CN101585402A - Solar water surface remote control contamination removing ship - Google Patents
Solar water surface remote control contamination removing ship Download PDFInfo
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- CN101585402A CN101585402A CNA2009100616756A CN200910061675A CN101585402A CN 101585402 A CN101585402 A CN 101585402A CN A2009100616756 A CNA2009100616756 A CN A2009100616756A CN 200910061675 A CN200910061675 A CN 200910061675A CN 101585402 A CN101585402 A CN 101585402A
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Abstract
The invention provides a solar water surface remote control contamination removing ship capable of automatically removing water surface garbage, wherein the ship at least comprises an electric ship and a garbage gathering device, a solar electric power source and a remote control device are installed inside the ship body of the electric ship, the garbage gathering device and a lifting device are installed on the ship body, and the lifting device and the garbage gathering device are positioned at the front end of the ship body. The invention has the advantages of high efficiency, ability of quick travel, convenient operation, labor saving and no secondary pollution.
Description
Technical field
The present invention relates to a kind of solar water surface remote control contamination removing ship, this ship as propulsion source, can be removed garbage on water with solar power automatically, is specially adapted in the public places such as colleges and universities, park, biotope the refuse cleaning of the water surface among a small circle.
Background technology
According to investigations, domestic rivers,lakes and seas all are subjected to pollution in various degree, and type comprises water pollution or noxious waste pollution, so sewage treatment plant sets up in succession, have improved water quality.Yet for the rubbish that is indiscreet in one's conduct abandons of the small-sized lake in lake surface especially city colleges and universities and the park owing to people, but handling preferably not, although various forms of contamination removing ship place in operation, have following shortcoming: volume is big, the cost height, complicated operation is time-consuming.
And existing contamination removing ship all is aboard ship to be operated by the people, will inevitably make the volume of ship cause unnecessary increase like this, thereby cost is raise, and is not suitable in the lakelet general work.
Summary of the invention
Existing contamination removing ship volume is big in order to overcome, the salvaging process is complicated and produce the deficiency of secondary pollution during work, the invention provides a kind of solar water surface remote control contamination removing ship, it can remove the rubbish of the water surface among a small circle easily continuously, and this contamination removing ship is simple in structure, what adopt is eco-friendly power source---solar power, and used telecontrol engineering.
The technical solution adopted in the present invention is a kind of solar water surface remote control contamination removing ship, comprises electric ship and refuse collector at least, and sun-generated electric power and remote control equipment (RCE) are installed in the hull of electric ship, and refuse collector is installed on the hull with a falling unit.
Described refuse collector comprises support, motor, synchronous belt drive mechanism, major axis, minor axis, strut bar, fixed link, some sieve buckets and guide plate, synchronous belt drive mechanism is with synchronously by synchronous pulley and with the synchronous pulley ingear and is constituted, support is fixedly mounted on the hull front end, motor is fixedly installed on the support, synchronous belt drive mechanism is by motor-driven, major axis is connected with support by bearing, be connected with motor shaft by coupler, synchronous pulley is by key and major axis, minor axis connects, each sieve bucket is fixed on synchronously to be with, strut bar is by bearing and major axis, minor axis connects, fixed link, guide plate is fixedly installed on the strut bar respectively; Play falling unit and comprise landing motor, gear, tooth bar, guide groove, pin, the landing motor is fixed on the inner chamber of hull, gear is connected with motor shaft by key, motor driven gear moves in a circle, the wheel and rack engagement, tooth bar is positioned in the guide groove, and guide groove is positioned on the hull, pin is captiveed joint with tooth bar, and pin cooperates with chute on the strut bar in the refuse collector again simultaneously.
Described falling unit and refuse collector are positioned at the hull front end, and the hull front end takes the shape of the letter U, and refuse collector is positioned in the U-shaped mouth.Described pin is the notch cuttype cylinder, and reduced diameter section is connected with tooth bar by screw thread, and enlarged diameter section is positioned at the guide groove on the strut bar.Described guide plate is two, all is that the bending angle is the bending plate of 120 degree, is connected with strut bar by bolt and nut, is toroidal after fixing, and has some through holes on the guide plate.Described fixed link is the combination of two rod members, is X-shaped after in the middle part of the bolt and nut connection, the end bending, and folding surface is connected with strut bar by bolt and nut, and the quantity of fixed link is one or more.The landing motor is a stepping motor, and the motor of refuse collector is a common DC motor.Described control setup comprises remote control module and main control module, remote control module comprises remote control transmitter and remote information receiving device and control circuit at least, the remote information receiving device is accepted the signal that remote control transmitter sends, by being transported to main control module after the control circuit decoding; Main control module comprises micro controller system, DC motor driver and stepper motor driver at least, and main control module is controlled the decoded signal that receives operating speed, direction and/or the start-stop of each motor behind micro controller system.Described sun-generated electric power comprises solar panel, controller for solar, lithium cell and voltage stabilizing chip at least, and solar panel is a lithium cell charging, and its voltage is powered to each circuit chip and each motor after the voltage stabilizing of voltage stabilizing chip.
