CN101792013A - Method and device for collecting garbage floating on water surface - Google Patents
Method and device for collecting garbage floating on water surface Download PDFInfo
- Publication number
- CN101792013A CN101792013A CN 201010116017 CN201010116017A CN101792013A CN 101792013 A CN101792013 A CN 101792013A CN 201010116017 CN201010116017 CN 201010116017 CN 201010116017 A CN201010116017 A CN 201010116017A CN 101792013 A CN101792013 A CN 101792013A
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- hull
- water surface
- garbage
- baffle plate
- rubbish
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- Refuse Collection And Transfer (AREA)
Abstract
The invention discloses a method and a device for collecting garbage floating on a water surface. The method is characterized in that: a hull is controlled by a mode of remote control to move on the water surface; a hydraulic system is arranged on the hull to drive the automatic operation of garbage collection; and the hydraulic system is started to gather and collect the garbage floating on the water surface, and then scraped the collected garbage into a garbage recovery cabin arranged on the hull. In the device for collecting the garbage floating on the water surface, the hull with a hydraulic linkage mechanism is controlled by a mode of wireless remote control to recover the garbage on the water surface, and thus the device not only saves labor force, but also is convenient to come in and going out of water areas such as rivers, reservoirs and the like; and the hydraulic mechanism arranged on the hull operates automatically and sequentially under the action of a stroke control switch, so that the device is convenient to operate and stable and reliable in operation and can send the garbage into a garbage cabin effectively; and because the conventional garbage collecting mechanism is prevented to be adopted, the integral occupation space is simplified, loads of an operating mechanism are reduced, and the energy is saved. The method is easy to implement, and the adopted device has the advantages of simple structure, easy manufacturing, good use effect and high economic efficiency.
Description
Technical field
The present invention relates to a kind of method for cleaning and device of aquatic environment, especially a kind of collection method of garbage floating on water surface and device.
Background technology
Along with industrial progress and social development, water pollutes and also is on the rise, and has become a global No.1 environmental improvement difficult problem.Activity of human beings enters in the water a large amount of industry, agricultural and domestic refuse, and water is polluted.Particularly the long and narrow waters of city inland river, tourist attraction river, reservoir and some calmness has been subjected to greatly polluting, and the pollution of water not only influences people's lives, destroys ecology, and also the health of direct harm humans is damaged very big.China has proposed the strategy of social economy's sustainable development and protection people health, and a series of strong measures have been taked in the regulation water pollution.But owing to lack the refuse collection equipment waterborne of specialty, make the salvaging of rubbish waterborne difficult at present.Rubbish on the recycle-water not only needs to spend great amount of manpower and material resources, financial resources, also has problems such as collecting effect is undesirable.Some large-scale vessel for collecting refuse from open are arranged now, they have multiple collection mode, collect that action is inaccurate, collection efficiency is low, volume is excessive, occupation space is too many and problem such as be not suitable in small-sized river, using but existing these vessel for collecting refuse from open all exist, and the energy that consumes is many, and work efficiency is unsatisfactory.
Summary of the invention
The objective of the invention is: a kind of garbage floating on water surface collecting ship is provided, and it can the floating rubbish of the effective collection water surface, and its operation acts is simple and reliable, energy consumption is low, integral body takes up room little, is suitable for using in various rivers, to overcome the deficiencies in the prior art.
The present invention is achieved in that the collection method of garbage floating on water surface, controlling hull by remote operated mode moves on the water surface, the hydraulic pressure interlinked mechanism is installed on this hull, start this hydraulic pressure interlinked mechanism to swimming in rubbish on the water surface and collect and it being gathered, the rubbish that will be gathered is scraped in the garbage reclamation storehouse that is installed in hull again.Compare with traditional vessel for collecting refuse from open, operating personal need not be operated on hull, but operate by remote operated mode, made things convenient under various environment and used, and, can reduce taking up room and energy consumption of gathering-device with the traditional garbage reclamation mode of manner of execution replacement that is similar to manipulator.
