Aeration oxygenation dosing ship

Abstract

The invention relates to an aeration and oxygenation chemical dosing ship, and discloses an unmanned aeration and oxygenation chemical dosing ship which is characterized in that chemical dosing structures are matched with rotation of rotating wheels to feed chemicals into a river channel, oxygenation and turbulent flow are carried out in the river channel through aeration structures to promote diffusion of the chemicals, steering of the ship is controlled through a steering structure, and unmanned driving is achieved. The device is characterized in that the device is composed of a supporting structure, a chemical storage structure, a chemical feeding structure, a steering mechanism and an aeration structure, the supporting structure is composed of a ship body, a bow, a stern, a bow wing, a photovoltaic panel, a through groove and a warning lamp, the ship body is of an E-shaped structure, the ship body is of a hollow structure, and the ship body comprises the bow, the stern and the bow wing; one end of the prow is arranged in the middle of one end of the stern, the width of the prow is unchanged from one end to five sixths of the position and is gradually reduced from the five sixths of the position to the other end, and one ends of the prow wings are correspondingly arranged on the two sides of one end of the stern respectively.

Description

Technical Field

[0001] The invention discloses an aeration and oxygenation dosing boat, which relates to an unmanned boat capable of realizing automatic aeration and oxygenation dosing, and belongs to the technical field of sewage treatment, and particularly relates to an aeration and oxygenation dosing boat which can dosing medicine into a river channel by coordinating the rotation of a dosing structure with a rotor, oxygenates and disturbs the river channel through an aeration structure to promote the diffusion of the medicine, and controls the steering of the boat through a steering structure, thereby realizing an unmanned aeration and oxygenation dosing boat. Background Art

[0002] At present, the work of drugging in rivers is mainly done manually, but manual drugging has low efficiency and high labor intensity, and there is also the risk of falling into the water during water operations. The existing unmanned river drugging ships sail to different locations in the river and then dock to douse the drugs. They do not dose drugs synchronously with the sailing of the ship, and the dosing is uneven, or additional power devices are required for uniform dosing. In addition, chemical agents cannot be effectively diffused to different depths and areas of the river water by relying solely on the fluidity of water, resulting in low purification efficiency and poor purification effect.

[0003] Announcement No. CN115195951A discloses an unmanned boat and method for early warning of blue algae blooms and autonomous dosing to inhibit algae. The autonomous dosing system in the unmanned boat is coupled with a monitoring and early warning system. The monitoring and early warning system calculates the dosage of different dosing areas through a fixed algorithm, and the autonomous dosing system will automatically set the number of cycles pushed by the screw at the bottom of the dosing box to quantitatively release the algae inhibitor. The unmanned boat uses the screw at the bottom of the dosing box to push the agent to achieve delivery. The power effect of the screw is poor, the speed of drug delivery is slow, and it can only be delivered to a certain position in the dosing area. The unmanned boat is not equipped with an oxygenation device. The agent cannot be effectively diffused to different depths and areas of the river water by relying solely on the fluidity of the water. The purification efficiency of the river water is low and the purification effect is poor. Summary of the invention

[0004] In order to improve the above situation, an aeration and oxygenation dosing ship of the present invention provides a method of dosing medicine into a river channel by coordinating the rotation of a dosing structure with a rotor, oxygenating and disturbing the river channel through an aeration structure to promote the diffusion of the medicine, and controlling the steering of the ship through a steering structure, thereby realizing an unmanned aeration and oxygenation dosing ship.

