CN118665665A - Duckweed magnetic seal dynamic net collecting structure and aquatic environment comprehensive purifying ship - Google Patents

Abstract

The present invention discloses a duckweed magnetic seal dynamic woven net collection structure and aquatic environment comprehensive purification ship. A duckweed collection structure is disclosed, which is convenient for collecting duckweed by driving one side of the woven net bag to move to the other side through a support slider, and sealing the woven net bag through the adsorption between the first magnetic sheet and the first magnet. The structure is characterized in that it is composed of a support component and an adsorption component, wherein the support component is composed of a second collection box, a first L-shaped support plate, a second L-shaped support plate and a sliding rib, the two ends of one side of the second collection box are respectively provided with a first L-shaped support plate, the two ends of the other side of the second collection box are respectively provided with a second L-shaped support plate, a connecting plate is provided between the first L-shaped support plate and the second L-shaped support plate, and the top surface of the connecting plate is provided with a sliding rib, and the adsorption component is composed of a support slider, a first support plate, a first fixed column, a first iron sheet, a woven net bag, a first magnet, a woven net bag, a second fixed column and a second support plate.

Description

A duckweed magnetic seal dynamic weaving net collection structure and aquatic environment comprehensive purification ship

Technical Field

The present invention discloses a duckweed magnetic seal dynamic woven net collection structure and an aquatic environment comprehensive purification ship, which relate to a duckweed collection structure installed on an aquatic environment comprehensive purification ship, and belong to the field of environmental protection technology. In particular, the present invention relates to a duckweed collection structure which drives a woven net bag from one side to the other side by a supporting slider, and seals the woven net bag through adsorption between a first magnetic sheet and a first magnet, thereby facilitating the collection of duckweed.

Background Art

With the continuous increase in population and the continuous development and utilization of rivers, a large amount of solid waste is discharged into the river. The solid waste will slowly rot and deteriorate after being soaked in water for a long time, producing toxic and harmful chemicals and gases, leading to the death of a large number of aquatic organisms and serious damage to the ecological environment. Due to environmental pollution, the river water is rich in nitrogen, phosphorus, potassium and other substances, resulting in eutrophication of the water body. As the temperature rises, a large area of duckweed will gather in the water. A large amount of solid waste and duckweed floating on the water surface will lead to the decline of water quality, block sunlight from entering the water, destroy the biodiversity of the water body, and affect the ecological balance; and will block buoys or navigation marks, causing resistance to sailing ships and affecting the normal operation of ships. Therefore, it is necessary to collect and clean up the solid waste and duckweed on the water surface in a timely and effective manner, and it is necessary to spray chemicals into the river regularly to treat the sewage in the river for microbial degradation and improve the self-purification capacity of the river. At present, the collection and cleaning of solid waste and duckweed in the river and the spraying of the river are mainly done manually, but the efficiency of manual cleaning and spraying is low, the labor intensity is high, and there is a risk of falling into the water during water operations. The existing unmanned river cleaning boats have relatively simple functions and can only realize one of the following functions: collecting and cleaning solid waste and duckweed or spraying pesticides. They cannot realize all three functions at the same time, or they fail to collect solid waste and duckweed separately, which is not conducive to subsequent garbage recycling and treatment.

CN108517851B discloses a river floating object salvage device, comprising a collecting mechanism, a rotating component, a transmission component and a fixed component. The device salvages the floating objects on the water surface through the collecting mechanism, and cooperates with the transmission component to transmit the floating objects to the river bank. The device can realize efficient and automatic salvage of floating objects on the water surface in a fixed area, but is limited to salvage work in a specific area, cannot travel straight and turn in the river, covers the entire river, and has a small working range; solid garbage and duckweed are not collected separately, which is not conducive to subsequent garbage recycling and treatment; and the device is not equipped with a spraying component, and cannot purify the water quality of the river. After the salvage work is completed, the river takes a long time to complete self-purification, and the water quality of the river is poor.

In order to improve the above problems, the applicant filed a Chinese invention patent application entitled "An Aquatic Environment Comprehensive Purification Ship". The duckweed on the water surface is sucked into the suction head through a water pump, and the duckweed enters the second collection box through the water inlet corrugated hose and the water suction pipe, so as to collect and clean the duckweed on the water surface. However, the second collection box in the above-mentioned aquatic environment comprehensive purification ship cannot be moved. When the duckweed in the second collection box is full and needs to be dumped out, the staff needs to use tools to salvage the duckweed, or move the second collection box from the hull to dump the duckweed, which is time-consuming and laborious, and the duckweed is easy to remain in the second collection box, resulting in blockage of the second drainage hole, affecting the drainage effect of the duckweed.

Summary of the invention

In order to improve the above situation, the present invention provides a duckweed magnetic sealing dynamic woven net collection structure and an aquatic environment comprehensive purification ship, which provide a duckweed collection structure that drives one side of the woven net bag to move to the other side through a supporting slider, and seals the woven net bag through the adsorption between the first magnetic sheet and the first magnet, thereby facilitating the collection of duckweed.

The present invention provides a duckweed magnetic seal dynamic woven net collection structure and aquatic environment comprehensive purification ship as follows: The present invention provides a duckweed magnetic seal dynamic woven net collection structure comprising a support component and an adsorption component.

The support assembly is composed of a second collection box, a first L-shaped support plate, a second L-shaped support plate and a sliding rib.

The second collection box has an open top structure.

The two ends of one side of the second collection box are respectively provided with first L-shaped support plates, and the two ends of the other side of the second collection box are respectively provided with second L-shaped support plates.

A connecting plate is disposed between the first L-shaped supporting plate and the second L-shaped supporting plate.

The top surface of the connecting plate is provided with sliding ribs.

Preferably, the width of the sliding rib gradually increases from one side connected to the connecting plate to the other side, and the two ends of the sliding rib are respectively connected to the first L-shaped support plate and the second L-shaped support plate side plate.

The adsorption assembly is composed of a supporting slider, a first supporting plate, a first fixing column, a first iron sheet, a mesh bag, a first magnet, a mesh bag, a second fixing column and a second supporting plate.

The bottom surface of the supporting sliding block is provided with a sliding groove, and the sliding groove corresponds to the sliding rib.

The supporting slider is slidably placed on the sliding rib through the sliding groove.

The side surface of the first support plate is placed on the side surface of the support sliding block,

The side surface of the second support plate is placed on the side surface of the second L-shaped support plate,

The first fixing column passes through the mesh slots opened at both ends of one side of the mesh bag and is detachably placed on the top surface of the first supporting plate.

The second fixing posts are respectively passed through the mesh slots opened at both ends of the other side of the mesh bag and are detachably placed on the top surface of the second supporting plate.

A first iron sheet is placed on one side of the mesh bag, the length of the first iron sheet is smaller than the length of the mesh bag, and the bottom of the mesh bag is located in the second collecting box.

Preferably, there are a plurality of the first iron sheets, and the plurality of the first iron sheets are arranged equidistantly along the length direction of one side of the woven mesh bag.

