Environment monitoring unmanned ship

Abstract

The invention discloses an environment monitoring unmanned ship which is characterized in that a plurality of cleaning devices for cleaning the outer side surface of a ship body are mounted on the outer side surface of the ship body, and cavitation jet nozzles are arranged in the cleaning devices. The cavitation jet flow is used for generating strong physical impact force and shearing force, dirt, marine organisms and other attachments are rapidly and effectively removed, noise is low, chemical cleaning agents are not needed, the cleaning efficiency can be improved, and the water area ecology can be protected; cleaning can be automatically carried out during low-speed sailing or static, and long-term accumulation of biological attachment is avoided; the cleaning device can cover the complex curved surface of the ship body and areas difficult to touch manually, and cleaning is more uniform and thorough; cleaning cost and personnel cleaning operation risks are reduced, air stopping and harbor returning cleaning are not needed, and operation cost is reduced; hull resistance is reduced, energy consumption is reduced, endurance is prolonged, dirt is rapidly cleaned, microbial corrosion can be avoided, and the service life of the hull and equipment is prolonged; and the damage of cavitation jet flow to the ship body is small, and the maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to an unmanned boat, in particular to an environmental monitoring unmanned boat. BACKGROUND

[0002] In the field of inland river and lake environmental monitoring operations, algae, silt and other dirt are easily attached to the surface of the unmanned boat, especially the stern. Such dirt can significantly increase the frictional resistance between the boat and the water, reducing the sailing efficiency of the unmanned boat and increasing fuel consumption. At the same time, the dirt on the surface of the boat can accelerate the corrosion process of the metal material of the boat. For example, long-term attachment of algae and other organisms can cause corrosion of the boat by interacting with substances in the water, thereby shortening the service life of the unmanned boat. Therefore, the unmanned boat needs to be regularly cleaned and maintained. The traditional cleaning method is manual cleaning, which requires the unmanned boat to be stopped and in a safe state before the cleaning work is carried out. According to the type and degree of dirt on the surface of the boat, appropriate cleaning tools such as brushes, high-pressure water guns and cleaning agents are selected. The dirt and debris on the surface of the boat are first cleaned with a brush or a high-pressure water gun, and for stubborn dirt, a cleaning agent can be used for deep cleaning.

[0003] However, manual cleaning of the unmanned boat has many drawbacks. It requires a large amount of human resources, including the salaries and training costs of cleaning workers, which undoubtedly increases the operating cost of the unmanned boat. Compared with automated cleaning equipment, manual cleaning is inefficient and requires more time and effort. In addition, during the manual cleaning process, the cleaning personnel need to come into contact with the unmanned boat and various cleaning tools, which poses a safety risk of slipping, falling and electric shock. In complex outdoor environments, such as strong currents and bad weather, the safety risks for cleaning personnel are further increased. SUMMARY

[0004] The purpose of the present application is to overcome the deficiencies in the prior art and provide an environmental monitoring unmanned boat that can self-clean, improve cleaning efficiency, reduce cleaning cost and maintenance cost.

[0005] The technical scheme of the present application is that the environmental monitoring unmanned boat of the present application is provided with a plurality of cleaning devices for cleaning the outer side of the boat body, and a cavitation jet nozzle is arranged in the cleaning device.

[0006] Further, the cleaning device comprises a plurality of rotating cleaning mechanisms arranged on the bow and the sides of the boat, and the rotating cleaning mechanism comprises a rotating base fixed to the outer side of the boat body, a connecting pipe, a cavitation jet nozzle and a nozzle. The cavitation jet nozzle is in communication with the connecting pipe, and the nozzle is installed on the cavitation jet nozzle. The rotating nozzle is installed on the bow and the sides of the boat, which can clean the boat in all directions and reduce the resistance of the boat in motion, and the cavitation jet nozzle improves the cleaning efficiency.

[0007] Further, the cavitation jet nozzle comprises a first contraction section curve, a second contraction section curve, a throat, a threaded surface of the throat, and an expansion section curve. The cross-sectional shape of the first contraction section curve and the second contraction section curve is a smooth connection logarithmic curve, and the surface radius of the first contraction section curve is greater than that of the second contraction section curve. The cavitation jet nozzle has a multi-stage reinforced structure of contraction, expansion, contraction, and expansion again, and is designed based on a bionic pistol shrimp. The contraction section simulates the whole hinge area, adopts two logarithmic spiral curves, and further shrinks the cavity. The surface of the throat adopts a spiral thread to induce vortex to generate cavitation nuclei, which can improve the effect. The expansion section simulates the whole end of the jet pipe and is designed in a horn shape to guide the direction of cavitation bubble collapse. The connection umbrella-shaped nozzle can focus the water flow and reduce energy consumption.