[0005] The aeration and oxygenation dosing ship of the present invention is realized as follows: The aeration and oxygenation dosing ship of the present invention is composed of a supporting structure, a drug storage structure, a drug dosing structure, a steering mechanism and an aeration structure. The supporting structure is composed of a hull, a bow, a stern, a bow wing, a photovoltaic panel, a through slot and a warning light. The hull is a mountain-shaped structure, and the hull is a hollow structure. The hull includes three parts: bow, stern and bow wing. One end of the bow is disposed in the middle of one end of the stern, and the width of the bow is constant from one end to five-sixths, and gradually decreases from the five-sixths to the other end. One end of the bow wing is disposed on both sides of one end of the stern, and the width of the bow wing remains unchanged from one end to four fifths, and gradually decreases from four fifths to the other end. The width of the bow wing is smaller than the width of the bow, and the length of the bow wing is smaller than the length of the bow. Preferably, an ultrasonic obstacle avoidance sensor is disposed at the other end of the bow. The top surface of the stern is provided with a photovoltaic panel. Preferably, there are two groups of photovoltaic panels, which are respectively placed on both sides of the top surface of the stern, and there are multiple photovoltaic panels in each group, and the multiple photovoltaic panels are arranged without spacing along the length direction of the top surface of the stern. The two sides of the stern are respectively provided with through grooves, the length of which is equal to the height of the stern, and a warning light is embedded in one end of the through groove, and the warning light is close to the top surface of the stern. The medicine storage structure is composed of a medicine storage box, a first sliding door, a sliding door handle, a medicine inlet, a sliding groove, a sliding rib, a boss and an inclined platform. The bottom surface of the medicine storage box is placed on the top surface of the stern, and the medicine storage box is located between the two groups of photovoltaic panels. A boss is disposed in the middle of the inner bottom surface of the medicine storage box, the height of the boss gradually decreases from the middle to both ends, and the width of the boss is equal to the inner width of the medicine storage box. Inclined platforms are symmetrically arranged on both sides of the inner bottom surface of the medicine storage box, one end of the inclined platform is correspondingly connected to the two ends of the boss, and the height of the inclined platform gradually increases from one end to the other end. The width of the inclined platform is equal to the width of the protruding platform, and the other end of the inclined platform is connected to the two ends of the inner bottom surface of the medicine storage box respectively. A medicine inlet is provided in the middle of the top surface of the medicine storage box. Sliding grooves are respectively provided on both sides of the medicine inlet, and the length of the sliding grooves is equal to twice the inner length of the medicine inlet. Half of the sliding grooves are correspondingly arranged on both sides of the medicine inlet, and the other half of the sliding grooves are correspondingly arranged on the inner top surface of the stern extending from both sides of the medicine inlet. Both ends of the sliding grooves are closed structures. Sliding ribs are disposed on both sides of the first sliding door, and the sliding ribs correspond to the sliding grooves. One end of the first sliding door is slidably disposed at one end of the medicine inlet through the sliding rib and the sliding groove, the width of the first sliding door is equal to the inner width of the medicine inlet, and the length of the first sliding door is equal to the inner length of the medicine inlet. A door handle is disposed on the top surface of the first sliding door, and the door handle is close to the middle of the other end of the first sliding door. Preferably, the surface of the sliding door handle is provided with anti-slip grooves. The medicine dispensing structure is composed of a second sliding door, a door closing block, a door opening block, a spring slot, a spring and a sliding door shaft. The medicine storage box has medicine outlets on both sides. The medicine outlet is close to the bow and the bottom surface of the medicine storage box. The medicine outlet is located at the corresponding connection between one end of the inclined platform and the two ends of the convex platform. The two ends of the door pull shaft are rotatably disposed on both sides of one end of the medicine outlet, and the length of the door pull shaft is equal to the inner width of the medicine outlet. One end of the second sliding door is placed on the sliding door shaft, the width of the second sliding door is equal to the length of the sliding door shaft, and the length of the second sliding door is equal to the inner length of the medicine outlet. One end of a door opening block is disposed in the middle of the second sliding door. The other end of the door opening block is provided with a slot. The sides of the medicine storage box corresponding to the middle of both sides of the medicine outlet are provided with spring grooves. The door closing block is located on the spring slot. One end of the spring is correspondingly placed at the bottom of the spring slot, and the other end of the spring is placed on one side of the bottom surface of the door closing block. The other side of the bottom surface of the door closing block is respectively placed at the middle of both sides of the second sliding door. The steering structure is composed of a half shaft, a rotating wheel, a long bar, a motor housing, a main shaft, a differential and a driving motor. The motor housing is placed on the top surface of the bow, and the motor housing is close to the other end of the bow. The driving motor is placed in the motor housing. The differential is placed on the top surface of the bow, and the differential is close to one end of the bow. One end of the main shaft passes through a through hole opened on the side of the motor placement shell and is connected to the motor shaft of the drive motor, and the other end of the main shaft is connected to the differential. A half shaft is disposed on both sides of the differential. The two runners are respectively located on both sides of the middle part of the hull. The half shafts are respectively connected to the middle parts of the rotating wheels. One end of the strip is placed on the semi-axis, and the other end of the strip extends horizontally toward the door opening block. The other end of the strip is provided with an arc chamfer. When the strip rotates with the semi-axis, the other end of the strip can contact the other end of the door opening block. The aeration structure is composed of a blower, an air pipe, a heavy block, a nozzle and an air jet hole. Two support blocks are arranged on the top surface of the stern, and the support blocks are close to the other end of the stern. The side of the blower is placed on the two support blocks. One end of the blower is placed in the middle of the side of the medicine storage box. The heavy block sinks below the water surface and the heavy block is close to the stern, One end of the nozzle is placed on one end of the heavy block. One end of the air delivery pipe is connected to the air outlet of the blower and communicated with the air outlet of the blower, and the other end of the air delivery pipe extends toward the stern and then extends downward through the through hole opened in the middle of the other end of the heavy block and is connected to one end of the nozzle and communicated with one end of the nozzle. Preferably, the diameter of the nozzle gradually increases from one end to the other end. The other end of the nozzle is provided with an air jet hole. Preferably, there are multiple groups of the jet holes, which are arranged equidistantly from the center to the edge of the other end of the nozzle, and each group of the jet holes has multiple jet holes, which are equidistantly arranged circumferentially along the other end of the nozzle. Furthermore, a first magnet is detachably disposed at the other end of the strip, and a second magnet is detachably disposed at the other end of the door opening block, and the first magnet and the second magnet correspond to and attract each other; Furthermore, one end of a guide plate is disposed at the other end of the medicine outlet, the guide plate is a U-shaped structure, the height of the guide plate gradually decreases from one end to the other end, and the width of the guide plate is greater than or equal to the width of the medicine outlet.

[0006] The aeration and oxygenation dosing boat is controlled to turn by an aeration and oxygenation dosing boat control system; The present invention also relates to an aeration and oxygenation dosing ship control system, characterized in that the aeration and oxygenation dosing ship control system is composed of a differential control system and an electronic control system, the differential control system is composed of a speed sensor, a heading sensor and a central controller, the speed sensor is connected to the central controller via a data line, the heading sensor is connected to the central processor via a data line, the central processor is connected to the differential via a data transmission line, the central processor can convert digital signals into electrical signals, and the differential control system implements the following steps when executed: The speed sensor collects the speed of the aeration and oxygenation dosing ship and transmits the real-time signal to the central processor. When the aeration and oxygenation dosing ship turns, the heading sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, adjusts the control voltage in real time according to the deviation, and then transmits the electrical signal to the electronic brake. The electronic brake brakes the differential half shaft at one end, so that the two wheels have a speed difference, thereby achieving the purpose of steering.

