Ditch slope protection moss cleaning device

Abstract

The utility model relates to the technical field of ditch moss cleaning equipment, and provides a ditch protection slope moss cleaning device which comprises a ship body, a movement driving mechanism for driving the ship body to move along a ditch is installed on the ship body, a conveying frame is connected to the side, close to a ditch protection slope, of the ship body, and a traction lifting mechanism is arranged between the conveying frame and the ship body. The end, away from the ship body, of the conveying frame is connected with a moss cleaning frame, a moss cutter mechanism is installed on the moss cleaning frame, and supporting wheels making contact with a ditch protection slope are installed at the bottom of the moss cleaning frame. The moss cleaning device can effectively clean moss on the protection slopes on the two sides of the ditch, and the cleaning efficiency is high.

Description

Technical Field

[0001] The utility model relates to the technical field of ditch moss cleaning equipment, in particular to a ditch slope protection moss cleaning device. Background Art

[0002] There are inclined slopes on both sides of the South-to-North Water Diversion Canal. When the rainy season comes every year, the slopes on both sides of the ditch will be covered with moss. It is troublesome to clean the moss on the slopes on both sides of the ditch with ordinary cleaning equipment, and the cleaning efficiency is low, making it difficult to ensure that the cleaning work is completed on time and with quality. At the same time, since the South-to-North Water Diversion Canal is a source of drinking water, it has high requirements for water quality and the water quality cannot be damaged during cleaning, which brings greater difficulties to the cleaning work.

[0003] The patent number is CN202111526864.3, and the patent name is a Chinese invention patent for a moss cleaning device for a water conservancy project. The water channel moss cleaning device includes a translation guide rail, a telescopic vertical pipe, a cleaning roller and a driving assembly. The telescopic vertical pipe is vertically arranged with the translation guide rail and moves along the translation guide rail. The cleaning roller is rotatably arranged at the lower end of the telescopic vertical pipe. The telescopic vertical pipe includes a plurality of sealed and slidably sleeved vertical branch pipes. The lower end of the vertical branch pipe located at the outermost side is closed and a roller frame is horizontally arranged. Shell-shaped power bins are arranged at both ends of the roller frame. The cleaning roller includes a roller shaft and a roller cage. The roller cage is coaxially fixedly sleeved in the middle of the roller shaft. The driving assembly includes a submersible pump. The water outlet end of the submersible pump is respectively connected to the lower part of the outermost vertical branch pipe and the upper part of the two power bins, which solves or at least alleviates the problem of time-consuming and labor-intensive cleaning of the current water channel. The above-mentioned patented device can realize the cleaning of moss on the bottom surface of the water channel. However, due to structural limitations, the cleaning of moss on the slope protection on both sides of the water channel is inconvenient to use. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, the utility model provides a ditch slope protection moss cleaning device, which can effectively clean the moss on the slope protection on both sides of the ditch with high cleaning efficiency.

[0005] In order to solve the above technical problems, the technical solution of the utility model is:

[0006] A ditch slope protection moss cleaning device comprises a hull, on which a moving drive mechanism for driving the hull to move along the ditch is installed, a conveying frame is connected to the side of the hull close to the ditch slope protection, a traction lifting mechanism is provided between the conveying frame and the hull, a moss cleaning frame is connected to the end of the conveying frame away from the hull, a moss cutting mechanism is installed on the moss cleaning frame, and a supporting wheel in contact with the ditch slope protection is installed at the bottom of the moss cleaning frame.

[0007] As an improved technical solution, the moss cleaning frame includes a slide plate, the slide plate is connected to the conveying frame through a pin shaft, and the moss cutter mechanism is installed at one end of the slide plate facing the ditch water flow direction;

[0008] The slide is also provided with a baffle plate, which is densely covered with water holes, and the baffle plate is arranged corresponding to the moss cutter mechanism;

[0009] The bottom of the slide is connected to the supporting wheel through an adjusting mechanism.

[0010] As an improved technical solution, the adjustment mechanism includes a fixed seat, the fixed seat is installed on the slide, a lead screw is threadedly connected to the fixed seat, and one end of the lead screw away from the fixed seat is connected to the support wheel.

