An intelligent detection system for oil boom deployment data

Abstract

The present invention discloses an intelligent oil boom deployment data detection system, which belongs to the field of river oil spill recovery. The system comprises a catamaran hull, a water velocity detection unit, a river depth detection unit, a river width detection unit, and a main control unit. The catamaran hull provides mounting locations for the water velocity detection unit, the river depth detection unit, the river width detection unit, and the main control unit. The catamaran hull, the water velocity detection unit, the river depth detection unit, and the river width detection unit are connected to the main control unit. The system is driven by the catamaran hull. The water velocity detection unit detects water velocity at different depths, the river depth detection unit detects river depth within a specified river basin, and the river width detection unit detects river width within a specified river basin. By cleverly designing the water velocity detection unit, the river depth detection unit, and the river width detection unit, the system constructs an intelligent data collection platform for oil boom deployment, establishing a data foundation for river oil spill recovery.

Description

Technical Field

[0001] The present invention relates to the field of river oil spill recovery, and in particular to an intelligent detection system for oil boom deployment data. Background Art

[0002] In traditional river oil spill recovery projects, workers generally determine the river oil spill recovery operation point based on the principles of proximity to the oil spill point, flat terrain, and gentle river channel. Then, based on their own experience and the river width and water flow characteristics on the river surface, they determine the required oil boom model, quantity, and final oil boom deployment angle. Therefore, oil booms play a vital role in river oil spill accidents. However, the deployment of oil booms requires targeted deployment based on local water flow data. When measuring water flow data according to traditional measurement methods, not only will the data errors be large, but it will also be difficult to measure certain river basins, making subsequent oil recovery work difficult to advance and even resulting in oil recovery failure.

[0003] Therefore, it is necessary to study a collective oil boom deployment data intelligent detection system. Summary of the Invention

[0004] The present invention provides an intelligent detection system for oil boom deployment data. The system constructs an intelligent collection platform for oil boom deployment data by cleverly arranging water flow velocity detection parts, river depth detection parts, and river width detection parts, establishing a data foundation for river oil spill work.

[0005] The technical solution of the present invention is:

[0006] The present invention provides an intelligent detection system for oil boom deployment data, comprising a catamaran hull portion 1, a water flow velocity detection portion 2, a river depth detection portion 3, a river width detection portion 4, and main control unit portions 1-4; the catamaran hull portion 1 provides an installation location for the water flow velocity detection portion 2, the river depth detection portion 3, the river width detection portion 4, and the main control unit portions 1-4; the catamaran hull portion 1, the water flow velocity detection portion 2, the river depth detection portion 3, and the river width detection portion 4 are connected to the main control unit portions 1-4; the movement of the intelligent detection system for oil boom deployment data is driven by the catamaran hull portion 1; the water flow velocity detection portion 2 detects water flow velocities at different depths; the river depth detection portion 3 detects river depth within a specified river basin; and the river width detection portion 4 detects river width within the specified river basin.

[0007] Furthermore, the catamaran hull part 1 includes a propulsion module 1-1, a hull float part 1-2, and a hull top cover part; the propulsion module 1-1 is divided into a first propulsion module and a second propulsion module using forward and reverse propellers to provide propulsion power for the hull; the hull float part 1-2 includes a left hull float 14 and a right hull float 15, and both floats are equipped with propulsion module mounting slots, which are respectively used to install the first propulsion module and the second propulsion module; the hull top cover part includes a left top sealing cover 16, a right top sealing cover 17, and a connecting top cover 18, the left top sealing cover 16 is connected to the left hull float 14, the right top sealing cover 17 is connected to the right hull float 15, and the tops of the left top sealing cover 16 and the right top sealing cover 17 are connected by a connecting top cover 18.

[0008] Furthermore, the main control unit part 1-4 includes a first single-chip microcomputer 19, a WIFI module 20, a first communication module 21, a motor driver 22, a first battery module 23, a ranging module acquisition board 24 and a spliced ​​semi-sealed outer shell 25; the spliced ​​semi-sealed outer shell 25 is installed in the installation groove of the hull floating part 1-2 in the catamaran hull part 1; the spliced ​​semi-sealed outer shell 25 provides an installation position for the first battery module 23 and provides an inlet and outlet for connecting wires. The first battery module 23 is used for power supply, the first single-chip microcomputer 19 serves as the main control motherboard, and the WIFI module 20, the first communication module 21, the motor driver 22 and the ranging module acquisition board 24 fixed on the spliced ​​semi-sealed outer shell 25 are respectively connected to the first single-chip microcomputer 19.

[0009] Furthermore, the water flow velocity detection part 2 includes a rotating immersion device 2-1, a telescopic immersion device 2-2, and a speed measuring main device 2-3; wherein the rotating immersion device 2-1 is the first-level control device of the water flow velocity detection part 2, and is arranged in the middle installation groove position on the inner side of the left buoy 14 and the right buoy 15 of the hull in the hull floating part 1-2; the telescopic immersion device 2-2 serves as the second-level control device, and one end of the telescopic immersion device 2-2 is connected to the rotating immersion device 2-1 to achieve simultaneous rotation with the rotating immersion device 2-1, and the other end of the telescopic immersion device 2-2 is connected to the speed measuring main device 2-3, and the two-level control devices jointly control the position of the speed measuring main device 2-3, so that it can detect water flow velocity at different positions.

[0010] Furthermore, the rotary immersion device 2-1 includes a first rotary immersion device and a second rotary immersion device which are symmetrically installed, and also includes a four-claw fixed shaft 33. The four-claw fixed shaft 33 is divided into a male four-claw fixed shaft and a female four-claw fixed shaft. The first rotary immersion device and the second rotary immersion device have the same structure and are described with the first rotary immersion device. The first rotary immersion device includes a gear outer box 26, a second motor 27, a first gear group large gear 28, a first gear group small gear 29, a second deep groove ball bearing 30, a connecting shaft 31, and a fifth deep groove ball bearing 32; the second motor 27 fixed on the outside of the gear outer box 26 is connected to the first gear group small gear 29 installed in the gear outer box 26, and the first gear group small gear 29 is connected to the first gear group small gear 29 installed on the connecting shaft The large gear 28 of the first gear set on the shaft 31 is meshed, and the second deep groove ball bearing 30 fixed on the gear outer box 26 is used to connect one end of the connecting shaft 31, and the gear outer box 26 is fixed in the internal reserved mounting groove of the left buoy 14 of the hull in the buoyant part 1-2 of the hull; the middle part of the connecting shaft 31 is supported by the fifth deep groove ball bearing 32 installed on the left buoy 14 of the hull, and the other end of the connecting shaft 31 is matched with the reserved hole on one side of the male four-claw fixed shaft. There are evenly distributed circular shafts on the other side of the four-claw fixed shaft 33. The circular shaft passes through one end of the inner track top cover 35 of the telescopic immersion device 2-2 and is tightly matched with the mounting hole on one side of the female four-claw fixed shaft on the opposite side. The other side of the female four-claw fixed shaft is connected to one end of the connecting shaft 31 of the second rotary immersion device.