[0007] The electronic control system can be powered in two ways: When the light is insufficient, the electric control system is composed of a switching power supply, a differential, a buck module and a FOC driver. The input ends of the differential, the buck module and the FOC driver are connected to the output end of the switching power supply through a data transmission line, the output end of the differential is connected to the drive motor through a power line, the output end of the buck module is electrically connected to the ultrasonic obstacle avoidance sensor, and the output end of the FOC driver is connected to the blower through a power line; When the sunlight is sufficient, the electric control system is a photovoltaic power generation system, which is composed of a photovoltaic panel, a differential, a buck module and a FOC driver. The input ends of the differential, the buck module and the FOC driver are connected to the photovoltaic panel through a data transmission line, the output end of the differential is connected to the drive motor through a power line, the output end of the buck module is electrically connected to the ultrasonic obstacle avoidance sensor, and the output end of the FOC driver is connected to the blower through a power line; When the electronic control system is executed, the following steps are implemented: When the switching power supply or the photovoltaic panel is working, the electrical signals are transmitted to the differential, the buck module and the FOC driver respectively. The differential and the FOC driver receive the electrical signals, decode them through internal encoders respectively, and then convert the electrical signals into control signals to control the start and stop of the drive motor respectively. The buck module receives the electrical signals and supplies power to the ultrasonic obstacle avoidance sensor through the data line. After the ultrasonic obstacle avoidance sensor is powered, it sends ultrasonic waves to the front, calculates the distance to the obstacle through data processing, and avoids the obstacle in advance. Beneficial Effects

[0008] 1. The long strip is driven to rotate by the half-axis. The long strip periodically collides with the door opening block to drive the door opening block to rotate. The door opening block drives the second sliding door to rotate, opening the medicine outlet. The chemical agent in the medicine storage box flows into the river channel through the opening of the second sliding door. When the long strip leaves the door block far away, the second sliding door rebounds and closes under the action of the spring and the door closing block, closing the medicine outlet. This cycle repeats over and over again. The chemical agent in the medicine storage box is evenly released into the river channel as the aeration and oxygenation dosing ship travels under the rotation of the long strip.

[0009] 2. The oxygen in the blower enters the nozzle from the air pipe and is sprayed into the water through the jet hole. On the one hand, it can provide oxygen for the aquatic organisms in the river. On the other hand, it can disturb the river and promote the diffusion of chemical agents to different depths and areas of the river with the fluidity of the river water. The purification efficiency of the river is higher and the purification effect is better.

[0010] 3. Photovoltaic panels can provide clean and environmentally friendly electricity to drive motors, blowers, and differentials, which can reduce environmental pollution and improve energy utilization. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a three-dimensional structural diagram of an aeration, oxygenation and dosing vessel of the present invention; Figure 2 It is a rear perspective structural diagram of an aeration, oxygenation and dosing vessel of the present invention; Figure 3 This is a three-dimensional structural diagram of an aeration, oxygenation and dosing vessel of the present invention, which only shows the structure of the second sliding door; Figure 4 This is a three-dimensional structural diagram of an aeration, oxygenation and dosing boat of the present invention, which only shows the structure of the spring and the sliding door shaft; Figure 5 This is a three-dimensional structural diagram of an aeration and oxygenation dosing ship of the present invention, which only shows the structure of the first sliding door and the drug inlet; Figure 6 This is a three-dimensional structural diagram of an aeration, oxygenation and dosing ship of the present invention, which only shows the structure of the boss and the ramp; Figure 7 This is a three-dimensional structural diagram of an aeration, oxygenation and dosing ship of the present invention, which only shows the structure of the jet hole; Figure 8 It is a three-dimensional structural diagram of embodiment 2 of an aeration, oxygenation and dosing vessel of the present invention; Fig. 9 This is a three-dimensional structural diagram of Example 3 of an aeration, oxygenation and dosing vessel of the present invention. Attached photos

[0012] The invention comprises: a hull (1), a half shaft (2), a rotating wheel (3), a long strip (4), a bow wing (5), a motor housing (6), a bow (7), a main shaft (8), a differential (9), a stern (10), a medicine storage box (11), a blower (12), a driving motor (13), a photovoltaic panel (14), a groove (15), a warning light (16), an air pipe (17), a heavy block (18), a nozzle (19), a first sliding door (20), a door opening block (21), a door closing block (22), a second sliding door (23), a spring groove (24), a spring (25), a sliding door shaft (26), a sliding door handle (27), a medicine inlet (28), a sliding groove (29), a sliding rib (30), a boss (31), an inclined platform (32), a jet hole (33), a first magnet (34), a second magnet (35), and a guide plate (36). DETAILED DESCRIPTION Example 1

