Underwater mobile aeration device and control method, terminal and storage medium thereof

Abstract

The present application provides an underwater mobile aeration device and its control method, terminal and storage medium, which can complete the flushing or absorption of the bottom mud of the water body, the aeration and oxygenation of the bottom mud and the water body, and can autonomously adjust the aeration intensity and the speed of movement according to the perceived dissolved oxygen and water temperature and other water quality components in the water, quickly improve the self-purification ability of the water body, and maintain or improve the overall quality of the water environment. The system is a mobile polluted water body repair equipment, which avoids the laying of oxygenation pipelines in a large area of ​​the river channel, and at the same time realizes the optimization, intelligence and automation of water body oxygenation. Because it is mobile, the oxygenation device can reach any location within the operation range with a certain frequency, realize continuous and effective oxygen supply to larger water bodies, and realize the optimization, intelligence, and automation of operation, and get rid of dependence on manual labor. The present invention can operate uninterruptedly all day and all time, with a large operating range and high oxygenation efficiency, effectively maintaining the water quality of urban river sections and preventing the occurrence of black and smelly water bodies.

Description

Technical Field

[0001] The present application relates to the technical field of underwater aeration, and in particular to an underwater mobile aeration device and a control method, terminal and storage medium thereof. Background Art

[0002] The improvement and maintenance of water quality in the water environment is closely related to the maintenance of dissolved oxygen levels in the water environment. When reducing and organic pollutants enter the water body, on the one hand, reducing substances (such as ammonia nitrogen and some organic matter) will directly react with the dissolved oxygen in the water, reducing the concentration of dissolved oxygen in the water; on the other hand, these reducing pollutants will cause the reproduction and growth of aerobic microorganisms in the water, causing the oxygen in the water to be consumed by these microorganisms through aerobic respiration.

[0003] When the consumption rate of dissolved oxygen in water exceeds the natural reoxygenation capacity of the water body, the dissolved oxygen level in the water will be greatly reduced. The consumption of dissolved oxygen in water and the deterioration of water quality caused by water quality are often very fast, often only taking a few hours or days. Once the dissolved oxygen in water is reduced to a certain level, the growth of aerobic microorganisms in the water is restricted, and anaerobic microorganisms in the water will multiply and grow, while the growth rate of anaerobic microorganisms and the ability to degrade organic matter are much lower than those of aerobic microorganisms (only a fraction or even a few tens of aerobic microorganisms). At this time, the pollutants entering the water body cannot be decomposed in time and exist in the water body for a long time, thereby accelerating the deterioration of the water quality of the water body and failing to recover for a long time. The dual effect of the reducing pollutants entering the water body on the water body, that is, on the one hand, promoting the growth of aerobic microorganisms to reduce the dissolved oxygen in the water, and on the other hand, after the dissolved oxygen is reduced, the decomposition of these pollutants is inhibited, which is an important reason for the lack or insufficiency of the self-purification capacity of the water environment, water pollution and black ugliness.

[0004] Therefore, it is necessary to aerate the water to obtain sufficient dissolved oxygen. Aeration refers to the process of forcibly transferring oxygen in the air to the liquid, with the purpose of obtaining sufficient dissolved oxygen. In addition, aeration also prevents the suspended matter in the pool from sinking and strengthens the contact between the organic matter in the pool and the microorganisms and dissolved oxygen, thereby ensuring that the microorganisms in the pool can oxidize and decompose the organic matter in the sewage under the condition of sufficient dissolved oxygen. The oxygenation process is a transmembrane mass transfer process between two phases, and the mass transfer rate depends on factors such as the oxygen concentration in the gas phase, the gas-liquid contact specific surface area, and the dissolved oxygen concentration in the liquid phase.

[0005] However, the aeration systems currently used in water pollution control are all fixedly arranged. For large river water bodies, the use of microporous aeration requires the laying of aeration pipes over a large area of ​​the bottom of the water. When mechanical aeration and aeration are used, the aeration of different parts of the water body is uneven because they are set in a few fixed positions. This uneven arrangement of oxygenating devices and the continuous oxygenation operation mode not only cannot meet the requirements for the overall oxygenation of the water body, but also makes the aeration energy utilization extremely uneconomical. In addition, since these aeration forms are fixed, the hydraulic kinetic energy generated by aeration cannot be applied to the bottom mud to flush or absorb the bottom mud, so that the bottom mud is transported to the aerobic zone for aeration and treatment. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the purpose of the present application is to provide an underwater mobile aeration device and a control method, terminal and storage medium thereof, so as to solve the technical problem that the aeration systems used in the prior art for water pollution control are all fixedly arranged.

[0007] To achieve the above-mentioned purpose and other related purposes, the first aspect of the present application provides an underwater mobile aeration device, comprising: an underwater mobile unit; an aeration unit, which is arranged on the underwater mobile unit; an air guide unit, one end of which is connected to the aeration unit, and the other end of which is connected to the air on the water surface; wherein the underwater mobile unit drives the aeration unit and the air guide unit arranged thereon to move underwater; the aeration unit is used to make underwater bottom mud float up, and to generate aeration bubbles after introducing air through the air guide unit, so that the floating bottom mud is mixed with the aeration bubbles to degrade pollutants.

[0008] In some embodiments of the first aspect of the present application, the underwater mobile aeration device further includes: an underwater sensing unit for collecting measured signals such as underwater temperature and underwater saturated dissolved oxygen; a control unit for establishing a communication connection with the underwater sensing unit to receive measured signals such as underwater temperature and underwater saturated dissolved oxygen; the control unit calculates a theoretical value of saturated dissolved oxygen based on the measured signal of underwater temperature, and compares the theoretical value of saturated dissolved oxygen with the measured value of saturated dissolved oxygen; controls the travel speed of the underwater mobile unit based on the comparison result of the two, and / or controls the aeration amount and / or the floating amount of bottom mud of the aeration unit based on the comparison result of the two. The control unit can also control the travel path, travel speed, aeration amount and / or the floating amount of bottom mud of the aeration unit by pre-input or set programs and instructions.

[0009] In some embodiments of the first aspect of the present application, the aeration unit adopts the first design, including: a pneumatic stirring unit, including a bubble generating part and a guide part; the bubble generating part is connected to the air guide unit, and is used to generate large and small bubbles of different diameters after air intake; small bubbles float upward outside the guide part after generation; large bubbles float upward inside the guide part, and drive the liquid in the guide part to flow upward, so as to suck in the water and sludge at the lower end of the guide part and guide them to the surrounding water body at the upper end of the guide part, and then mix them with the floating small bubbles to degrade pollutants.

[0010] In some embodiments of the first aspect of the present application in which the aeration units adopt the first design, the bubble generating section comprises an air diffusion main pipe and at least one air distribution branch pipe; the air diffusion main pipe is arranged in the guide section, the upper end of which is sealed, and the lower end is provided with an air inlet for connecting to the air guide unit, and at least one first aeration section for generating the large bubbles is provided on the pipe wall; each of the air distribution branch pipes is connected to an opening provided on the wall of the air diffusion main pipe and extends outside the guide section, and its extended end is connected to at least one second aeration section for generating the small bubbles.