As shown from the above technical solution, solar water surface remote control contamination removing ship provided by the invention is by remote control equipment (RCE) control electric ship and the refuse collector, the falling unit work that are installed on the electric ship, reaches the purpose of automatic removing garbage on water.
To compare beneficial effect of the present invention as follows with existing contamination removing ship:
1) employing realizes continuously collecting operation, efficient height synchronously with the structure that goes up the gravity flow screen bucket;
2) landing Design of device can be lifted away from the water surface with refuse collector after contamination removing ship being finished collect operation, thereby reduce resistance, realizes quick travel;
3) adopt solar power as the energy, use micro controller system to control, and used telecontrol engineering, non-secondary pollution, easy to operate, save manpower.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the synchronous belt drive mechanism structural representation in the refuse collector;
Fig. 4 is the B portion enlarged view of Fig. 1;
Fig. 5 is the C portion enlarged view of Fig. 1;
Fig. 6 has been the structural representation of falling unit.
Specific embodiments
Below in conjunction with accompanying drawing the present invention is done explanation in further detail, but following explanation is not construed as limiting the invention.
As shown in Figure 1, 2, solar power lake surface remote control contamination removing ship, comprise electric ship and be installed on sun-generated electric power and remote control equipment (RCE) in the hull 1 of electric ship, refuse collector is installed on the hull with a falling unit, hull 1 can adopt aluminum alloy to build skeleton, makes the ship leather with the thick galvanized iron sheet of 0.2mm and forms.Through test hull 1 specifically be of a size of long 1000mm, relatively be fit to use when wide 400mm, high 100mm.Hull 1 front end takes the shape of the letter U, and refuse collector is positioned in the U-shaped mouth, and hull 1 middle part is placed with rubbish container 3, and the rear end is placed with solar panel 2.Refuse collector comprises support 4, motor 5, synchronous pulley 6, is with 7 synchronously, major axis 8, minor axis 9, strut bar 10, fixed link 11, sieve bucket 12, guide plate 13, wherein motor is a common DC motor, the quantity of support 4 is two, synchronous pulley 6 reaches with synchronous pulley 6 ingears is with 7 to constitute synchronous belt drive mechanisms synchronously, the quantity of synchronous pulley 6 is four in the present embodiment, it is two with 7 quantity synchronously, cooperate formation two secondary synchronous belt drive mechanisms with major axis 8, minor axis 9, synchronous pulley 6 is that key is connected with the connection mode of axle.Support 4 is fixed on hull 1 front end by bolt and nut connection, the position as shown in Figure 1, motor 5 is fixed on the support 4, synchronous pulley 6 drives by motor 5 and moves in a circle, major axis 8 is connected with support 4 by bearing, major axis 8 is connected by the output shaft of coupler with motor 5, synchronous pulley 6 is by key and major axis 8, minor axis 9 connects, sieve bucket 12 is fixed on to be with on 7 synchronously, the quantity of sieve bucket 12 can be set to six, equidistant being distributed in is with on 7 synchronously, strut bar 10 is by bearing and major axis 8, minor axis 9 connects, have between the deck plane of strut bar 10 and hull 1 and be not more than 90 ° angle, the quantity of fixed link 11 is two, each fixed link is combined by two rod members, by being X-shaped behind the bolt and nut connection middle part, the end bending, the folding surface of fixed link 11 is connected with strut bar 10 by bolt and nut, guide plate 13 is by plastic production, and quantity is two, and the bending angle is 120 °, be connected with strut bar 10 by bolt and nut, be toroidal after fixing, have some through holes on the guide plate, to reduce resistance.During work, the strut bar 10 of garbage collecting mechanism is 45 degree with the deck plane angle of hull 1, angle is guaranteed by the smallest limit position of guide groove 16, be arranged in half the immersion water of synchronous pulley on the minor axis 9, after sending the collection signal, motor 5 drives synchronous pulley 6 and rotates, synchronous pulley 6 drives by the tooth engagement is with 7 to do continuous gyroscopic movement synchronously, when sieve bucket 12 flips up from water, the refuse collection that lake surface is floating is interior, in the time of after sieve bucket 12 moves to major axis 8 level attitudes, rubbish is poured in the rubbish container 3.