[0013] The aeration and oxygenation dosing ship of the present invention is realized as follows: The aeration and oxygenation dosing ship of the present invention is composed of a supporting structure, a drug storage structure, a drug dosing structure, a steering mechanism and an aeration structure. The support structure is composed of a hull (1), a bow (7), a stern (10), a bow wing (5), a photovoltaic panel (14), a through slot (15) and a warning light (16). The hull (1) is a mountain-shaped structure, and the hull (1) is a hollow structure. The hull (1) comprises three parts: a bow (7), a stern (10) and a bow wing (5). One end of the bow (7) is disposed in the middle of one end of the stern (10), and the width of the bow (7) remains constant from one end to five-sixths, and gradually decreases from the five-sixths to the other end. One end of the bow wing (5) is respectively disposed on both sides of one end of the stern (10), and the width of the bow wing (5) remains unchanged from one end to four fifths, and gradually decreases from four fifths to the other end. The width of the bow wing (5) is smaller than the width of the bow (7), and the length of the bow wing (5) is smaller than the length of the bow (7). Preferably, an ultrasonic obstacle avoidance sensor is disposed at the other end of the bow (7). A photovoltaic panel (14) is disposed on the top surface of the stern (10). Preferably, the photovoltaic panels (14) are provided in two groups, and the two groups of photovoltaic panels (14) are respectively disposed on both sides of the top surface of the stern (10), and each group has a plurality of photovoltaic panels (14), and the plurality of photovoltaic panels (14) are arranged without spacing along the length direction of the top surface of the stern (10). The two sides of the stern (10) are respectively provided with through grooves (15), the length of the through grooves (15) being equal to the height of the stern (10), and a warning light (16) being embedded in one end of the through grooves (15), and the warning light (16) being close to the top surface of the stern (10). The medicine storage structure is composed of a medicine storage box (11), a first sliding door (20), a sliding door handle (27), a medicine inlet (28), a sliding groove (29), a sliding rib (30), a boss (31) and an inclined platform (32). The bottom surface of the medicine storage box (11) is placed on the top surface of the stern (10), and the medicine storage box (11) is located between the two groups of photovoltaic panels (14). A boss (31) is disposed in the middle of the inner bottom surface of the medicine storage box (11), the height of the boss (31) gradually decreases from the middle to both ends, and the width of the boss (31) is equal to the inner width of the medicine storage box (11). Inclined platforms (32) are symmetrically arranged on both sides of the inner bottom surface of the medicine storage box (11), one end of the inclined platform (32) is respectively connected to the two ends of the boss (31), and the height of the inclined platform (32) gradually increases from one end to the other end. The width of the inclined platform (32) is equal to the width of the protruding platform (31), and the other end of the inclined platform (32) is respectively connected to the two ends of the inner bottom surface of the medicine storage box (11). A medicine inlet (28) is provided in the middle of the top surface of the medicine storage box (11). Sliding grooves (29) are respectively provided on both sides of the medicine inlet (28), and the length of the sliding grooves (29) is equal to twice the inner length of the medicine inlet (28). Half of the sliding grooves (29) are arranged on both sides of the medicine inlet (28), and the other half of the sliding grooves (29) are arranged on the inner top surface of the stern (10) extending from both sides of the medicine inlet (28). Both ends of the sliding grooves (29) are closed structures. Sliding ribs (30) are respectively disposed on both sides of the first sliding door (20), and the sliding ribs (30) correspond to the sliding grooves (29). One end of the first sliding door (20) is slidably disposed on one end of the medicine inlet (28) through the sliding rib (30) and in cooperation with the sliding groove (29); the width of the first sliding door (20) is equal to the inner width of the medicine inlet (28); the length of the first sliding door (20) is equal to the inner length of the medicine inlet (28); A sliding door handle (27) is disposed on the top surface of the first sliding door (20), and the sliding door handle (27) is close to the middle of the other end of the first sliding door (20). Preferably, the surface of the sliding door handle (27) is provided with anti-slip grooves. The medicine dispensing structure is composed of a second sliding door (23), a door closing block (22), a door opening block (21), a spring slot (24), a spring (25) and a sliding door shaft (26). The medicine storage box (11) has medicine outlets on both sides thereof. The medicine outlet is close to the bow (7) and close to the bottom surface of the medicine storage box (11). The medicine outlet is located at the corresponding connection between one end of the inclined platform (32) and two ends of the boss (31). The two ends of the door pull shaft (26) are rotatably disposed on both sides of one end of the medicine outlet, and the length of the door pull shaft (26) is equal to the inner width of the medicine outlet. One end of the second sliding door (23) is placed on the sliding door shaft (26), the width of the second sliding door (23) is equal to the length of the sliding door shaft (26), and the length of the second sliding door (23) is equal to the inner length of the medicine outlet. One end of a door opening block (21) is disposed in the middle of the second sliding door (23). The other end of the door opening block (21) is provided with a slot. The sides of the medicine storage box (11) corresponding to the middle parts of both sides of the medicine outlet are provided with spring grooves (24). The door closing block (22) is located on the spring groove (24). One end of the spring (25) is correspondingly placed at the bottom of the spring groove (24), and the other end of the spring (25) is placed on one side of the bottom surface of the door closing block (22). The other side of the bottom surface of the door closing block (22) is respectively disposed at the middle of both sides of the second sliding door (23). The steering structure is composed of a half shaft (2), a rotating wheel (3), a long strip (4), a motor housing (6), a main shaft (8), a differential (9) and a drive motor (13). The motor housing (6) is placed on the top surface of the bow (7), and the motor housing (6) is close to the other end of the bow (7). The driving motor (13) is placed in the motor placement housing (6). The differential (9) is placed on the top surface of the bow (7), and the differential (9) is close to one end of the bow (7). One end of the main shaft (8) passes through a through hole opened on the side of the motor placement shell (6) and is connected to the motor shaft of the drive motor (13), and the other end of the main shaft (8) is connected to the differential (9). A half shaft (2) is disposed on both sides of the differential (9) respectively. The two rotating wheels (3) are respectively located on both sides of the middle part of the hull (1). The half shafts (2) are respectively connected to the middle parts of the rotating wheels (3). One end of the long strip (4) is placed on the semi-shaft (2), and the other end of the long strip (4) extends horizontally in the direction of the door opening block (21). The other end of the long strip (4) is provided with an arc chamfer. When the long strip (4) rotates along with the semi-shaft (2), the other end of the long strip (4) can contact the other end of the door opening block (21). The aeration structure is composed of a blower (12), an air delivery pipe (17), a heavy block (18), a nozzle (19) and an air jet hole (33). Two support blocks are disposed on the top surface of the stern (10), and the support blocks are close to the other end of the stern (10). The side of the blower (12) is placed on the two support blocks. One end of the blower (12) is placed in the middle of the side of the medicine storage box (11). The heavy block (18) sinks below the water surface, and the heavy block (18) is close to the stern (10), One end of the nozzle (19) is placed on one end of the heavy block (18). One end of the air supply pipe (17) is connected to the air outlet of the blower (12) and communicates with the air outlet of the blower (12); the other end of the air supply pipe (17) extends toward the stern (10) and then extends downward through a through hole opened in the middle of the other end of the heavy block (18) and is connected to one end of the nozzle (19) and communicates with one end of the nozzle (19). Preferably, the diameter of the nozzle (19) gradually increases from one end to the other end. The other end of the nozzle (19) is provided with an air injection hole (33). Preferably, there are multiple groups of the jet holes (33), and the multiple groups of the jet holes (33) are arranged equidistantly from the center to the edge of the other end of the nozzle (19), and each group of the jet holes (33) has multiple jet holes, and the multiple jet holes (33) are arranged equidistantly along the circumference of the other end of the nozzle (19).