[0011] Furthermore, the telescopic immersion device 2-2 includes a segmented inner rail 34, an inner rail top cover 35, a segmented outer rail 36, an outer rail top cover 37, an outer rail base 38, a motion upper limit valve 39, a rack 40, a motor full housing 41, a third motor 42, a gear 43, and a third deep groove ball bearing 44; the segmented inner rail 34 is the main body of the telescopic movement, the segmented inner rail 34 is installed with the inner rail top cover 35 on the side close to the rotary immersion device 2-1, and the inner rail top cover 35 is installed with the motion upper limit valve 39 on the upper and lower sides close to one end of the segmented inner rail 34, and the segmented inner rail 34 is away from the side of the rotary immersion device 2-1 and the side of the motor full housing 41; the segmented outer rail 36 is the moving part of the telescopic movement, and the length of the segmented outer rail 36 is greater than the segmented inner rail 34; the segmented outer rail 36 A rack 43 is fixedly installed on the inner side, and the rack 43 meshes with the gear 40 installed on the third motor 42 in the motor all-inclusive housing 41 to achieve the purpose of the gear rack-telescopic movement; the output end of the third motor 42 is connected to the third deep groove ball bearing 44 to provide supporting force; the end of the segmented outer rail 36 close to the rotating immersion device 2-1 is connected to the outer rail top cover 37, and the movement upper limit valve 39 is installed on the inner rail top cover 35 for limiting the segmented outer rail 36; the end of the segmented outer rail 36 away from the rotating immersion device 2-1 is connected to the outer rail base 38, and the outer rail base 38 is equipped with a slot, which is detachably connected with the top slot of the closed waterproof housing 55 in the speed measuring main device 2-3, and the telescopic immersion device 2-2 and the speed measuring main device 2-3 are driven to rotate around the fixed rotating shaft 33 through the rotating immersion device 2-1.

[0012] Furthermore, the speed measuring main device 2-3 includes a streamlined impeller paddle 45, a rigid nylon connecting shaft 46, a fourth deep groove ball bearing 47, a matching bearing waterproof end cover 48, a second oil-absorbing felt 49, a light-shielding blade 50, a beam infrared sensor 51, a second communication module 52, a second battery module 53, a second single-chip microcomputer 54, a closed waterproof housing 55, a second gear set large gear 56, a second gear set small gear 57 and a small gear shaft 58; the rigid nylon connecting shaft 46 is supported by a high-speed waterproof fourth deep groove ball bearing 47 installed inside the closed waterproof housing 55, and the streamlined impeller paddle 45 is connected to the second gear set large gear 56 in the gear set installed in the closed waterproof housing 55 through a rigid nylon connection. The shaft 46 is directly connected to transmit power; the rigid nylon connecting shaft 46 is press-fitted by the bearing waterproof end cover 48 outside the closed waterproof housing 55, and is waterproofed by the second oil-absorbing felt 49; the large gear 56 of the second gear set is engaged with the small gear 57 of the second gear set installed on the gear shaft 58, and the small gear shaft 58 is provided with equidistant shading blades 50, and the equidistant shading blades 50 are aligned below the equidistant shading blades 50. The opposing infrared sensor 51 is connected to the second single-chip microcomputer 54, and the second communication module 52 is used to remotely transmit the opposing infrared sensor 51 data sent by the second single-chip microcomputer 54 to the main control motherboard in the main control unit part 1-4, and the second battery module 53 is used for power supply.

[0013] The beneficial effects of the present invention are as follows: a single-chip microcomputer is designed in the main control part of the present invention, which automates and modularizes the control of the entire measurement process and performs integrated measurement of data; a self-designed catamaran equipped with a double-helix motor is controlled by a motor driver to move the unmanned boat to a designated river area, and then the telescopic immersion device is lowered into the water by a rotating immersion device, and the telescopic device can control the diving depth of the immersive water flow detection device, and then the immersive water flow detection device measures the water flow velocity; after completing the water flow velocity measurement, the intelligent boat moves at a uniform speed in the water area, and the width of the two banks of the river is measured simultaneously by the S21C ranging module acquisition board and four STP-23 ranging modules carried on both sides of the hull; at the same time, the guide KS104 long-range waterproof ultrasonic sensor carried on the bottom of the boat measures the river depth on the boat's movement path. Finally, these three types of measurement data are summarized and saved, and then sent to a mobile terminal via the WIFI communication module ATK-ESP8266. The mobile terminal then plots and presents the data. As can be seen from the above, the present invention helps to quickly and efficiently collect data from the oil spill river basin when an oil spill occurs, and avoids the situation where the oil boom deployment data has large deviations due to difficult and inaccurate manual data measurement, which can cause oil collection failures. This can effectively avoid the failure of the emergency rescue operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is the overall control flow chart of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the present invention;

[0016] Figure 3 It is a schematic diagram of the hull base portion of the present invention;

[0017] Figure 4 Schematic diagram of the interior and exterior of the right hull of the present invention;

[0018] Figure 5 This is a half-section schematic diagram of the propulsion module of the present invention;

[0019] Figure 6 It is a schematic diagram of the hull top cover of the present invention;

[0020] Figure 7 It is a partial schematic diagram of the main control unit of the present invention;

[0021] Figure 8 It is a schematic diagram of the water velocity detection part of the present invention;

[0022] Figure 9 It is a partial schematic diagram of the rotating and telescopic immersion device of the present invention;

[0023] Figure 10 It is a schematic diagram of an explosion of the telescopic immersion device of the present invention;

[0024] Figure 11 This is a schematic diagram of the interior of the speed measuring main device of the present invention;

[0025] Figure 12 Schematic diagram of the speed measuring body housing of the present invention;

[0026] Figure 13 This is a schematic diagram of the river depth detection portion of the present invention;

[0027] Figure 14 This is a schematic diagram of the river width detection portion of the present invention;