[0011] In some embodiments of the first aspect of the present application, the aeration unit adopts the second design, including: a base, including a downwardly inclined support platform; a jet water pump, arranged on the support platform; the jet water pump is provided with a jet diffuser, the jet diffuser is provided with a Venturi throat, and the Venturi throat is connected to the air guide unit; the jet water pump inhales water flow, and introduces the air on the water surface through the air guide unit through the negative pressure formed by the Venturi throat, and the introduced air contacts the water flow in the jet diffuser to generate aeration bubbles; the jet diffuser ejects aeration bubbles outwardly and ejects flushing water flow in the direction of the bottom mud, so that the bottom mud that floats up after being flushed is mixed with the aeration bubbles to degrade pollutants.

[0012] In some embodiments of the first aspect of the present application, the aeration unit adopts the third design, including: a jet water pump; a downward-inclined jet diffuser arranged on the jet water pump; the jet diffuser is provided with a Venturi throat; the Venturi throat is connected to the air guide unit; the jet water pump inhales water flow, and introduces the air on the water surface through the air guide unit through the negative pressure formed by the Venturi throat, and the introduced air contacts the water flow in the jet diffuser to generate aeration bubbles; the jet diffuser ejects aeration bubbles outward and ejects flushing water flow toward the bottom mud.

[0013] In some embodiments of the first aspect of the present application, the aeration unit adopts the fourth design, including: a jet water pump, provided with a jet diffuser, and a Venturi throat is provided on the jet diffuser; the Venturi throat is connected to the air guide unit; the jet water pump inhales water flow, and introduces the air on the water surface through the air guide unit through the negative pressure formed by the Venturi throat, and the introduced air contacts with the water flow in the jet diffuser to generate aeration bubbles; the jet branch pipe connected to the jet diffuser is arranged with the nozzle facing the bottom mud, so as to spray the branch water flow, so that the bottom mud floated after being washed by the branch water flow is mixed with the aeration bubbles to degrade the pollutants.

[0014] In some embodiments of the first aspect of the present application, the other end of the air guide unit is connected to the air on the water surface, including: the other end of the air guide unit is connected to a floating unit on the water surface to connect the air through the floating unit.

[0015] In some embodiments of the first aspect of the present application, the floating unit is provided with a satellite signal receiving antenna for receiving positioning and / or navigation data.

[0016] To achieve the above-mentioned purpose and other related purposes, the second aspect of the present application provides a control method for an underwater mobile aeration device, the underwater mobile aeration device comprising an underwater mobile unit and an aeration unit; the control method comprises: obtaining underwater temperature measured information and underwater dissolved oxygen measured information; calculating the saturated dissolved oxygen theoretical value according to the underwater temperature measured information; comparing the saturated dissolved oxygen theoretical value with the saturated dissolved oxygen measured value, and controlling the travel speed of the underwater mobile unit according to the comparison result of the two, and / or controlling the aeration amount and / or the bottom mud floating amount of the aeration unit according to the comparison result of the two. The control unit can also control the travel path, travel speed, aeration amount and / or the bottom mud floating amount of the aeration unit of the underwater mobile unit through pre-input or set programs and instructions.

[0017] The second aspect of the present application provides a control method for an underwater mobile aeration device, which automatically determines the pollution state of water quality according to known or measured water quality indicators, and controls the travel path, travel speed, and aeration volume and / or sediment floating volume of the underwater mobile unit according to the pollution state or according to a pre-set program or manual instructions; wherein the water quality indicators include at least COD, BOD, ammonia nitrogen, total nitrogen, and total phosphorus.

[0018] To achieve the above-mentioned purpose and other related purposes, the third aspect of the present application provides a computer-readable storage medium having a computer program stored thereon, and the computer program implements the control method of the underwater mobile aeration device when executed by a processor.

[0019] To achieve the above-mentioned purpose and other related purposes, the fourth aspect of the present application provides an electronic terminal, including: a processor and a memory; the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the terminal executes the control method of the underwater mobile aeration device.

[0020] As described above, the underwater mobile aeration device and its control method, terminal and storage medium of the present application have the following beneficial effects: the present invention can complete the flushing or absorption of the bottom mud of the water body, the aeration and oxygenation of the bottom mud and the water body, and can autonomously adjust the intensity of aeration and the speed of movement according to the perceived dissolved oxygen and water temperature and other water quality components in the water, quickly improve the self-purification ability of the water body, and maintain or improve the overall quality of the water environment. The air source of the oxygen supply system is directly drawn from the air by the self-powered equipment or depends on the oxygen supply station on the shore. The system is a mobile polluted water body repair equipment, which avoids the laying of oxygenation pipelines in a large area of ​​the river channel, and realizes the optimization, intelligence and automation of water body oxygenation. Because it is mobile, the oxygenation device can reach any location in the operation range with a certain frequency, realize continuous and effective oxygen supply to larger water bodies, and realize the optimization, intelligence and automation of operation, and get rid of dependence on manual labor. The mobile aeration device of the present invention can operate uninterruptedly all day and all time, with a large operating range and high oxygenation efficiency, effectively maintaining the water quality of urban river sections and preventing the occurrence of black and odorous water bodies. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It shows a schematic diagram of the structure of an underwater mobile aeration device adopting the second design in one embodiment of the present application.

[0022] Figure 2 It shows a schematic diagram of the structure of an underwater mobile aeration device adopting the third design in one embodiment of the present application.

[0023] Figure 3 It shows a schematic diagram of the structure of an underwater mobile aeration device adopting the fourth design in one embodiment of the present application.

[0024] Figure 4 It shows a schematic diagram of the structure of an underwater mobile aeration device adopting the first design in one embodiment of the present application.

[0025] Figure 5 Shown is a flow chart of a control method for an underwater mobile aeration device in one embodiment of the present application.

[0026] Figure 6 Shown is a schematic diagram of the structure of an electronic terminal in one embodiment of the present application.

[0027] Component number description

[0028] 101 Base

[0029] 102 Jet Pump

[0030] 103 Support Platform

[0031] 104 jet diffuser

[0032] 105 Venturi Throat

[0033] 106 Gas guide unit

[0034] 107 Floating Unit

[0035] 108 Satellite signal receiving antenna

[0036] 109 Water temperature sensor and dissolved oxygen sensor

[0037] 110 Control unit

[0038] 111 Charging power socket

[0039] 201 Jet Pump

[0040] 202 jet diffuser

[0041] 203 Venturi Throat

[0042] 204 Gas Guide Unit

[0043] 205 Floating Unit

[0044] 206 Satellite signal receiving antenna

[0045] 207 Water temperature sensor and dissolved oxygen sensor

[0046] 208 Control Unit

[0047] 209 Charging power socket

[0048] 301 Jet Pump

[0049] 302 jet diffuser

[0050] 303 Venturi Throat

[0051] 304 Gas Guide Unit

[0052] 305 jet branch

[0053] 3051 Branch pipe body

[0054] 3052 Bend Tube

[0055] 306 regulating valve

[0056] 307 Floating Unit

[0057] 308 Satellite signal receiving antenna

[0058] 309 Water temperature sensor and dissolved oxygen sensor

[0059] 310 Control Unit

[0060] 311 Charging power socket

[0061] 401 diversion part

[0062] 402 Air Diffusion Supervisor

[0063] 403 gas distribution pipe

[0064] 404 Underwater Air Pump

[0065] 405 Duct Connector

[0066] 406 Big Bubble

[0067] 407 First Aeration Section

[0068] 408 Opening

[0069] 409 Small Bubbles

[0070] 410 Second Aeration Section

[0071] 412 Floating Unit

[0072] 413 Satellite signal receiving antenna

[0073] 414 Water temperature sensor and dissolved oxygen sensor

[0074] 415 Control Unit

[0075] 416 Charging power socket DETAILED DESCRIPTION

[0076] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0077] It should be noted that in the following description, with reference to the accompanying drawings, several embodiments of the present application are described in the accompanying drawings. It should be understood that other embodiments may also be used, and mechanical composition, structure, electrical and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description should not be considered restrictive, and the scope of the embodiments of the present application is limited only by the claims of the published patents. The terms used here are only for describing specific embodiments and are not intended to limit the present application. Spatially related terms, such as "upper", "lower", "left", "right", "below", "below", "lower", "above", "upper", etc., may be used in the text to facilitate the description of the relationship between an element or feature shown in the figure and another element or feature.