The garbage floating on water surface collecting ship, comprise hull, hull is two float structures, front end between two buoyancy aids of hull is provided with preposition baffle plate, be provided with the garbage reclamation storehouse on two buoyancy aids that are fixed on hull in the rear end of preposition baffle plate, be provided with rubbish in the both sides of preposition baffle plate and gather baffle plate, the rear side of gathering baffle plate at rubbish is connected with gathers baffle plate PF cylinder pressure, above preposition baffle plate, be provided with the rubbish scraper plate, on the rubbish scraper plate, be connected with connecting rod, on connecting rod, be provided with two connecting rods and drive hydraulic actuating cylinder, gathering baffle plate PF cylinder pressure and connecting rod driving hydraulic actuating cylinder all is connected on the hydraulic efficiency pressure system propulsion source, and all being provided with travel control switch at the stroke initial sum end of each hydraulic actuating cylinder, the hydraulic efficiency pressure system propulsion source is fixed on the hull; Front end at hull is provided with camera, on camera, be provided with sender unit, other is provided with the telltale and the remote-control signal transmitter of a band signal receiving device, is provided with the hull engine installation in the rear end of hull, is provided with stepping motor on hydraulic efficiency pressure system propulsion source and hull engine installation.Each hydraulic pressure interlinked mechanism has made things convenient for operation by the control of total hydraulic efficiency pressure system propulsion source, control simple and reliablely, has saved the space of installation, has reduced the volume that takies.
Front end in the garbage reclamation storehouse is provided with push pedal, is connected with the push pedal hydraulic actuating cylinder in push pedal, is provided with travel control switch at the stroke initial sum end of push pedal hydraulic actuating cylinder, and the push pedal hydraulic actuating cylinder is connected with the hydraulic efficiency pressure system propulsion source.Realize interlock between each actuating mechanism by travel control switch, guaranteed the stability and the reliability of action.
On preposition baffle plate, be provided with through hole.Water on the rubbish is flowed down from through hole.
It is the wavy surface structure that rubbish is gathered baffle plate.Can improve the collection efficiency of rubbish, avoid rubbish under the effect of current, to be dashed and gather baffle plate from rubbish.
It is cellular structure that rubbish is gathered baffle plate.Reduce rubbish and gather the resistance of the water that baffle plate is subjected to.
The garbage reclamation storehouse is provided with treatment hole.Water in the rubbish can be flowed out from the garbage reclamation storehouse; And under the bigger situation of undulation, current can enter in the garbage reclamation storehouse by treatment hole, thereby reduce the impact of water wave to the garbage reclamation storehouse, keep the steady of hull.
The hull engine installation is made up of stepping motor and ship suspension machine.Thereby hang the moving velocity of machine oil door size control hull by the step motor control ship, thereby turn to the sense of motion of control hull by step motor control ship suspension machine.
The angle that rubbish is gathered between open maximum angle of baffle plate and the hull perpendicular line is 18～25 °.Such structure can guarantee that rubbish gathers baffle plate and can effectively collect the floating rubbish of the water surface, and the loading angle that can avoid gathering baffle plate PF cylinder pressure again is excessive and cause surpassing its load.
Owing to adopted technique scheme, compared with prior art, the present invention controls by remote control, has realized the collection mode that people's ship separates.Whole garbage reclamation process is finished automatically by the hydraulic efficiency pressure system sequential working, so not only makes operation become simple, and has reduced the labour intensity that rubbish is salvaged.Because the hull hull is little and turn to waters such as flexible, the various rivers of convenient discrepancy, reservoir, can carry out the actv. cleaning to the rubbish that swims in the water surface; Hydraulically powered each mechanism of installing on the hull is the automatic sequence action under the effect of Stroke Control switch controlling signal, and easy and simple to handle, working stability is reliable, can actv. be salvaged back in the trash repository by rubbish.Because garbage reclamation mode of the present invention is the garbage reclamation process of the artificial sweeping rubbish of simulation, and by the sequentially-operating of each hydraulic actuating cylinder of Single-chip Controlling, make its have collect thoroughly clean, advantage such as operation is simple and reliable.Apparatus structure of the present invention is simple simultaneously, makes the economic benefit height easily.
Description of drawings
Accompanying drawing 1 is a structural representation of the present invention;
Accompanying drawing 2 is the lateral plan of accompanying drawing 1;
Accompanying drawing 3 is the structural representation of telltale;
Accompanying drawing 4 is the structural representation of remote-control signal transmitter.