[0008] Further, the bow of the boat body is provided with a control mechanism and a monitoring mechanism, the stern of the boat body is provided with a high-pressure water pump, an air pump, and an engine. The high-pressure water pump is connected with the engine, the air pump is installed on the high-pressure water pump, and the high-pressure water pump and the air pump are both communicated with the cleaning device. The high-pressure water pump installed at the stern can reduce energy consumption. The high-pressure water pump simulates the explosive force of the closing of the pistol shrimp chelae to provide high-pressure water flow to form a high-speed jet. The air pump installed on the high-pressure water pump introduces a small amount of gas into the nozzle to improve the cavitation density.

[0009] Further, the cleaning mechanism comprises an arm type cleaning mechanism at the stern. The arm type cleaning mechanism comprises a fixed base fixed to the stern of the boat body, a first connecting rod, a second connecting rod, a third connecting rod, a nozzle base, and a cavitation jet nozzle. The fixed base, the first connecting rod, the second connecting rod, and the third connecting rod are hingedly connected, the third connecting rod is fixed at the end of the nozzle base, and the cavitation jet nozzle is fixed on the nozzle base. The cleaning arm fixed base is installed in parallel with the water pump, the connecting rod mechanism is hingedly connected to allow the connecting rod to freely stretch and rotate, which ensures the cleaning range and can be expanded to the underwater part of the ship, and can be retracted to the shortest when stopping working, which can reduce the sailing resistance.

[0010] Further, the surface of the first contraction section curve, the second contraction section curve, and the expansion section curve is provided with a shark skin bionic micro-groove structure. The groove bending direction of the shark skin bionic micro-groove structure is consistent with the direction of the jet water flow, and the diagonal line of the groove is 0.5-1 μm. The shark skin bionic micro-groove structure forms a vortex to improve the cavitation effect, and at the same time, the fluid boundary layer effect can be used to reduce the forward flow resistance, and the turbulent resistance of the groove increases suddenly when the flow is reversed.

[0011] Further, the threaded surface of the throat is a micro-sawtooth thread uniformly distributed on the inner wall of the throat. The thread height is 0.1-0.3 times the diameter of the throat, the thread pitch is 1-2 times the thread height, the tooth angle is 60°-90°, and the number of threads is 4-6.

[0012] Further, the contraction angle of the first contraction section curve and the second contraction section curve is 15°-25°. The fluid can be accelerated to subsonic speed.

[0013] Further, a rotating speed sensor is installed on the engine, and a water pump contactor is installed on the high-pressure water pump; the monitoring mechanism comprises a mounting bracket, a temperature probe, a camera and a wireless transmission device; the monitoring mechanism can realize real-time data acquisition and monitoring. The high-pressure water pump is linked with the engine, and when the rotating speed sensor detects that the rotating speed of the engine is less than 1, the water pump contactor is triggered to start the high-pressure water pump, so that the cleaning device of the unmanned ship is started at low speed or at rest, the safety of ship navigation is ensured, the energy utilization efficiency is optimized, the cleaning effect is improved, the self-cleaning of the unmanned ship can significantly improve the efficiency of monitoring operation.

[0014] Further, the throat is a spiral flow channel structure, and the threaded surfaces of the throat are uniformly distributed on the inner wall of the spiral flow channel structure. The spiral flow channel structure can generate vortex, reduce splashing and improve cleaning effect.

