CN207972758U - A kind of hybrid power robot for water surface cleaner - Google Patents
A kind of hybrid power robot for water surface cleaner Download PDFInfo
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- CN207972758U CN207972758U CN201820057521.4U CN201820057521U CN207972758U CN 207972758 U CN207972758 U CN 207972758U CN 201820057521 U CN201820057521 U CN 201820057521U CN 207972758 U CN207972758 U CN 207972758U
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- surface cleaner
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Abstract
The utility model provides a kind of hybrid power robot for water surface cleaner, includes the hull of double cabins, and the front end centre position of the hull is equipped with solid-liquid separator, and the both sides of the solid-liquid separator are mounted with rubbish blocker respectively；The rear end of the solid-liquid separator is connect with the garbage collection tank being located on hull.The utility model realizes automatic collection garbage on water and floating material, and automatically falls into garbage collection tank.One rubbish blocker hull central axes are installed respectively in two outsides of solid-liquid separator and improve the efficiency of rubbish fishing at 30 degree of angles to increase the area of catching rubbish.
Description
Technical field
The utility model belongs to robot field more particularly to a kind of hybrid power robot for water surface cleaner.
Background technology
Water resource is the element of global life-support system, is the treasure-house of resource.With the height of world economy
Speed development, pollution of waterhead getting worse, environmental problem also increasingly cause the great attention of every country.In order to protect water to provide
The cleaning of source ecology, the waters surface such as rivers, lake, reservoir, river, landscape waters becomes more and more urgent.
It is currently mainly used based on cleaning ship and artificial cleaning, the artificial waterborne contaminant that cleans can expend more manpower object
Power, cleaning ship need a large amount of professional's operation and safeguard, cleaning amount is big, of high cost.In addition this kind of ship is generally all
Using fuel power, itself has water quality certain pollution.The followed by cleaning general hull of ship is larger, it is difficult to river shoal and folder
The narrow place cleaning such as shelves, further increases clean workload and difficulty.
Patent 201410144574.6 discloses a kind of clean robot, and battery powered is used only, leads to working environment
It is restricted.The Chinese utility model patent of Publication No. CN204154337U discloses a kind of single hull, is equally using too
Sun can power, to cannot work continuously for a long time rainy days encountering.And above-mentioned equipment the degree of automation is low, can not
Adapt to the demand of water surface cleaning automation under the new situation.Therefore, it is patrolled at present there is an urgent need to develop a kind of high degree of automation, independently
The intelligent robot for water surface cleaner of boat, automatic identification and automated cleaning.
Utility model content
Technical problem to be solved in the utility model is to overcome the deficiencies of the prior art and provide one kind to realize whole day
It is time, high reliability, efficient, and being capable of autonomous cruise, automatic identification and clean hybrid power robot for water surface cleaner.
Technical solution used by the utility model is：
A kind of hybrid power robot for water surface cleaner, includes the hull of double cabins, and the front end interposition of the hull installs
There are solid-liquid separator, the both sides of the solid-liquid separator to be mounted with rubbish blocker respectively；The rear end of the solid-liquid separator with
The garbage collection tank connection being located on hull.
The upper end of further scheme, the garbage collection tank slidably connects slip lid.
The both sides of slip lid are slidably connected on the guide rail for being fixedly arranged on hull upper surface, can be on hull longitudinally by guide rail
Sliding, when work, close slip lid, prevent rubbish giving forth fragrance；After garbage collection tank has been expired, aut sign, water flour machine
Device people autonomous cruise opens slip lid, the rubbish of garbage collection tank is emptied by small-sized hanging device, subsequently into next to harbour
Automated cleaning flow.
The central axes of further scheme, the rubbish blocker and hull are at 30 degree of angles.
Further scheme, the outside of rear end two of the hull are installed with paddlewheel propulsion device respectively, the paddlewheel propulsion device by
Diesel oil or gas-liquid-liquid three-phase flow in piggyback pod provide power, and the bottom for being located at double cabins is equipped with oil storage chamber.Oil storage chamber
For storing diesel oil, about 300 cubes of capacity, filling it up with primary oil can be such that hull runs 70 hours.