[0011] As an improved technical solution, the moss cutter mechanism comprises a cutter holder, the cutter holder is mounted on the slide, and a fixed cutter is fixedly mounted on the cutter holder;

[0012] A driving motor is installed at one end of the knife holder, and the driving motor is connected to a movable cutter through a sliding driving mechanism. The movable cutter is arranged corresponding to the fixed cutter and is slidably installed on the knife holder.

[0013] As an improved technical solution, the sliding drive mechanism includes a driving wheel, which is mounted on the output shaft of the driving motor. A first connecting rod is eccentrically hingedly connected to the driving wheel, and one end of the first connecting rod away from the driving wheel is hingedly connected to the movable cutter.

[0014] As an improved technical solution, a conveyor belt driven by a motor is installed on the conveyor frame, and enclosures are respectively installed on both sides of the conveyor frame along the conveying direction of the conveyor belt. A second connecting rod is hingedly connected between the bottom of the conveyor frame and the hull.

[0015] As an improved technical solution, the traction and lifting mechanism includes a lifting winch, which is installed on the hull. A lifting rope is wound around the lifting winch, and the free end of the lifting rope passes through a pulley provided on the hanger and is connected to the conveying frame.

[0016] As an improved technical solution, the mobile drive mechanism includes a tail propeller, a side thrust propeller and an auxiliary propulsion propeller;

[0017] The tail propeller is installed at the tail of the hull;

[0018] The side thrust propeller is installed on one side of the hull and is arranged corresponding to the conveying frame;

[0019] The auxiliary propulsion propeller is installed on the conveying frame and has the same propulsion direction as the tail propeller.

[0020] As an improved technical solution, an operation room is provided on the hull, the operation room is located at the tail of the hull, and a GPS positioning system is installed in the operation room;

[0021] The hull is also provided with ballast tanks, which include a left bow ballast tank, a right bow ballast tank, a left stern ballast tank and a right stern ballast tank. The left bow ballast tank and the right bow ballast tank are located at the bow of the hull, and the left stern ballast tank and the right stern ballast tank are located at the stern of the hull.

[0022] The hull is also provided with a generator set and a collection cabin.

[0023] After adopting the above technical solution, the beneficial effects of the utility model are:

[0024] The moss cleaning frame can be supported by the supporting wheels, so that the moss cleaning frame can be moved along the ditch slope protection, thereby avoiding damage to the ditch slope protection, thereby effectively cleaning the moss on the slope protection on both sides of the ditch, and the cleaning efficiency is high;

[0025] By setting a slide plate, the cut moss slides to the conveying rack under the action of gravity, and is transported to the collection cabin through the conveyor belt on the conveying rack. By setting a baffle plate, which is densely covered with water holes, the baffle plate can prevent the cut moss from drifting downstream with the water flow to avoid affecting the water quality. By setting an adjustment mechanism, the height and levelness of the slide plate can be adjusted. Since the moss cutter mechanism is installed on the slide plate, the height of the moss cutter mechanism can be adjusted.

[0026] By installing fences on both sides of the conveying frame along the conveying direction of the conveyor belt, the fences are set to prevent moss from falling into the water during the conveying process of the conveyor belt. A second connecting rod is hingedly connected between the bottom of the conveying frame and the hull. The second connecting rod is set to reduce the influence of the hull shaking on the moss cleaning frame and the moss cutting mechanism.

[0027] In summary, the utility model provides a ditch slope protection moss cleaning device, which can effectively clean the moss on the slope protection on both sides of the ditch with high cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In addition, in the drawings, the components or parts are not necessarily drawn according to the actual scale.

