Unmanned intelligent purification ship for river and lake treatment and operation method of unmanned intelligent purification ship

Abstract

The invention discloses an unmanned intelligent purification ship for river and lake treatment and an operation method of the unmanned intelligent purification ship. The unmanned intelligent purification ship comprises a ship body, a feeding system (2), an energy power system (3), an air bag suspension system (4) and a control detection system (5), wherein a cavity (1-2) is formed in the ship body (1), and floating barrels are arranged on the two sides of the ship body (1); the control detection system is connected to the feeding system (2), the energy power system (3) and the air bag suspension system (4); the control detection system (5) intelligently adjusts the power output of the energy power system (3), the lifting of the air bag suspension system (4) and the starting of the feeding system (2) according to parameters detected by the system, so that automatic pond transferring, energy self-supply and accurate feeding are realized; the parameters include but are not limited to pollution conditions of rivers and lakes and positions and water levels of different rivers and lakes. Through green energy solar energy, GPS intelligent positioning and air bag suspension displacement pond transferring, automatic pond transferring, energy self-sufficiency and accurate throwing are achieved.

Description

Technical Field

[0001] The present invention belongs to the field of environmental protection and automation, and in particular relates to an unmanned intelligent purification ship for river and lake management and an operation method thereof. Background Art

[0002] With the continuous increase of population and social activities and the continuous development and utilization of rivers, the management of rivers and lakes is under great pressure. The water bodies of rivers and lakes are rich in nitrogen, phosphorus, potassium and other substances. Floating objects on the water surface block sunlight from entering the water, leading to eutrophication of the water body, water quality degradation affecting the ecological balance, and destroying the biodiversity of the water body; therefore, it is necessary to spray chemical agents into the river regularly to treat the sewage in the river for microbial degradation and improve the self-purification capacity of the river. At present, the spraying and addition of the required agents in the river are mainly done manually, but the efficiency of manual cleaning and spraying is low, the labor intensity is high, and there is a risk of falling into the water during water operations. The existing unmanned river cleaning boats have a relatively single function and cannot be completely separated from manual labor. They rely on charging piles to provide energy and fixed tracks for operation, which increases costs and reduces purification efficiency, or cannot achieve three functions at the same time, which is not conducive to subsequent treatment.

[0003] Application No. CN118579213A discloses a large-scale dynamic duckweed cleaning structure and a comprehensive aquatic environment purification ship, including a large-scale dynamic duckweed cleaning structure and a comprehensive aquatic environment purification ship. A wide-angle monitoring camera is used to monitor the density of duckweed on the water surface in real time, and the second rotating motor and the rotating rod drive the main suction head, the water inlet and the auxiliary suction head to move, which can improve the duckweed cleaning effect. The multi-angle duckweed cleaning structure. It is characterized by being composed of a water pump, a water inlet corrugated hose, a water outlet pipe, an auxiliary suction head, a main suction head, a water inlet, a wide-angle monitoring camera, a rotating rod, a second rotating motor, a water storage tank and a water inlet pipe. Although the device can improve the duckweed cleaning effect and accurately add chemicals, it cannot realize automatic pond rotation and requires manual energy replenishment.

[0004] Application No. CN113419526A discloses an automatic pond transfer system and posture adjustment method for an aquaculture operation boat, which belongs to the fields of automatic control, mechanical structure and machine vision. It includes an aquaculture operation boat and a pond transfer frame. When the aquaculture operation boat performs the pond transfer operation, the initial positioning is first achieved through the ship-borne GPS / BEIDOU positioning system, and the relative posture of the aquaculture operation boat and the pond transfer frame is detected by the ship-borne visual module, and then the direction of travel of the operation boat is adjusted according to the detection result, so that the aquaculture operation boat can automatically dock with the pond transfer frame (the gear is aligned with the rack, and the roller is aligned with the guide rail). For the convenience of docking, a trumpet-shaped baffle is installed on the outside of the pond transfer gear to assist the docking of the boat frame and reduce the difficulty required for docking of the boat frame when the pond is transferred. When the pond is transferred, the gear motor is in the electric state in the uphill stage, and the gear motor is in the power generation braking state in the downhill stage, so that the operation boat can smoothly cross the embankment. The present invention can improve the utilization rate of the aquaculture operation boat, and has a strong practical significance in the field of aquaculture, but there are still limitations that it cannot get off the track and go ashore and use the joint for energy supplement. Summary of the invention

[0005] Purpose of the invention: In order to overcome the shortcomings of the prior art, the present invention provides an unmanned intelligent purification boat for river and lake management and an operation method thereof. Through green energy solar energy, GPS intelligent positioning and airbag suspension displacement, the unmanned purification boat can automatically turn around, be energy self-sufficient, and be accurately deployed. It has the advantages of easy operation, high efficiency, and low cost.