A first magnet is disposed on the other side of the woven mesh bag.

Preferably, there are a plurality of the first magnets, and the plurality of the first magnets are arranged equidistantly along the length direction of the other side of the mesh bag, and the first magnets correspond to the first iron sheets one by one.

Further, the first iron sheet is replaced by a second iron sheet, the first magnet is replaced by a second magnet, the second iron sheet is equal to the length of the woven mesh bag, and the second magnet corresponds to the second iron sheet;

Furthermore, support column grooves are formed on the sides of the first fixing column and the second fixing column, and the height of the support column grooves is equal to the height of the first fixing column and the second fixing column below the weaving mesh groove.

The present invention also relates to an aquatic environment comprehensive purification ship, which is composed of a supporting structure, a steering structure, a solid garbage collection structure, a duckweed collection structure and a spraying structure.

The supporting structure is composed of a hull, a bow, a stern, a second floating body, a first collecting box, a second collecting box and a second drainage hole.

The bow is symmetrically placed on both sides of one end of the hull, and the stern is placed on the other end of the hull.

The hull, bow and stern are hollow structures.

The width of the bow gradually decreases from one end connected to the hull to the other end.

Preferably, an ultrasonic obstacle avoidance sensor is disposed at the other end of the bow.

The width of the stern gradually decreases from one end connected to the hull to the other end, and the width of one end of the stern is equal to the width of the hull.

The second buoys are respectively arranged on both sides of the hull.

The first collection box is embedded in a through groove in the middle of the top surface of the hull. The first collection box is a structure with an open top surface. The top surface of the first collection box is flush with the top surface of the hull.

The two second collection boxes are respectively embedded in the through grooves opened on both sides of the top surface of the hull. The second collection box is a structure with an open top surface. The top surface of the second collection box is flush with the top surface of the hull.

The bottom surface of the second collecting box is provided with a second drainage hole.

Preferably, the second drainage holes are provided in multiple groups, and the multiple groups of the second drainage holes are arranged equidistantly along the length direction of the bottom surface of the second collection box. There are multiple second drainage holes in each group, and the multiple second drainage holes are arranged equidistantly along the width direction of the bottom surface of the second collection box.

Preferably, the top surface of the first collection box and the top surface of the second collection box are respectively provided with ultrasonic distance measurement modules.

The steering structure is composed of a drive motor, a sealing box, a drive motor shaft, a propeller, a shaft tip, a steering gear, a rudder blade, a rudder stock, a first bevel gear and a second bevel gear.

A driving motor is arranged on the inner bottom surface of the stern.

A sealed box is arranged on the bottom surface of the stern.

The first bevel gear and the second bevel gear are placed in the sealing box.

One end of the drive motor shaft is connected to the drive motor, and the other end of the drive motor shaft passes through the through hole on the bottom surface of the stern and the through hole on the top surface of the sealing box and is placed in the middle of the first bevel gear.

Preferably, a sealed bearing is disposed between the drive motor shaft and the bottom surface of the stern, and a sealed bearing is disposed between the drive motor shaft and the top surface of the sealing box.

The propeller is located below the bottom surface of the stern.

One end of the shaft tip is placed in the middle of the second bevel gear, and the other end of the shaft tip passes through a through hole opened on the side of the sealing box to be connected to the propeller. The first bevel gear and the second bevel gear are meshed.

Preferably, a sealed bearing is disposed between the shaft tip and the side of the sealing box.

The inner bottom surface of the stern is provided with a steering gear, and the bottom surface of the stern is provided with a rudder blade.

One end of the rudder bar passes through a through hole on the bottom surface of the stern and is connected to the steering gear, and the other end of the rudder bar is connected to the rudder blade.

The solid waste collection structure is composed of a first rope limiting block, a rope rolling wheel, a pull rope, a second rope limiting block, a collection basket, a column, a vertical plate, a rotating motor, a rotating shaft, a support block and a motor placement block.

The portion of the hull from one end of the hull to the side of the first collecting box is a hollow structure.

The collecting basket is located in the hollow structure.

The collecting basket is a structure with an open top surface, the top surface of the collecting basket is flush with the top surface of the hull, the length of the collecting basket is less than or equal to the length of the first collecting box, and the width of the collecting basket is less than or equal to the length of the first collecting box.

The two sides of the collecting basket are right-angled triangle structures, one end of the collecting basket is a square structure, and one end of the collecting basket is flush with one end of the hull.

The height of the bottom surface of the collecting basket gradually increases from one end to the other end of the collecting basket, the height of the other end of the bottom surface of the collecting basket is flush with the top surface of the hull, and the other end of the bottom surface of the collecting basket is hingedly placed on the side of the first collecting box.

The bottom surface of the collection basket is provided with a first drainage hole.

Preferably, there are multiple groups of the first drainage holes, and the multiple groups of the first drainage holes are equidistantly arranged along the length direction of the bottom surface of the collection basket. There are multiple first drainage holes in each group, and the multiple first drainage holes are equidistantly arranged along the width direction of the bottom surface of the collection basket.

Two vertical plates are symmetrically arranged on the top surface of the hull, and the vertical plates are close to the first collecting box.

A support block is disposed on the top surface of the hull, the support block is close to one side of the hull, the support block is in contact with one of the vertical plates, and the distance from the support block to the one side of the hull is smaller than the distance from one of the vertical plates to the one side of the hull.

A motor placement block is placed on the support block.

The motor placement block is provided with a motor placement slot.

Preferably, the motor placement slot is a U-shaped structure.

The rotating motor is placed in the motor placement slot.

One end of the rotating shaft passes through a through hole opened on one of the vertical plates and is connected to the motor shaft of the rotating motor, and the other end of the rotating shaft is placed on the side of the other vertical plate through a bearing.

The top surface of the hull is symmetrically provided with one end of two columns, and the columns are close to the other end of the collection basket.

The other end side of the column is respectively provided with a rope rolling wheel, and the other end of the column is provided with a first rope limiting block.

The second rope limiting blocks are respectively arranged on both sides of the top surface of the collection basket.

The two ends of the rotating shaft are respectively provided with one end of a pull rope.

The other ends of the pull ropes pass through the corresponding rope rollers and are connected to the second rope limiting blocks respectively;

The duckweed collection structure is composed of a water outlet pipe, a water pump, a water inlet corrugated hose, a suction head and a first float.

Water pumps are disposed on both sides of the top surface of one end of the hull, respectively, and the water pumps are close to the second collecting box.

The first buoy is away from the hull,

The suction head is embedded in the middle of the first floating body.

One end of the water inlet corrugated hose is connected to the water inlet of the water pump and communicated with the water inlet of the water pump, and the other end of the water inlet corrugated hose is placed on one end of the suction head and communicated with one end of the suction head.

Preferably, the diameter of the suction head gradually increases from one end to the other end.

One end of the water outlet pipe is connected to the water outlet of the water pump and communicates with the water outlet of the water pump, and the other end of the water outlet pipe is bent downward and extends to the top of the second collection box.