[0028] Figure 15 It is the flow rate calibration flow chart of the present invention;

[0029] Figure 16 It is the overall functional control flow chart of the present invention;

[0030] Figure 17 It is a schematic diagram of the structure of the oil boom used in the present invention;

[0031] Figure 18 It is a schematic diagram of the oil boom deployment project of the present invention;

[0032] Figure 19This is a flow chart of the conversion from the detection system to the deployment of the oil boom in the present invention;

[0033] The numbers in the figure are: 1-catamaran hull, 2-water flow velocity detection part, 3-river depth detection part, 4-river width detection part, 5-positive propeller, 6-propeller connecting shaft, 7-rigid coupling, 8-coupling fixing screw, 9-first motor, 10-waterproof housing, 11-bearing end cover, 12-first deep groove ball bearing, 13-first oil-absorbing felt, 14-left hull float, 15-right hull float, 16-left top seal Cover, 17-right top sealing cover, 18-connecting top cover, 19-first single-chip microcomputer, 20-WIFI module, 21-first communication module, 22-motor driver, 23-first battery module, 24-distance measurement module acquisition board, 25-spliced ​​semi-sealed outer shell, 26-gear outer box, 27-second motor, 28-first gear set large gear, 29-first gear set small gear, 30-second deep groove ball bearing, 31-connecting shaft, 32-fifth deep groove ball bearing, 33-four-claw fixed shaft, 34-segmented inner track, 35-inner track top cover, 36-segmented outer track, 37-outer track top cover, 38-outer track base, 39-motion upper limit valve, 40-rack, 41-motor full housing, 42-third motor, 43-gear, 44-third deep groove ball bearing, 45-streamlined impeller, 46-rigid nylon connecting shaft, 47-fourth deep groove ball bearing, 48-shaft Waterproof end cover, 49-second oil-absorbing felt, 50-shading blade, 51-through-beam infrared sensor, 52-second communication module, 53-second battery module, 54-second single-chip microcomputer, 55-enclosed waterproof housing, 56-second gear set large gear, 57-second gear set large gear, 58-pinion shaft, 59-ultrasonic sensor, 60-sensor matching rubber waterproof half housing, 61-ranging module, 62-rubber leather case waterproof half housing. DETAILED DESCRIPTION

[0034] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be noted that, in the absence of conflict, the embodiments in this application and the features in the embodiments can be combined with each other in any way.

[0035] The embodiments of the present invention are described below with reference to the accompanying drawings:

[0036] like Figure 1-16As shown, an intelligent detection system for oil boom deployment data includes a catamaran hull part 1, a water flow velocity detection part 2, a river depth detection part 3, a river width detection part 4, and main control units 1-4; the catamaran hull part 1 provides installation locations for the water flow velocity detection part 2, the river depth detection part 3, and the river width detection part 4, the river depth detection part 3 is installed at the bottom of the catamaran hull part 1, the river width detection part 4 is installed on both sides of the catamaran hull part 1, and the water flow velocity detection part 2 is connected to the inside of the hull on both sides of the catamaran hull part 1; the catamaran hull part 1 is provided with a plurality of mounting positions for the water flow velocity detection part 2, the river depth detection part 3, and the river width detection part 4. The ship hull part 1, the water flow velocity detection part 2, the river depth detection part 3, and the river width detection part 4 are connected to the main control unit parts 1-4. The catamaran hull part 1 drives the movement of the oil boom deployment data intelligent detection system, the water flow velocity detection part 2 detects the water flow velocity at different depths, the river depth detection part 3 detects the river depth within the specified river basin, and the river width detection part 4 detects the river width within the specified river basin. Finally, the main control unit parts 1-4 summarize and save the information and transmit it to the mobile terminal for output and display.

[0037] Preferably, the catamaran hull portion 1 includes a propulsion module 1-1, a hull floating body portion 1-2, and a hull top cover portion; Figure 2 、 Figure 5 As shown, the propulsion module 1-1 is divided into two parts, the left and right propulsion modules, the two parts are different only in the forward and reverse directions of the propellers, and the forward direction propulsion module is used for explanation, specifically including a forward propeller 5, a propeller connecting shaft 6, a 4mm to 2.3mm rigid coupling 7, a 4mm to 2.3mm rigid coupling fixing screw 8, a first motor 9, a waterproof shell 10, a bearing end cover 11, a deep groove ball bearing 12 and a first oil-absorbing felt 13; the forward propeller 5 is connected to the first motor 9 through the propeller connecting shaft 6, and the motor and the forward propeller perform 1:1 power transmission to provide propulsion power for the hull, and one end of the propeller connecting shaft 6 is connected to the output shaft of the first motor 9 through a 4mm to 2.3mm rigid coupling 7, and the first motor 9 is Wrapped in one end of the interior of the waterproof shell 10 and close to the end of the hull float part 1-2, the waterproof shell 10 is provided with a rotation space for a 4mm to 2.3mm rigid coupling 7 to ensure that when the first motor 9 rotates, the coupling and the shell will not interfere with each other. The other end of the waterproof shell 10 is embedded with a first deep groove ball bearing 12 to provide support for the propeller connecting shaft 6. The external shaft opening for the propeller connecting shaft 6 to extend out of the other end of the waterproof shell 10 is pressed by the bearing end cover 11. A first oil-absorbing felt 13 is installed between the bearing end cover 11 and the embedded first deep groove ball bearing 12 to achieve a waterproof seal, thereby preventing river water from entering the waterproof shell 10 from the shaft opening to damage the internal electronic components. For example, Figure 5Shown is a schematic diagram of the propulsion module 1-1 showing a half-section of the waterproof housing 10.

[0038] like Figure 3 As shown, the hull float part 1-2 provides installation positions for various parts of the entire system, including the left hull float 14 and the right hull float 15. Both floats are equipped with propulsion module mounting grooves and are respectively matched with the waterproof shell 10 in the propulsion module 1-1. There are six evenly distributed limit blocks in the middle of the waterproof shell 10 that are tightly matched with the propulsion module mounting grooves to ensure that the waterproof shell 10 does not rotate. When connected, the connection between the waterproof shell 10 and the tail of the left hull float 14 and the right hull float 15 is clamped with oil-absorbing felt to ensure its waterproofness.