Further scheme, the top of the hull are installed with camera, radar and transmission antenna respectively, in the piggyback pod
Be additionally provided with accumulator, the diesel oil or gas-liquid-liquid three-phase flow charge a battery, the output end of the accumulator respectively with camera shooting
Head, radar connection.
Further scheme, the hull between garbage collection tank and piggyback pod is equipped with cleans machine for installing the water surface
The control cabinet for the control system that people carries is equipped with computer, 4G communication modules, network router, GPS navigation in the control cabinet
Module, electronic compass, data bus interface module；The computer is connect with camera, radar respectively by RJ45 networks；It is described
Computer is connect by 232 serial ports with control system.
Further scheme, the radar are 16 line laser radars and millimetre-wave radar；The transmission antenna includes GPS transmission
Antenna and 4G radio transmission antennas；The camera is high-definition camera and monitoring camera.
The material of hull is the special carbon steel of shipbuilding or low-alloy steel or aluminium alloy plate in the utility model.
Electrical source of power is provided for hull and control system when the diesel oil or gas-liquid-liquid three-phase flow work, while giving accumulator
Charging, after diesel oil or gas-liquid-liquid three-phase flow are stopped, control system power supply is provided by accumulator, be served only for signal transmission,
Video monitoring,
Control system is that existing water surface robot is included, existing control operating system, because not being related to the reality of the application
Matter content, the application are improved on the basis of existing water surface robot, and the clean ability of the water surface is made it have, therefore originally
Tired state is not made this in application.
Solid-liquid separator for collecting garbage on water and floating material automatically, and rubbish is on the roller of solid-liquid separator to moving up
It is dynamic, and automatically fall into garbage collection tank.One rubbish blocker, rubbish blocker are installed respectively in two outsides of solid-liquid separator
Rubbish fishing, to increase the area of catching rubbish, is improved with hull central axes at 30 degree of angles using metallic netted structural
Efficiency.
The present apparatus is pushed by paddlewheel propulsion device advances, and paddlewheel propulsion utensil has that antiwind, turning quality is good, adapts to shallow navigation channel
The advantages that, it is suitble to the work characteristics of water surface cleaning ship oceangoing ship.
High-definition camera is for automatic collection water surface real-time high definition image when cruising, by the software of design to Surface Picture
Automatic identification has discriminated whether rubbish or floater, once finding that rubbish is i.e. automatic starts solid-liquid separator, and controls automatically
Water surface robot processed is to the water surface where rubbish；The real time monitoring when monitoring camera is navigated by water for water surface robot, monitoring
It is communicated using 4G or self-built wireless base station, the control of backstage water surface robot and monitoring system ensures to run by realtime graphic
Safety and waters situation, once finding emergency episode, background work personnel can be stopped with remote operation or avoidance.
The transmission antenna includes GPS transmission antennas and 4G radio transmission antennas, and the output end of the GPS transmission antennas is logical
GPS satellite alignment sensor is crossed to connect with control mainboard；The output end of the 4G radio transmission antennas passes through 4G wireless routing moulds
Block is connect with control system；The control system is connect with electronic compass, for when obtaining catamaran sailing direction and three-dimensional
Posture information.
The co-ordinate position informations such as the real-time longitude and latitude of unmanned boat, electronic compass for obtain the real-time course of unmanned boat, inclination and
The posture informations such as pitch angle.Specific embodiment is：By holding unmanned boat control system on tablet computer/PC
Setting needs the point that cruises on the map of man-machine interface, GPS longitudes and latitudes that boat-carrying tablet computer is currently located according to hull, posture
Information, and intend the GPS latitude and longitude informations of cruise point, the path and orientation of autonomous cruise are calculated according to above-mentioned 2 points of data
Angle, fits autonomous cruise route, further automatically controls left and right propeller power size and steering, allows hull along fitting
Cruise route envelope curve traveling, after reaching first cruise target point, according still further to said program autonomous cruise to next cruise
Target point.