The spraying structure is composed of a medicine storage box, a high-pressure air pump, a stand, a spraying head, a medicine inlet and a medicine inlet pipe.

A medicine storage box is disposed on the top surface of the hull, and the medicine storage box is close to the stern.

The top surface of the medicine storage box is provided with a medicine inlet.

Preferably, a sealing cover is provided on the drug inlet so as to be openable and closable.

The high-pressure air pump is placed on the top surface of the hull and close to the side of the medicine storage box.

One end of the medicine inlet pipe is placed on the side of the medicine storage box and is connected to the medicine storage box.

The other end of the medicine inlet pipe is connected to the air inlet of the high-pressure air pump and communicates with the air inlet of the high-pressure air pump.

A stand is placed on the top surface of the hull, and the stand is close to the high-pressure air pump.

One end of the spray head is connected to the air outlet of the high-pressure air pump and communicates with the air outlet of the high-pressure air pump, and the other end of the spray head passes through the stand and extends to the stern of the ship to spray medicine into the river;

Furthermore, a chamfered groove is formed on the top surface of the first collection box, the chamfered groove is close to the collection basket, and the length of the chamfered groove is equal to the length of the top surface of the first collection box;

Furthermore, a boss is provided on the inner bottom surface of the first collecting box, and the edge of the boss is connected to the edge of the inner bottom surface of the first collecting box. The height of the boss gradually decreases from the center to both ends. A plurality of third drainage holes are equidistantly provided at the connection points between the two ends of the boss and the two ends of the inner bottom surface of the first collecting box, and an arc corner is provided at the connection points between two adjacent inner side surfaces of the first collecting box, and the length of the arc corner is equal to the height of the first collecting box.

The aquatic environment comprehensive purification ship controls the steering through an aquatic environment comprehensive purification ship control system;

The present invention also relates to a control system for an aquatic environment comprehensive purification ship, characterized in that the control system for the aquatic environment comprehensive purification ship is composed of a steering control system and an electric control system, the steering 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 a central processing unit via a data line, the central processing unit is connected to the steering gear via a data transmission line, the central processing unit can convert digital signals into electrical signals, and the steering control system implements the following steps when being executed:

The speed sensor collects the speed of the aquatic environment comprehensive purification ship and transmits the real-time signal to the central processor. When the aquatic environment comprehensive purification ship turns, the heading sensor transmits the expected signal to the central processor. The central processor calculates the deviation by comparing the expected signal and the real-time signal, and adjusts the control voltage in real time according to the deviation. The electrical signal is then transmitted to the steering gear, and the steering gear drives the rudder blade to turn. The rudder blade will form a certain water pressure on the rudder surface of the ship, and the water pressure will produce a large torque on the stern, thereby achieving the purpose of steering the aquatic environment comprehensive purification ship.

The electronic control system is composed of a switching power supply, a steering gear, a step-down module and a FOC driver. The input ends of the steering gear, the step-down 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 steering gear is connected to the rudder blade through a power line, the output end of the step-down module is electrically connected to the ultrasonic ranging module and the ultrasonic obstacle avoidance sensor, and the output end of the FOC driver is connected to the rotating motor, the water pump, the high-pressure air pump and the driving motor through a power line. When the electronic control system is executed, the following steps are implemented:

When the switching power supply is working, the electrical signal is transmitted to the steering gear, the step-down module and the FOC driver respectively. The steering gear and the FOC driver receive the electrical signal, decode it through the internal encoder respectively, and then convert the electrical signal into a control signal to control the start and stop of the rudder blade, the rotating motor, the water pump, the high-pressure air pump and the drive motor respectively. The step-down module receives the electrical signal and supplies power to the ultrasonic ranging module and the ultrasonic obstacle avoidance sensor through the data line. After the ultrasonic ranging module is powered on, it can monitor the internal conditions of the first collection box and the second collection box in real time. When the first collection box and the second collection box are full, the ultrasonic ranging module sends a signal to the terminal to remind the staff to dump the solid waste in the first collection box and the duckweed in the second collection box in time. After the ultrasonic obstacle avoidance sensor is powered on, it sends an ultrasonic wave to the front, and calculates the distance to the obstacle through data processing, so as to avoid the obstacle in advance.

Beneficial Effects

1. The supporting slider drives one side of the mesh bag to move toward the other side, and the mesh bag is sealed by the adsorption between the first magnetic sheet and the first magnet, so as to facilitate the collection of duckweed.

Second, by collecting the duckweed into the mesh bag, the duckweed remaining in the second collection box can be reduced, thereby reducing the blockage of the second drainage hole.

3. Simple structure and easy to use.

4. Low cost and easy to promote.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a three-dimensional structural diagram of an aquatic environment comprehensive purification ship of the present invention;

FIG2 is a schematic structural diagram of an aquatic environment comprehensive purification ship according to the present invention;

FIG3 is a three-dimensional structural diagram of an aquatic environment comprehensive purification ship of the present invention, which only shows the structure of the propeller and the rudder blade;

FIG4 is a three-dimensional structural diagram of a second embodiment of an aquatic environment comprehensive purification ship according to the present invention;

FIG5 is a three-dimensional structural diagram of a third embodiment of an aquatic environment comprehensive purification ship according to the present invention;

FIG6 is a three-dimensional structural diagram of a duckweed magnetic seal dynamic weaving net collection structure of the present invention;

FIG7 is a three-dimensional structural diagram of a duckweed magnetic seal dynamic weaving net collection structure of the present invention, wherein only a partial enlarged structure of the duckweed collection structure is shown;

FIG8 is a three-dimensional structural diagram of a duckweed magnetic seal dynamic woven net collection structure of the present invention, in which only the structure of the second fixing column and the second support plate is shown;

FIG9 is a three-dimensional structural diagram of a duckweed magnetic seal dynamic woven net collection structure according to Embodiment 2 of the present invention;

FIG. 10 is a three-dimensional structural diagram of Example 3 of a duckweed magnetic seal dynamic woven net collection structure of the present invention.

Attached photos

The components include: a hull (1), a first rope limiting block (2), a rope roller (3), a pull rope (4), a water outlet pipe (5), a water pump (6), a suction head (7), a first floating body (8), a water inlet corrugated hose (9), a second rope limiting block (10), a collecting basket (11), a first drainage hole (12), a bow (13), a second floating body (14), a column (15), a first collecting box (16), a second collecting box (17), a second drainage hole (18), a vertical plate (19), a high-pressure air pump (20), a vertical frame (21), a spray head (22), a drug inlet pipe (23), a drug inlet port (24), a drug storage box (25), a stern (26), a rotating shaft (27), a rotating motor (28), a motor placement block (29), a support block (30), a driving motor ( 31), steering gear (32), rudder stock (33), rudder blade (34), propeller (35), shaft tip (36), second bevel gear (37), sealing box (38), first bevel gear (39), drive motor shaft (40), chamfered groove (41), arc angle (42), third drainage hole (43), boss (44), support slider (45), sliding rib (46), first L-shaped support plate (47), first support plate (48), first fixing column (49), first iron sheet (50), woven mesh bag (51), first magnet (52), woven bag groove (53), second L-shaped support plate (54), second fixing column (55), second support plate (56), second iron sheet (57), second magnet (58), support column groove (59).