[0006] Technical solution: The purpose of the present invention is achieved through the following technical solutions:

[0007] An unmanned intelligent purification ship for river and lake management comprises: a hull (1), a feeding system (2), an energy power system (3), an airbag suspension system (4), and a control detection system (5); wherein a cavity (1-2) is provided inside the hull (1), and buoys are provided on both sides; the control detection system is connected to the feeding system (2), the energy power system (3), and the airbag suspension system (4); the control detection system (5) intelligently adjusts the power output of the energy power system (3), the lifting and lowering of the airbag suspension system (4), and the opening of the feeding system (2) according to parameters detected by the system, thereby realizing automatic pond rotation, energy self-sufficiency, and precise feeding;

[0008] The parameters include, but are not limited to: pollution conditions of rivers and lakes, locations and water levels of different rivers and lakes.

[0009] The feeding system (2) is arranged at the rear of the hull, and comprises: a storage tank (2-2), a driving motor A (2-3), and a feeder (2-4); the storage tank (2-2) is provided with a feeding port (2-1), the feeder (2-4) is arranged on the storage tank (2-2), and the driving motor A (2-3) is connected to a control detection system (5).

[0010] The energy power system (3) comprises: a solar panel (3-1), a driving device (3-2), a driving motor B (3-3), and a power storage device (3-4); wherein the solar panel (3-1) is placed above the hull, the solar panel (3-1) is connected to the driving device (3-2), and the driving device (3-2) is connected to the driving motor B (3-3).

[0011] The airbag suspension system (4) comprises an airbag (4-1), a helium bottle (4-2), a gas compressor (4-3), and an air pump (4-4); wherein the airbag (4-1) is placed in a cavity of a hull, and the helium bottle (4-2), the gas compressor (4-3), and the air pump (4-4) are placed in buoys on both sides of the hull; the airbag is inflated by the helium bottle (4-2) through the air pump (4-4), and the helium is recovered to the helium bottle by the gas compressor (4-3).

[0012] The control detection system (5) comprises: a monitoring camera (5-1), a main control module, a GPS positioning module, a wireless sensor module, a motor drive module, and a machine vision module: the monitoring camera (5-1); the main control module is connected to the other modules at the same time, and controls the operation of the motor drive module in real time according to the information provided by the monitoring camera (5-1), the machine vision module, the GPS positioning module, and the wireless sensor module.

[0013] The system operates by using GPS positioning, and after working in pond A, it uses the power system and airbag suspension system to automatically shift to pond B. The specific process is as follows:

[0014] Step 1: Landing process

[0015] The initial positioning is achieved through the ship-borne GPS positioning system, and the horizontal distance close to the shore The airbag is inflated to float in the air, the opening of the gas compressor (4-3) and the air pump (4-4) is controlled, the relative position between the purification ship and the shore is detected by the ship-borne visual module, the level meter keeps the ship stable, and then the ship-borne control system adjusts the direction of travel of the operating ship according to the detection results, and moves horizontally to the ground through the power system.

[0016] Step 2: Ground Travel Process

[0017] The ship is kept suspended on the ground, and repositioned through the ship-borne GPS positioning system, and the opening of the gas compressor (4-3) and the air pump (4-4) is controlled, about 30 cm away from the ground, and the level meter keeps the ship stable. Then the ship-borne control system adjusts the direction of the workboat according to the detection results, and moves horizontally through the power system, from the shore of pond A to the shore of pond B. This process does not need to touch the ground.

[0018] Step 3: Launching process

[0019] Keep the ship suspended, use the ship's GPS positioning system to locate it, use the level to keep the ship stable, and then adjust the ship's direction according to the detection results. Use the power system to move horizontally and move the ship horizontally close to the shore. At the same time, the gas compressor (4-3) slowly recovers the helium to the helium cylinder, and the hull is kept stable and safe throughout the whole process until the hull is completely in contact with the water surface, the transfer is completed, and the purification operation is carried out in Pond B.