As shown in Figure 6, play falling unit and comprise landing motor 18, gear 14, tooth bar 15, guide groove 16 and pin 17, landing motor 18 is a stepping motor, be fixed on the inner chamber of U-shaped mouth one side of hull 1, gear 14 is connected with the axle of landing motor 18 by key, landing motor 18 driven gears 14 move in a circle, gear 14 and tooth bar 15 engagements, tooth bar 15 is positioned in the guide groove 16, guide groove be shaped as oblong, the middle part processes the circular hole that holds gear 14, guide groove 16 can directly process on hull 1, be fixed on the hull 1 after also can making in addition, guide groove 16 needs to guarantee that assembling backgear 14 is good with tooth bar 15 engagements, tooth bar 15 makes the strut bar 10 and the deck plane angle of hull 1 when moving to the smallest limit position of guide groove 16 be 45 °, this angle is the best effort angle, and can different values be set (by guide groove assurance operating angle according to operating mode, the landing motor is quit work, reduce watt loss), the assembling back encapsulates with the galvanized iron sheet of 0.2 millimeter of thickness, and seal with sealant, prevent into water, tooth bar 15 and pin 17 are by being threaded, pin 17 is the notch cuttype cylinder, reduced diameter section is processed with screw thread and cooperates with tooth bar 15, and enlarged diameter section is positioned at the chute of strut bar 10, cooperates with the chute of strut bar 10.After sending the landing signal, landing motor 18 driven wheels 14 rotate, and drive with its ingear tooth bar 15 mobile in guide groove 16, tooth bar 15 drives bracing frame 10 motions by pin 17 again, thereby make refuse collector do circular movement in the certain angle around the center of circle, cross section of major axis 8, by turning to and start-stop of control landing motor 18, the may command refuse collector immerses the water surface or lifting goes out the water surface.
Contamination removing ship provided by the invention is integrated in the hull 1 with sun-generated electric power with remote control equipment (RCE) simultaneously, be positioned at hull 1 rear portion, controlled object is motor, the landing motor of refuse collector, the propulsion electric machine and the steering wheel of electric ship, wherein the motor of refuse collector, propulsion electric machine are DC machine, and the landing motor is a stepping motor.
Sun-generated electric power comprises solar panel, controller for solar, lithium cell and voltage stabilizing chip at least, and it is lithium cell charging that solar panel changes into electric energy with solar radiation, and lithium cell provides required power supply for after dividing potential drop and voltage stabilizing system's each several part.Wherein controller for solar plays the effect of additives for overcharge protection, over to lithium cell.The voltage stabilizing chip carries out voltage stabilizing, produces the 5V burning voltage, to circuit chip and motor power supply.
Remote control equipment (RCE) comprises remote control module and main control module.Remote control module mainly comprises remote control transmitter and remote information receiving device, control circuit etc.Its function is the signal that the remote information receiving device is accepted the operator, by being transported to main control module after the control circuit decoding.Main control module mainly comprises micro controller system, DC motor driver and stepper motor driver.Function is to receive the decoded signal of remote information receiving device, by controlling the work of each motor after the micro controller system explanation and stopping.Wherein micro controller system is the recipient and the executive of various instructions, and main effect is to accept and the order of explanation radio communication, controls speed, direction, the start-stop of each motor by motor driver.
When the work of needs contamination removing ship or when quitting work, the operator handles the button on the remote control transmitter, send the exercises instruction, remote controller sends to instruction the remote information receiving device that is installed on the contamination removing ship, by flowing to main control module after the decoding, the micro controller system of main control module sends instruction to corresponding motor driver after with action command signal interpretation, motor driver produce high potential, big current drives machine operation immediately or stop to produce voltage, electric current quits work motor.The input instruction may command contamination removing ship of keyboard is achieved as follows several states: steering wheel turns to, the ship low speed driving, and height speed is travelled, and refuse collector rises or descends.