[0078] In this application, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "hold" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0079] Furthermore, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments described here can be implemented in an order other than that illustrated or described here. In addition, the terms "comprising" and "including" indicate the presence of the described features, operations, elements, components, items, kinds, and / or groups, but do not exclude the presence, occurrence or addition of one or more other features, operations, elements, components, items, kinds, and / or groups. It should be further understood that the terms "or" and "and / or" used herein are interpreted as inclusive, or mean any one or any combination. Therefore, "A, B or C" or "A, B and / or C" means "any of the following: A; B; C; A and B; A and C; B and C; A, B and C". Exceptions to this definition occur only when a combination of elements, functions, or operations are inherently mutually exclusive in some manner.

[0080] The present invention aims to provide an underwater mobile aeration device for water environment maintenance and repair and its control method, terminal and storage medium, which is composed of subsystems such as an underwater mobile carrier, an oxygenation system, a water environment sensing system, a positioning and automatic navigation system, and a communication system. The autonomous mobile aeration and oxygenation system can complete the flushing or absorption of the bottom mud of the water body, the aeration and oxygenation of the bottom mud and the water body, and can autonomously adjust the intensity of aeration and the speed of movement according to the perceived dissolved oxygen and water temperature and other water quality components in the water, quickly improve the self-purification ability of the water body, and maintain or improve the overall quality of the water environment. The air source of the oxygen supply system is directly drawn from the air by a self-powered device or depends on an oxygen supply station on the shore. The system is a mobile polluted water body repair equipment, which avoids the laying of oxygenation pipelines in a large area of ​​the river channel, and realizes the optimization, intelligence and automation of water body oxygenation. Because it is mobile, the oxygenation device can reach any location in the operation range with a certain frequency, realize continuous and effective oxygen supply to a large water body, and realize the optimization, intelligence and automation of operation, and get rid of dependence on manual labor. The mobile aeration device of the present invention can operate uninterruptedly around the clock and at all times, has a large operating range and high oxygenation efficiency, and can effectively maintain the water quality of urban river sections and prevent the occurrence of black and smelly water bodies.

[0081] Specifically, the underwater mobile aeration device provided by the present invention includes an underwater mobile unit, an aeration unit, and an air guide unit; the aeration unit is arranged on the underwater mobile unit; one end of the air guide unit is connected to the aeration unit, and the other end is connected to the air on the water surface; wherein the underwater mobile unit drives the aeration unit and the air guide unit arranged thereon to move underwater; the aeration unit is used to make the underwater bottom mud float up, and to generate aeration bubbles after introducing air through the air guide unit, so that the floating bottom mud is mixed with the aeration bubbles to degrade pollutants.

[0082] It should be noted that the autonomous mobile aeration and oxygenation system involved in the present invention is mainly used for oxygen supply and water quality improvement of natural or artificially excavated rivers, lakes, urban landscape water bodies, and rainwater and sewage receiving water bodies, and can also be used for aeration and oxygen supply of sewage biochemical treatment facilities including oxidation ponds, oxidation ditches, and facultative ponds. In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention are further described in detail through the following embodiments and in combination with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the invention.

[0083] Embodiment 1:

[0084] like Figure 1, which shows a schematic diagram of the structure of the aeration unit of the underwater mobile aeration device in one embodiment of the present invention using the second design. The aeration unit of the underwater mobile aeration device in this embodiment includes a base 101 and a jet water pump 102, and the base 101 includes a downwardly inclined support platform 103. The jet water pump 102 is arranged on the support platform 103, and the jet water pump 102 is provided with a jet diffuser 104, and the jet diffuser 104 is provided with a venturi throat 105, and the venturi throat 105 is connected to the air guide unit 106.

[0085] The underwater mobile unit 107 of the underwater mobile aeration device in this embodiment mainly includes a carrier platform and an underwater propeller, wherein the carrier platform is used to carry and place the aeration unit, and the underwater propeller is used to push the carrier platform and the aeration unit and the air guide unit arranged thereon to move underwater. It should be noted that the underwater propeller can be a crawler propeller, a blade propeller, a tail tube propeller, a DC propeller, a hydraulic propeller, a turbine propeller, etc. In fact, any propeller in the prior art that can realize the underwater propulsion function can be applied to the technical solution of this embodiment, and this embodiment does not make specific limitations.

[0086] In this embodiment, the jet water pump 102 inhales water flow from the surrounding water body, and introduces the air on the water surface through the air guide unit 106 through the negative pressure formed by the venturi throat 105. The introduced air contacts the water flow in the jet diffuser 104 to generate aeration bubbles. The air is divided into micrometer to millimeter bubbles in the venturi throat 105 and the jet diffuser 104, and is injected into the surrounding water body along with the jet water flow to replenish the dissolved oxygen in the water. The jet diffuser 104 ejects aeration bubbles outward and ejects flushing water flow toward the bottom mud, so that the ejected water flow can effectively flush the bottom mud of the water body, and the washed up bottom mud is mixed with the bubbles, so that the bottom mud is fully in contact with oxygen, and the organic matter in the bottom mud is decomposed. In addition, the bottom mud also acts as activated sludge, so that the soluble organic matter in the water body is adsorbed and decomposed.

[0087] Further, the support platform 103 is movable relative to the base 101, so as to adjust the inclination angle between the jet ejected by the jet pump and the horizontal direction by adjusting its inclination angle. Specifically, the movement of the support platform 103 relative to the base 101 can be driven by a driving mechanism, for example, by driving a motor to drive it to rotate clockwise or counterclockwise. For example, the support platform 103 can be movably connected to the base body (such as hinged or pivoted, etc.), when the support platform 103 rotates counterclockwise in the direction of arrow A relative to the base body, the inclination angle of the support platform 103 becomes larger, the inclination angle between the jet ejected by the jet pump and the horizontal direction becomes larger, and the amount of scouring the bottom mud also becomes larger; conversely, when the support platform 103 rotates clockwise in the opposite direction of arrow A relative to the base body, the inclination angle of the support platform 103 becomes smaller, the inclination angle between the jet ejected by the jet pump and the horizontal direction becomes smaller, and the amount of scouring the bottom mud also becomes smaller.