[0029] Figure 1 It is a schematic diagram of the use structure of the utility model;

[0030] Figure 2 This is a schematic diagram of the structure of the utility model when viewed from above;

[0031] Figure 3 It is a structural schematic diagram of the moss cutter mechanism and the sliding drive mechanism in the utility model;

[0032] Figure 4 It is a structural schematic diagram of the adjustment mechanism in the utility model;

[0033] Reference numerals:

[0034] 1. hull, 2. mobile driving mechanism, 201. tail propeller, 202. side thrust propeller, 203. auxiliary propulsion propeller;

[0035] 3. conveying frame, 301, conveyor belt, 302, enclosure, 303, second connecting rod;

[0036] 4. Traction lifting mechanism, 401, lifting winch, 402, lifting rope, 403, hanger, 404, pulley;

[0037] 5. moss cleaning rack, 501. slide plate, 502. baffle plate, 503. water hole;

[0038] 6. moss cutter mechanism, 601. cutter holder, 602. fixed cutter, 603. drive motor, 604. movable cutter;

[0039] 7. Support wheel, 8. Adjustment mechanism, 801. Fixed seat, 802. Lead screw;

[0040] 9. Sliding drive mechanism, 901. driving wheel, 902. first connecting rod;

[0041] 10. Operation room, 11. Left bow ballast tank, 12. Right bow ballast tank, 13. Left stern ballast tank, 14. Right stern ballast tank, 15. Collection tank, 16. Ditch slope protection. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0043] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0044] At the same time, the meaning of "and / or" or "and / or" appearing in the full text includes three options. Taking "A and / or B" as an example, it includes option A, or option B, or a option in which both A and B are satisfied.

[0045] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0046] like Figure 1-Figure 4As shown, a ditch slope protection moss cleaning device comprises a hull 1, a mobile driving mechanism 2 for driving the hull 1 to move along the ditch is installed on the hull 1, a conveying frame 3 is connected to the side of the hull 1 close to the ditch slope protection 16, a traction lifting mechanism 4 is arranged between the conveying frame 3 and the hull 1, a moss cleaning frame 5 is connected to the end of the conveying frame 3 away from the hull 1, a moss cutting mechanism 6 is installed on the moss cleaning frame 5, a supporting wheel 7 in contact with the ditch slope protection 16 is installed at the bottom of the moss cleaning frame 5, and the supporting wheel 7 is preferably a universal wheel, which can rotate freely 360° to facilitate the movement of the moss cleaning frame 5 along the ditch slope protection 16. By installing the mobile driving mechanism 2 on the hull 1, the mobile driving mechanism 2 can drive the hull 1 to move along the ditch, and cooperate with the moss cleaning frame 5 and the moss cutting mechanism 6 to realize the cleaning of moss on the slope protection on both sides of the ditch. The conveying rack 3 can be used to convey the cleaned moss to the collecting chamber 15 of the hull 1. A traction and lifting mechanism 4 is provided between the conveying rack 3 and the hull 1. The conveying rack 3 can be dragged onto the hull 1 by the traction and lifting mechanism 4. The end of the conveying rack 3 away from the hull 1 is connected to the moss cleaning rack 5. A moss cutting mechanism 6 is installed on the moss cleaning rack 5. A supporting wheel 7 in contact with the ditch slope protection 16 is installed at the bottom of the moss cleaning rack 5. The moss on the ditch slope protection 16 can be cut by the moss cutting mechanism 6, and the cut moss can be collected on the conveying rack 3 by the moss cleaning rack 5 and transported by the conveying rack 3. The moss cleaning rack 5 can be supported by setting the supporting wheel 7, so that the moss cleaning rack 5 can move along the ditch slope protection 16 to avoid damage to the ditch slope protection 16, thereby achieving effective cleaning of the moss on the slope protection on both sides of the ditch with high cleaning efficiency.

[0047] like Figure 1-Figure 2 As shown, in the embodiment of the utility model, the moss cleaning frame 5 includes a slide plate 501, and the slide plate 501 is connected to the conveying frame 3 through a pin shaft. By setting the slide plate 501, the cut moss slides to the conveying frame 3 under the action of gravity, and is transported to the collection chamber 15 through the conveyor belt 301 on the conveying frame 3. The moss cutter mechanism 6 is installed at one end of the slide plate 501 facing the ditch water flow direction;

[0048] A baffle 502 is also installed on the slide 501. The baffle 502 is densely covered with water holes 503. The baffle 502 is arranged corresponding to the moss cutter mechanism 6. The baffle 502 can prevent the cut moss from drifting downstream with the water flow to avoid affecting the water quality.