[0020] The airbag of the invention is made of flexible material and is roughly in the shape of a rectangular parallelepiped. A whole airbag is placed on each side of the hull cavity, leaving a thinner cavity in the middle. The helium bottle (4-2) is inflated through an air pump (4-4), and the helium is recovered to the helium bottle by a gas compressor (4-3). The operation process of the airbag in the above-mentioned automatic shifting and pond transfer process is as follows:

[0021] The total bottom area of ​​the airbag is S2, the inflation height of the airbag is H2, the net lift of the airbag is L, the weight of the object carried by the airbag is G, and the volume of the displaced air is V1, which is also the volume of the airbag.

[0022] L=ρ0gV1-ρ He gV1#(Formula 3)

[0023] Since suspension requires L≥G, V1=H2×S2, then

[0024] ρ0gV1-ρ He gV1≥(m1+m2+m3)g

[0025] (ρ0-ρ He )H2S2≥m1+m2+m3

[0026]

[0027] ρ He is the density of helium, which is approximately 0.1786 kg / m 3 ;

[0028] ρ0 is the air density, which is approximately 1.29 kg / m 3 ;

[0029] S2 total airbag bottom area, roughly 95% S, in m2;

[0030] Since suspension needs to counteract factors such as liquid surface tension and air resistance, the actual airbag inflation height is:

[0031] H3=αH2, where the resistance coefficient α is 1.1-1.2.

[0032] The lift-off height is: H4=β(H1+h1+H3). To ensure that the landing height is sufficient, the safety factor β is taken as 1.1-1.2.

[0033] The unmanned intelligent purification ship accurately adds chemicals to rivers, lakes and ponds according to the pollution situation. The process is as follows:

[0034] (1) Determine the mass of the material added by the unmanned boat m3, the area of ​​pond A is A1 square meters, and the density of the pollutants to be purified is ρ w There is a certain proportional coefficient between the dosage required for water purification and the pollutants, and γ is the purification coefficient.

[0035] m3=γA1ρ w (Formula 1)

[0036] (2) The vertical distance between the pond surface and the shore is h1, the pond depth is h2, and the slope coefficient of the pond shore is m. The mass of the hull is m1, the total mass of the hull equipment is m2, and the mass of the added material is m3.

[0037]

[0038] H1 is the draft of the ship, in m;

[0039] ρ is the water density, unit is kg / m 3 ;

[0040] S1 is the cross-sectional area of ​​the hull bottom, in m 2 .

[0041] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0042] (1) With the purpose of adding purification agents to purify the pond, precise addition is carried out to the target pond, which has the advantages of long-term operation, convenient operation, high efficiency and low cost.

[0043] (2) The high degree of automation avoids human intervention, and the automatic rotation of the airbag saves the construction and maintenance costs of the track.

[0044] (3) The ship is equipped with solar energy and batteries to provide the energy required for operation, which is clean and environmentally friendly. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for describing the embodiments of the present invention are briefly introduced below.

[0046] Figure 1 A three-dimensional diagram of an unmanned intelligent purification ship for river and lake management according to the present invention;

[0047] Figure 2 The internal structure diagram of the unmanned intelligent purification ship for river and lake management;

[0048] Figure 3 Side view of an unmanned intelligent purification boat for river and lake management;

[0049] Figure 4 Rear view of the unmanned intelligent purification boat for river and lake management;

[0050] Figure 5 Schematic diagram of the process of unmanned intelligent purification boats for river and lake management transferring to the shore;

[0051] Figure 6 Schematic diagram of the process of the unmanned intelligent purification boat being intelligently transferred to a pond and launched into the water for river and lake management. DETAILED DESCRIPTION

[0052] The technical solution of the present invention is further described through the following specific embodiments.