[0088] In some examples, the air guide unit 106 may be an air guide hose, one end of which is connected to the venturi throat 105, and the other end is exposed to the water surface and connected to a floating unit 108 (such as a buoy) on the water surface. Further, the floating unit is provided with a satellite signal receiving antenna 109 for receiving positioning and / or navigation data, so as to locate or navigate the underwater mobile aeration device.

[0089] In some examples, the underwater mobile aeration device further includes an underwater sensing unit and a control unit; the underwater sensing unit is used to collect underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit establishes a communication connection with the underwater sensing unit to receive the underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit calculates the saturated dissolved oxygen theoretical value according to the underwater temperature measurement signals, and compares the saturated dissolved oxygen theoretical value with the saturated dissolved oxygen measurement value; controls the travel speed of the underwater propulsion device according to the comparison result of the two, and / or controls the aeration amount and / or the buoyancy amount of the aeration unit according to the comparison result of the two. The control unit can also control the travel path, travel speed, aeration amount and / or buoyancy amount of the aeration unit of the underwater mobile unit through pre-input or set programs and instructions.

[0090] It should be noted that the underwater sensing unit includes a water temperature sensor and a dissolved oxygen sensor 110. It should be understood that although Figure 1The water temperature sensor and the dissolved oxygen sensor are shown as one in the figure, but the water temperature sensor and the dissolved oxygen sensor are two independent hardware devices with different functions. The former is used to detect the water temperature, and the latter is used to detect the amount of dissolved oxygen in the water. The control unit 111 can be a controller, such as an ARM (Advanced RISC Machines) controller, an FPGA (Field Programmable Gate Array) controller, a SoC (System on Chip) controller, a DSP (Digital Signal Processing) controller, or an MCU (Microcontroller Unit) controller, etc.; or it can also be a computer device including components such as a memory, a storage controller, one or more processing units (CPUs), a peripheral interface, an RF circuit, an audio circuit, a speaker, a microphone, an input / output (I / O) subsystem, a display screen, other output or control devices, and an external port; the computer includes but is not limited to computer systems such as embedded computers, single-chip microcomputers, PLCs, desktop computers, laptop computers, tablet computers, smart phones, smart bracelets, smart watches, smart helmets, smart TVs, and personal digital assistants (PDAs).

[0091] Specifically, the temperature signal and dissolved oxygen signal obtained by the water temperature sensor and the dissolved oxygen sensor 110 can be transmitted to the transmitter through the data line, and the temperature signal and dissolved oxygen signal are converted into standard electrical signals (such as 4-20 mA DC) by the transmitter, and then the standard electrical signal is sent to the control unit 111 for processing after analog-to-digital conversion by the transmitter, thereby controlling the travel speed of the underwater mobile unit 107, and / or controlling the aeration volume and / or the floating volume of the bottom mud of the aeration unit according to the comparison result of the two. For example, if the difference between the theoretical value of saturated dissolved oxygen and the measured value of saturated dissolved oxygen exceeds a certain threshold, the travel speed of the underwater mobile unit 107 can be controlled to be reduced; the frequency conversion motor of the jet water pump can also be increased to increase the speed of the water pump, thereby increasing the jet volume and the amount of air inhaled to increase the aeration volume; in addition, the inclination angle of the support platform can be increased to expand the injection angle of the water pump, thereby increasing the amount of scouring of the bottom mud.

[0092] It should be understood that the higher the water temperature, the lower the dissolved oxygen content of the water, and vice versa. Therefore, high water temperature will reduce the dissolved oxygen content in the water. For ease of understanding, the relationship between temperature value and saturated dissolved oxygen value is explained below using Table 1 as an example. However, it should be understood that Table 1 is only for reference and is not a limitation on water temperature or saturated dissolved oxygen value.

[0093] Table 1: Saturated dissolved oxygen values ​​at various temperatures

[0094] Temperature(℃) Dissolved oxygen (mg / L) Temperature(℃) Dissolved oxygen (mg / L) 0 14.64 18 9.46 1 14.22 19 9.27 2 13.82 20 9.08 3 13.44 21 8.90 4 13.09 22 8.73 5 12.74 23 8.57 6 12.42 24 8.41 7 12.11 25 8.25 8 11.81 26 8.11 9 1.53 27 7.96 10 11.26 28 7.82 11 11.01 29 7.69 12 10.77 30 7.56 13 10.53 31 7.43 14 10.30 32 7.30 15 10.08 33 7.18 16 9.86 34 7.07 17 9.66 35 6.95

[0095] In some examples, a charging power socket 112 is also provided on the floating unit 108 for charging with a ship-borne mobile charging pile to supply power to all electrical components on the underwater mobile aeration device.

[0096] Embodiment 2:

[0097] like Figure 2 , which shows a schematic diagram of the structure of the aeration unit of the underwater mobile aeration device in one embodiment of the present invention using the third design. The aeration unit of the underwater mobile aeration device in this embodiment includes a jet water pump 201, the jet water pump 201 is provided with a jet diffuser 202, the jet diffuser 202 is provided with a venturi throat 203, and the venturi throat 203 is connected to the air guide unit 204.

[0098] The underwater mobile unit 205 of the underwater mobile aeration device in this embodiment mainly includes a carrier platform and an underwater propeller, wherein the carrier platform is used to carry and place the aeration unit, and the underwater propeller is used to push the carrier platform and the aeration unit and the air guide unit arranged thereon to move underwater. It should be noted that the underwater propeller can be a crawler propeller, a blade propeller, a tail tube propeller, a DC propeller, a hydraulic propeller, a turbine propeller, etc. In fact, any propeller in the prior art that can realize the underwater propulsion function can be applied to the technical solution of this embodiment, and this embodiment does not make specific limitations.

[0099] The jet water pump 201 sucks water from the surrounding water body, and introduces the air on the water surface through the air guide unit 204 through the negative pressure formed by the venturi throat 203. The introduced air contacts the water flow in the jet diffuser 202 to produce aeration bubbles. The air is divided into micrometer to millimeter bubbles in the venturi throat 203 and the jet diffuser 202, and is injected into the surrounding water body along with the jet water flow to replenish the dissolved oxygen in the water. The jet diffuser 202 sprays aeration bubbles outward and sprays flushing water flow toward the bottom mud, so that the jetted water flow can effectively flush the bottom mud of the water body, and the washed up bottom mud is mixed with the bubbles, so that the bottom mud is fully in contact with oxygen, and the organic matter in the bottom mud is decomposed. In addition, the bottom mud also acts as activated sludge, so that the soluble organic matter in the water body is adsorbed and decomposed.

[0100] Furthermore, the jet diffuser 202 is movable relative to the jet water pump 201, so as to adjust the inclination angle between the jet sprayed by the jet diffuser and the horizontal direction by adjusting its inclination angle. Specifically, the movement of the jet diffuser 202 relative to the jet water pump 201 can be driven by a driving mechanism, for example, by driving a motor to drive it to rotate clockwise or counterclockwise. For example, the jet diffuser 202 can be movably connected to the jet water pump 201 (such as hinged or pivoted, etc.). When the jet diffuser 202 rotates counterclockwise relative to the jet water pump 201 in the direction of arrow B, the inclination angle of the jet diffuser 202 becomes larger (the angle between the jet diffuser and the horizontal direction becomes larger), and the amount of scouring the bottom mud also increases accordingly; conversely, when the jet diffuser 202 rotates clockwise relative to the jet water pump 201 in the opposite direction of arrow B, the inclination angle of the jet diffuser 202 becomes smaller, and the amount of scouring the bottom mud also decreases accordingly.