[0039] like Figure 6 As shown, the hull top cover part is installed on the top of the hull floating body part 1-2, and the entire hull top cover part includes a left top sealing cover 16, a right top sealing cover 17, and a connecting top cover 18, wherein the left top sealing cover 16 is connected to the left floating body 14 of the hull, and the right top sealing cover 17 is connected to the right floating body 15 of the hull. The tops of the left top sealing cover 16 and the right top sealing cover 17 are connected by a connecting top cover 18, which on the one hand ensures the connection between the left and right parts of the catamaran, and on the other hand ensures that the lines can be connected smoothly and waterproofly in the left and right parts.

[0040] As a preference, Figure 4 、 7As shown, the main control unit part 1-4 includes a first single-chip microcomputer 19, a WIFI module 20, a first communication module 21, a TB6612FNG motor driver 22, a first battery module 23, an S21C ranging module acquisition board 24 and a spliced ​​semi-sealed outer shell 25; the spliced ​​semi-sealed outer shell 25 is installed in the installation groove of the hull floating body part 1-2; the spliced ​​semi-sealed outer shell 25 provides an installation position for the first battery module 23 and provides an inlet and outlet for connecting wires. The first single-chip microcomputer 19 serves as the main control motherboard. The WIFI module 20, the first communication module 21, the TB6612FNG motor driver 22 and the S21C ranging module acquisition board 24 fixed on the spliced ​​semi-sealed outer shell 25 are respectively connected to the first single-chip microcomputer 19, so as to achieve the purpose of the main control motherboard controlling each module. The first single-chip microcomputer 19 is also connected to the ultrasonic sensor 59 in the river width detection part 4. The WIFI module 20 operates in AP mode as a Wi-Fi release unit, receiving signals from the mobile terminal to remotely control the operation of the vehicle. Simultaneously, the first communication module 21, controlled by the first single-chip microcomputer 19, connects and communicates with the second communication module 52 in the speed measurement device 2-3 to control the speed measurement device 2-3 and detect the water flow speed. On the one hand, the TB6612FNG motor driver 22 is connected to the first single-chip microcomputer 19 and is controlled by it, and on the other hand, it is connected to the first motor 9 of the propulsion module 1-1, the second motor 27 in the rotary immersion device 2-1, and the third motor 42 in the telescopic immersion device 2-2; the TB6612FNG motor driver 22 controls the speed and direction of the first motor 9 of the propulsion module 1-1, thereby providing driving force for the entire boat; the TB6612FNG motor driver 22 controls the second motor 27 in the rotary immersion device 2-1 to achieve the purpose of controlling the position and posture of the entire rotary immersion device 2-1; the S21C ranging module acquisition board 24 is fixed at a set position of the spliced ​​semi-sealed outer shell 25 for connection to the first single-chip microcomputer 19, and is connected to the STP-23 ranging module 61 in the river depth detection part 3 through an external interface, so that the data collected by the STP-23 ranging module 61 is directly converted into real data through the S21C ranging module acquisition board 24 and transmitted to the first single-chip microcomputer 19, thereby achieving the purpose of speed measurement.

[0041] Furthermore, if Figures 8-12As shown, the water flow velocity detection part 2 includes: a rotating immersion device 2-1, a telescopic immersion device 2-2, and a speed measuring main device 2-3; wherein the rotating immersion device 2-1 is the first-level control device of the water flow velocity detection part 2, and is arranged in the middle installation groove position on the inner side of the left hull float 14 and the right hull float 15 in the hull floating part 1-2; the telescopic immersion device 2-2 serves as the second-level control device, and one end of the telescopic immersion device 2-2 is connected to the rotating immersion device 2-1 to achieve simultaneous rotation with the rotating immersion device 2-1, and the other end of the telescopic immersion device 2-2 is connected to the speed measuring main device 2-3, and the two-level control devices jointly control the position of the speed measuring main device 2-3, so that it can detect water flow velocity at different positions.

[0042] As a preference, Figure 8 、 9As shown, the rotary immersion device 2-1 includes a first rotary immersion device, a second rotary immersion device, and a four-claw fixed shaft 33. The four-claw fixed shaft 33 is divided into a male four-claw fixed shaft and a female four-claw fixed shaft. The first rotary immersion device and the second rotary immersion device have the same structure and are described with the first rotary immersion device. The first rotary immersion device includes a gear outer box 26, a second motor 27, a first gear group large gear 28, a first gear group small gear 29, a second deep groove ball bearing 30, a connecting shaft 31, a fifth deep groove ball bearing 32, and the first gear group large gear 28. The gear set consisting of the first gear set pinion 29 is a 1:4 gear set; the second motor 27 fixed to the outside of the gear outer casing 26 is connected to the first gear set pinion 29 installed in the gear outer casing 26, and the first gear set pinion 29 is meshed with the first gear set large gear 28 installed on the connecting shaft 31. The second deep groove ball bearing 30 fixed to the gear outer casing 26 is used to connect one end of the connecting shaft 31, and the gear outer casing 26 is fixed to the internal reserved mounting groove of the left hull 14 in the hull floating body part 1-2; the middle part of the connecting shaft 31 is connected to the left hull 14 by the outer casing 26. The fifth deep groove ball bearing 32 installed on the left floating body 14 of the hull is supported, and the other end of the connecting shaft 31 is matched with the reserved hole on one side of the male four-claw fixed shaft, and the other side of the four-claw fixed shaft 33 has four evenly distributed round shafts. The four round shafts pass through one end of the inner track top cover 35 of the telescopic immersion device 2-2 and are tightly matched with the mounting holes on one side of the female four-claw fixed shaft on the opposite side. The other side of the female four-claw fixed shaft is connected to one end of the connecting shaft 31 of the second rotating immersion device; the four round shafts jointly bear the weight of the telescopic immersion device 2-2 when the second motor 27 rotates. The generated gravity can effectively avoid problems such as slipping and shaft damage during single-axis rotation. Its main function is to provide sufficient torque to support the telescopic immersion device 2-2 to perform rotational movement, so that it can be immersed in water from a horizontal posture to a vertical posture; the second rotating immersion device connected to the other side of the female four-claw fixed shaft, the connection of the second rotating immersion device is the same as the first rotating immersion device, and the two are symmetrically arranged based on the telescopic immersion device 2-2. When working, the two motors in the symmetrically arranged first rotating immersion device and the second rotating immersion device rotate in opposite directions at the same time to provide sufficient torque.