[0053] Reference Figure 1-4 As shown, an unmanned intelligent purification ship for river and lake management includes: a hull 1, a feeding system 2, an energy power system 3, an airbag suspension system 4, and a control detection system 5; wherein a cavity 1-2 is provided inside the hull 1, and buoys are provided on both sides; the control detection system is connected to the feeding system 2, the energy power system 3 and the airbag suspension system 4; the control detection system 5 intelligently adjusts the power output of the energy power system 3, the lifting and lowering of the airbag suspension system 4, and the opening of the feeding system 2 according to the parameters detected by the system, so as to realize automatic pond transfer, energy self-sufficiency, and precise delivery;

[0054] The parameters include, but are not limited to: pollution conditions of rivers and lakes, locations and water levels of different rivers and lakes.

[0055] The feeding system 2 is arranged at the rear of the hull, and includes: a storage tank 2-2, a driving motor A2-3, and a feeder 2-4; the storage tank 2-2 is provided with a feeding port 2-1, the feeder 2-4 is arranged on the storage tank 2-2, and the driving motor A2-3 is connected to the control detection system 5.

[0056] The energy power system 3 includes: a solar panel 3-1, a driving device 3-2, a driving motor B3-3, and a power storage device 3-4; wherein the solar panel 3-1 is placed above the hull, the solar panel 3-1 is connected to the driving device 3-2, and the driving device 3-2 is connected to the driving motor B3-3.

[0057] The airbag suspension system 4 includes an airbag 4-1, a helium cylinder 4-2, a gas compressor 4-3, and an air pump 4-4; wherein the airbag 4-1 is placed in the cavity of the hull, and the helium cylinder 4-2, the gas compressor 4-3, and the air pump 4-4 are placed in the buoys on both sides of the hull; the airbag is inflated by the helium cylinder 4-2 through the air pump 4-4, and the helium is recovered to the helium cylinder by the gas compressor 4-3.

[0058] The control and detection system 5 includes: a monitoring camera 5-1, a main control module, a GPS positioning module, a wireless sensor module, a motor drive module, and a machine vision module: the monitoring camera 5-1; the main control module is connected to other modules at the same time, and according to the information provided by the monitoring camera 5-1, the machine vision module, the GPS positioning module, and the wireless sensor module, the operation of the motor drive module is controlled in real time.

[0059] Example 1

[0060] The surface area of ​​a pond is 500m 2 , the pollutant density that needs to be purified ρ w 0.2kg / m 2 , the amount of water required for water purification and the pollutant purification coefficient γ are 0.1. The vertical distance h1 from the pond surface to the shore is 1m, the pond depth h2 is 2m, and the slope coefficient of the pond shore is m3. The hull mass m1 is 10kg, the total mass of the hull equipment m2 is 20kg, and the total bottom area of ​​the hull S1 is 10m 2 , airbag inflation height H3.

[0061] 1) Substitute the above parameter data into formula 1 to calculate and determine the mass m3 of the added material added by the unmanned boat.

[0062] m3=γA1ρ w (Formula 1)

[0063] ρ is the water density, unit is kg / m 3 ;

[0064] S1 is the cross-sectional area of ​​the hull bottom, in m 2 .

[0065] m3=0.1×500×0.2=10kg

[0066] 2) Substitute the above parameter data into formula 2 to calculate the draft depth H1 of the unmanned ship.

[0067]

[0068] H1 is the draft of the ship, in m;

[0069] ρ is the water density, unit is kg / m 3 ;

[0070] S1 is the cross-sectional area of ​​the hull bottom, in m 2 .

[0071]

[0072] 3) Calculate and determine the actual inflation height H3 of the airbag:

[0073]

[0074] ρ He is the density of helium, which is approximately 0.1786 kg / m 3 ;

[0075] ρ0 is the air density, which is approximately 1.29 kg / m 3 ;

[0076] S2 total airbag bottom area, approximately 95% S1, in m2;

[0077] Since suspension needs to counteract factors such as liquid surface tension and air resistance, the actual airbag inflation height is:

[0078] H3=αH2, where the resistance coefficient α is 1.1-1.2. Substituting the data into formula 4, we get:

[0079]

[0080] Here the drag coefficient α is taken as 1.1, then:

[0081] H3=1.1×3.7=4.1m

[0082] The height at which the ship is lifted off is H4=β(H1+h1+H3). To ensure that the landing height is sufficient, the safety factor β is taken as 1.15: Then: H4=1.15×(0.004+1+4.1)=5.8m.