[0049] The bottom of the slide 501 is connected to the support wheel 7 via an adjustment mechanism 8. The height and levelness of the slide 501 can be adjusted by setting the adjustment mechanism 8. Since the moss cutter mechanism 6 is installed on the slide 501, the height of the moss cutter mechanism 6 can be adjusted.

[0050] In addition, in this embodiment, the slide 501 is a right-angled triangle structure, one of the two straight sides of the slide 501 is connected to the conveyor frame 3, and the other straight side is equipped with a moss cutter mechanism 6. The baffle 502 is installed on the oblique side of the slide 501 to facilitate guiding the moss cut by the moss cutter mechanism 6 to flow to the conveyor belt 301.

[0051] like Figure 1 and Figure 4 As shown, in the embodiment of the utility model, the adjustment mechanism 8 includes a fixed seat 801, which is installed on the slide 501. A screw 802 is threadedly connected to the fixed seat 801. The end of the screw 802 away from the fixed seat 801 is connected to the support wheel 7. By rotating the screw 802, the height of the slide 501 can be adjusted, and then the height of the moss cutter mechanism 6 can be adjusted.

[0052] like Figure 1-Figure 3 As shown, in the embodiment of the present utility model, the moss cutting mechanism 6 includes a knife holder 601, the knife holder 601 is installed on the slide 501, and a fixed cutting knife 602 is fixedly installed on the knife holder 601;

[0053] A driving motor 603 is installed at one end of the tool holder 601. The driving motor 603 is a waterproof motor. The driving motor 603 is connected to the movable cutter 604 through the sliding drive mechanism 9. The movable cutter 604 is correspondingly arranged to the fixed cutter 602 and is slidably installed on the tool holder 601. Both the movable cutter 604 and the fixed cutter 602 are provided with saw teeth for cutting moss. The driving motor 603 drives the movable cutter 604 to slide on the tool holder 601 through the sliding drive mechanism 9, and cooperates with the fixed cutter 602 to achieve cutting of the moss.

[0054] like Figure 3 As shown, in an embodiment of the utility model, the sliding drive mechanism 9 includes a driving wheel 901, which is mounted on the output shaft of a driving motor 603. A first connecting rod 902 is eccentrically hingedly connected to the driving wheel 901. One end of the first connecting rod 902 away from the driving wheel 901 is hingedly connected to a movable cutter 604. The driving wheel 901 is driven to rotate by the rotation of the output shaft of the driving motor 603. During the rotation of the driving wheel 901, the movable cutter 604 is driven to reciprocate in the knife holder 601 through the first connecting rod 902, and the moss is cut in cooperation with the fixed cutter 602.

[0055] like Figure 1-Figure 2As shown, in an embodiment of the utility model, a conveyor belt 301 driven by a motor is installed on the conveying frame 3, and fences 302 are respectively installed on both sides of the conveying direction of the conveyor belt 301 on the conveying frame 3. The fences are arranged to prevent moss from falling into the water during the conveying process of the conveyor belt 301. A second connecting rod 303 is hingedly connected between the bottom of the conveying frame 3 and the hull 1. The second connecting rod 303 is arranged to reduce the influence of the shaking of the hull 1 on the moss cleaning frame 5 and the moss cutting mechanism 6.

[0056] like Figure 1 As shown, in the embodiment of the utility model, the traction and lifting mechanism 4 includes a lifting winch 401, the lifting winch 401 is installed on the hull 1, a lifting rope 402 is wound on the lifting winch 401, the free end of the lifting rope 402 passes through a pulley 404 provided on a hanger 403, and is connected to the conveying frame 3, the hanger 403 is fixedly installed on the hull 1, the free end of the lifting rope 402 is connected to the conveying frame 3 near the middle, the lifting rope 402 is wound by the lifting winch 401, and the lifting rope 402 pulls the conveying frame 3 to move onto the hull 1, when the conveying frame 3 is retracted, a limiting component is further provided between the moss cleaning frame 5 and the conveying frame 3, the limiting component is not marked in the figure, and the moss cleaning frame 5 is supported by the limiting component to avoid the problem of natural sagging of the moss cleaning frame 5;

[0057] In addition, in this embodiment, the lifting rope 402 is preferably a galvanized steel wire rope, and no lubricating oil needs to be added during use to avoid damaging the water quality. During operation, the moss cleaning rack 5 is mainly supported by the supporting wheel 7, and the lifting rope 402 is in a relaxed state.