DETAILED DESCRIPTION

Example 1

The present invention discloses a duckweed magnetic seal dynamic woven net collection structure, which is composed of a support component and an adsorption component. The support component is composed of a second collection box (17), a first L-shaped support plate (47), a second L-shaped support plate (54), and a sliding rib (46).

The second collection box (17) is a structure with an open top surface.

The two ends of one side of the second collection box (17) are respectively provided with first L-shaped support plates (47), and the two ends of the other side of the second collection box (17) are respectively provided with second L-shaped support plates (54).

A connecting plate is disposed between the first L-shaped supporting plate (47) and the second L-shaped supporting plate (54).

The top surface of the connecting plate is provided with a sliding rib (46).

Preferably, the width of the sliding rib (46) gradually increases from one side connected to the connecting plate to the other side, and the two ends of the sliding rib (46) are respectively connected to the side plates of the first L-shaped support plate (47) and the second L-shaped support plate (54).

The adsorption assembly is composed of a supporting slider (45), a first supporting plate (48), a first fixing column (49), a first iron sheet (50), a woven mesh bag (51), a first magnet (52), a woven mesh bag (51), a second fixing column (55) and a second supporting plate (56).

The bottom surface of the supporting sliding block (45) is provided with a sliding groove, the sliding groove and the sliding rib (46) corresponding to each other.

The supporting slide block (45) is slidably placed on the sliding rib (46) via the sliding groove.

The side surface of the first support plate (48) is placed on the side surface of the support sliding block (45).

The side surface of the second support plate (56) is placed on the side surface of the second L-shaped support plate (54).

The first fixing column (49) passes through the mesh grooves opened at both ends of one side of the mesh bag (51) and is movably placed on the top surface of the first supporting plate (48).

The second fixing posts (55) respectively pass through the mesh grooves opened at both ends of the other side of the mesh bag (51) and are movably placed on the top surface of the second supporting plate (56).

A first iron sheet (50) is placed on one side of the woven mesh bag (51); the length of the first iron sheet (50) is smaller than the length of the woven mesh bag (51); and the bottom of the woven mesh bag (51) is located in the second collection box (17).

Preferably, there are a plurality of the first iron sheets (50), and the plurality of the first iron sheets (50) are arranged at equal distances along the length direction of one side of the woven mesh bag (51).

A first magnet (52) is disposed on the other side of the woven mesh bag (51).

Preferably, there are a plurality of the first magnets (52), and the plurality of the first magnets (52) are arranged equidistantly along the length direction of the other side of the woven mesh bag (51), and the first magnets (52) and the first iron sheets (50) correspond one to one;

When in use, the duckweed is collected and installed on an aquatic environment comprehensive purification ship. Before the duckweed is salvaged, the two sides of the woven mesh bag (51) are fixed to the first support plate (48) and the second support plate (56) by means of a first fixing column (49) and a second fixing column (55), respectively. The water pump (6) is started, and the water pump (6) sucks the duckweed on the water surface into the suction head (7). The duckweed enters the woven mesh bag (51) through the water inlet corrugated hose (9) and the water suction pipe. The water in the duckweed flows into the second collection box (17) through the mesh holes on the woven mesh bag (51) and is discharged from the second discharge hole on the second collection box (17). When the woven mesh bag (51) is 1) When fully loaded, the support slider (45) is pushed, and the support slider (45) drives the first support plate (48), the first fixed column (49) and one side of the woven mesh bag (51) to slide along the sliding rib (46) until the two sides of the woven mesh bag (51) are in contact, and the first iron sheet (50) and the first magnet (52) are adsorbed together to seal the woven mesh bag (51). The staff removes the first fixed column (49) and the second fixed column (55) from the first support plate (48) and the second support plate (56) respectively, and takes the sealed woven mesh bag (51) out of the second collection box (17), thereby completing the recovery of duckweed;

Example 2

The difference between this embodiment and embodiment 1 is that: the first iron sheet (50) is replaced by a second iron sheet (57), the first magnet (52) is replaced by a second magnet (58), the second iron sheet (57) is equal to the length of the woven mesh bag (51), and the second magnet (58) corresponds to the second iron sheet (57); when in use, the second iron sheet (57) and the second magnet (58) are longer, the magnetic attraction is stronger, the sealing effect of the woven mesh bag (51) is better, and the leakage of duckweed when the woven mesh bag (51) is taken out of the second collection box (17) can be reduced;

Example 3

The difference between this embodiment and embodiment 1 is that: a support column groove (59) is provided on the side of the first fixing column (49) and the second fixing column (55); the height of the support column groove (59) is equal to the height of the first fixing column (49) and the second fixing column (55) below the mesh groove; when in use, the diameters of the first fixing column (49) and the second fixing column (55) can be made larger at the top and smaller at the bottom through the support column groove (59), so that the mesh bag (51) cannot slide off the first fixing column (49) and the second fixing column (55);

The first fixing column (49) is respectively passed through the weaving grooves opened at both ends of one side of the weaving mesh bag (51) and is detachably placed on the top surface of the first supporting plate (48), and the second fixing column (55) is respectively passed through the weaving grooves opened at both ends of the other side of the weaving mesh bag (51) and is detachably placed on the top surface of the second supporting plate (56). The design makes it easy to remove the weaving mesh bag (51) from the first supporting plate (48) and the second supporting plate (56) through the first fixing column (49) and the second fixing column (55), respectively, to complete the recovery of duckweed;

The first magnetic sheet and the first magnet (52) are designed to cooperate, so that the first iron sheet (50) and the first magnet (52) are adsorbed together, thereby being able to seal the woven mesh bag (51) and reduce the leakage of duckweed when the woven mesh bag (51) is taken out of the second collection box (17);

The supporting slider (45), the first supporting plate (48) and the first fixing column (49) are designed to cooperate so that the supporting slider (45) can drive one side of the woven mesh bag (51) to slide to the other side of the woven mesh bag (51), and the woven mesh bag (51) is automatically sealed through the adsorption of the first iron sheet (50) and the first magnet (52);

The design of the sliding rib (46) gradually increasing in width from one side connected to the connecting plate to the other side can provide a larger contact area and a stronger bite force, thereby improving the stability of the supporting slider (45) when it moves, and at the same time can form a force-bearing frame similar to a triangular structure, thereby enhancing the bending resistance of the structure and preventing the sliding rib (46) from bending or deforming when subjected to force;

The purpose is to drive one side of the woven mesh bag (51) to move toward the other side by the support slider (45), and to seal the woven mesh bag (51) by adsorption between the first magnetic sheet and the first magnet (52), thereby facilitating the recovery and processing of duckweed.

It should be noted that the duckweed magnetic seal dynamic woven net collection structure is suitable for the following aquatic environment comprehensive purification ships;

The aquatic environment comprehensive purification ship of the present invention is realized as follows: the aquatic environment comprehensive purification ship is composed of a supporting structure, a steering structure, a solid garbage collection structure, a duckweed collection structure and a spraying structure.