[0015] Working principle: when the sailing speed of the unmanned ship is reduced to 1 knot or less, the high-pressure water pump starts, simulates the instantaneous closing action of the chelae of the pistol shrimp, gives the initial kinetic energy to the water flow, so that it obtains the initial speed; the water pump imitates the pistol shrimp to use the rapid closing of the chelae to generate strong pressure, and efficiently transfers the energy to the water flow. After obtaining the initial speed, the water flow is transported to the nozzle contraction section along the pipeline; the shark skin bionic micro-groove structure on the inner wall of the contraction section and the expansion section can improve the cavitation effect, the forward resistance of the water flow is reduced, and the reverse resistance is increased, so that backflow is effectively prevented. According to the fluid continuity equation and Bernoulli principle, the contraction section of the nozzle is continuously reduced in volume, and the cross-sectional area of the water flow is continuously contracted; because the flow rate remains constant under the condition that the fluid is incompressible, the water flow speed is correspondingly increased again, that is, the water pump accelerates the water flow by exerting an external force on the water flow, the nozzle contraction section accelerates the water flow due to the geometric mutation of the nozzle, and the effect of two-stage acceleration is achieved, so that the jetting speed and impact force of the water flow are greatly enhanced, and powerful power support is provided for subsequent jet cleaning and other related operations. The water flow then passes through the throat of the nozzle, the throat chamber is narrow, a spiral flow channel is arranged to generate vortex flow, and threads are arranged on the inner wall surface of the throat, so that the disturbance of the fluid is increased, the fluid generates more complex flow state when flowing through the nozzle, the disturbance is helpful to form more low-pressure areas in the fluid, thereby being beneficial to the generation and growth of cavitation bubbles, and under the action of the threads, the cavitation bubbles are more easily broken under the action of different direction shear forces. When the cavitation bubble breaks, a huge energy is released, a jet and a shock wave are formed, and the cavitation effect is enhanced. When the fluid accelerates to the throat through the contraction section of the nozzle, the highest speed can reach 150-300 m / s, and then enters the expansion section. According to Bernoulli's principle and the continuity equation, as the cross-sectional area gradually expands, the fluid speed decreases, the kinetic energy is converted into pressure energy, and the local pressure significantly rises, resulting in pressure recovery. After entering the expansion section, the pressure gradually rises above the ambient pressure, the pressure difference between the inside and outside of the bubble increases, and the bubble collapses violently in a very short time, and the multi-stage cavitation strengthening structure can cause multiple cavitation bubbles.

[0016] Advantages: compared with the prior art, the present application has the following remarkable features:

[0017] 1. Strong physical impact force and shear force are generated by cavitation jet, and dirt, marine organisms and other attachments can be quickly and effectively removed, noise is low, chemical cleaning agent is not needed, cleaning efficiency can be improved, and the water ecology can be protected;

[0018] 2. The cleaning can be automatically performed at low speed or at rest, biological attachment long-term accumulation can be avoided, and task continuity can be improved;

[0019] 3. The rotary cleaning mechanism and the arm type cleaning mechanism can cover the complex curved surface of the ship body and the area that is difficult to reach manually, and cleaning is more uniform and thorough;

[0020] 4. Reduce cleaning cost and personnel cleaning operation risk, no need to return to port for cleaning, improve unmanned ship operation time utilization, reduce operating cost;

[0021] 5. Reduce ship resistance, reduce energy consumption and prolong endurance, quickly clean dirt to avoid microbial corrosion, prolong ship and equipment life; protect coating integrity, cavitation jet has small damage to ship, reduce maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic diagram of the present application;

[0023] Figure 2 is a left view of the present application;

[0024] Figure 3 is a structural schematic diagram of the rotating cleaning mechanism 3 of the present application;

[0025] Figure 4 is a perspective view of the rotating cleaning mechanism 3 of the present application;

[0026] Figure 5 is a structural schematic diagram of the arm type cleaning mechanism 9 of the present application;

[0027] Figure 6 is a sectional structural schematic diagram of the cavitation jet nozzle 2 of the present application;

[0028] Figure 7 is a plane schematic diagram of the shark skin bionic micro groove structure 206 of the present application;

[0029] Figure 8 is a structural schematic diagram of the throat 203 of the present application;

[0030] Figure 9 is a structural schematic diagram of the monitoring mechanism 5 of the present application. DETAILED DESCRIPTION

[0031] The present application is further described below in combination with specific embodiments.

[0032] As Figure 1 , Figure 2As shown, the environmental monitoring unmanned boat includes a boat body 1, a control system 4 and a monitoring mechanism 5 installed at the bow of the boat body 1 for controlling the whole boat body, a high-pressure water pump 6, an air pump 7 and an engine 8 installed at the stern, the high-pressure water pump 6 is connected to the engine 8, the air pump 7 is installed on the high-pressure water pump 6, a rotating speed sensor is installed on the engine 8, and a water pump contactor is installed on the high-pressure water pump 6; an arm type cleaning mechanism 9 is located on the same central axis as the high-pressure water pump 6 at the stern; a plurality of rotating cleaning mechanisms 3 are installed on the side and bow of the boat body 1. The high-pressure water pump 6 and the air pump 7 are communicated with the rotating cleaning mechanism 3 and the arm type cleaning mechanism 9 through connecting pipes. Specifically, the boat body of the unmanned boat is made of glass steel material, the tensile strength is 200-500Mpa, the density is 1.5-2.0g / cm 3 , the load capacity and the endurance time of the unmanned boat are improved, the boat body has no metal component, no electrochemical corrosion or rust occurs, it is suitable for long-term operation in seawater, freshwater or acid and alkali environment, and it is not necessary to regularly paint anticorrosive coating or perform cathodic protection like the metal boat body, thereby reducing the long-term maintenance cost.