[0014] The aeration and oxygenation dosing boat is controlled to turn by an aeration and oxygenation dosing boat control system; The present invention also relates to an aeration and oxygenation dosing ship control system, characterized in that the aeration and oxygenation dosing ship control system is composed of a differential (9) control system and an electric control system, the differential (9) control system is composed of a speed sensor, a heading sensor and a central controller, the speed sensor is connected to the central controller via a data line, the heading sensor is connected to the central processor via a data line, the central processor is connected to the differential (9) via a data transmission line, the central processor can convert digital signals into electric signals, and the differential (9) control system implements the following steps when executed: The speed sensor collects the speed of the aeration and oxygenation dosing ship and transmits a real-time signal to the central processor. When the aeration and oxygenation dosing ship turns, the heading sensor transmits an expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, adjusts the control voltage in real time according to the deviation, and then transmits the electrical signal to the electronic brake. The electronic brake brakes the half shaft (2) of the differential (9) at one end, so that a speed difference occurs between the two wheels (3), thereby achieving the purpose of turning.

[0015] The electronic control system can be powered in two ways: When the light is insufficient, the electric control system is composed of a switching power supply, a differential (9), a voltage reduction module and a FOC driver; the input ends of the differential (9), the voltage reduction module and the FOC driver are connected to the output end of the switching power supply via a data transmission line; the output end of the differential (9) is connected to the drive motor (13) via a power line; the output end of the voltage reduction module is electrically connected to the ultrasonic obstacle avoidance sensor; and the output end of the FOC driver is connected to the blower (12) via a power line; When there is sufficient sunlight, the electric control system is a photovoltaic power generation system, and the electric control system is composed of a photovoltaic panel (14), a differential (9), a voltage reduction module and a FOC driver, the differential (9), the voltage reduction module and the input end of the FOC driver are connected to the photovoltaic panel (14) via a data transmission line, the output end of the differential (9) is connected to the drive motor (13) via a power line, the output end of the voltage reduction module is electrically connected to the ultrasonic obstacle avoidance sensor, and the output end of the FOC driver is connected to the blower (12) via a power line; When the electronic control system is executed, the following steps are implemented: When the switching power supply or the photovoltaic panel (14) is working, the electrical signals are transmitted to the differential (9), the voltage reduction module and the FOC driver respectively. The differential (9) and the FOC driver receive the electrical signals, respectively decode them through internal encoders, and then convert the electrical signals into control signals to respectively control the start and stop of the drive motor (13). The voltage reduction module receives the electrical signals and supplies power to the ultrasonic obstacle avoidance sensor through a data line. After the ultrasonic obstacle avoidance sensor is powered, it sends ultrasonic waves forward, calculates the distance to the obstacle through data processing, and avoids the obstacle in advance.