The specific embodiment
Embodiments of the invention: the collection method of garbage floating on water surface, controlling hull by remote operated mode moves on the water surface, the hydraulic pressure interlinked mechanism is installed on this hull, start this hydraulic pressure interlinked mechanism to swimming in rubbish on the water surface and collect and it being gathered, the rubbish that will be gathered is scraped in the garbage reclamation storehouse that is installed in hull again.
The structure of garbage floating on water surface collecting ship as shown in Figure 1, make binary hull 1, front end between two buoyancy aids of hull 1 is fixed a preposition baffle plate 2, on preposition baffle plate 2, be provided with through hole 16, be fixed on the garbage reclamation storehouse 18 on two buoyancy aids of hull 1 in the rear end of preposition baffle plate 2, garbage reclamation storehouse 18 is provided with treatment hole 17, and the front end in garbage reclamation storehouse 18 is installed push pedal 14, connects push pedal hydraulic actuating cylinder 15 in push pedal 14; Be provided with rubbish in the both sides of preposition baffle plate 2 and gather baffle plate 3, rubbish is gathered baffle plate 3 and is the wavy surface structure, and rubbish is gathered baffle plate 3 and is cellular structure; The angle α that rubbish is gathered between baffle plate 3 open maximum angles and hull 1 perpendicular line is 18～25 °, gathers the rear side connection of baffle plate 3 at rubbish and gathers baffle plate PF cylinder pressure 4; Rubbish scraper plate 5 is installed above preposition baffle plate 2, on rubbish scraper plate 5, is connected connecting rod 6, two connecting rods are installed on connecting rod 6 are driven hydraulic actuating cylinder 7; Gather baffle plate PF cylinder pressure 4, connecting rod driving hydraulic actuating cylinder 7 and push pedal hydraulic actuating cylinder 15 and all be connected on the hydraulic efficiency pressure system propulsion source 8, and at the stroke initial sum end of each hydraulic actuating cylinder the up stroke master cock is set all, hydraulic efficiency pressure system propulsion source 8 is fixed on the hull 1; Front end at hull 1 is installed camera 9, on camera 9, connect sender unit 10, other is provided with the telltale 19 and the remote-control signal transmitter 12 of a band signal receiving device 11, hull engine installation 13 is installed in rear end at hull 1, and hull engine installation 13 is made up of stepping motor and ship suspension machine; On hydraulic efficiency pressure system propulsion source 8 and hull engine installation 13, be provided with stepping motor 20.
In use, operating personal is delivered to signal on the remote control signal receiving module that is installed on the hull 1 by remote-control signal transmitter 12, the stepping motor and the ship that drive hull engine installation 13 respectively hang machine, hull 1 moves on the water surface, the camera 9 that is installed in hull 1 front end is transferred to the information that collects on the signal receiving device 11 of telltale 19 by sender unit 10, operating personal just can be monitored the water surface situation at hull 1 place from the video image of telltale 19, with navigation and the monitoring garbage on water distribution situation that realizes hull 1; Hull 1 is in the process that moves, gathering rubbish that baffle plate 3 will swim in the water surface by rubbish accumulates in rubbish and gathers in the baffle plate 3, when observing rubbish and gather some, operating personal sends signal control hydraulic efficiency pressure system propulsion source 8 and starts, make and gather baffle plate PF cylinder pressure 4 and promote rubbish and gather baffle plate 3 and draw close to preposition baffle plate 2, rubbish is gathered front end at preposition baffle plate 2, at this moment gather baffle plate PF cylinder pressure 4 and arrive range, the travel control switch of its installation makes connecting rod drive hydraulic actuating cylinder 7 and starts working, rubbish scraper plate 5 with the garbage reclamation on the preposition baffle plate 2 in the garbage reclamation storehouse 18 of preposition baffle plate 2 rear ends, connecting rod drives hydraulic actuating cylinder 7 strokes and arrives maximum, the travel control switch that is installed in connecting rod driving hydraulic actuating cylinder 7 makes connecting rod drive hydraulic actuating cylinder 7 and places initial condition, and startup push pedal hydraulic actuating cylinder 15 drives push pedals 14, push pedal 14 pushes to the rubbish of garbage reclamation storehouse 18 first halfs the latter half in garbage reclamation storehouse 18, after push pedal hydraulic actuating cylinder 15 reaches range, travel control switch mounted thereto makes 15 backhauls of push pedal hydraulic actuating cylinder, backhaul is behind terminal point, the travel control switch signal makes gathers 4 backhauls of barrier driving hydraulic actuating cylinder, so finishes a rubbish and salvages process.When no termination signal was sent, the garbage reclamation process was back and forth carried out, and also can carry out intermittent crawl control to it.Make it carry out the work of garbage reclamation at the water surface.