[0043] As a preference, Figure 10As shown, the telescopic immersion device 2-2 includes: a segmented inner track 34, an inner track top cover 35, a segmented outer track 36, an outer track top cover 37, an outer track base 38, a motion upper limit valve 39, a 0.5-module rack 40, a motor full-cover housing 41, a third motor 42, a 0.5-module gear 43, and a third deep groove ball bearing 44; the segmented inner track 34 is the main body of the telescopic movement, and is provided with a cylindrical through hole inside, which is used to lead the wire of the third motor 42 out and then guide it through the lead hole on the hull top cover part to the inside of the hull floating body part 1-2 for connection with the TB6612FNG motor driver 22 in the main control unit part 1-4; the segmented inner track 34 is the main body of the telescopic movement, and is provided with a cylindrical through hole inside, which is used to lead the wire of the third motor 42 out and then guide it through the lead hole on the hull top cover part to the inside of the hull floating body part 1-2 for connection with the TB6612FNG motor driver 22 in the main control unit part 1-4; The inner track 34 is installed in multiple sections according to the required length. The inner track top cover 35 is installed on the side of the segmented inner track 34 close to the rotary immersion device 2-1. The upper and lower parts of the inner track top cover 35 close to one end of the segmented inner track 34 are both installed with motion upper limit valves 39 (the slot of the motion upper limit valve 39 is matched with the slot on the inner track top cover 35) to prevent the segmented outer track 36 from derailing due to movement. The side of the segmented inner track 34 away from the rotary immersion device 2-1 is installed with the side of the motor full-enclosed housing 41 through concave-convex matching (that is, through the matching of the cylinder and the hole) to fix the force transmission part; the segmented outer track 36 is the moving part of the telescopic movement and can be installed in multiple sections according to the required length. The length of the segmented outer track 36 is greater than that of the segmented inner track 34; a 0.5-module rack 40 is fixedly installed on the inner side of the segmented outer track 36, and the 0.5-module rack 40 is meshed with a 0.5-module gear 43 installed on the third motor 42 in the motor all-inclusive housing 41 to achieve the purpose of gear rack-telescopic movement. The output end of the third motor 42 is connected to the third deep groove ball bearing 44 to provide support force to ensure that the gear rotation does not deviate; the end of the segmented outer track 36 close to the rotary immersion device 2-1 is connected to the outer track top cover 37, so that the outer track top cover 37 can cooperate with the movement upper limit valve 39 installed on the inner track top cover 35 during movement, and at the same time cooperate with the 0.5 The length design of the mold rack 43 can ensure that the segmented outer track 36 does not derail; the segmented outer track 36 is connected to the outer track base 38 at one end away from the rotating immersion device 2-1, and the outer track base 38 is provided with a slot, which cooperates with the top card slot of the closed waterproof shell 55 in the speed measuring main device 2-3 for detachable connection, and the rotating immersion device 2-1 drives the telescopic immersion device 2-2 and the speed measuring main device 2-3 to rotate around the fixed rotating shaft 33; when the telescopic immersion device 2-2 and the speed measuring main device 2-3 move to a state vertical to the water surface, the telescopic movement of the telescopic immersion device 2-2 drives the speed measuring main device 2-3 to measure speed at different water depths.

[0044] As a priority, Figure 11 、 12As shown, the speed measuring main device 2-3 includes: a streamlined impeller paddle 45, a rigid nylon connecting shaft 46, a fourth deep groove ball bearing 47, a matching bearing waterproof end cover 48, a second oil-absorbing felt 49, 12 equidistant shading blades 50, a beam infrared sensor 51, a second communication module 52, a second battery module 53, a second single-chip microcomputer 54, a closed waterproof housing 55, a second gear set large gear 56, a second gear set small gear 57 and a small gear shaft 58. The gear set composed of the second gear set large gear 56 and the second gear set small gear 57 is a 2:1 gear set; the rigid nylon connecting shaft 46 is supported by a high-speed waterproof fourth deep groove ball bearing 47 installed inside the closed waterproof housing 55, and the streamlined impeller paddle 45 and the second gear set large gear 56 in the gear set installed in the closed waterproof housing 55 are connected by a rigid nylon connecting shaft 4 6 is directly connected to transmit power; the rigid nylon connecting shaft 46 is tightly fitted by the bearing waterproof end cover 48 outside the closed waterproof shell 55, and is waterproofed by the second oil-absorbing felt 49; the second gear set large gear 56 and the meshing second gear set small gear 57 form a gear set, and the second gear set small gear 57 is mounted on the gear shaft 58, and 12 equidistant shading blades 50 are arranged on the small gear shaft 58, and the 12 equidistant shading blades 50 are aligned below the aligned beam type infrared sensor 51, the beam type infrared sensor 51 is connected to the second single-chip microcomputer 54 to process and store data, and then the data is remotely transmitted to the main control motherboard in the main control unit part 1-4 by the matching second communication module 52, and the second battery module 53 is next to it to power the entire system. The above modules are all fixed in a dedicated position inside the closed waterproof shell 55.

[0045] Through the above technical solution, the working process of the water flow velocity detection part 2 is provided as follows: first, the first single-chip microcomputer 19 in the main control unit part 1-4 sends an instruction, so that the second motor 27 in the left and right hull rotating immersion devices 2-1 connected to the TB6612FNG motor driver 22 communicates and provides power, and the second motor 27 drives the first gear group pinion 29 to rotate, and the first gear group pinion 29 transmits power to the connecting shaft 31 through the gear group, and the other side also rotates in the opposite direction. Finally, the two second motors 27 enable the connecting shaft 31 to obtain torsional force, thereby rotating the water flow velocity detection part 2. When the telescopic immersion device 2-2 in the water flow speed detection part 2 rotates from a horizontal position to a vertical position (the horizontal position is parallel to the water surface), the first single-chip microcomputer 19 in the main control unit part 1-4 drives the TB6612FNG motor driver 22 to control the third motor 42 in the telescopic immersion device 2-2 to rotate. The third motor 42 is connected to the 0.5-module gear 43 and rotates to perform a translational motion on the 0.5-module rack 40, thereby extending the entire segmented outer track 36 to achieve the purpose of elongation. At this time, the first single-chip microcomputer 19 in the main control unit part 1-4 can receive the signal from the third motor 42 to determine the travel distance of the outer track, thereby obtaining the position of the speed measuring main device 2-3. When it reaches the designated position, the first single-chip microcomputer 19 in the main control unit part 1-4 receives feedback and communicates with the first communication module 21. After receiving the transmission signal, the first communication module 21 communicates with the second communication module 52 in the speed measuring main device 2-3. The second communication module 52 connects the signal to the second single-chip microcomputer 54 in the speed measuring main device 2-3. Since the speed measuring main device 2-3 is in the water flow, the streamlined impeller paddle 45 will be rotated by the impact of the water flow, thereby causing the 12 equidistant light-shielding blades 50 connected to it to rotate. The rotation of the blades will pass through the opposing infrared sensor 51 below. The opposing infrared sensor 51 records the number of times the blades pass through within a certain period of time and feeds back to the second single-chip microcomputer 54. After the second single-chip microcomputer 54 stores multiple data, it feeds back to the first single-chip microcomputer 19 in the main control unit part 1-4 through the second communication module 52. The built-in program then converts the number of blade rotations into water flow velocity, and finally obtains the water flow velocity at the preset depth of the water flow.