Because of solar-electricity source technology and telecontrol engineering have been very ripe prior art at present, so all can be used as sun-generated electric power of the present invention, remote control equipment (RCE) as long as can satisfy sun-generated electric power, the remote control equipment (RCE) of mechanics among the present invention (be electric ship, refuse collector and play falling unit) function needs.Only get a specific embodiment below and do detailed description.
In the present embodiment, adopt power be the solar cell of 30W as power supply, be the lithium cell charging of 12V by controller for solar, controller for solar plays additives for overcharge protection, over to lithium cell.Lithium cell utilizes the LM2576 chip to carry out voltage stabilizing as the voltage stabilizing chip, produces the 5V burning voltage, to circuit chip and motor power supply.
Remote control equipment (RCE) comprises remote control module and main control module.
Main control module mainly comprises AT89S52 micro controller system, DC motor driver L298 and the stepper motor driver of being made up of jointly L297 chip and L298 chip.L298 is a kind of high potential, large-current electric machine chip for driving, by giving its three pin input standard logic level signals, can make its output HIGH voltage, big electric current, be used for driving DC machine and stepping motor, be used for driving the motor and the propulsion electric machine of refuse collector herein.L297 is that a kind of hardware loop is divided integrated chip, and it can produce four phase drive signals, is used for the bipolar or four phase single-stage stepping motors of monolithic processor controlled two-phase.Micro controller system, actuator are integrated on the circuit card.Because therefore steering wheel inner integrated signal modulation chip, chip for driving and reference circuit can directly send control signal control steering wheel by micro controller system.
Remote control module comprises remote control transmitter and remote information receiving device, control circuit etc., and core component is a pair of codec chip PT2262 and PT2272.Coding chip PT2262 is positioned at remote control transmitter, and the keyboard of remote control transmitter is encoded one by one.
The remote control transmitter button comprises 7 function keys, and the function of key " 1 " is to start propulsion electric machine, and makes it operate in low speed or close propulsion electric machine.After clicking key " 1 ", remote control transmitter is through oscillating circuit emission respective coding waveform, after the remote information receiving device receives waveform signal, by PT2272 chip in the control circuit and the AT89S52 micro controller system in the main control module waveform is decoded, then send three control signals and give DC machine chip for driving L298 by micro controller system, chip produces correspondent voltage, electric current, it rotates according to direction initialization and slowly runs to make propulsion electric machine, after clicking key " 1 " again, propulsion electric machine quits work.Key " 2 " is only pressed after propulsion electric machine is started just effective at key " 1 ", key " 1 " is not when pressing, and button " 2 " is invalid.The function of key " 2 " is that propulsion electric machine is operated at a high speed, after clicking key " 2 ", launch the respective coding waveform by remote control transmitter through oscillating circuit, accept waveform by the remote information receiving device, after decoding chip and micro controller system decoding, give L298 chip for driving with control signal, chip output relevant voltage, electric current make propulsion electric machine be operated in fast state.Key " 3 ", " 4 " are used to control turning to of steering wheel, in like manner, when key " 3 " is pressed, waveform is sent by remote control transmitter, after decoding chip and micro controller system decoding, produce dc offset voltage by micro controller system and deliver to the steering wheel internal circuit, internal circuit compares the voltage of dc offset voltage and potential device, the output of acquisition voltage difference, the positive and negative rotating that outputs to the steering wheel chip for driving and determine motor of voltage difference when motor rotates, drives the potential device rotation by the cascade reducing gear in the steering wheel, when voltage difference is 0, steering wheel stops operating.Setting key " 3 " is pressed cooresponding dc offset voltage turns right steering wheel, and key " 4 " is pressed steering wheel is turned left, and key " 3 ", key " 4 " are pressed or do not pressed steering wheel simultaneously to get back to initial condition be that ship moves ahead.Signal transmission form after press key " 5 ", " 6 ", " 7 " is identical with aforementioned keys, repeat no more, key " 5 " function is the motor of refuse collector is rotated and to stop, when clicking key " 5 ", motor moves according to turning to speed of setting, click key " 5 " rear motor again and quit work, motor drive mode is identical with the propulsion electric machine type of drive.The function of key " 6 ", " 7 " is the switch and the running of control landing motor, and key " 6 " is an on ﹠ off switch, when key " 6 " is pressed, micro controller system sends signal to stepper motor driver, makes the landing electric motor starting, and this moment, motor did not rotate, after pressing key " 6 " again, the landing motor cuts out.Make the landing electric motor starting when pressing key " 6 ", then press key " 7 " after, micro controller system rotates landing motor as prescribed direction by stepper motor driver, the lifting refuse collector, after pressing key " 7 " once more, the landing motor rotates in the opposite direction, and refuse collector is descended.