Claims (9)
1. the collection method of a garbage floating on water surface, it is characterized in that: control hull by remote operated mode and on the water surface, move, the hydraulic pressure interlinked mechanism is installed on this hull, start this hydraulic pressure interlinked mechanism to swimming in rubbish on the water surface and collect and it being gathered, the rubbish that will be gathered is scraped in the garbage reclamation storehouse that is installed in hull again.
2. garbage floating on water surface collecting ship, comprise hull (1), it is characterized in that: hull (1) is two float structures, front end between two buoyancy aids of hull (1) is provided with preposition baffle plate (2), be provided with the garbage reclamation storehouse (18) on two buoyancy aids that are fixed on hull (1) in the rear end of preposition baffle plate (2), be provided with rubbish in the both sides of preposition baffle plate (2) and gather baffle plate (3), the rear side of gathering baffle plate (3) at rubbish is connected with gathers baffle plate PF cylinder pressure (4), be provided with rubbish scraper plate (5) in the top of preposition baffle plate (2), on rubbish scraper plate (5), be connected with connecting rod (6), on connecting rod (6), be provided with two connecting rods and drive hydraulic actuating cylinder (7), gathering baffle plate PF cylinder pressure (4) all is connected on the hydraulic efficiency pressure system propulsion source (8) with connecting rod driving hydraulic actuating cylinder (7), and all being provided with travel control switch at the stroke initial sum end of each hydraulic actuating cylinder, hydraulic efficiency pressure system propulsion source (8) is fixed on the hull (1); Front end at hull (1) is provided with camera (9), on camera (9), be provided with sender unit (10), other is provided with the telltale (19) and the remote-control signal transmitter (12) of a band signal receiving device (11), be provided with hull engine installation (13) in the rear end of hull (1), on hydraulic efficiency pressure system propulsion source (8) and hull engine installation (13), be provided with stepping motor (20).
3. garbage floating on water surface collecting ship according to claim 2, it is characterized in that: the front end in garbage reclamation storehouse (18) is provided with push pedal (14), in push pedal (14), be connected with push pedal hydraulic actuating cylinder (15), stroke initial sum end at push pedal hydraulic actuating cylinder (15) is provided with travel control switch, and push pedal hydraulic actuating cylinder (15) is connected with hydraulic efficiency pressure system propulsion source (8).
4. garbage floating on water surface collecting ship according to claim 2 is characterized in that: be provided with through hole (16) on preposition baffle plate (2).
5. garbage floating on water surface collecting ship according to claim 2 is characterized in that: rubbish is gathered baffle plate (3) and is the wavy surface structure.
6. according to claim 2 or 5 described garbage floating on water surface collecting ships, it is characterized in that: rubbish is gathered baffle plate (3) and is cellular structure.
7. garbage floating on water surface collecting ship according to claim 2 is characterized in that: garbage reclamation storehouse (18) are provided with treatment hole (17).
8. garbage floating on water surface collecting ship according to claim 2 is characterized in that: hull engine installation (13) is made up of stepping motor and ship suspension machine.