16 line laser radars are the radars using laser as working beam, are to emit the position of detecting laser beam target, speed
The radar system of the characteristic quantities such as degree；The beam data reflected according to laser radar fits 120 meters of radius centered on unmanned boat
3D shape, profile, position and the scattering strength of interior barrier.And millimeter wave be a kind of wavelength between centimeter wave and light wave it
Between, it is moved in 40 meters of radius centered on unmanned boat come the electronic equipment of sense object for detecting with reception microwave by transmitting
The distance of moving-target, speed, angle information.
Description of the drawings
Fig. 1 is the vertical view of the utility model,
Fig. 2 is the side view of the utility model,
Fig. 3 is the solid-liquid separator scheme of installation in the utility model.
Specific implementation mode
The utility model is described in further detail with reference to the accompanying drawings and examples.
As shown in Figure 1, 2, a kind of hybrid power robot for water surface cleaner includes the hull 1 of double cabins, the hull 1
Front end centre position is equipped with solid-liquid separator 3, and the both sides of the solid-liquid separator 3 are mounted with rubbish blocker 4 respectively；It is described solid
The rear end of liquid/gas separator 3 is connect with the garbage collection tank 9 being located on hull 1.
The upper end of further scheme, the garbage collection tank 9 slidably connects slip lid 5.
The both sides of slip lid are slidably connected on the guide rail for being fixedly arranged on hull upper surface, can be on hull longitudinally by guide rail
Sliding, when work, close slip lid, prevent rubbish giving forth fragrance；After garbage collection tank has been expired, aut sign, water flour machine
Device people autonomous cruise opens slip lid, the rubbish of garbage collection tank is emptied by small-sized hanging device, subsequently into next to harbour
Automated cleaning flow.
The central axes of further scheme, the rubbish blocker 4 and hull 1 are at 30 degree of angles.
Two outside of rear end of further scheme, the hull 1 is installed with paddlewheel propulsion device 6, the paddlewheel propulsion device 6 respectively
By the diesel oil or gas-liquid-liquid three-phase flow offer power in piggyback pod 2, it is located at the bottom of double cabins equipped with oil storage chamber 7.Storage
Cargo tank is for storing diesel oil, and about 300 cubes of capacity, filling it up with primary oil can be such that hull runs 70 hours.
The top of further scheme, the hull 1 is installed with camera 10, radar 11 and transmission antenna 12 respectively, described
Accumulator is additionally provided in piggyback pod 2, the diesel oil or gas-liquid-liquid three-phase flow charge a battery, the output end point of the accumulator
It is not connect with camera 10, radar 11.
Further scheme, the hull 1 between garbage collection tank 9 and piggyback pod 2, which is equipped with, is used for installation control system
Control cabinet 8, be equipped in the control cabinet 8 computer, 4G communication modules, network router, GPS navigation module, electronic compass,
Data bus interface module；The computer is connect with camera 10, radar 11 respectively by RJ45 networks；The computer passes through
232 serial ports are connect with control system.
Further scheme, the radar 11 are 16 line laser radars and millimetre-wave radar；The transmission antenna 12 includes GPS
Transmission antenna and 4G radio transmission antennas；Camera 10 is high-definition camera and monitoring camera.
As shown in figure 3, solid-liquid separator 3 includes low early and high after two be obliquely installed roller 3.1,3.2, described two rollings
It is connected by stainless steel conveyor belt 3.3 between cylinder, the outer surface of the stainless steel conveyor belt 3.3 is installed with grab bucket 3.4, realizes automatic
It arrests rubbish and prevents rubbish from falling.
