship body, the remote control operating system comprises a system state ensuring unit, a data acquisition and transmission unit, a central processing unit and a safety protection unit, the upper platform of the supporting frame is provided with a water quality detecting instrument, a signal receiving and transmitting device, a wide-angle camera, a working indicator light and a propeller type wind speed sensor, and the inner side of the top of the support frame is fixedly connected with a wind blade and a generator to form a wind power generation mechanism.
2. The wind-solar complementary catamaran unmanned water quality monitoring ship according to claim 1, characterized in that: the system state ensuring unit comprises a power supply system, a power device and a central processing unit, wherein the power supply system comprises a solar cell panel, a wind power generation unit and a storage battery to form a wind-solar complementary power supply; the power device provides propulsion power for the monitoring ship, and the central processing unit is responsible for controlling the advancing directions of the power device and the ship body; the data acquisition and transmission unit is connected with the central processing unit, transmits data through the water quality sensor and compares the data with a set standard value, and transmits the data to the Internet of things cloud platform in real time.
3. The wind-solar complementary catamaran unmanned water quality monitoring ship according to claim 1, characterized in that: the data acquisition and transmission unit comprises a dissolved oxygen water quality sensor, a PH degree water quality sensor, a conductivity water quality sensor, a temperature sensor and a turbidity water quality sensor, the four sensors are arranged in the monitoring pool water inside the buoyancy ship body, and the water quality detection instrument comprises a dissolved oxygen water quality monitoring device, a PH degree water quality monitoring device, a conductivity water quality monitoring device, a temperature water quality monitoring device and a turbidity water quality monitoring device.
4. The wind-solar complementary catamaran unmanned water quality monitoring ship according to claim 1, characterized in that: the central processing unit comprises an arithmetic logic unit, a register group and a state register, wherein the arithmetic logic unit completes fixed-point arithmetic operation, logic operation and various shifting operations on collected information, and the general register group is used for storing operands participating in the operation and intermediate results of the operation; the status register is used as a judgment condition of the branch instruction.
5. The wind-solar complementary catamaran unmanned water quality monitoring ship according to claim 1, characterized in that: the safety protection unit comprises a standby storage battery, a wind power identifier, an automatic collision preventing device and an automatic return device, wherein the wind power identifier is used for identifying wind power and transmitting a wind power signal to the central processing unit; the automatic collision-preventing device automatically measures the speed of the ship body and the distance between obstacles by adopting laser and sonar technologies, so that a collision-preventing function is realized; the automatic return flight device utilizes a battery management system, starts a standby storage battery when the power is low, and automatically returns flight according to an initial GPS positioning system.
6. The wind-solar complementary catamaran unmanned water quality monitoring ship according to claim 1, characterized in that: the power device comprises a motor, a worm gear reducer, a first bevel gear transmission pair, a second bevel gear transmission pair, a third transmission shaft, a first bevel gear transmission pair, a second bevel gear transmission pair, a shaft tube, a propeller and a rudder blade, wherein the motor is connected with the first transmission shaft through a coupling, the first transmission shaft is connected with a worm gear mechanism, the second transmission shaft and the second bevel gear transmission pair through the first bevel gear transmission pair to form a Z-shaped transmission structure, the second bevel gear transmission pair is connected with the third transmission shaft, the shaft end of the third transmission shaft is keyed with the propeller, the first, the second and the third transmission shafts are respectively supported on the shaft tube through bearings, and the rudder blade is fixedly connected on a shell of the.
7. The wind-solar complementary catamaran unmanned water quality monitoring ship according to claim 1, characterized in that: the buoyancy ship body is characterized in that a columnar illuminating lamp is vertically and fixedly connected to the connecting platform, automatic collision prevention devices are mounted on two sides of the front portion of the buoyancy ship body, and full-rotation propellers are symmetrically arranged at the front and back and left and right of the bottom of the buoyancy ship body.
8. The wind-solar complementary catamaran unmanned water quality monitoring ship according to claim 1, characterized in that: and the two side arms of the support frame are provided with wind-resistant damping grooves for reducing the wind resistance of the support frame when the wind power is larger.
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Application publication date: 20210309 |