[0058] like Figure 1-Figure 2 As shown, in the embodiment of the present utility model, the mobile driving mechanism 2 includes a tail propeller 201, a side thrust propeller 202 and an auxiliary propulsion propeller 203;

[0059] The tail propeller 201 is installed at the tail of the hull 1 to provide the hull 1 with power for moving forward and backward;

[0060] The side thrust propeller 202 is installed on one side of the hull 1 and is arranged corresponding to the conveying frame 3. The side thrust propeller 202 controls the lateral movement of the hull 1.

[0061] The auxiliary propulsion propeller 203 is installed on the conveying frame 3 and has the same propulsion direction as the tail propeller 201 . The auxiliary propulsion propeller 203 cooperates with the tail propeller 201 to increase the forward thrust of the hull 1 .

[0062] like Figure 1-Figure 2As shown, in the embodiment of the utility model, an operation room 10 is provided on the hull 1, and the operation room 10 is located at the tail of the hull 1. A GPS positioning system is installed in the operation room 10, and the position and moving distance of the hull 1 are monitored by the GPS positioning system;

[0063] The hull 1 is also provided with ballast tanks, which include a left bow ballast tank 11, a right bow ballast tank 12, a left stern ballast tank 13 and a right stern ballast tank 14. The left bow ballast tank 11 and the right bow ballast tank 12 are located at the bow of the hull 1, and the left stern ballast tank 13 and the right stern ballast tank 14 are located at the stern of the hull 1.

[0064] The hull 1 is also provided with a generator set and a collection cabin 15, and the generator set provides power for the hull 1. In this embodiment, the entire device is driven by electricity, without secondary pollution and without affecting the water quality;

[0065] In addition, several laser rangefinders and speed displacement sensors are installed around the hull 1. The laser rangefinders and speed displacement sensors are not marked in the figure. The laser rangefinders are used to detect the distance between the hull 1 and the shore reference object, and the speed displacement sensors are used to detect the moving speed of the hull 1 in real time.

[0066] For ease of understanding, the working process of this embodiment is given below:

[0067] like Figure 1-Figure 4 As shown, first, the hull 1 is moved to the designated area by the tail propeller 201 and the side thrust propeller 202 of the mobile driving mechanism 2, and then the lifting rope 402 of the traction lifting mechanism 4 is released, and the conveying frame 3 and the moss cleaning frame 5 are pushed out of the hull 1, so that the supporting wheel 7 at the bottom of the moss cleaning frame 5 is in close contact with the ditch slope protection 16, and then the driving motor 603 is started, and the driving motor 603 drives the movable cutter 604 to reciprocate through the sliding driving mechanism 9, and the movable cutter 604 cooperates with the fixed cutter 602 to cut the moss on the ditch slope protection 16, and the cut moss is moved to the conveyor belt 301 under the action of the slide plate 501 and the baffle plate 502, and is transported to the collection cabin 15 by the conveyor belt 301, and the hull 1 and the conveyor frame 3 and the moss cleaning frame 5 are pushed to move along the ditch slope protection 16 by the tail propeller 201 and the auxiliary propulsion propeller 203, so as to realize the rapid cleaning of the moss on the ditch slope protection 16;

[0068] After the moss on the ditch slope protection 16 is cleaned, the lifting winch 401 of the traction lifting mechanism 4 drags the conveying frame 3 onto the hull 1 through the lifting rope 402, and at the same time, drives the moss cleaning frame 5 to leave the water surface synchronously.

[0069] In summary, the utility model provides a ditch slope protection moss cleaning device, which can effectively clean the moss on the slope protection on both sides of the ditch with high cleaning efficiency.