The present apparatus by operating personnel in use, be first arranged the route of autonomous cruise, robot for water surface cleaner is by transmitting day
Line 12 receives instruction, and the computer in control cabinet 8 calculates cruise path automatically, while current navigation is determined by electronic compass
Direction determines its speed and steering；There is barrier in cruise route when laser radar or millimetre-wave radar are detected, will believe
Breath is sent to boat-carrying computer, and computer calculates the route of obstacle avoidance automatically, and obstacle plans automatic navigation path again after releasing；When
High-definition camera detects garbage on water, sends a signal to computer and calculates the position and direction of rubbish, automatically controls the water surface
Robot is diverted to the water surface where rubbish, while starting solid-liquid separator automatic garbage collecting, and the rubbish storage of collection is in rubbish
In storage cabin.After cruise route set in advance is fully completed, water surface robot is by auto-returned harbour, in harbour by artificial
Slip lid is pulled open, the rubbish in rubbish storage cabin is emptied by manual lifting, completes a workflow.
The above descriptions are merely preferred embodiments of the present invention, not makees to the technical solution of the utility model
Limitation in any form.It should be understood by those skilled in the art that the present utility model is not limited to the above embodiments, not
Under the premise of being detached from the spirit and scope of the utility model, the utility model also has various changes and improvements, these change and change
Into still in the range of the technical solution of the utility model and belonging to claimed the scope of the utility model.
Claims (7)
1. a kind of hybrid power robot for water surface cleaner, includes the hull of double cabins（1）, it is characterised in that：The hull（1）'s
Front end centre position is equipped with solid-liquid separator（3）, the solid-liquid separator（3）Both sides be mounted with rubbish blocker respectively（4）；
The solid-liquid separator（3）Rear end and be located at hull（1）On garbage collection tank（9）Connection.
2. a kind of hybrid power robot for water surface cleaner according to claim 1, it is characterised in that：The garbage collection tank
（9）Upper end slidably connect slip lid（5）.
3. a kind of hybrid power robot for water surface cleaner according to claim 1, it is characterised in that：The rubbish blocker
（4）With hull（1）Central axes at 30 degree of angles.
4. a kind of hybrid power robot for water surface cleaner according to claim 1, it is characterised in that：The hull（1）'s
Two outside of rear end is installed with paddlewheel propulsion device respectively（6）, the paddlewheel propulsion device（6）By being mounted on piggyback pod（2）In diesel oil
Or gas-liquid-liquid three-phase flow provides power, the bottom for being located at double cabins is equipped with oil storage chamber（7）.
5. a kind of hybrid power robot for water surface cleaner according to claim 4, it is characterised in that：The hull（1）'s
Top is installed with camera respectively（10）, radar（11）And transmission antenna（12）, the piggyback pod（2）In be additionally provided with accumulator,
The diesel oil or gas-liquid-liquid three-phase flow charge a battery, the output end of the accumulator respectively with camera（10）, radar
（11）Connection.
6. a kind of hybrid power robot for water surface cleaner according to claim 4, it is characterised in that：Positioned at garbage collection tank
（9）With piggyback pod（2）Between hull（1）It is equipped with the control cabinet for installation control system（8）, the control cabinet（8）It is interior
Computer, 4G communication modules, network router, GPS navigation module, electronic compass, data bus interface module are installed；The electricity
Brain by RJ45 networks respectively with camera（10）, radar（11）Connection；The computer is connected by 232 serial ports and control system
It connects.