The support structure is composed of a hull (1), a bow (13), a stern (26), a second floating body (14), a first collecting box (16), a second collecting box (17) and a second drainage hole (18).

A bow (13) is symmetrically arranged on both sides of one end of the hull (1), and a stern (26) is arranged at the other end of the hull (1).

The hull (1), bow (13) and stern (26) are hollow structures.

The width of the bow (13) gradually decreases from one end connected to the hull (1) to the other end.

Preferably, an ultrasonic obstacle avoidance sensor is disposed at the other end of the bow (13).

The width of the stern (26) gradually decreases from one end connected to the hull (1) to the other end, and the width of one end of the stern (26) is equal to the width of the hull (1).

Second floating bodies (14) are respectively arranged on both sides of the hull (1).

The first collection box (16) is embedded in a through groove opened in the middle of the top surface of the hull (1); the first collection box (16) is a structure with an open top surface; the top surface of the first collection box (16) is flush with the top surface of the hull (1).

The two second collection boxes (17) are respectively embedded in through grooves opened on both sides of the top surface of the hull (1); the second collection box (17) is a structure with an open top surface; the top surface of the second collection box (17) is flush with the top surface of the hull (1).

The bottom surface of the second collecting box (17) is provided with a second drainage hole (18).

Preferably, the second drainage holes (18) are provided in a plurality of groups, and the plurality of groups of the second drainage holes (18) are arranged equidistantly along the length direction of the bottom surface of the second collection box (17); each group has a plurality of the second drainage holes (18), and the plurality of the second drainage holes (18) are arranged equidistantly along the width direction of the bottom surface of the second collection box (17);

Preferably, the top surface of the first collection box (16) and the top surface of the second collection box (17) are respectively provided with ultrasonic distance measurement modules.

The steering structure is composed of a drive motor (31), a sealing box (38), a drive motor shaft (40), a propeller (35), a shaft tip (36), a steering gear (32), a rudder blade (34), a rudder stock (33), a first bevel gear (39), and a second bevel gear (37).

A driving motor (31) is disposed on the inner bottom surface of the stern (26).

A sealing box (38) is disposed on the bottom surface of the stern (26).

The first bevel gear (39) and the second bevel gear (37) are placed in the sealing box (38).

One end of the drive motor shaft (40) is connected to the drive motor (31), and the other end of the drive motor shaft (40) passes through a through hole on the bottom surface of the stern (26) and a through hole on the top surface of the sealing box (38) and is placed in the middle of the first bevel gear (39).

Preferably, a sealed bearing is disposed between the drive motor shaft (40) and the bottom surface of the stern (26), and a sealed bearing is disposed between the drive motor shaft (40) and the top surface of the sealing box (38).

The propeller (35) is located below the bottom surface of the stern (26).

One end of the shaft tip (36) is placed in the middle of the second bevel gear (37), and the other end of the shaft tip (36) passes through a through hole opened on the side of the sealing box (38) to be connected to the propeller (35), and the first bevel gear (39) and the second bevel gear (37) are meshed.

Preferably, a sealed bearing is disposed between the shaft tip (36) and the side of the sealing box (38).

A steering gear (32) is disposed on the inner bottom surface of the stern (26), and a rudder blade (34) is disposed on the bottom surface of the stern (26).

One end of the rudder stock (33) passes through a through hole opened on the bottom surface of the stern (26) and is connected to the steering gear (32), and the other end of the rudder stock (33) is connected to the rudder blade (34).

The solid waste collection structure comprises a first rope limiting block (2), a rope roller (3), a pull rope (4), a second rope limiting block (10), a collection basket (11), a column (15), a vertical plate (19), a rotating motor (28), a rotating shaft (27), a support block (30) and a motor placement block (29).

The portion of the hull (1) from one end of the hull (1) to the side of the first collecting box (16) is a hollow structure.

The collecting basket (11) is located in the hollow structure.

The collecting basket (11) is a structure with an open top surface, the top surface of the collecting basket (11) is flush with the top surface of the hull (1), the length of the collecting basket (11) is less than or equal to the length of the first collecting box (16), and the width of the collecting basket (11) is less than or equal to the length of the first collecting box (16).

The two side surfaces of the collecting basket (11) are right-angled triangle structures, one end of the collecting basket (11) is a square structure, and one end of the collecting basket (11) is flush with one end of the hull (1).

The height of the bottom surface of the collecting basket (11) gradually increases from one end to the other end of the collecting basket (11); the height of the other end of the bottom surface of the collecting basket (11) is flush with the top surface of the hull (1); the other end of the bottom surface of the collecting basket (11) is hingedly placed on the side of the first collecting box (16).

The bottom surface of the collection basket (11) is provided with a first drainage hole (12).

Preferably, the first drainage holes (12) are provided in a plurality of groups, and the plurality of groups of the first drainage holes (12) are arranged equidistantly along the length direction of the bottom surface of the collection basket (11); there are a plurality of the first drainage holes (12) in each group, and the plurality of the first drainage holes (12) are arranged equidistantly along the width direction of the bottom surface of the collection basket (11);

Two vertical plates (19) are symmetrically arranged on the top surface of the hull (1), and the vertical plates (19) are close to the first collecting box (16).

A support block (30) is disposed on the top surface of the hull (1), the support block (30) being close to one side of the hull (1), the support block (30) being in contact with one of the vertical plates (19), and the distance from the support block (30) to the one side of the hull (1) being smaller than the distance from one of the vertical plates (19) to the one side of the hull (1).

A motor placement block (29) is placed on the support block (30).

The motor placement block (29) is provided with a motor placement slot.

Preferably, the motor placement slot is a U-shaped structure.

The rotating motor (28) is placed in the motor placement slot.

One end of the rotating shaft (27) passes through a through hole opened on one of the vertical plates (19) and is connected to the motor shaft of the rotating motor (28), and the other end of the rotating shaft (27) is placed on the side of the other vertical plate (19) via a bearing.

The top surface of the hull (1) is symmetrically provided with one end of two columns (15), and the other end of the columns (15) is close to the collection basket (11).

The other end side surfaces of the upright column (15) are respectively provided with rope rollers (3) corresponding thereto, and the other end of the upright column (15) is provided with a first rope limiting block (2).

Second rope limiting blocks (10) are respectively disposed on both sides of the top surface of the collecting basket (11).

One end of a pull rope (4) is respectively disposed at both ends of the rotating shaft (27).

The other end of the pull rope (4) passes through the corresponding rope rolling wheel (3) and the second rope limiting block (10) and is connected to each other;

The duckweed collection structure is composed of a water outlet pipe (5), a water pump (6), a water inlet corrugated hose (9), a suction head (7) and a first float (8).

Water pumps (6) are respectively disposed on both sides of the top surface of one end of the hull (1), and the water pumps (6) are close to the second collecting box (17).

The first buoy (8) is away from the hull (1),

The suction head (7) is embedded in the middle of the first floating body (8).