[0083] Example 2

[0084] The surface area of ​​a pond is 500m 2 , the pollutant density that needs to be purified ρ w 0.08kg / m 2 , the amount of water required for water purification and the pollutant purification coefficient γ are 0.1. The vertical distance h1 from the pond surface to the shore is 1.5m, the pond depth h2 is 3m, and the slope coefficient of the pond shore is m3. The hull mass m1 is 10kg, the total mass of the hull equipment m2 is 20kg, and the total bottom area of ​​the hull S1 is 10m 2 , airbag inflation height H3.

[0085] 1) Calculate and determine the mass m3 of the material added by the unmanned boat.

[0086] m3=γA1ρ w (Formula 1)

[0087] ρ is the water density, unit is kg / m 3 ;

[0088] S1 is the cross-sectional area of ​​the hull bottom, in m2 .

[0089] Substituting the data into formula 1, we get:

[0090] m3=0.1×500×0.08=4kg

[0091] 2) Calculate and determine the draft depth H1 of the unmanned boat.

[0092]

[0093] H1 is the draft of the ship, in m;

[0094] ρ is the water density, unit is kg / m 3 ;

[0095] S1 is the cross-sectional area of ​​the hull bottom, in m 2 .

[0096] Substitute the data into formula 2:

[0097]

[0098] 1) Calculate and determine the actual inflation height H3 of the airbag:

[0099]

[0100] ρ He is the density of helium, which is approximately 0.1786 kg / m 3 ;

[0101] ρ0 is the air density, which is approximately 1.29 kg / m 3 ;

[0102] S2 Total bottom area of ​​the airbag, approximately 95% of S1, in m 2 ;

[0103] Since suspension needs to counteract factors such as liquid surface tension and air resistance, the actual airbag inflation height is: H3 = αH2, where the resistance coefficient α is 1.1-1.2.

[0104] Substituting the data into formula 4, we get:

[0105]

[0106] Here the drag coefficient α is taken as 1.1, then:

[0107] H3=1.1×3.2=3.5m

[0108] The hull lift height H4 = β(H1+h1+H3). To ensure that the landing height is sufficient, the safety factor β is taken as 1.15: then: H4 = 1.15×(0.0034+1.5+3.5) = 5.75m.

[0109] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An unmanned intelligent purification ship for river and lake management, characterized in that: The invention comprises a hull (1), and a feeding system (2), an energy power system (3), an airbag suspension system (4), and a control and detection system (5) arranged on the hull; wherein a cavity (1-2) is provided inside the hull (1), and buoys are provided on both sides; The control detection system is connected to the feeding system (2), the energy power system (3) and the air bag suspension system (4); the control detection system (5) intelligently adjusts the power output of the energy power system (3), the lifting and lowering of the air bag suspension system (4) and the opening of the feeding system (2) according to the parameters detected by the system, so as to realize automatic pond rotation, energy self-sufficiency and precise feeding; The parameters include, but are not limited to: pollution conditions of rivers and lakes, locations and water levels of different rivers and lakes.

2. The unmanned intelligent purification ship for river and lake management according to claim 1 is characterized in that: The feeding system (2) is arranged at the rear of the hull, and comprises: a storage tank (2-2), a driving motor A (2-3), and a feeder (2-4); the storage tank (2-2) is provided with a feeding port (2-1), the feeder (2-4) is arranged on the storage tank (2-2), and the driving motor A (2-3) is connected to a control detection system (5).

3. The unmanned intelligent purification ship for river and lake management according to claim 1 is characterized in that: The energy power system (3) comprises: a solar panel (3-1), a driving device (3-2), a driving motor B (3-3), and a power storage device (3-4); wherein the solar panel (3-1) is placed above the hull, the solar panel (3-1) is connected to the driving device (3-2), and the driving device (3-2) is connected to the driving motor B (3-3).

4. The unmanned intelligent purification ship for river and lake management according to claim 1 is characterized in that: The airbag suspension system (4) comprises an airbag (4-1), a helium bottle (4-2), a gas compressor (4-3), and an air pump (4-4); wherein the airbag (4-1) is placed in a cavity of a hull, and the helium bottle (4-2), the gas compressor (4-3), and the air pump (4-4) are placed in buoys on both sides of the hull; the airbag is inflated by the helium bottle (4-2) through the air pump (4-4), and the helium is recovered to the helium bottle by the gas compressor (4-3).