7. a kind of hybrid power robot for water surface cleaner according to claim 5, it is characterised in that：The radar（11）For
16 line laser radars and millimetre-wave radar；The transmission antenna（12）Including GPS transmission antennas and 4G radio transmission antennas；It is described
Camera（10）For high-definition camera and monitoring camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820057521.4U CN207972758U (en) | 2018-01-12 | 2018-01-12 | A kind of hybrid power robot for water surface cleaner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820057521.4U CN207972758U (en) | 2018-01-12 | 2018-01-12 | A kind of hybrid power robot for water surface cleaner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207972758U true CN207972758U (en) | 2018-10-16 |
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ID=63768917
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| CN201820057521.4U Active CN207972758U (en) | 2018-01-12 | 2018-01-12 | A kind of hybrid power robot for water surface cleaner |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484581A (en) * | 2018-11-13 | 2019-03-19 | 文露 | A kind of river surface plastic garbage fishing device |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
| CN110304209A (en) * | 2019-07-09 | 2019-10-08 | 上海海洋大学 | It is a kind of that nobody manipulates floating on water surface anti-pollution vessel and its control method |
| CN110641631A (en) * | 2019-09-29 | 2020-01-03 | 北京邦源环保科技股份有限公司 | Full-automatic unmanned ship for river channel management and application thereof |
| CN110667790A (en) * | 2019-09-29 | 2020-01-10 | 浙江大学 | Aerodynamic water surface weeding and cleaning equipment and cleaning method |
| CN112596528A (en) * | 2020-12-17 | 2021-04-02 | 中国科学院合肥物质科学研究院 | Control method for unmanned ship for salvaging water surface garbage |
| CN112693571A (en) * | 2021-01-26 | 2021-04-23 | 中电建水环境科技有限公司 | Intelligent water surface float-cleaning ship and intelligent water surface float-cleaning method |
| CN113443087A (en) * | 2021-07-23 | 2021-09-28 | 广州小鲇智能科技有限公司 | Unmanned aerial vehicle and unmanned ship lake surface rubbish cleaning device in coordination |
| CN113655797A (en) * | 2021-08-19 | 2021-11-16 | 江苏科技大学 | Sewage disposal ship for cleaning oil stains and floating objects on water surface, sewage disposal control system and sewage disposal control method |
| CN114802616A (en) * | 2022-04-15 | 2022-07-29 | 浙江科技学院 | Small-sized unmanned surface cleaning boat and control method and positioning method thereof |
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2018
- 2018-01-12 CN CN201820057521.4U patent/CN207972758U/en active Active
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109484581A (en) * | 2018-11-13 | 2019-03-19 | 文露 | A kind of river surface plastic garbage fishing device |
| CN109795629A (en) * | 2019-01-22 | 2019-05-24 | 深兰科技（上海）有限公司 | A kind of unmanned cargo ship |
| CN110304209A (en) * | 2019-07-09 | 2019-10-08 | 上海海洋大学 | It is a kind of that nobody manipulates floating on water surface anti-pollution vessel and its control method |
| CN110641631A (en) * | 2019-09-29 | 2020-01-03 | 北京邦源环保科技股份有限公司 | Full-automatic unmanned ship for river channel management and application thereof |
| CN110667790A (en) * | 2019-09-29 | 2020-01-10 | 浙江大学 | Aerodynamic water surface weeding and cleaning equipment and cleaning method |
| CN110641631B (en) * | 2019-09-29 | 2023-10-24 | 北京邦源环保科技股份有限公司 | Full-automatic unmanned ship for river management and application thereof |
| CN112596528B (en) * | 2020-12-17 | 2022-03-11 | 中国科学院合肥物质科学研究院 | Control method for unmanned ship for salvaging water surface garbage |
| CN112596528A (en) * | 2020-12-17 | 2021-04-02 | 中国科学院合肥物质科学研究院 | Control method for unmanned ship for salvaging water surface garbage |
| CN112693571A (en) * | 2021-01-26 | 2021-04-23 | 中电建水环境科技有限公司 | Intelligent water surface float-cleaning ship and intelligent water surface float-cleaning method |
| CN112693571B (en) * | 2021-01-26 | 2022-01-04 | 中电建水环境科技有限公司 | Intelligent water surface float-cleaning ship and intelligent water surface float-cleaning method |
| CN113443087A (en) * | 2021-07-23 | 2021-09-28 | 广州小鲇智能科技有限公司 | Unmanned aerial vehicle and unmanned ship lake surface rubbish cleaning device in coordination |
| CN113655797A (en) * | 2021-08-19 | 2021-11-16 | 江苏科技大学 | Sewage disposal ship for cleaning oil stains and floating objects on water surface, sewage disposal control system and sewage disposal control method |
| CN114802616A (en) * | 2022-04-15 | 2022-07-29 | 浙江科技学院 | Small-sized unmanned surface cleaning boat and control method and positioning method thereof |
| CN114802616B (en) * | 2022-04-15 | 2023-08-04 | 浙江科技学院 | Small water surface cleaning unmanned ship, control method and positioning method thereof |
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