One end of the water inlet corrugated hose (9) is connected to the water inlet of the water pump (6) and communicates with the water inlet of the water pump (6); the other end of the water inlet corrugated hose (9) is placed on one end of the suction head (7) and communicates with one end of the suction head (7).

Preferably, the diameter of the suction head (7) gradually increases from one end to the other end.

One end of the water outlet pipe (5) is connected to the water outlet of the water pump (6) and communicates with the water outlet of the water pump (6), and the other end of the water outlet pipe (5) is bent downward and extends to the top of the second collection box (17).

The medicine spraying structure is composed of a medicine storage box (25), a high-pressure air pump (20), a stand (21), a medicine spraying head (22), a medicine inlet (24) and a medicine inlet pipe (23).

A medicine storage box (25) is disposed on the top surface of the hull (1), and the medicine storage box (25) is close to the stern (26).

The top surface of the medicine storage box (25) is provided with a medicine inlet (24).

Preferably, a sealing cover is provided on the drug inlet (24) so as to be openable and closable.

The high-pressure air pump (20) is placed on the top surface of the hull (1) and close to the side of the medicine storage box (25).

One end of the medicine inlet pipe (23) is placed on the side of the medicine storage box (25) and is connected to the medicine storage box (25).

The other end of the medicine inlet pipe (23) is connected to the air inlet of the high-pressure air pump (20), and communicates with the air inlet of the high-pressure air pump (20).

A stand (21) is disposed on the top surface of the hull (1), and the stand (21) is close to the high-pressure air pump (20).

One end of the spray head (22) is connected to the air outlet of the high-pressure air pump (20) and communicates with the air outlet of the high-pressure air pump (20), and the other end of the spray head (22) passes through the stand (21) and extends to the stern (26) to spray medicine into the river;

The aquatic environment comprehensive purification ship controls the steering through an aquatic environment comprehensive purification ship control system;

The present invention also relates to a control system for an aquatic environment comprehensive purification ship, characterized in that the control system for the aquatic environment comprehensive purification ship consists of a steering control system and an electric control system, the steering control system consists 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 a central processing unit via a data line, the central processing unit is connected to the steering gear (32) via a data transmission line, the central processing unit can convert digital signals into electric signals, and the steering control system implements the following steps when executed:

The speed sensor collects the speed of the aquatic environment comprehensive purification ship and transmits a real-time signal to the central processor. When the aquatic environment comprehensive purification 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 steering gear (32). The steering gear (32) drives the rudder blade (34) to turn. The rudder blade (34) will form a certain water pressure on the rudder surface of the ship. The water pressure generates a large torque on the stern (26), thereby achieving the purpose of turning the aquatic environment comprehensive purification ship.

The electronic control system is composed of a switching power supply, a steering gear (32), a voltage reduction module and a FOC driver. The input ends of the steering gear (32), 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 steering gear (32) is connected to the rudder blade (34) via a power line. The output end of the voltage reduction module is electrically connected to the ultrasonic distance measurement module and the ultrasonic obstacle avoidance sensor. The output end of the FOC driver is connected to the rotating motor (28), the water pump (6), the high-pressure air pump (20) and the drive motor (31) via a power line. When the electronic control system is executed, the following steps are implemented:

When the switch power supply is working, the electrical signal is transmitted to the steering gear (32), the step-down module and the FOC driver respectively. The steering gear (32) and the FOC driver receive the electrical signal, respectively decode it through the internal encoder, and then convert the electrical signal into a control signal to respectively control the start and stop of the rudder blade (34), the rotating motor (28), the water pump (6), the high-pressure air pump (20) and the drive motor (31). The step-down module receives the electrical signal and supplies power to the ultrasonic distance measurement module and the ultrasonic obstacle avoidance sensor through the data line. After the ultrasonic distance measurement module is powered, it can monitor the internal conditions of the first collection box (16) and the second collection box (17) in real time. When the first collection box (16) and the second collection box (17) are fully loaded, the ultrasonic distance measurement module sends a signal to the terminal to remind the staff to dump the solid waste in the first collection box (16) and the duckweed in the second collection box (17) in time. After the ultrasonic obstacle avoidance sensor is powered, it sends an ultrasonic wave to the front and calculates the distance to the obstacle through data processing, so as to avoid the obstacle in advance.

When in use, the aquatic environment comprehensive purification ship is first placed in a river channel. Since the hull (1), the bow (13) and the stern (26) are hollow structures and second buoys (14) are arranged on both sides of the hull (1), the aquatic environment comprehensive purification ship can be stably parked in the river channel. When traveling, the drive motor (31) transmits power and torque to the propeller (35), driving the propeller (35) to rotate, thereby realizing the straight-line travel of the aquatic environment comprehensive purification ship on the water; the speed sensor collects the speed of the aquatic environment comprehensive purification ship and transmits a real-time signal to the central processor. When the aquatic environment comprehensive purification ship turns, the heading sensor sends a direction signal to the central processor. The expected signal is transmitted to the central processor, which calculates the deviation by comparing the expected signal and the real-time signal, adjusts the control voltage in real time according to the deviation, and then transmits the electrical signal to the steering gear (32). The steering gear (32) drives the rudder blade (34) to turn. The rudder blade (34) will form a certain water pressure on the rudder surface of the ship. The water pressure generates a large torque on the stern (26), thereby achieving the purpose of steering the aquatic environment comprehensive purification ship, so that the aquatic environment comprehensive purification ship can travel freely in the river. When the aquatic environment comprehensive purification ship travels to a position where solid garbage and duckweed are present, the rotating motor (28) is started, and the rotating motor (28) rotates forward. The rotating motor (28) drives the rotating shaft (27) and the pull rope (4) to rotate, the pull rope (4) plays a role in fixing the collection basket (11), the collection basket (11) rotates downward under the action of gravity and sinks into the water to salvage the solid waste, the rotating motor (28) is reversed, the collection basket (11) rotates upward under the drive of the pull rope (4) to pour the solid waste into the first collection box (16), thereby collecting and cleaning the solid waste; the water pump (6) is started, the water pump (6) sucks duckweed on the water surface into the suction head (7), and the duckweed enters the second collection box (17) through the water inlet corrugated hose (9) and the water pump, thereby collecting the duckweed. The first collecting box (16) and the second collecting box (17) are capable of real-time monitoring of the internal conditions of the first collecting box (16) and the second collecting box (17). When the first collecting box (16) and the second collecting box (17) are fully loaded, the ultrasonic ranging module sends a signal to the terminal to remind the staff to dump the solid waste in the first collecting box (16) and the duckweed in the second collecting box (17) in time, thereby realizing unmanned automatic cleaning and purification of the river;

Example 2

The difference between this embodiment and embodiment 1 is that: a chamfered groove (41) is provided on the top surface of the first collecting box (16), the chamfered groove (41) is close to the collecting basket (11), and the length of the chamfered groove (41) is equal to the length of the top surface of the first collecting box (16); when in use, solid waste can enter the first collecting box (16) from the collecting basket (11) in an orderly manner along the chamfered groove (41), thereby reducing the sudden change in speed of the solid waste when entering the first collecting box (16), which causes the solid waste to be scattered outside the first collecting box (16), and achieving a better collection effect on the solid waste;