[0016] When in use, the first sliding door (20) is first pulled along the sliding groove (29) to one end of the drug inlet (28) by the sliding door handle (27), the drug inlet (28) is opened, and the chemical agent is filled into the drug storage box (11) through the drug inlet (28), and then the first sliding door (20) is pulled along the sliding groove (29) to the other end of the drug inlet (28) by the sliding door handle (27), and the drug inlet (28) is closed; the aeration and oxygenation drug-dosing boat is placed in a river channel, and since the hull (1) is a hollow structure, the aeration and oxygenation drug-dosing boat can be stably parked in the river channel; when driving, the driving motor (13) transmits torque to the main shaft (8), and the main shaft (8) is driven by the differential (9). The power is transmitted to the half shaft (2), and the half shaft (2) drives the rotors (3) on both sides to rotate, so that the aeration and oxygenation dosing ship can travel in a straight line; the speed sensor collects the speed of the aeration and oxygenation dosing ship and transmits the real-time signal to the central processor. When the aeration and oxygenation dosing ship turns, the heading sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, adjusts the control voltage in real time according to the deviation, and then transmits the electric signal to the electronic brake. The electronic brake brakes the half shaft (2) of the differential (9) at one end, so that the two rotors (3) have a speed difference, thereby changing the direction of the aeration and oxygenation dosing ship, so that the aeration and oxygenation dosing ship can travel in a straight line. The aeration and oxygenation dosing boat can freely travel in a river channel. During the travel of the aeration and oxygenation dosing boat, the driving motor (13) drives the main shaft (8) to rotate, the main shaft (8) transmits power to the half shaft (2) through the differential (9), the half shaft (2) drives the long strips (4) on both sides to rotate, the long strips (4) periodically collide with the door opening block (21) on the second sliding door (23) during the rotation process, drive the door opening block (21) to rotate, the door opening block (21) drives the second sliding door (23) to rotate, open the drug outlet, and the chemical agent in the drug storage box (11) flows into the river channel through the opening of the second sliding door (23). When the long strip (4) is far away from the door block (21), the second sliding door (23) is opened in the spring. The spring (25) and the door closing block (22) rebound and close to close the medicine outlet, and the cycle repeats. The chemical agent in the medicine storage box (11) is evenly delivered into the river channel as the aeration and oxygenation dosing boat travels under the rotation of the long strip (4). The blower (12) is started, and the oxygen in the blower (12) enters the nozzle (19) from the air pipe (17) and is sprayed into the water through the air jet hole (33), thereby increasing the oxygen in the river channel. On the one hand, oxygen can be provided for the aquatic organisms in the river channel, and on the other hand, a disturbance effect can be generated on the river channel, and the fluidity of the river water can be coordinated to promote the diffusion of the chemical agent to different depths and areas of the river channel, thereby achieving higher purification efficiency and better purification effect. Example 2

[0017] The difference between this embodiment and the first embodiment is that: the other end of the long strip (4) is detachably provided with a first magnet (34), and the other end of the door opening block (21) is detachably provided with a second magnet (35), and the first magnet (34) and the second magnet (35) correspond to and attract each other; when in use, the long strip (4) and the door opening block (21) can collide accurately and controllably through the attraction between the first magnet (34) and the second magnet (35), which can provide additional driving force and make the second sliding door (23) open more quickly, and the collision can be guided by the attraction, which can reduce the wear of the long strip (4) and the door opening block (21), and extend the service life of the long strip (4) and the door opening block (21), and the detachable connection method makes it easier to replace the first magnet (34) and the second magnet (35); Example 3

[0018] The difference between this embodiment and embodiment 1 is that: one end of a guide plate (36) is disposed at the other end of the drug outlet, the guide plate (36) is a U-shaped structure, the height of the guide plate (36) gradually decreases from one end to the other end, and the width of the guide plate (36) is greater than or equal to the width of the drug outlet; when in use, the guide plate (36) can accelerate the flow rate of the chemical agent, provide a stable flow path for the chemical agent, reduce turbulence or dispersion of the chemical agent when it flows into the river, and improve the utilization rate of the chemical agent; The top surface of the stern (10) is provided with a photovoltaic panel (14), which can provide clean and environmentally friendly electricity to the drive motor (13), the blower (12) and the differential (9) when there is sufficient sunlight, thereby reducing environmental pollution and improving energy utilization; The surface of the sliding door handle (27) is designed with anti-slip grooves, which can increase the friction when the first sliding door (20) is pulled by the sliding door handle (27) and reduce sliding; The design of the nozzle (19) gradually increasing in diameter from one end to the other can slow down the flow rate of oxygen, improve the injection efficiency, and enable the oxygen to be evenly distributed over a larger river area, thereby increasing the coverage of oxygen; The first sliding door (20), the medicine inlet (28), the sliding rib (30) and the sliding groove (29) are designed to cooperate with each other, so that the first sliding door (20) can be pulled toward one end of the medicine inlet (28) by the sliding door handle (27) in cooperation with the sliding rib (30) and the sliding groove (29), thereby opening the medicine inlet (28) and filling the medicine storage box (11) with chemical agents through the medicine inlet (28). Then, the first sliding door (20) can be pulled toward the other end of the medicine inlet (28) by the sliding door handle (27) in cooperation with the sliding rib (30) and the sliding groove (29), thereby closing the medicine inlet (28), thereby preventing dust or water from entering the medicine storage box (11); The second sliding door (23), the door opening block (21) and the door opening shaft (26) are designed to cooperate with each other so that after the door opening block (21) rotates under the collision of the long strip (4), the door opening block (21) drives the second sliding door (23) and the door opening shaft (26) to rotate in the drug outlet, thereby opening the drug outlet, and the chemical agent can flow from the drug outlet into the river channel, thereby realizing the delivery of the chemical agent; The spring (25) and the door closing block (22) are designed in conjunction with the second sliding door (23), so that after the strip (4) is away from the door block (21), the second sliding door (23) can rebound to its initial position under the elastic force of the spring (25) and the door closing block (22), thereby closing the drug outlet and stopping the delivery of the chemical agent; The boss (31), the inclined platform (32), and the drug outlet are located at the corresponding connection between one end of the inclined platform (32) and two ends of the boss (31). The connection between one end of the inclined platform (32) and two ends of the boss (31) is the lowest position of the bottom surface of the drug storage box (11), which makes it easier for the chemical agent to flow along the lowest position to the drug outlet and flow into the river from the drug outlet, thereby improving the drug administration efficiency. The design of the heavy block (18) enables the nozzle (19) to spray oxygen below the water surface, thereby preventing oxygen from overflowing or being lost above the water surface, effectively increasing the contact area between oxygen and water, and improving the oxygen dissolution efficiency.