[0046] As a preference, Figure 13As shown, the river depth detection part 3 uses the guided KS104 long-range waterproof ultrasonic sensor 59, and the sensor is equipped with a rubber waterproof half shell 60, which is fixed to the bottom of the hull floating part 1-2. A reserved installation position is left at the bottom of the left hull float 14 and the right hull float 15. In actual work, only one sensor needs to be installed, and the other sensor reserved hole can be directly blocked with the rubber waterproof half shell 60. The purpose is to avoid the problem of hull width in some special terrain that makes it impossible to measure the river depth of part of the river bottom, thereby adding multiple installation positions.

[0047] As a preference, Figure 14 As shown, the river width detection unit 4 utilizes an STP-23 ranging module 61. This ranging module is fitted with a waterproof rubber half-shell 62, secured to the outer side of the hull's buoyant section 1-2. Multiple groups of reserved slots are provided on the hull, allowing for the configuration of the number of ranging modules based on accuracy requirements. This allows for multiple mounting locations to be added to avoid the inability to measure river width in certain areas due to hull length limitations in certain terrains. Each group consists of two modules, one mounted on the outer side of the left buoy 14 and one mounted on the outer side of the right buoy 15, with the two groups installed in corresponding positions. The STP-23 ranging module 61 is connected to the S21C ranging module acquisition board 24 of the main control unit 1-4. The S21C ranging module acquisition board 24 directly converts the electronic data measured by the STP-23 ranging module 61 into actual river width data and transmits this data to the first single-chip microcomputer 19 of the main control unit 1-4, thereby measuring the river width within the basin.

[0048] In the above description, the first and second single-chip microcomputers use M48Z-M3 STM32F103C8T6, the first and second communication modules use NRF24L01, the first and second battery modules can use 7-12V lithium batteries, and the Wi-Fi module uses ATK-ESP8266. The first, second, and third motors can use 12V high-speed waterproof DC reduction motors, and the fourth and fifth deep groove ball bearings use waterproof deep groove ball bearings.

[0049] The above is a physical device, and on the mobile phone side, a mobile phone application written in JavaScript language is used as the mobile control terminal for control of the entire boat. The mobile terminal communicates with the WIFI module 20 in the main control unit part 1-4 to send a signal. After the WIFI module receives the signal, it receives the signal through the first single-chip microcomputer 19, so that each part of the boat system performs corresponding behavioral actions, thereby achieving the purpose of remotely controlling the boat.

[0050] Applying the above technical solution, it can be seen that the communication part of the above control motor and data transmission specifically includes:

[0051] 1. The mobile terminal connects to the WIFI module 20 mounted in the first single chip microcomputer 19 of the main control board to achieve communication.

[0052] 2. Set the communication protocol so that the first single-chip microcomputer 19 can receive different commands from the mobile terminal through the WIFI module 20, and save these commands in the interrupt function. By setting the priority, the first single-chip microcomputer 19 can process various events.

[0053] 3. The first single chip microcomputer 19 is connected to the TB6612FNG22 motor driver, and the driver is connected to the first motor 9 of the propulsion module 1-1, the second motor 27 in the rotary immersion device 2-1, and the third motor 42 in the telescopic immersion device 2-2.

[0054] During the overall implementation process, before the speed measuring device performs speed measurement, it is necessary to calibrate the speed measuring device. The specific steps of the method are as follows:

[0055] Step 1: Install the speed measuring device 2-3 on the handheld pole and use it as a handheld speed meter;

[0056] Step 2: Build an ideal simulated river channel, which can adjust the river depth and control the water flow and speed through a circulation device;

[0057] Step 3: Place the handheld velocimeter in a simulated environment and read the data transmitted per second by the infrared sensor 51 in the velocimeter at different water flow rates. Read the data 20-50 times at each speed and record the readings.

[0058] Step 4, averaging the data transmitted per second by the through-beam infrared sensor 51 read cyclically under the same flow rate, and obtaining the average value of the data transmitted per second by the through-beam infrared sensor 51 under different flow rates;

[0059] Step 5: Perform a linear fit on the average value of the data transmitted per second by the through-beam infrared sensor 51 at different flow rates and the water flow velocity. Based on the fitting results, a sixth-order polynomial is constructed to obtain a relationship between the average data per second of the through-beam infrared sensor and the water flow velocity, thereby achieving the purpose of calibration.

[0060] Step 6. Place the handheld speed meter in a real-world river to measure the flow rate and compare it with a third-party speed measurement tool. Repeatedly compare and modify the experimental fitting formula to obtain a corrected relationship between the average data per second of the through-beam infrared sensor and the water flow velocity, so that it is closer to the measurement under real water flow.

[0061] The above process can refer to Figure 15 . Reference Figure 16 、 19After the calibration is completed, the fitting formula is written into the speed measurement code, and the speed measurement main device 2-3 can measure the speed in the river. The specific steps of the method are as follows:

[0062] Step 1: The mobile terminal issues a command. After receiving the command through the WIFI module 20, the first single-chip microcomputer 19 controls the rotation of the first motor 9 of the hull propeller through the TB6612FNG motor driver 22, thereby controlling the boat to move to a suitable position in the working waters;

[0063] Step 2: Establish a connection through communication, and then use the mobile terminal to control the speed of the first motor 9 to quantitatively set the movement speed of the boat so that the boat is stationary relative to the river;

[0064] Step 3: Control the second motor 27 in the rotary immersion device 2-1 by connecting to the first single-chip microcomputer 19 via the mobile terminal, so that the telescopic immersion device 2-2 changes from a horizontal posture to a vertical posture;

[0065] Step 4: Control the operation of the third motor 42 in the telescopic immersion device 2-2 by connecting to the first single-chip microcomputer 19 via the mobile terminal, and control the speed measuring main device 2-3 to dive to the required position;

[0066] Step 5: The reflected infrared sensor 51 in the speed measuring main device 2-3 transmits data to the first single chip microcomputer 19 in the main control unit part 1-4 through the second communication module 52 for storage. After all the data are collected, they are converted into water flow velocity values ​​according to the calibration data formula and sent to the mobile terminal for drawing and display.