Example 3

The difference between this embodiment and embodiment 1 is that: a boss (44) is provided on the inner bottom surface of the first collecting box (16), the edge of the boss (44) is connected to the edge of the inner bottom surface of the first collecting box (16), the height of the boss (44) gradually decreases from the center to the two ends, and a plurality of third drainage holes (43) are respectively and equidistantly provided at the connection points between the two ends of the boss (44) and the two ends of the inner bottom surface of the first collecting box (16), and an arc angle (42) is provided at the connection point between two adjacent inner side surfaces of the first collecting box (16), and the length of the arc angle (42) is equal to the height of the first collecting box (16); when in use, the boss (44) and the third drainage holes (43) are more conducive to the discharge of residual moisture in the solid waste from the first collecting box (16), which can reduce the moisture content in the solid waste and improve the capacity utilization rate of the first collecting box (16); the arc angle (42) can reduce the amount of small solid waste remaining at the connection point between the two adjacent inner side surfaces of the first collecting box (16), thereby achieving a better collection effect on the solid waste;

The motor placement groove is designed as a U-shaped structure, which enables the motor placement block (29) to have high strength and stability, effectively supports and disperses the pressure of the rotating motor (28), and can reduce the movement and damage of the rotating motor (28) caused by vibration during operation, thereby extending the service life of the rotating motor (28);

The diameter of the suction head (7) is designed to gradually increase from one end to the other end, so that the amount of duckweed sucked at one time increases, thereby improving the suction efficiency;

The collection basket (11) cooperates with the design of the suction head (7) to collect and clean the solid garbage and duckweed on the water surface respectively, and collects the solid garbage into the first collection box (16) and collects the duckweed into the second collection box (17), thereby realizing the classified collection and cleaning of the garbage floating on the water surface, and facilitating the subsequent garbage recycling and processing;

The design of the side surfaces of the collection basket (11) and the first collection box (16) being hinged can facilitate the collection basket (11) to rotate downwards into the water under the action of gravity to collect the solid waste, and to rotate upwards to pour the collected solid waste into the first collection box (16) to achieve the collection of the solid waste;

The first drainage hole (12) and the second drainage hole (18) cooperate to filter out the water in the solid waste and the water in the duckweed, thereby reducing the water content of the solid waste and the duckweed and improving the capacity utilization of the first collection box (16) and the second collection box (17);

The high-pressure air pump (20) cooperates with the spray head (22) to spray the medicine in the medicine storage box (25) at a longer distance through the spray head (22), so that the medicine covers a larger area of the river channel, thereby achieving a better purification effect on the river channel.

The solid waste collection structure can be used to clean up the solid waste on the water surface, the duckweed collection structure can be used to clean up the duckweed on the water surface, and the spraying structure can be used to purify the river water. Based on the working principle of the steering gear (32) and the rudder blade (34), the steering of the ship can be controlled to achieve the purpose of unmanned driving.

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.

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 (10)