[0101] In some examples, the air guide unit 204 may be an air guide hose, one end of which is connected to the venturi throat 203, and the other end is exposed to the water surface and connected to a floating unit 206 (such as a buoy) on the water surface. Furthermore, the floating unit 205 is provided with a satellite signal receiving antenna 207 for receiving positioning and / or navigation data, so as to locate or navigate the underwater jet aeration device.

[0102] In some examples, the underwater jet aeration device further includes an underwater sensing unit and a control unit; the underwater sensing unit is used to collect underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit establishes a communication connection with the underwater sensing unit to receive the underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit calculates the saturated dissolved oxygen theoretical value according to the underwater temperature measurement signals, and compares the saturated dissolved oxygen theoretical value with the saturated dissolved oxygen measurement value; controls the travel speed of the underwater propulsion device according to the comparison result of the two, and / or controls the aeration amount and / or the buoyancy amount of the aeration unit according to the comparison result of the two. The control unit can also control the travel path, travel speed, aeration amount and / or buoyancy amount of the aeration unit of the underwater mobile unit through pre-input or set programs and instructions.

[0103] The underwater sensing unit includes a water temperature sensor and a dissolved oxygen sensor 208. Figure 1The water temperature sensor and the dissolved oxygen sensor are shown as one in the figure, but the water temperature sensor and the dissolved oxygen sensor are two independent hardware devices with different functions. The former is used to detect the water temperature, and the latter is used to detect the amount of dissolved oxygen in the water. The control unit 209 can be a controller, such as an ARM (Advanced RISC Machines) controller, an FPGA (Field Programmable Gate Array) controller, a SoC (System on Chip) controller, a DSP (Digital Signal Processing) controller, or an MCU (Microcontroller Unit) controller, etc.; or it can also be a computer device including components such as a memory, a storage controller, one or more processing units (CPUs), a peripheral interface, an RF circuit, an audio circuit, a speaker, a microphone, an input / output (I / O) subsystem, a display screen, other output or control devices, and an external port; the computer includes but is not limited to computer systems such as embedded computers, single-chip microcomputers, PLCs, desktop computers, laptop computers, tablet computers, smart phones, smart bracelets, smart watches, smart helmets, smart TVs, and personal digital assistants (PDAs).

[0104] Specifically, the temperature signal and dissolved oxygen signal obtained by the water temperature sensor and the dissolved oxygen sensor 208 can be transmitted to the transmitter through the data line, and the temperature signal and dissolved oxygen signal are converted into standard electrical signals (such as 4-20 mA DC) by the transmitter, and then the standard electrical signal is sent to the control unit 209 for processing after analog-to-digital conversion by the transmitter, thereby controlling the travel speed of the underwater mobile unit 107, and / or controlling the aeration volume and / or the floating volume of the bottom mud of the aeration unit according to the comparison result of the two. For example, if the difference between the theoretical value of saturated dissolved oxygen and the measured value of saturated dissolved oxygen exceeds a certain threshold, the travel speed of the underwater mobile unit 107 can be controlled to be reduced; the frequency conversion motor of the jet pump can also be increased to increase the speed of the water pump, thereby increasing the jet volume and the amount of air inhaled to increase the aeration volume; in addition, the inclination angle of the support platform can be increased to expand the injection angle of the water pump, thereby increasing the amount of scouring of the bottom mud. It should be understood that the higher the water temperature, the lower the dissolved oxygen content of the water, and vice versa, the lower the water temperature, the higher the dissolved oxygen content of the water. Therefore, high water temperature will reduce the amount of dissolved oxygen in the water. The relationship between temperature and saturated dissolved oxygen value has been shown in Table 1 above, so it will not be repeated here.

[0105] In some examples, a charging power socket 210 is also provided on the floating unit 206 for charging with a ship-borne mobile charging station to supply power to all electrical components on the underwater jet aeration device.

[0106] Embodiment three:

[0107] like Figure 3 , which shows a schematic diagram of the structure of the aeration unit of the underwater mobile aeration device in one embodiment of the present invention using the fourth design. The jet aeration unit of the underwater jet aeration device in this embodiment includes a jet water pump 301, the jet water pump 301 is provided with a jet diffuser 302, the jet diffuser 302 is provided with a venturi throat 303, and the venturi throat 303 is connected to the air guide unit 304. The underwater jet aeration device also includes a jet branch pipe 305 connected to the jet diffuser 302, the nozzle of the jet branch pipe 305 is arranged toward the bottom mud direction, and is used to spray the branch water flow.

[0108] The underwater mobile unit 306 of the underwater mobile aeration device in this embodiment mainly includes a carrier platform and an underwater propeller, wherein the carrier platform is used to carry and place the aeration unit, and the underwater propeller is used to push the carrier platform and the aeration unit and the air guide unit arranged thereon to move underwater. It should be noted that the underwater propeller can be a crawler propeller, a blade propeller, a tail tube propeller, a DC propeller, a hydraulic propeller, a turbine propeller, etc. In fact, any propeller in the prior art that can realize the underwater propulsion function can be applied to the technical solution of this embodiment, and this embodiment does not make specific limitations.

[0109] The jet water pump 301 sucks water from the surrounding water body, and introduces the air on the water surface through the air guide unit 304 through the negative pressure formed by the venturi throat 303. The introduced air contacts the water flow in the jet diffuser 302 to generate aeration bubbles. The air is divided into micrometer to millimeter bubbles in the venturi throat 303 and the jet diffuser 302, and these bubbles are ejected outward by the jet diffuser 302. The jet branch pipe 305 connected to the jet diffuser 302 sprays flushing water flow to the bottom mud, so that the injected water flow can effectively flush the bottom mud of the water body, and the washed up bottom mud is mixed with the bubbles, so that the bottom mud is fully contacted with oxygen, and the organic matter in the bottom mud is decomposed. In addition, the bottom mud also acts as activated sludge, so that the soluble organic matter in the water body is adsorbed and decomposed.

[0110] In some examples, the jet branch pipe 305 includes a branch pipe body 3051 and a bent pipe 3052 arranged toward the bottom mud, and the bent pipe 3052 is movable relative to the branch pipe body 3051 to adjust the inclination angle between the jet ejected by the jet branch pipe and the horizontal direction by adjusting its inclination angle.

[0111] Specifically, the movement of the bending tube 3052 relative to the branch pipe body 3051 can be driven by a driving mechanism, for example, by driving a motor to drive the bending tube 3052 to rotate clockwise or counterclockwise. For example, the bending tube 3052 can be movably connected to the branch pipe body 3051 (such as hinged or pivoted, etc.), and when the bending tube 3052 rotates counterclockwise along the direction of arrow C relative to the branch pipe body 3051, the inclination angle of the bending tube 3052 becomes larger (the angle between the bending tube and the horizontal direction becomes larger), and the amount of scouring the bottom mud also increases accordingly; conversely, when the bending tube 3052 rotates clockwise in the opposite direction of arrow C relative to the branch pipe body 3051, the inclination angle of the bending tube 3052 becomes smaller, and the amount of scouring the bottom mud also decreases accordingly.