Claims (10)
1, a kind of solar water surface remote control contamination removing ship comprises electric ship and refuse collector at least, it is characterized in that: sun-generated electric power and remote control equipment (RCE) are installed in the hull of electric ship, and refuse collector is installed on the hull with a falling unit.
2, solar water surface remote control contamination removing ship according to claim 1, it is characterized in that: refuse collector comprises support, motor, synchronous belt drive mechanism, major axis, minor axis, strut bar, fixed link, some sieve buckets and guide plate, synchronous belt drive mechanism is with synchronously by synchronous pulley and with the synchronous pulley ingear and is constituted, support is fixedly mounted on the hull front end, motor is fixedly installed on the support, synchronous belt drive mechanism is by motor-driven, major axis is connected with support by bearing, be connected with motor shaft by coupler, synchronous pulley is by key and major axis, minor axis connects, each sieve bucket is fixed on synchronously to be with, strut bar is by bearing and major axis, minor axis connects, have angle between the deck plane of strut bar and hull, fixed link, guide plate is fixedly installed on the strut bar respectively; Play falling unit and comprise landing motor, gear, tooth bar, guide groove, pin, the landing motor is fixed on the inner chamber of hull, gear is connected with the landing motor shaft by key, the landing motor driven gear moves in a circle, the wheel and rack engagement, tooth bar is positioned in the guide groove, and guide groove is positioned on the hull, pin is captiveed joint with tooth bar, and pin cooperates with chute on the strut bar in the refuse collector again simultaneously.
3, solar water surface remote control contamination removing ship according to claim 1 and 2 is characterized in that: play falling unit and refuse collector and be positioned at the hull front end, the hull front end takes the shape of the letter U, and refuse collector is positioned in the U-shaped mouth.
4, solar water surface remote control contamination removing ship according to claim 2, it is characterized in that: fixed link is the combination of two rod members, by being X-shaped, the end bending behind the bolt and nut connection middle part, folding surface is connected with strut bar by bolt and nut, and the quantity of fixed link is one or more.
5, solar water surface remote control contamination removing ship according to claim 2, it is characterized in that: guide plate is two, all is that the bending angle is 120 ° a bending plate, is connected with strut bar by bolt and nut, be toroidal after fixing, and have some through holes on the guide plate.
6, solar water surface remote control contamination removing ship according to claim 2 is characterized in that: the landing motor is a stepping motor, and the motor of refuse collector is a common DC motor.
7, solar water surface remote control contamination removing ship according to claim 2 is characterized in that: described sieve bucket is 4～8, and equidistant stationary distribution is in being with synchronously.
8, solar water surface remote control contamination removing ship according to claim 2 is characterized in that: pin is the notch cuttype cylinder, and reduced diameter section is connected with tooth bar by screw thread, and enlarged diameter section is positioned at the chute on the strut bar.
9, solar water surface remote control contamination removing ship according to claim 1, it is characterized in that: control setup comprises remote control module and main control module, remote control module comprises remote control transmitter, remote information receiving device and control circuit at least, the remote information receiving device is accepted the signal that remote control transmitter sends, by being transported to main control module after the control circuit decoding; Main control module comprises micro controller system, DC motor driver and stepper motor driver at least, and main control module is controlled the decoded signal that receives operating speed, direction and/or the start-stop of each motor behind micro controller system.