1. A duckweed magnetic seal dynamic woven net collection structure, characterized in that it is composed of a support component and an adsorption component, the support component is composed of a second collection box, a first L-shaped support plate, a second L-shaped support plate and a sliding rib, the second collection box is a structure with an open top surface, the two ends of one side of the second collection box are respectively provided with a first L-shaped support plate, the two ends of the other side of the second collection box are respectively provided with a second L-shaped support plate, a connecting plate is provided between the first L-shaped support plate and the second L-shaped support plate, and a sliding rib is provided on the top surface of the connecting plate, the adsorption component is composed of a support slider, a first support plate, a first fixed column, a first iron sheet, a woven net bag, a first magnet, a woven net bag, a second fixed column The invention relates to a fixed column and a second support plate, wherein a sliding groove is provided on the bottom surface of the support slider, the sliding groove corresponds to the sliding rib, the support slider can be slidably placed on the sliding rib through the sliding groove, the side surface of the first support plate is placed on the side surface of the support slider, the side surface of the second support plate is placed on the side surface of the second L-shaped support plate, the first fixed column passes through the mesh grooves opened at both ends of one side of the mesh bag and is detachably placed on the top surface of the first support plate, the second fixed column passes through the mesh grooves opened at both ends of the other side of the mesh bag and is detachably placed on the top surface of the second support plate, a first iron sheet is placed on one side of the mesh bag, and a first magnet is placed on the other side of the mesh bag. 2. A duckweed magnetic seal dynamic woven net collection structure according to claim 1, characterized in that the first iron sheet is replaced by a second iron sheet, the first magnet is replaced by a second magnet, the second iron sheet is equal to the length of the woven net bag, and the second magnet corresponds to the second iron sheet. 3. A duckweed magnetic seal dynamic weaving net collection structure according to claim 1, characterized in that support column grooves are opened on the sides of the first fixed column and the second fixed column, and the height of the support column groove is equal to the height of the first fixed column and the second fixed column below the weaving net groove. 4. According to claim 1, a duckweed magnetic seal dynamic woven net collection structure is characterized in that the width of the sliding rib gradually increases from one side connected to the connecting plate to the other side, and the two ends of the sliding rib are respectively connected to the first L-shaped support plate and the second L-shaped support plate side plate, which can provide a larger contact area and a stronger bite force, improve the stability of the support slider during movement, and at the same time form a force-bearing frame similar to a triangular structure, enhance the bending resistance of the structure, and prevent the sliding rib from bending or deforming when subjected to force. 5. A duckweed magnetic seal dynamic woven net collection structure according to claim 1, characterized in that the length of the first iron sheet is smaller than the length of the woven net bag. 6. A duckweed magnetic seal dynamic woven net collection structure according to claim 1 or 5, characterized in that the bottom of the woven net bag is located in the second collection box. 7. A duckweed magnetic seal dynamic woven net collection structure according to claim 1, characterized in that there are multiple first iron sheets, and the multiple first iron sheets are arranged equidistantly along the length direction of one side of the woven net bag. 8. A duckweed magnetic seal dynamic woven net collection structure according to claim 1, characterized in that there are multiple first magnets, and the multiple first magnets are equidistantly arranged along the length direction of the other side of the woven net bag, and the first magnets correspond to the first iron sheets one by one. 9. A duckweed magnetic sealing dynamic woven net collection structure according to claim 1, characterized in that the first magnetic sheet and the first magnet cooperate with each other, and the first iron sheet and the first magnet are adsorbed together, so as to achieve the sealing of the woven net bag and reduce the leakage of duckweed when the woven net bag is taken out from the second collection box. 10. A duckweed magnetic seal dynamic woven net collection structure according to claim 1, characterized in that the aquatic environment comprehensive purification ship is composed of a supporting structure, a steering structure, a solid waste collection structure, a duckweed collection structure and a spraying structure, the supporting structure is composed of a hull, a bow, a stern, a second buoy, a first collection box, a second collection box and a second drainage hole, the bow is symmetrically arranged on both sides of one end of the hull, and the stern is arranged at the other end of the hull, the hull, bow and stern are hollow structures, the width of the bow gradually decreases from one end connected to the hull to the other end, an ultrasonic obstacle avoidance sensor is arranged at the other end of the bow, the width of the stern gradually decreases from one end connected to the hull to the other end, the width of one end of the stern is equal to the width of the hull, second buoys are arranged on both sides of the hull respectively, and the first collection box is provided with a plurality of buoys. Embedded in a through groove opened in the middle of the top surface of the hull, the first collecting box is a structure with an open top surface, and the top surface of the first collecting box is flush with the top surface of the hull, and two second collecting boxes are respectively embedded in the through grooves opened on both sides of the top surface of the hull, and the second collecting box is a structure with an open top surface, and the top surface of the second collecting box is flush with the top surface of the hull, and the bottom surface of the second collecting box is provided with a second drainage hole, and there are multiple groups of second drainage holes, and the multiple groups of second drainage holes are equidistantly arranged along the length direction of the bottom surface of the second collecting box, and there are multiple second drainage holes in each group, and the multiple second drainage holes are equidistantly arranged along the width direction of the bottom surface of the second collecting box, and the top surface of the first collecting box and the top surface of the second collecting box are respectively provided with ultrasonic ranging modules, and the steering structure is composed of a drive motor, a sealing box, and a drive motor shaft The stern is composed of a propeller, a shaft tip, a steering gear, a rudder blade, a rudder stock, a first bevel gear and a second bevel gear, a driving motor is arranged on the inner bottom surface of the stern, a sealing box is arranged on the bottom surface of the stern, the first bevel gear and the second bevel gear are arranged in the sealing box, one end of the driving motor shaft is connected with the driving motor, the other end of the driving motor shaft passes through a through hole opened on the bottom surface of the stern and a through hole opened on the top surface of the sealing box and is arranged in the middle part of the first bevel gear, a sealed bearing is arranged between the driving motor shaft and the bottom surface of the stern, a sealed bearing is arranged between the driving motor shaft and the top surface of the sealing box, the propeller is located below the bottom surface of the stern, one end of the shaft tip is arranged in the middle part of the second bevel gear, the other end of the shaft tip passes through a through hole opened on the side of the sealing box and is connected with the propeller, the first bevel gear and the second bevel gear are connected The stern is meshed with the stern, and a sealed bearing is arranged between the shaft tip and the side of the sealed box. A steering gear is arranged on the inner bottom surface of the stern, and a rudder blade is arranged on the bottom surface of the stern. One end of the rudder rod passes through a through hole opened on the bottom surface of the stern and is connected to the steering gear, and the other end of the rudder rod is connected to the rudder blade. The solid waste collection structure is composed of a first rope limiting block, a rope roller, a pull rope, a second rope limiting block, a collection basket, a column, a vertical plate, a rotating motor, a rotating shaft, a support block and a motor placement block. The part of the hull from one end of the hull to the side of the first collecting box is a hollow structure, and the collection basket is located in the hollow structure. The collection basket is a structure with an open top surface, and the top surface of the collection basket is flush with the top surface of the hull. The length of the collection basket is less than or equal to the length of the first collecting box, and the width of the collection basket is less than or equal to the length of the first collecting box. The two side surfaces of the collecting basket are right-angled triangle structures, one end of the collecting basket is a square structure, one end of the collecting basket is flush with one end of the hull, the height of the bottom surface of the collecting basket gradually increases from one end of the collecting basket to the other end, the height of the other end of the bottom surface of the collecting basket is flush with the top surface of the hull, and the other end of the bottom surface of the collecting basket is hingedly placed on the side of the first collecting box, and a first drainage hole is opened on the bottom surface of the collecting basket, and there are multiple groups of the first drainage holes, and the multiple groups of the first drainage holes are equidistantly arranged along the length direction of the bottom surface of the collecting basket, and there are multiple first drainage holes in each group, and the multiple first drainage holes are equidistantly arranged along the width direction of the bottom surface of the collecting basket, and two vertical plates are symmetrically arranged on the top surface of the hull, and the vertical plates are close to the first collecting box, and a support block is arranged on the top surface of the hull, and the support block is close to the On one side of the hull, the support block is in contact with one of the vertical plates, and the distance from the support block to the side of the hull is smaller than the distance from one of the vertical plates to the side of the hull, a motor placement block is arranged on the support block, a motor placement slot is opened on the motor placement block, the motor placement slot is a U-shaped structure, a rotating motor is placed in the motor placement slot, one end of the rotating shaft passes through a through hole opened on one of the vertical plates and is connected to the motor shaft of the rotating motor, the other end of the rotating shaft is placed on the side of the other vertical plate through a bearing, one end of two columns are symmetrically arranged on the top surface of the hull, the column is close to the other end of the collecting basket, and the side surfaces of the other ends of the columns are respectively provided with rope rollers, the other end of the column is provided with a first rope limiting block, and the two sides of the top surface of the collecting basket are respectively provided with second rope limiting blocks, and the two ends of the rotating shaft are respectively provided with One end of a pull rope is correspondingly arranged, and the other end of the pull rope passes through the corresponding rope roller and is correspondingly connected to the second rope limiting block; the duckweed collection structure is composed of a water outlet pipe, a water pump, a water inlet corrugated hose, a suction head and a first floating body. Water pumps are correspondingly arranged on both sides of the top surface of one end of the hull, the water pump is close to the second collecting box, the first floating body is away from the hull, the suction head is embedded in the middle of the first floating body, one end of the water inlet corrugated hose is connected to the water inlet of the water pump and is communicated with the water inlet of the water pump, the other end of the water inlet corrugated hose is placed at one end of the suction head and is communicated with one end of the suction head, the diameter of the suction head gradually increases from one end to the other end, one end of the water outlet pipe is connected to the water outlet of the water pump and is communicated with the water outlet of the water pump, and the other end of the water outlet pipe is bent downward and extends to the first Above the second collecting box, the spraying structure consists of a medicine storage box, a high-pressure air pump, a stand, a medicine spraying head, a medicine inlet and a medicine inlet pipe. A medicine storage box is placed on the top surface of the hull, and the medicine storage box is close to the stern. A medicine inlet is opened on the top surface of the medicine storage box, and a sealing cover is opened and closed on the medicine inlet. The high-pressure air pump is placed on the top surface of the hull and close to the side of the medicine storage box. One end of the medicine inlet pipe is placed on the side of the medicine storage box and is connected to the medicine storage box. The other end of the medicine inlet pipe is connected to the air inlet of the high-pressure air pump and is connected to the air inlet of the high-pressure air pump. A stand is placed on the top surface of the hull, and the stand is close to the high-pressure air pump. One end of the medicine spraying head is connected to the air outlet of the high-pressure air pump and is connected to the air outlet of the high-pressure air pump. The other end of the medicine spraying head passes through the stand and extends to the stern to spray medicine into the river.