[0112] In some examples, the jet branch pipe 305 is provided with a regulating valve 307 to adjust the flow rate of the split water flow. It should be noted that the flow rate of the split water flow determines the amount of scouring of the bottom mud, that is, when the regulating valve 307 is adjusted to a large value, the water flow of the jet branch pipe 305 is large, and the scouring force on the bottom mud is large; conversely, when the regulating valve 306 is adjusted to a small value, the water flow of the jet branch pipe 305 is small, and the scouring force on the bottom mud is small.

[0113] In some examples, the air guide unit 304 may be an air guide hose, one end of which is connected to the venturi throat 303, and the other end is exposed to the water surface and connected to a floating unit 308 (such as a buoy) on the water surface. Further, the floating unit 308 is provided with a satellite signal receiving antenna 309 for receiving positioning and / or navigation data, so as to locate or navigate the underwater jet aeration device.

[0114] In some examples, the underwater mobile aeration device further includes an underwater sensing unit and a control unit; the underwater sensing unit is used to collect underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit establishes a communication connection with the underwater sensing unit to receive the underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit calculates the saturated dissolved oxygen theoretical value according to the underwater temperature measurement signals, and compares the saturated dissolved oxygen theoretical value with the saturated dissolved oxygen measurement value; controls the travel speed of the underwater propulsion device according to the comparison result of the two, and / or controls the aeration amount and / or the buoyancy amount of the aeration unit according to the comparison result of the two. The control unit can also control the travel path, travel speed, aeration amount and / or buoyancy amount of the aeration unit of the underwater mobile unit through pre-input or set programs and instructions.

[0115] It should be noted that the underwater sensing unit includes a water temperature sensor and a dissolved oxygen sensor 310. Figure 1The water temperature sensor and the dissolved oxygen sensor are shown as one in the figure, but the water temperature sensor and the dissolved oxygen sensor are two independent hardware devices with different functions. The former is used to detect the water temperature, and the latter is used to detect the amount of dissolved oxygen in the water. The control unit 311 can be a controller, such as an ARM (Advanced RISC Machines) controller, an FPGA (Field Programmable Gate Array) controller, a SoC (System on Chip) controller, a DSP (Digital Signal Processing) controller, or an MCU (Microcontroller Unit) controller, etc.; or it can also be a computer device including components such as a memory, a storage controller, one or more processing units (CPUs), a peripheral interface, an RF circuit, an audio circuit, a speaker, a microphone, an input / output (I / O) subsystem, a display screen, other output or control devices, and an external port; the computer includes but is not limited to computer systems such as embedded computers, single-chip microcomputers, PLCs, desktop computers, laptop computers, tablet computers, smart phones, smart bracelets, smart watches, smart helmets, smart TVs, and personal digital assistants (PDAs).

[0116] Specifically, the temperature signal and dissolved oxygen signal obtained by the water temperature sensor and the dissolved oxygen sensor 310 can be transmitted to the transmitter through the data line, and the temperature signal and dissolved oxygen signal are converted into standard electrical signals (such as 4-20 mA DC) by the transmitter, and then the standard electrical signal is sent to the control unit 311 for processing after analog-to-digital conversion by the transmitter, thereby controlling the travel speed of the underwater mobile unit 306, and / or controlling the aeration volume and / or the floating volume of the bottom mud of the aeration unit according to the comparison result of the two. For example, if the difference between the theoretical value of saturated dissolved oxygen and the measured value of saturated dissolved oxygen exceeds a certain threshold, the travel speed of the underwater mobile unit 306 can be controlled to be reduced; the frequency conversion motor of the jet pump can also be increased to increase the speed of the water pump, thereby increasing the jet volume and the amount of air inhaled to increase the aeration volume; in addition, the inclination angle of the support platform can be increased to expand the injection angle of the water pump, thereby increasing the amount of scouring of the bottom mud. It should be understood that the higher the water temperature, the lower the dissolved oxygen content of the water, and vice versa, the lower the water temperature, the higher the dissolved oxygen content of the water. Therefore, high water temperature will reduce the amount of dissolved oxygen in the water. The relationship between temperature and saturated dissolved oxygen value has been shown in Table 1 above, so it will not be repeated here.

[0117] In some examples, a charging power socket 312 is also provided on the floating unit 308 for charging with a ship-borne mobile charging station to supply power to all electrical components on the underwater jet aeration device.

[0118] Embodiment 4:

[0119] like Figure 4 As shown, a schematic diagram of the structure of the aeration unit of the underwater mobile aeration device in one embodiment of the present invention adopts the first design is shown. The aeration unit of the underwater mobile aeration device in this embodiment includes a pneumatic stirring unit, which is mainly composed of a guide part 401 and a bubble generating part, and the bubble generating part is mainly composed of an air diffusion main pipe 402 and at least one air distribution branch pipe 403. The air diffusion main pipe is arranged in the guide part 401, and its upper end is sealed, and its lower end is provided with an air pipe joint 405 for connecting an underwater air pump 404, and at least one first aeration part 407 for generating large bubbles 406 is provided on its pipe wall. The air distribution branch pipe 403 is connected to an opening 408 provided on the wall of the air diffusion main pipe, and each air distribution branch pipe 403 extends outside the guide part 401, and its extended end is connected to at least one second aeration part 410 for generating small bubbles 409.

[0120] The underwater mobile unit 411 of the underwater mobile aeration device in this embodiment mainly includes a carrier platform and an underwater propeller, wherein the carrier platform is used to carry and place the aeration unit, and the underwater propeller is used to push the carrier platform and the aeration unit and the air guide unit arranged thereon to move underwater. It should be noted that the underwater propeller can be a crawler propeller, a blade propeller, a tail tube propeller, a DC propeller, a hydraulic propeller, a turbine propeller, etc. In fact, any propeller in the prior art that can realize the underwater propulsion function can be applied to the technical solution of this embodiment, and this embodiment does not make specific limitations.

[0121] The specific aeration process is as follows: small bubbles 409 are generated outside the guide part 401 and float upward after being generated; large bubbles 406 are generated inside the guide part 401 and also float upward after being generated, driving the liquid inside the guide part 401 to impulse upward during the floating process, and the upward flowing liquid forms a continuous vacuum suction at the bottom of the guide part 401, forcing the water and soft sediment sludge around the lower end of the guide part 401 to be sucked into the guide part 401, and flow to the upper end of the guide part 401 with the large bubbles 406, and diffuse to the surrounding water body, and fully mix with the small bubbles located around the guide part 401, so as to achieve the effect of oxygenation and sludge treatment.

[0122] In some examples, the first aeration part 407 includes air bubble holes opened on the wall of the air diffusion main pipe 402. The air bubble holes include through holes with a diameter of millimeters, which are used to generate large bubbles 406 with a diameter of millimeters to centimeters. For example, the air bubble holes can be selected from small holes with a diameter of 0.1 to 5 mm, and preferably small holes with a diameter of 1 to 3 mm. When the gas passes through these small holes, bubbles with a diameter of millimeters to centimeters can be generated.

[0123] In some examples, the second aeration section 410 includes a microporous aeration head for generating micro bubbles with a diameter of micrometer to millimeter. The microporous aeration head includes a disc-type microporous aeration disk and / or a microporous aeration tube; the porous material forming the micropores includes a polymer porous material, an inorganic sintered porous material, or a porous material formed by punching holes on the surface of an inorganic or polymer organic material.