[0033] As shown in Figure 3 , Figure 4 , a plurality of rotating cleaning mechanisms 3 are fixed at the bow and side of the boat body 1, which include a rotating base 301 fixedly connected with the outer side of the boat body 1, a connecting pipe 302 fixedly connected with the rotating base 301, the connecting pipe 302 is communicated with the cavitation jet nozzle 2, and the nozzle 303 connected with the cavitation jet nozzle 2 is umbrella-shaped. The rotating base 301 can rotate by 360° to clean the boat body in all directions and reduce the resistance. The material is selected to be 316L stainless steel, the surface is coated with anticorrosive material, and the service life is improved.

[0034] As shown in Figure 5 , the arm type cleaning mechanism 9 at the stern includes a fixed base 901 fixedly connected with the outer side of the stern of the boat body 1, a first connecting rod 902, a second connecting rod 903 and a third connecting rod 904, a nozzle base 905 and the cavitation jet nozzle 2; the fixed base 901, the first connecting rod 902, the second connecting rod 903 and the third connecting rod 904 are hingedly connected with each other, the third connecting rod 904 is fixedly connected with the nozzle base 905 at the end, and the cavitation jet nozzle 2 is fixedly connected with the nozzle base 905. Specifically, the lengths of the first connecting rod 902, the second connecting rod 903 and the third connecting rod 904 are gradually reduced, the plurality of connecting rods can increase the activity range of the cleaning arm, the ball hinge is used between the connecting rods, the length can be flexibly adjusted, the boat body can be cleaned in all directions, and the cleaning arm can be retracted to the shortest when stopping working, thereby reducing the sailing resistance. The material is selected to be 316L stainless steel, the strength is 500-700Mpa, the material is resistant to pitting and crevice corrosion, and the cost performance is better than that of titanium alloy. The hardness can reach HRC60+ through tungsten nitride or carbide coating, the material is resistant to sand and stone abrasion, the material is easy to weld and maintain, and the material is suitable for modular design.

[0035] AsFigure 6 As shown, the rotating cleaning mechanism 3 and the cavitation jet nozzle 2 arranged in the arm cleaning mechanism 9 are multi-stage reinforced structures of contraction, expansion, contraction, and re-expansion; the cavitation jet nozzle 2 sequentially includes a contraction section first curved surface 201, a contraction section second curved surface 202, a throat 203, a throat thread surface 204, and an expansion section curved surface 205; the cross-sectional shape of the contraction section first curved surface 201 and the contraction section second curved surface 202 is a logarithmic function curve connected smoothly, the curved surface radius of the contraction section first curved surface 201 is greater than that of the contraction section second curved surface 202, which is a two-stage reinforced design, the contraction section is a whole hinge area, two logarithmic spiral curves are adopted to further shrink the cavity, the contraction angle of the contraction section first curved surface 201 and the contraction section second curved surface 202 is 20°, and the expansion section curved surface 205 is a single curved surface; specifically, the throat thread surface is 5 micro-sawtooth threads uniformly distributed on the inner wall of the throat, the thread height is 0.1 times the diameter of the throat, the thread pitch is 1 times the thread height, flow blockage can be avoided, the tooth angle is 60°, the acute angle enhances the shear force, and the overall adopts axial symmetry distribution; as shown Figure 7 As shown, the surface of the contraction section first curved surface 201, the contraction section second curved surface 202, and the expansion section curved surface 205 is provided with a shark skin biomimetic micro-groove structure 206; the groove bending direction of the shark skin biomimetic micro-groove structure 206 is consistent with the direction of the ejected water flow, and the diagonal line of the groove is 0.5 μm. As shown Figure 8 As shown, the throat 203 is a spiral flow channel structure, and the throat thread surface 204 is uniformly distributed on the inner wall of the spiral flow channel structure of the throat 203, which can generate a vortex, reduce splashing, and improve cleaning effect. The cavitation jet nozzle 2 is made of hard alloy, has super-high hardness, has excellent wear resistance, and is suitable for high-frequency cavitation impact; the cavitation erosion resistance of the hard alloy is better than that of most metals.

[0036] As shown Figure 9 The monitoring mechanism 5 includes a mounting bracket 501, a temperature probe 502, a camera 503, and a wireless transmission device 504; the mounting bracket 501 is fixed on the bow of the ship, the temperature probe 502 is connected with the mounting bracket 501, the wireless transmission device 504 is installed on the rear side of the temperature probe 502, and the camera 503 is installed above the temperature probe 502.