[0070] It should be understood that the purpose of these embodiments is only to illustrate the utility model and is not intended to limit the protection scope of the utility model. In addition, it should also be understood that after reading the technical content of the utility model, those skilled in the art can make various changes, modifications and / or variations to the utility model, and all of these equivalent forms also fall within the protection scope defined by the claims attached to this application.

Claims

1. A ditch slope protection moss cleaning device, characterized in that: It comprises a hull, on which is mounted a moving driving mechanism for driving the hull to move along a ditch, a conveying frame is connected to a side of the hull close to the ditch slope protection, a traction lifting mechanism is provided between the conveying frame and the hull, a moss cleaning frame is connected to an end of the conveying frame away from the hull, a moss cutting mechanism is mounted on the moss cleaning frame, and a supporting wheel in contact with the ditch slope protection is mounted at the bottom of the moss cleaning frame.

2. A ditch slope protection moss cleaning device as claimed in claim 1, characterized in that: The moss cleaning frame includes a slide plate, the slide plate is connected to the conveying frame through a pin shaft, and the moss cutter mechanism is installed at one end of the slide plate facing the ditch water flow direction; The slide is also provided with a baffle plate, which is densely covered with water holes, and the baffle plate is arranged corresponding to the moss cutter mechanism; The bottom of the slide is connected to the supporting wheel through an adjusting mechanism.

3. A ditch slope protection moss cleaning device as claimed in claim 2, characterized in that: The adjusting mechanism comprises a fixing seat, the fixing seat is mounted on the slide, a lead screw is threadedly connected to the fixing seat, and one end of the lead screw away from the fixing seat is connected to the supporting wheel.

4. A ditch slope protection moss cleaning device as claimed in claim 2, characterized in that: The moss cutting mechanism comprises a cutter holder, the cutter holder is mounted on the slide, and a fixed cutter is fixedly mounted on the cutter holder; A driving motor is installed at one end of the knife holder, and the driving motor is connected to a movable cutter through a sliding driving mechanism. The movable cutter is arranged corresponding to the fixed cutter and is slidably installed on the knife holder.

5. A ditch slope protection moss cleaning device as claimed in claim 4, characterized in that: The sliding drive mechanism comprises a driving wheel, which is mounted on the output shaft of the driving motor. A first connecting rod is eccentrically hingedly connected to the driving wheel, and one end of the first connecting rod away from the driving wheel is hingedly connected to the movable cutter.

6. A ditch slope protection moss cleaning device as claimed in claim 1, characterized in that: A conveyor belt driven by a motor is installed on the conveyor frame, and enclosures are respectively installed on both sides of the conveyor frame along the conveying direction of the conveyor belt. A second connecting rod is hingedly connected between the bottom of the conveyor frame and the hull.

7. A ditch slope protection moss cleaning device as claimed in claim 1, characterized in that: The traction lifting mechanism comprises a lifting winch, which is installed on the hull. A lifting rope is wound around the lifting winch. The free end of the lifting rope passes through a pulley arranged on the hanger and is connected to the conveying frame.

8. A ditch slope protection moss cleaning device as claimed in claim 1, characterized in that: The mobile driving mechanism includes a tail propeller, a side thrust propeller and an auxiliary propulsion propeller; The tail propeller is installed at the tail of the hull; The side thrust propeller is installed on one side of the hull and is arranged corresponding to the conveying frame; The auxiliary propulsion propeller is installed on the conveying frame and has the same propulsion direction as the tail propeller.

9. A ditch slope protection moss cleaning device as claimed in claim 1, characterized in that: An operation room is provided on the hull, the operation room is located at the tail of the hull, and a GPS positioning system is installed in the operation room; The hull is also provided with ballast tanks, which include a left bow ballast tank, a right bow ballast tank, a left stern ballast tank and a right stern ballast tank. The left bow ballast tank and the right bow ballast tank are located at the bow of the hull, and the left stern ballast tank and the right stern ballast tank are located at the stern of the hull. The hull is also provided with a generator set and a collection cabin.

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