[0124] In some examples, the underwater air pump 404 is connected to the air hose 411, and the other end of the air hose 411 is exposed to the water surface and connected to the floating unit 412 (such as a buoy) on the water surface. Further, the floating unit 412 is provided with a satellite signal receiving antenna 413 for receiving positioning and / or navigation data, so as to locate or navigate the underwater mobile aeration device.

[0125] In some examples, the underwater mobile aeration device further includes an underwater sensing unit and a control unit; the underwater sensing unit is used to collect underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit establishes a communication connection with the underwater sensing unit to receive the underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; the control unit calculates the saturated dissolved oxygen theoretical value according to the underwater temperature measurement signals, and compares the saturated dissolved oxygen theoretical value with the saturated dissolved oxygen measurement value; controls the travel speed of the underwater propulsion device according to the comparison result of the two, and / or controls the aeration amount and / or the buoyancy amount of the aeration unit according to the comparison result of the two. The control unit can also control the travel path, travel speed, aeration amount and / or buoyancy amount of the aeration unit of the underwater mobile unit through pre-input or set programs and instructions.

[0126] It should be noted that the underwater sensing unit includes a water temperature sensor and a dissolved oxygen sensor 414. It should be understood that although Figure 1The water temperature sensor and the dissolved oxygen sensor are shown as one in the figure, but the water temperature sensor and the dissolved oxygen sensor are two independent hardware devices with different functions. The former is used to detect the water temperature, and the latter is used to detect the amount of dissolved oxygen in the water. The control unit 415 can be a controller, such as an ARM (Advanced RISC Machines) controller, an FPGA (Field Programmable Gate Array) controller, a SoC (System on Chip) controller, a DSP (Digital Signal Processing) controller, or an MCU (Microcontroller Unit) controller, etc.; or it can also be a computer device including components such as a memory, a storage controller, one or more processing units (CPUs), a peripheral interface, an RF circuit, an audio circuit, a speaker, a microphone, an input / output (I / O) subsystem, a display screen, other output or control devices, and an external port; the computer includes but is not limited to computer systems such as embedded computers, single-chip microcomputers, PLCs, desktop computers, laptop computers, tablet computers, smart phones, smart bracelets, smart watches, smart helmets, smart TVs, and personal digital assistants (PDAs).

[0127] Specifically, the temperature signal and dissolved oxygen signal obtained by the water temperature sensor and the dissolved oxygen sensor 414 can be transmitted to the transmitter through the data line, and the temperature signal and dissolved oxygen signal are converted into standard electrical signals (such as 4-20 mA DC) by the transmitter, and then the standard electrical signal is sent to the control unit 415 for processing after analog-to-digital conversion by the transmitter, thereby controlling the travel speed of the underwater mobile unit 411, and / or controlling the aeration volume and / or the floating volume of the bottom mud of the aeration unit according to the comparison result of the two. For example, if the difference between the theoretical value of saturated dissolved oxygen and the measured value of saturated dissolved oxygen exceeds a certain threshold, the travel speed of the underwater mobile unit 411 can be controlled to be reduced; the frequency conversion motor of the jet pump can also be increased to increase the speed of the water pump, thereby increasing the jet volume and the amount of air inhaled to increase the aeration volume; in addition, the inclination angle of the support platform can be increased to expand the injection angle of the water pump, thereby increasing the amount of scouring of the bottom mud. It should be understood that the higher the water temperature, the lower the dissolved oxygen content of the water, and vice versa, the lower the water temperature, the higher the dissolved oxygen content of the water. Therefore, high water temperature will reduce the amount of dissolved oxygen in the water. The relationship between temperature and saturated dissolved oxygen value has been shown in Table 1 above, so it will not be repeated here.

[0128] In some examples, a charging power socket 416 is also provided on the floating unit 412 for charging with a ship-borne mobile charging station to supply power to all electrical components on the underwater jet aeration device.

[0129] Embodiment five:

[0130] like Figure 5 FIG. 2 is a flow chart showing a control method of an underwater mobile aeration device according to an embodiment of the present invention. The control method of this embodiment mainly includes steps S51 to S53.

[0131] Step S51: Obtaining measured information such as underwater temperature and underwater dissolved oxygen content.

[0132] Specifically, measured information such as underwater temperature and underwater dissolved oxygen content can be obtained through the underwater sensing unit and the control unit; the underwater sensing unit specifically includes a water temperature sensor and a dissolved oxygen sensor. The water temperature sensor and the dissolved oxygen sensor are two independent hardware devices with different functions. The former is used to detect the water temperature, and the latter is used to detect the amount of dissolved oxygen in the water.

[0133] Step S52: Calculate the theoretical value of saturated dissolved oxygen according to the underwater temperature measured information.

[0134] It should be understood that the higher the water temperature, the lower the saturated dissolved oxygen value of the water, and vice versa, the lower the water temperature, the higher the saturated dissolved oxygen value of the water. Therefore, high water temperature will reduce the saturated dissolved oxygen value in the water. The relationship between the temperature value and the saturated dissolved oxygen value can be referred to in Table 1 above, and will not be repeated here.

[0135] Step S53: Compare the theoretical value of saturated dissolved oxygen with the measured value of saturated dissolved oxygen, and control the travel speed of the underwater mobile unit according to the comparison result, and / or control the aeration amount and / or the floating amount of the bottom mud of the aeration unit according to the comparison result. The travel path and travel speed of the underwater mobile unit, and the aeration amount and / or the floating amount of the bottom mud of the aeration unit can also be controlled by pre-input or set programs and instructions.

[0136] It should be noted that the control method of this embodiment is applied to a control unit in an underwater mobile aeration device. As described above, the control unit may be a controller, such as an ARM (Advanced RISC Machines) controller, an FPGA (Field Programmable Gate Array) controller, a SoC (System on Chip) controller, a DSP (Digital Signal Processing) controller, or an MCU (Microcontroller Unit) controller, etc.; or it may be a computer device including components such as a memory, a storage controller, one or more processing units (CPUs), a peripheral interface, an RF circuit, an audio circuit, a speaker, a microphone, an input / output (I / O) subsystem, a display screen, other output or control devices, and an external port; the computer includes but is not limited to computer systems such as embedded computers, single-chip microcomputers, PLCs, desktop computers, laptop computers, tablet computers, smart phones, smart bracelets, smart watches, smart helmets, smart TVs, personal digital assistants (PDAs), etc., which are not limited in this embodiment.

[0137] Embodiment six:

[0138] The present embodiment provides a control method for an underwater mobile aeration device, comprising: automatically determining the pollution state of water quality according to known or measured water quality indicators, and controlling the travel path, travel speed, and aeration volume and / or sediment floating volume of the underwater mobile unit according to the pollution state or according to a pre-set program or manual instructions; wherein the water quality indicators include at least COD, BOD, ammonia nitrogen, total nitrogen, and total phosphorus.

[0139] It should be understood that COD refers to Chemical Oxygen Demand, which is a chemical measure of the amount of reducing substances in a water sample that need to be oxidized. BOD refers to Biochemical Oxygen Demand, which refers to the amount of dissolved oxygen consumed in the biochemical reaction of microorganisms decomposing biodegradable organic matter in water under certain conditions.