5. The unmanned intelligent purification ship for river and lake management according to claim 1 is characterized in that: The control detection system (5) comprises: a monitoring camera (5-1), a main control module, a GPS positioning module, a wireless sensor module, a motor drive module, and a machine vision module: the monitoring camera (5-1); the main control module is connected to the other modules at the same time, and controls the operation of the motor drive module in real time according to the information provided by the monitoring camera (5-1), the machine vision module, the GPS positioning module, and the wireless sensor module.

6. The method for operating the unmanned intelligent purification ship for river and lake management according to claim 1 is characterized in that: Here are the steps: (1) Real-time addition in rivers, lakes and ponds: Determine the mass of the material added by the unmanned boat m3, the area of ​​pond A is A1 square meters, and the density of the pollutants to be purified is ρ w , there is a purification coefficient γ between the dosage required for water purification and the pollutants; m3=γA1ρ w (Formula 1) (2) Smart mobility in the same pond: (2-1) The vertical distance between the pond surface and the shore is h1, the pond depth is h2, and the slope coefficient of the pond shore is m; the mass of the hull is m1, the total mass of the hull equipment is m2, and the mass of the added material is m3; H1 is the draft of the ship, in m; ρ is the water density, unit is kg / m 3 ; S1 is the total bottom area of ​​the hull, in m 2 ; (2-2) Total bottom area of ​​the airbag S2, inflation height of the airbag H2, net lift of the airbag L, weight of the object carried by the airbag G, volume of air displaced V1, which is also the volume of the airbag; L = ρ0gV1 - ρ He gV1 (Equation 3) Since suspension requires L≥G, V1=H2×S2, then ρ0gV1-ρ He gV1≥(m1+m2+m3)g (ρ0-ρ He )H2S2≥m1+m2+m3 ρ He is the density of helium, ≈0.1786kg / m 3 ; ρ0 is the air density, ≈1.29kg / m 3 ; S2 Total airbag bottom area, ≈95% S, in m 2 ; (2-3) Since suspension needs to counteract the surface tension of the liquid and the air resistance, the actual airbag inflation height H3 satisfies the following conditions: H3=αH2 (Formula 5) α is the drag coefficient, which is 1.1 to 1.2; The lift-off altitude H4 meets the following conditions: H4=β(H1+h1+H3) (Formula 6) β is the safety factor. To ensure sufficient landing height, β is set to 1.1-1.2; (3) Air bag suspension transfer between different ponds: Through GPS positioning, after working in Pond A, the power system and airbag suspension system are used to achieve automatic shifting to Pond B.

7. The method for operating the unmanned intelligent purification ship for river and lake management according to claim 6 is characterized in that: The additive in step 1) is an active microbial agent, and the number of beneficial bacteria is greater than 50 million / L.

8. The method for operating an unmanned intelligent purification ship for river and lake management according to claim 6 is characterized in that: In step (3), the pond transfer process is as follows: (3-1) Landing process: Initial positioning is achieved through the ship-borne GPS positioning module, and the horizontal distance close to the shore The airbag is inflated to float in the air, the opening of the gas compressor (4-3) and the air pump (4-4) is controlled, the relative position between the purification ship and the shore is detected by the ship-borne visual module, and the ship body is kept stable. Then, the ship-borne control system adjusts the direction of the operation ship according to the detection result, and moves horizontally to the ground through the power system; (3-2) Ground travel process: Keep the ship suspended on the ground, reposition it through the ship-borne GPS positioning system, control the opening of the gas compressor (4-3) and the air pump (4-4), leave the ground, and use the level to keep the ship stable. Then, the ship-borne control system adjusts the direction of travel of the workboat according to the detection results, and moves horizontally through the power system from the shore of Pond A to the shore of Pond B. This process does not require touching the ground; (3-3) Launching process: Keep the boat suspended, use the onboard GPS positioning system to locate it, use the level to keep the boat stable, and then adjust the direction of the boat according to the detection results. Use the power system to move the boat horizontally. At the same time, the gas compressor (4-3) slowly recovers the helium to the helium cylinder, and the hull is kept stable and safe throughout the whole process until the hull is completely in contact with the water surface, the transfer is completed, and the purification operation is carried out in Pond B.

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