[0067] Since the module used for ranging is a mature ranging module on the market, its measurement data has been calibrated and integrated before leaving the factory, so data collection and use can be carried out directly.

[0068] Furthermore, the intelligent detection system for oil boom deployment data provided by the present invention is used to detect the width of a river basin. The specific steps of the method for detecting the width of a river basin are as follows:

[0069] Step 1: Control the boat to move to the starting point of the watershed by connecting to the first single chip microcomputer 19 via the mobile terminal;

[0070] Step 2: Connect the first single chip microcomputer 19 via the mobile terminal to start the STP-23 distance measurement module 61 to start distance measurement;

[0071] Step 3: Control the boat to move forward by connecting to the main control board through the mobile terminal, and collect measurement data of various positions in the watershed through the S21C ranging module acquisition board 24;

[0072] Step 4: After all the data are collected, the first single chip microcomputer 19 sends the data to the mobile terminal through the WiFi module 20, and the mobile terminal draws and displays the data.

[0073] Furthermore, the intelligent detection system for oil boom deployment data provided by the present invention is used to detect the depth of a river basin. The specific steps of the method for detecting the depth of a river basin are as follows:

[0074] Step 1: Control the boat to move to the starting point of the watershed by connecting to the first single chip microcomputer 19 via the mobile terminal;

[0075] Step 2: Connect the first single chip microcomputer 19 via the mobile terminal to start the guide KS104 long-range waterproof ultrasonic sensor 59 to measure the depth;

[0076] Step 3: Control the boat to move forward by connecting to the first single-chip microcomputer 19 via the mobile terminal, and guide the KS104 long-range waterproof ultrasonic sensor 59 to simultaneously collect data on the river depth along the path;

[0077] Step 4: After all the data are collected, the first single chip microcomputer 19 sends the data to the mobile terminal through the WiFi module 20, and the mobile terminal draws and displays the data.

[0078] On the mobile side, after integrating the water velocity, river basin width and depth data, theoretical data can be provided for the deployment of oil booms. The details are as follows:

[0079] Step 1: Read the water velocity sets at different locations within the deployment basin section and integrate them to obtain the water velocity sets at different deployment areas of the oil boom;

[0080] Step 2: Perform position arithmetic mean square processing on the velocity set to obtain the fitted water velocity data v;

[0081] Step 3: Substitute the water velocity data v into the formula From this, we can get the deployment angle α of the oil boom. With this data, the staff can deploy the oil boom in the watershed at the correct angle.

[0082] Step 4: Obtain a basin depth set by reading the river depth at different locations within the defense basin section, perform position arithmetic mean square value processing on the depth set, and obtain the fitted river depth data H;

[0083] Step 5: Substitute the deployment angle α, river width H, and water flow velocity v obtained in steps 2, 3, and 4 into the formula The force F of the oil boom under different numbers can be calculated; where Cd represents the shape coefficient of the oil boom (usually 2), ρ represents the density of water (1000kg / m 3 ), L represents the length of different numbers of oil booms in the direction of water flow, and g represents the acceleration of gravity;

[0084] Step 6: According to the maximum load Q of the winch pulling the oil boom on site, the formula Calculate the number A of the oil booms pulled by the winch; for example, Figure 17 As shown, there are 5 oil booms in total, each of which is composed of multiple oil booms, and the number of oil booms A constituting each oil boom is calculated by step 6;

[0085] Step 7: Obtain a basin width set by reading the river width at different locations within the defense basin, perform position arithmetic mean square value processing on the width set, and obtain the fitted river width data W;

[0086] Step 8: Based on the number of booms A obtained in step 6, the river width obtained in step 7, and the length L of a single boom in the direction of water flow, the formula Calculate the number of booms deployed on the river surface, C; where AL = L", L' = L"sinα, L' is the actual length of each boom, and L" is the stressed length of each boom.

[0087] According to the above steps, the mobile terminal receives the various data measured in the intelligent detection system, and converts the various river parameters into the theoretical basis for oil boom deployment through the built-in program, thus realizing the conversion application from the detection system to the actual project.

[0088] The specific embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. An intelligent detection system for oil boom deployment data, characterized in that: The invention comprises a catamaran hull part (1), a water flow velocity detection part (2), a river depth detection part (3), a river width detection part (4), and a main control unit part (1-4); the catamaran hull part (1) provides an installation position for the water flow velocity detection part (2), the river depth detection part (3), the river width detection part (4), and the main control unit part (1-4); the catamaran hull part (1), the water flow velocity detection part (2), the river depth detection part (3), and the river width detection part (4) are connected to the main control unit part (1-4); the catamaran hull part (1) drives the movement of the oil boom deployment data intelligent detection system; the water flow velocity at different depths is detected by the water flow velocity detection part (2); the river depth within a specified river basin is detected by the river depth detection part (3); and the river width within a specified river basin is detected by the river width detection part (4); The water flow velocity detection part (2) comprises a rotating immersion device (2-1), a telescopic immersion device (2-2), and a speed measuring main body device (2-3); wherein the rotating immersion device (2-1) is a first-level control device of the water flow velocity detection part (2), and is arranged at a middle mounting groove position inside the left hull float (14) and the right hull float (15) in the hull floating body part (1-2); the telescopic immersion device (2-2) serves as a second-level control device, one end of the telescopic immersion device (2-2) is connected to the rotating immersion device (2-1) to achieve simultaneous rotation with the rotating immersion device (2-1), and the other end of the telescopic immersion device (2-2) is connected to the speed measuring main body device (2-3), and the two-level control devices jointly control the position of the speed measuring main body device (2-3), so that it can detect water flow velocities at different positions; The rotary immersion device (2-1) includes a first rotary immersion device and a second rotary immersion device which are symmetrically installed, and also includes a four-claw fixed rotating shaft (33); the telescopic immersion device (2-2) includes a segmented inner track (34), an inner track top cover (35), a segmented outer track (36), an outer track top cover (37), an outer track base (38), a motion upper limit valve (39), a rack (40), a motor full-enclosed housing (41), a third motor (42), a gear (43), and a third deep groove ball bearing (44); the segmented inner track (34) is a main body of the telescopic movement, and the segmented inner track (34) is close to one side of the rotary immersion device (2-1). An inner track cover (35) is installed, and a motion upper limit valve (39) is installed on the upper and lower sides of the inner track cover (35) near one end of the segmented inner track (34). The segmented inner track (34) is connected to one side of the motor housing (41) away from the rotary immersion device (2-1); the segmented outer track (36) is a moving part of the telescopic movement, and the length of the segmented outer track (36) is greater than that of the segmented inner track (34); a rack (40) is fixedly installed on the inner side of the segmented outer track (36), and the rack (40) is meshed with a gear (43) installed on the third motor (42) in the motor housing (41), so as to achieve the purpose of the gear rack telescopic movement; The output end of the third motor (42) is connected to the third deep groove ball bearing (44) to provide supporting force; the end of the segmented outer track (36) close to the rotating immersion device (2-1) is connected to the outer track top cover (37), and the inner track top cover (35) is installed with a motion upper limit valve (39) for limiting the segmented outer track (36); the end of the segmented outer track (36) away from the rotating immersion device (2-1) is connected to the outer track base (38), and the outer track base (38) is provided with a slot, which cooperates with the top card slot of the closed waterproof shell (55) in the speed measuring main device (2-3) to be detachably connected, and drives the telescopic immersion device (2-2) and the speed measuring main device (2-3) to rotate around the four-claw fixed shaft (33) through the rotating immersion device (2-1).