[0019] The purpose is to enable the drug delivery structure to cooperate with the rotation of the rotor (3) to deliver the drug into the river channel, to increase oxygen and disturb the flow in the river channel through the aeration structure to promote the diffusion of the drug, and to control the steering of the ship through the steering structure, thereby achieving the purpose of unmanned driving.

[0020] After considering the specification and practicing the invention disclosed herein, those skilled in the art will easily think of other similar embodiments of the present invention. This application is intended to cover any modified uses or adaptive changes of the present invention. These modifications or uses, applicability changes follow the general principles of the present invention and include common knowledge or customary technical means in the technical field that are not disclosed in the present invention.

[0021] It should be noted that, for the sake of simplicity, the specific implementation mode of the present invention describes the data processing process of the controller as a series of action combinations. However, those skilled in the art should know that the present invention is not limited to the described actions, because according to the present invention, certain steps can be performed sequentially or simultaneously. Secondly, those skilled in the art should also know that the actions described and involved in the specification are not necessarily required by the present invention. The described contents are only preferred implementation cases of the present invention and cannot be considered to limit the scope of implementation of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation modes and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. An aeration and oxygenation dosing vessel, characterized by: The invention is composed of a supporting structure, a medicine storage structure, a medicine dosing structure, a steering mechanism and an aeration structure. The supporting structure is composed of a hull, a bow, a stern, a bow wing, a photovoltaic panel, a groove and a warning light. The hull includes three parts: a bow, a stern and a bow wing. One end of the bow is placed in the middle of one end of the stern, and one end of the bow wing is placed on both sides of one end of the stern respectively. A photovoltaic panel is placed on the top surface of the stern. Grooves are opened on both sides of the stern respectively. The length of the groove is equal to the height of the stern. A warning light is embedded in one end of the groove. The warning light is close to the top surface of the stern. The medicine storage structure is composed of a medicine storage box, a first sliding door, a sliding door handle, a medicine inlet, a sliding groove, a sliding rib, a boss and an inclined platform. The bottom surface of the medicine storage box is placed The top surface of the stern, the medicine storage box is located between the two groups of photovoltaic panels, a boss is provided in the middle of the inner bottom surface of the medicine storage box, and inclined platforms are symmetrically provided on both sides of the inner bottom surface of the medicine storage box, one end of the inclined platform is respectively connected to the two ends of the boss, and the other end of the inclined platform is respectively connected to the two ends of the inner bottom surface of the medicine storage box, a medicine inlet is opened in the middle of the top surface of the medicine storage box, and sliding grooves are respectively opened on both sides of the medicine inlet, sliding ribs are respectively provided on both sides of the first sliding door, and the sliding ribs correspond to the sliding grooves, one end of the first sliding door can be slidably placed on one end of the medicine inlet through the sliding ribs and the sliding groove, the width of the first sliding door is equal to the inner width of the medicine inlet, and the length of the first sliding door is equal to the inner width of the medicine inlet. The inner length of the medicine inlet, a sliding door handle is arranged on the top surface of the first sliding door, and the sliding door handle is close to the middle of the other end of the first sliding door. The medicine feeding structure is composed of a second sliding door, a door closing block, a door opening block, a spring groove, a spring and a sliding door shaft. The two sides of the side of the medicine storage box are respectively provided with medicine outlets, and the medicine outlets are close to the bow and close to the bottom surface of the medicine storage box. The medicine outlet is located at the corresponding connection between one end of the inclined platform and the two ends of the boss. The two ends of the sliding door shaft are rotatably placed on both sides of one end of the medicine outlet, and one end of the second sliding door is placed on the sliding door shaft. One end of the door opening block is arranged in the middle of the second sliding door, and a card slot is opened at the other end of the door opening block. The middle of both sides of the medicine outlet respectively correspond to the side surfaces of the medicine storage box. A spring groove is opened, and the door closing block is located on the spring groove, one end of the spring is correspondingly placed at the bottom of the spring groove, and the other end of the spring is placed on one side of the bottom surface of the door closing block, and the other side of the bottom surface of the door closing block is respectively correspondingly placed at the middle of both sides of the second sliding door, and the steering structure is composed of a half shaft, a rotating wheel, a long strip, a motor placement shell, a main shaft, a differential and a driving motor, the motor placement shell is placed on the top surface of the bow, and the motor placement shell is close to the other end of the bow, the driving motor is placed in the motor placement shell, and the differential is placed on the top surface of the bow, and the differential is close to one end of the bow, one end of the main shaft passes through the through hole opened on the side of the motor placement shell and is connected to the motor shaft of the driving motor, and the other end of the main shaft is connected to the differential,A half shaft is arranged on both sides of the differential, and two runners are respectively located on both sides of the middle part of the hull, and the half shafts are respectively connected to the middle part of the runners, one end of the strip is placed on the half shaft, and the other end of the strip extends horizontally toward the door block, and the other end of the strip is provided with an arc chamfer, and when the strip rotates with the half shaft, the other end of the strip can contact the other end of the door block, and the aeration structure is composed of a blower, an air pipe, a heavy block, a nozzle and an air jet hole, and two support blocks are arranged on the top surface of the stern, and the support block is close to the other end of the stern, and two side surfaces of the blower are arranged On the support block, one end of the blower is placed in the middle of the side of the medicine storage box, the heavy block sinks below the water surface, and the heavy block is close to the stern, one end of the nozzle is placed at one end of the heavy block, one end of the air supply pipe is connected to the air outlet of the blower, and is communicated with the air outlet of the blower, the other end of the air supply pipe extends toward the stern and then extends downward through the through hole opened in the middle of the other end of the heavy block and is connected to one end of the nozzle, and is communicated with one end of the nozzle, the other end of the nozzle has a jet hole, and the aeration and oxygenation dosing ship controls the steering through an aeration and oxygenation dosing ship control system.