10, solar water surface remote control contamination removing ship according to claim 1, it is characterized in that: sun-generated electric power comprises solar panel, controller for solar, lithium cell and voltage stabilizing chip at least, solar panel is a lithium cell charging, and its voltage is powered to each circuit chip and each motor after the voltage stabilizing of voltage stabilizing chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100616756A CN101585402B (en) | 2009-04-22 | 2009-04-22 | Solar water surface remote control contamination removing ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100616756A CN101585402B (en) | 2009-04-22 | 2009-04-22 | Solar water surface remote control contamination removing ship |
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| CN101585402A true CN101585402A (en) | 2009-11-25 |
| CN101585402B CN101585402B (en) | 2011-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2009100616756A Expired - Fee Related CN101585402B (en) | 2009-04-22 | 2009-04-22 | Solar water surface remote control contamination removing ship |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102020005A (en) * | 2010-11-26 | 2011-04-20 | 周小俊 | Water surface garbage collector |
| CN102756792A (en) * | 2012-06-19 | 2012-10-31 | 上海电机学院 | Small-size remote control catamaran for salvaging floater |
| CN103264757A (en) * | 2013-05-29 | 2013-08-28 | 绍兴县孙端镇荣耀五金厂 | Multifunctional riverway cleaning ship |
| CN103276709A (en) * | 2013-06-17 | 2013-09-04 | 天津华水水务工程有限公司 | Duckweed cleaner and duckweed cleaning method |
| CN103466049A (en) * | 2013-09-30 | 2013-12-25 | 吕昕炜 | Aquatic cleaning ship |
| CN103640676A (en) * | 2013-11-13 | 2014-03-19 | 梧州学院 | Remote control intelligent rubbish salvage ship |
| CN104229083A (en) * | 2014-09-05 | 2014-12-24 | 武汉理工大学 | Modular fishing device for floating ships on water surface |
| CN104527938A (en) * | 2014-12-29 | 2015-04-22 | 侯正祥 | Environmental sanitation ship |
| CN106005288A (en) * | 2016-06-27 | 2016-10-12 | 浙江水利水电学院 | Water surface garbage cleaning device and method for landscape park |
| CN107307857A (en) * | 2017-06-23 | 2017-11-03 | 成都市欣康兴泰科技有限公司 | A kind of pulse pressure optimum position Automatic-searching method and apparatus |
| CN109594544A (en) * | 2019-01-30 | 2019-04-09 | 张博曦 | A kind of water surface cleaner |
| CN110893896A (en) * | 2019-11-26 | 2020-03-20 | 重庆大学 | Lake surface garbage cleaning remote control ship control system |
| CN112722175B (en) * | 2021-02-01 | 2022-01-11 | 浙江翌明科技有限公司 | Water surface garbage salvaging machine special for unmanned ship and using method thereof |
-
2009
- 2009-04-22 CN CN2009100616756A patent/CN101585402B/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102020005A (en) * | 2010-11-26 | 2011-04-20 | 周小俊 | Water surface garbage collector |
| CN102756792A (en) * | 2012-06-19 | 2012-10-31 | 上海电机学院 | Small-size remote control catamaran for salvaging floater |
| CN102756792B (en) * | 2012-06-19 | 2014-11-19 | 上海电机学院 | Small-size remote control catamaran for salvaging floater |
| CN103264757A (en) * | 2013-05-29 | 2013-08-28 | 绍兴县孙端镇荣耀五金厂 | Multifunctional riverway cleaning ship |
| CN103276709A (en) * | 2013-06-17 | 2013-09-04 | 天津华水水务工程有限公司 | Duckweed cleaner and duckweed cleaning method |
| CN103276709B (en) * | 2013-06-17 | 2016-05-18 | 天津华水水务工程有限公司 | Water surface duckweed descaling machine and water surface duckweed method for cleaning |
| CN103466049A (en) * | 2013-09-30 | 2013-12-25 | 吕昕炜 | Aquatic cleaning ship |
| CN103640676B (en) * | 2013-11-13 | 2016-08-17 | 梧州学院 | Remote control intelligent rubbish salvage ship |
| CN103640676A (en) * | 2013-11-13 | 2014-03-19 | 梧州学院 | Remote control intelligent rubbish salvage ship |
| CN104229083A (en) * | 2014-09-05 | 2014-12-24 | 武汉理工大学 | Modular fishing device for floating ships on water surface |
| CN104527938A (en) * | 2014-12-29 | 2015-04-22 | 侯正祥 | Environmental sanitation ship |
| CN106005288A (en) * | 2016-06-27 | 2016-10-12 | 浙江水利水电学院 | Water surface garbage cleaning device and method for landscape park |
| CN107307857A (en) * | 2017-06-23 | 2017-11-03 | 成都市欣康兴泰科技有限公司 | A kind of pulse pressure optimum position Automatic-searching method and apparatus |
| CN109594544A (en) * | 2019-01-30 | 2019-04-09 | 张博曦 | A kind of water surface cleaner |
| CN110893896A (en) * | 2019-11-26 | 2020-03-20 | 重庆大学 | Lake surface garbage cleaning remote control ship control system |
| CN112722175B (en) * | 2021-02-01 | 2022-01-11 | 浙江翌明科技有限公司 | Water surface garbage salvaging machine special for unmanned ship and using method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN101585402B (en) | 2011-07-27 |
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Granted publication date: 20110727 Termination date: 20120422 |