2. The oil boom deployment data intelligent detection system according to claim 1 is characterized in that: The catamaran hull part (1) comprises a propulsion module (1-1), a hull floating part (1-2), and a hull top cover part; the propulsion module (1-1) is divided into a first propulsion module and a second propulsion module using forward and reverse propellers to provide propulsion power for the hull; the hull floating part (1-2) comprises a left hull floating body (14) and a right hull floating body (15), both of which are equipped with propulsion module mounting slots for mounting the first propulsion module and the second propulsion module respectively; the hull top cover part comprises a left top sealing cover (16), a right top sealing cover (17), and a connecting top cover (18), wherein the left top sealing cover (16) is connected to the left hull floating body (14), the right top sealing cover (17) is connected to the right hull floating body (15), and the tops of the left top sealing cover (16) and the right top sealing cover (17) are connected by the connecting top cover (18).

3. The oil boom deployment data intelligent detection system according to claim 1 is characterized in that: The main control unit part (1-4) includes a first single-chip microcomputer (19), a WIFI module (20), a first communication module (21), a motor driver (22), a first battery module (23), a distance measurement module acquisition board (24) and a spliced ​​semi-sealed outer shell (25); the spliced ​​semi-sealed outer shell (25) is installed in the installation groove of the hull floating body part (1-2) in the catamaran hull part (1); the spliced ​​semi-sealed outer shell (25) provides an installation position for the first battery module (23) and provides an inlet and outlet for a connecting line, the first battery module (23) is used for power supply, the first single-chip microcomputer (19) serves as a main control motherboard, and the WIFI module (20), the first communication module (21), the motor driver (22) and the distance measurement module acquisition board (24) fixed on the spliced ​​semi-sealed outer shell (25) are respectively connected to the first single-chip microcomputer (19).

4. The oil boom deployment data intelligent detection system according to claim 1 is characterized in that: The four-claw fixed rotating shaft (33) is divided into a male four-claw fixed rotating shaft and a female four-claw fixed rotating shaft. The first rotating immersion device and the second rotating immersion device have the same structure. The first rotating immersion device is described as follows. The first rotating immersion device includes a gear outer box (26), a second motor (27), a first gear set large gear (28), a first gear set small gear (29), a second deep groove ball bearing (30), a connecting rotating shaft (31), and a fifth deep groove ball bearing (32). The second motor (27) fixed on the outside of the gear outer box (26) is connected to the first gear set small gear (29) installed in the gear outer box (26). The first gear set small gear (29) is meshed with the first gear set large gear (28) installed on the connecting rotating shaft (31) and is fixed to the gear outer box. The second deep groove ball bearing (30) on (26) is used to connect one end of the connecting shaft (31), and the gear outer box (26) is fixed in the internal reserved mounting groove of the left hull float (14) in the hull float part (1-2); the middle part of the connecting shaft (31) is supported by the fifth deep groove ball bearing (32) installed on the left hull float (14), and the other end of the connecting shaft (31) is matched with the reserved hole position on one side of the male four-claw fixed shaft. The other side of the four-claw fixed shaft (33) has evenly distributed circular shafts, which pass through one end of the inner track top cover (35) of the telescopic immersion device (2-2) and are tightly matched with the mounting hole on one side of the female four-claw fixed shaft on the opposite side. The other side of the female four-claw fixed shaft is connected to one end of the connecting shaft (31) of the second rotary immersion device.

5. The oil boom deployment data intelligent detection system according to claim 1 is characterized in that: The speed measuring main device (2-3) comprises a streamlined impeller blade (45), a rigid nylon connecting shaft (46), a fourth deep groove ball bearing (47), a matching bearing waterproof end cover (48), a second oil-absorbing felt (49), a light-shielding blade (50), a beam-type infrared sensor (51), a second communication module (52), a second battery module (53), a second single-chip microcomputer (54), a closed waterproof housing (55), a second gear set large gear (56), a second gear set small gear (57) and a small gear shaft (58); the rigid nylon connecting shaft (46) is supported by a high-speed waterproof fourth deep groove ball bearing (47) installed inside the closed waterproof housing (55), and the streamlined impeller blade (45) and the second gear set large gear (56) in the gear set installed in the closed waterproof housing (55) are connected via the rigid nylon connecting shaft. (46) is directly connected to transmit power; the rigid nylon connecting shaft (46) is tightly fitted by the bearing waterproof end cover (48) outside the closed waterproof housing (55), and is waterproofed by the second oil-absorbing felt (49); the second gear group large gear (56) is engaged with the second gear group small gear (57) installed on the small gear shaft (58), and the small gear shaft (58) is provided with equidistant shading blades (50), and the equidistant shading blades (50) are aligned below the equidistant shading blades (50) and the radiating infrared sensor (51) is aligned, and the radiating infrared sensor (51) is connected to the second single-chip microcomputer (54); the second communication module (52) is used to remotely transmit the radiating infrared sensor (51) data sent by the second single-chip microcomputer (54) to the main control mainboard in the main control unit part (1-4); the second battery module (53) is used to supply power.

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