2. The aeration and oxygenation dosing ship according to claim 1, characterized in that A first magnet is detachably disposed at the other end of the strip, and a second magnet is detachably disposed at the other end of the door opening block. The first magnet corresponds to and attracts the second magnet.

3. The aeration and oxygenation dosing ship according to claim 1 is characterized in that One end of a guide plate is disposed at the other end of the medicine outlet. The guide plate is a U-shaped structure. The height of the guide plate gradually decreases from one end to the other end. The width of the guide plate is greater than or equal to the width of the medicine outlet.

4. The aeration and oxygenation dosing vessel according to claim 1, characterized in that The hull is a mountain-shaped structure, the hull is a hollow structure, the width of the bow remains unchanged from one end to five-sixths, and gradually decreases from the five-sixths to the other end.

5. The aeration and oxygenation dosing vessel according to claim 1, characterized in that The width of the bow wing remains unchanged from one end to four-fifths, and gradually decreases from four-fifths to the other end. The width of the bow wing is smaller than the width of the bow, the length of the bow wing is smaller than the length of the bow, and an ultrasonic obstacle avoidance sensor is arranged at the other end of the bow.

6. The aeration and oxygenation dosing ship according to claim 1, characterized in that There are two groups of photovoltaic panels, which are respectively placed on both sides of the top surface of the stern. There are multiple photovoltaic panels in each group, and the multiple photovoltaic panels are arranged without spacing along the length direction of the top surface of the stern.

7. The aeration and oxygenation dosing vessel according to claim 1, characterized in that The height of the boss gradually decreases from the middle to both ends, the width of the boss is equal to the inner width of the medicine storage box, the width of the ramp is equal to the width of the boss, and the height of the ramp gradually increases from one end to the other.

8. The aeration and oxygenation dosing vessel according to claim 1, characterized in that The length of the sliding groove is equal to twice the inner length of the medicine inlet, half of the sliding groove is correspondingly placed on both sides of the medicine inlet, and the other half of the sliding groove is correspondingly placed on the inner top surface of the stern extending from both sides of the medicine inlet. Both ends of the sliding groove are closed structures, and the surface of the sliding door handle is provided with anti-slip grooves.

9. The aeration and oxygenation dosing vessel according to claim 1, characterized in that The length of the sliding door shaft is equal to the inner width of the medicine outlet, the width of the second sliding door is equal to the length of the sliding door shaft, the length of the second sliding door is equal to the inner length of the medicine outlet, the diameter of the nozzle gradually increases from one end to the other end, and there are multiple groups of jet holes, and the multiple groups of jet holes are arranged equidistantly from the center to the edge of the other end of the nozzle, and each group of jet holes has multiple jet holes, and the multiple jet holes are arranged equidistantly along the circumference of the other end of the nozzle.

10. The aeration and oxygenation dosing vessel according to claim 1, characterized in that The aeration and oxygenation dosing ship control system is composed of a differential control system and an electronic control system. The differential control system is composed of a speed sensor, a heading sensor and a central controller. The speed sensor is connected to the central controller via a data line, the heading sensor is connected to the central processor via a data line, the central processor is connected to the differential via a data transmission line, and the central processor can convert digital signals into electrical signals. The differential control system implements the following steps when executed: the speed sensor collects the speed of the aeration and oxygenation dosing ship and transmits the real-time signal to the central processor. When the aeration and oxygenation dosing ship turns, the heading sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal with the real-time signal, adjusts the control voltage in real time according to the deviation, and then transmits the electrical signal to the electronic brake. The electronic brake brakes the differential half shaft at one end to cause a speed difference between the two wheels to achieve the purpose of steering. The electronic control system can have two types Power supply mode: When the light is insufficient, the electronic control system is composed of a switching power supply, a differential, a buck module and a FOC driver. The input ends of the differential, the buck module and the FOC driver are connected to the output end of the switching power supply through a data transmission line, the output end of the differential is connected to the drive motor through a power line, the output end of the buck module is electrically connected to the ultrasonic obstacle avoidance sensor, and the output end of the FOC driver is connected to the blower through a power line; When the light is sufficient, the electronic control system is a photovoltaic power generation system, and the electronic control system is composed of a photovoltaic panel, a differential, a buck module and a FOC driver. The input ends of the differential, the buck module and the FOC driver are connected to the photovoltaic panel through a data transmission line, the output end of the differential is connected to the drive motor through a power line, the output end of the buck module is electrically connected to the ultrasonic obstacle avoidance sensor, and the output end of the FOC driver is connected to the blower through a power line; When the electronic control system is executed, the following steps are implemented: When the switching power supply or the photovoltaic panel is working, the electrical signals are transmitted to the differential, the buck module and the FOC driver respectively. The differential and the FOC driver receive the electrical signals, decode them through internal encoders respectively, and then convert the electrical signals into control signals to control the start and stop of the drive motor respectively. The buck module receives the electrical signals and supplies power to the ultrasonic obstacle avoidance sensor through the data line. After the ultrasonic obstacle avoidance sensor is powered, it sends ultrasonic waves to the front, calculates the distance to the obstacle through data processing, and avoids the obstacle in advance.

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