[0037] When the sailing speed of the unmanned ship body 1 is reduced to 1 knot or is stationary, the speed sensor on the stern engine 8 senses the ship speed, triggers the water pump contactor to start the high-pressure water pump 6 and the air pump 7, and the pressurized water flow flows into the connected rotating cleaning mechanism 3 and arm cleaning mechanism 9 through the pipeline, for omnidirectional cleaning of the ship body.

Claims

1. An unmanned boat for environmental monitoring, comprising a boat body (1), characterized in that: A plurality of cleaning devices for cleaning the outer side of the hull (1) are installed on the outer side of the hull (1), and a cavitation jet nozzle (2) is provided in the cleaning device.

2. The environmental monitoring unmanned boat according to claim 1, characterized in that: The cleaning device comprises a plurality of rotary cleaning mechanisms (3) located at the bow and the side of the ship. The rotary cleaning mechanism (3) comprises a rotary base (301) fixed to the outer side of the hull (1), a connecting pipe (302), a cavitation jet nozzle (2) and a nozzle (303). The cavitation jet nozzle (2) is connected to the connecting pipe (302), and the nozzle (303) is installed on the cavitation jet nozzle (2).

3. The environmental monitoring unmanned boat according to claim 1, characterized in that: The cavitation jet nozzle (2) comprises, in sequence, a first curved surface (201) of a contraction section, a second curved surface (202) of a contraction section, a throat (203), a throat thread surface (204), and an expansion section curved surface (205); the cross-sectional shape of the first curved surface (201) of the contraction section and the second curved surface (202) of the contraction section are smoothly connected logarithmic curves, and the curved surface radius of the first curved surface (201) of the contraction section is greater than that of the second curved surface (202) of the contraction section.

4. The environmental monitoring unmanned boat according to claim 1, characterized in that: The bow of the hull (1) is provided with a control mechanism (4) and a monitoring mechanism (5), and the stern of the hull (1) is provided with a high-pressure water pump (6), an air pump (7) and an engine (8); the high-pressure water pump (6) is linked to the engine (8), and the air pump (7) is installed on the high-pressure water pump (6); the high-pressure water pump (6) and the air pump (7) are both connected to the cleaning device.

5. The environmental monitoring unmanned boat according to claim 2, characterized in that: The cleaning mechanism comprises an arm-type cleaning mechanism (9) located at the stern of the boat, wherein the arm-type cleaning mechanism (9) comprises a fixed base (901) fixed to the stern of the boat body (1), a first connecting rod (902), a second connecting rod (903), a third connecting rod (904), a nozzle base (905), and a cavitation jet nozzle (2); the fixed base (901), the first connecting rod (902), the second connecting rod (903), and the third connecting rod (904) are hinged, the nozzle base (905) is fixed at the end of the third connecting rod (904), and the cavitation jet nozzle (2) is fixed on the nozzle base (905).

6. The environmental monitoring unmanned boat according to claim 3, characterized in that: The surfaces of the first curved surface (201) of the contraction section, the second curved surface (202) of the contraction section, and the curved surface (205) of the expansion section are provided with shark skin bionic micro-groove structures (206); the groove curvature direction of the shark skin bionic micro-groove structure (206) is consistent with the direction of the ejected water flow, and the diagonal of the groove is 0.5 to 1 μm.

7. The environmental monitoring unmanned boat according to claim 3, characterized in that: The throat thread surface (204) is a micro-serrated thread evenly distributed on the inner wall of the throat (203), the thread tooth height is 0.1 to 0.3 times the diameter of the throat (203), the thread pitch is 1 to 2 times the thread tooth height, and the tooth angle is 60° to 90°.

8. The environmental monitoring unmanned boat according to claim 3, characterized in that: The contraction angle between the first curved surface (201) of the contraction section and the second curved surface (202) of the contraction section is 15° to 25°.

9. The environmental monitoring unmanned boat according to claim 4, characterized in that: The engine (8) is equipped with a rotation speed sensor, and the high-pressure water pump (6) is equipped with a water pump contactor; the monitoring mechanism (5) includes a mounting bracket (501), a temperature detector (502), a camera (503), and a wireless transmission device (504).

10. The environmental monitoring unmanned boat according to claim 7, characterized in that: The throat (203) is a spiral flow channel structure, and the throat thread surface (204) is evenly distributed on the inner wall of the spiral flow channel structure of the throat (203).

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