[0140] Embodiment seven:

[0141] like Figure 6As shown, a schematic diagram of the structure of an electronic terminal in an embodiment of the present invention is shown. The electronic terminal in this embodiment includes: a processor 61, a memory 62, and a communicator 63; the memory 62 is connected to the processor 61 and the communicator 63 through a system bus and completes communication with each other, the memory 62 is used to store computer programs, the communicator 63 is used to communicate with other devices, and the processor 61 is used to run the computer program so that the electronic terminal executes each step of the control method of the underwater jet aeration device as above.

[0142] The system bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The system bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus. The communication interface is used to realize the communication between the database access device and other devices (such as clients, read-write libraries, and read-only libraries). The memory may include random access memory (RAM), and may also include non-volatile memory, such as at least one disk storage.

[0143] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0144] Embodiment eight:

[0145] This embodiment provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method of the underwater mobile aeration device is implemented.

[0146] Those skilled in the art can understand that all or part of the steps of implementing the above-mentioned method embodiments can be completed by hardware related to the computer program. The aforementioned computer program can be stored in a computer-readable storage medium. When the program is executed, the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk and other media that can store program codes.

[0147] In the embodiments provided in the present application, the computer readable and writable storage medium may include a read-only memory, a random access memory, an EEPROM, a CD-ROM or other optical disk storage device, a disk storage device or other magnetic storage device, a flash memory, a USB flash drive, a mobile hard disk, or any other medium that can be used to store a desired program code in the form of an instruction or data structure and can be accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if the instruction is sent from a website, a server or other remote source using a coaxial cable, an optical fiber cable, a twisted pair, a digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, optical fiber cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. However, it should be understood that computer readable and writable storage media and data storage media do not include connections, carriers, signals, or other temporary media, but are intended to be non-temporary, tangible storage media. Disk and disc, as used in this application, includes compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc where disks usually reproduce data magnetically, while discs reproduce data optically with lasers.

[0148] In summary, the present invention provides an underwater mobile aeration device and its control method, terminal and storage medium, which can complete the flushing or absorption of the bottom mud of the water body, the aeration and oxygenation of the bottom mud and the water body, and can autonomously adjust the aeration intensity and the speed of movement according to the perceived dissolved oxygen and water temperature and other water quality components in the water, quickly improve the self-purification ability of the water body, and maintain or improve the overall quality of the water environment. The air source of the oxygen supply system is directly drawn from the air by a self-powered device or relies on an oxygen supply station on the shore. The system is a mobile polluted water body repair equipment, which avoids the laying of oxygenation pipelines in a large area of ​​the river channel, and at the same time realizes the optimization, intelligence and automation of water body oxygenation. Because it is mobile, the oxygenation device can reach any location within the operation range with a certain frequency, realize continuous and effective oxygen supply to larger water bodies, and realize the optimization, intelligence and automation of operation, and get rid of dependence on manual labor. The mobile aeration device of the present invention can operate uninterruptedly all day and all time, with a large operating range and high oxygenation efficiency, effectively maintaining the water quality of urban river sections and preventing the occurrence of black and odorous water bodies. Therefore, the present application effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0149] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. An underwater mobile aeration device, characterized in that: include: underwater mobile unit; an aeration unit, provided in the underwater mobile unit; An air guide unit, one end of which is connected to the aeration unit, and the other end of which is connected to the air above the water surface; The other end of the air guide unit is connected to the air on the water surface, which includes: the other end of the air guide unit is connected to the floating unit on the water surface, so as to connect the air through the floating unit; the floating unit is provided with a satellite signal receiving antenna for receiving positioning and / or navigation data; The aeration unit comprises: A pneumatic stirring unit, the pneumatic stirring unit comprising a bubble generating part and a guide part; the bubble generating part is connected to the air guide unit, and is used to generate large and small bubbles of different diameters after air intake; the small bubbles float upward outside the guide part after being generated; the large bubbles float upward inside the guide part, and drive the liquid in the guide part to flow upward, so as to suck in the water and sludge at the lower end of the guide part and guide them to the surrounding water body at the upper end of the guide part, and then mix with the floating small bubbles to degrade pollutants; The bubble generating part comprises an air diffusion main pipe and at least one air distribution branch pipe; the air diffusion main pipe is arranged in the guide part, the upper end of which is sealed, the lower end of which is provided with an air inlet for connecting to the air guide unit, and the pipe wall thereof is provided with at least one first aeration part for generating the large bubbles; each of the air distribution branch pipes is connected to an opening part arranged on the wall of the air diffusion main pipe and extends to the outside of the guide part, and the extension end thereof is connected to at least one second aeration part for generating the small bubbles; The first aeration part comprises air bubble holes opened on the wall of the air diffusion main pipe; the air bubble holes comprise through holes with a diameter of millimeters, used to generate large air bubbles with a diameter of millimeters to centimeters; the second aeration part comprises a microporous aeration head, used to generate micro bubbles with a diameter of micrometers to millimeters; The underwater moving unit drives the aeration unit and the air guide unit thereon to move underwater; the aeration unit is used to float the underwater sediment, and to generate aeration bubbles after introducing air through the air guide unit, so that the floating sediment is mixed with the aeration bubbles to degrade pollutants; An underwater sensing unit is used to collect underwater temperature measurement signals and underwater saturated dissolved oxygen measurement signals; A control unit establishes a communication connection with the underwater sensing unit to receive the underwater temperature and underwater saturated dissolved oxygen measured signals; the control unit calculates a saturated dissolved oxygen theoretical value according to the underwater temperature measured signal, and compares the saturated dissolved oxygen theoretical value with the saturated dissolved oxygen measured value; controls the travel speed of the underwater mobile unit according to the comparison result of the two, and / or controls the aeration amount and / or the bottom mud floating amount of the aeration unit according to the comparison result of the two; or, the control unit controls the travel path, travel speed, aeration amount and / or the bottom mud floating amount of the aeration unit of the underwater mobile unit through pre-input or set programs and instructions.

2. A control method for an underwater mobile aeration device, characterized in that: Applicable to the underwater mobile aeration device described in claim 1, the underwater mobile aeration device comprises an underwater mobile unit and an aeration unit; the control method comprises: Obtaining actual measured information of underwater temperature and underwater dissolved oxygen; Calculate the theoretical value of saturated dissolved oxygen according to the underwater temperature measured information; The theoretical value of saturated dissolved oxygen is compared with the measured value of saturated dissolved oxygen, and the travel speed of the underwater mobile unit is controlled according to the comparison result, and / or the aeration amount and / or the floating amount of the bottom mud of the aeration unit is controlled according to the comparison result.

3. A control method for an underwater mobile aeration device, characterized in that: The underwater mobile aeration device as described in claim 1 includes: automatically judging the pollution state of water quality according to known or measured water quality indicators, and controlling the travel path, travel speed, and aeration volume and / or sediment floating volume of the underwater mobile unit according to the pollution state or according to a preset program or manual instruction; wherein the water quality indicators include at least COD, BOD, ammonia nitrogen, total nitrogen, and total phosphorus.

4. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the control method of the underwater mobile aeration device according to claim 2 or 3 is implemented.

5. An electronic terminal, characterized in that: include: Processor and memory; The memory is used to store computer programs; The processor is used to execute the computer program stored in the memory so that the terminal executes the control method of the underwater mobile aeration device as claimed in claim 2 or 3.

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