9. garbage floating on water surface collecting ship according to claim 2 is characterized in that: the angle (α) that rubbish is gathered between open maximum position of baffle plate (3) and hull (1) perpendicular line is 18～25 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101160175A CN101792013B (en) | 2010-03-02 | 2010-03-02 | Method and device for collecting garbage floating on water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101160175A CN101792013B (en) | 2010-03-02 | 2010-03-02 | Method and device for collecting garbage floating on water surface |
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| Publication Number | Publication Date |
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| CN101792013A true CN101792013A (en) | 2010-08-04 |
| CN101792013B CN101792013B (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010101160175A Expired - Fee Related CN101792013B (en) | 2010-03-02 | 2010-03-02 | Method and device for collecting garbage floating on water surface |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102020005A (en) * | 2010-11-26 | 2011-04-20 | 周小俊 | Water surface garbage collector |
| CN102051871A (en) * | 2010-10-21 | 2011-05-11 | 东华大学 | Embedded watercourse floating pollutant vision detecting device |
| CN102926365A (en) * | 2012-11-13 | 2013-02-13 | 河海大学常州校区 | Collecting arm of float-garbage 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 |
| CN103434617A (en) * | 2013-07-31 | 2013-12-11 | 中北大学 | Solar small-water-area remote-control waste cleaning boat |
| CN104176200A (en) * | 2014-08-13 | 2014-12-03 | 上海电机学院 | Floating object refloating ship |
| CN104695399A (en) * | 2015-03-11 | 2015-06-10 | 长江水利委员会长江科学院 | Floating gate hydraulic power integral float-garbage cleaning net frame system |
| CN104790366A (en) * | 2015-04-03 | 2015-07-22 | 东华大学 | Remote control type water-borne trash collector |
| CN106275298A (en) * | 2016-09-23 | 2017-01-04 | 苏州飞驰环保科技股份有限公司 | The water surface cleaning ship that floater gravity flow is collected |
| CN107006208A (en) * | 2017-05-17 | 2017-08-04 | 中国林业科学研究院林业新技术研究所 | A kind of remote-controlled fluitante biomass harvesting apparatus and its application |
| CN107059823A (en) * | 2017-06-09 | 2017-08-18 | 陈桂芳 | A kind of float assembly that algae is removed for the water surface |
| CN108118671A (en) * | 2018-01-20 | 2018-06-05 | 马海洋 | Surface floating body collection device |
| CN108755633A (en) * | 2018-06-24 | 2018-11-06 | 费先江 | The a wide range of pick-up boat freely gathered administered for lake surface, river surface floating refuse |
| CN108755634A (en) * | 2018-06-24 | 2018-11-06 | 费先江 | The concentration of river surface, river surface green alga or rubbish floating object is salvaged, administering method |
| CN108860487A (en) * | 2018-03-01 | 2018-11-23 | 淮海工学院 | A kind of intelligence water surface cleaning robot |
| CN109018220A (en) * | 2018-06-29 | 2018-12-18 | 黄建富 | A kind of garbage on water and grease stain collecting ship |
| CN109204722A (en) * | 2018-09-07 | 2019-01-15 | 上海海事大学 | A kind of mechanical equipment that can collect garbage on water |
| CN110295577A (en) * | 2019-07-19 | 2019-10-01 | 湖南机电职业技术学院 | A kind of ocean garbage cleaning device |
| CN110306504A (en) * | 2019-07-05 | 2019-10-08 | 上海海洋大学 | A kind of intelligence collection device for garbage floating on surface and control method |
| CN111021321A (en) * | 2019-10-28 | 2020-04-17 | 中国一冶集团有限公司 | Water environment is administered and is used filth fishing device |
| CN111542473A (en) * | 2017-08-07 | 2020-08-14 | 塞尔日·梅纳德 | Ship for recovering marine waste |
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| CN102051871A (en) * | 2010-10-21 | 2011-05-11 | 东华大学 | Embedded watercourse floating pollutant vision detecting device |
| CN102051871B (en) * | 2010-10-21 | 2012-07-04 | 东华大学 | Embedded watercourse floating pollutant vision detecting device |
| CN102020005A (en) * | 2010-11-26 | 2011-04-20 | 周小俊 | Water surface garbage collector |
| CN102926365A (en) * | 2012-11-13 | 2013-02-13 | 河海大学常州校区 | Collecting arm of float-garbage ship |
| CN102926365B (en) * | 2012-11-13 | 2014-11-05 | 河海大学常州校区 | Collecting arm of float-garbage 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 |
| CN103434617B (en) * | 2013-07-31 | 2016-03-02 | 中北大学 | Solar power small-sized waters remote control contamination removing ship |
| CN103434617A (en) * | 2013-07-31 | 2013-12-11 | 中北大学 | Solar small-water-area remote-control waste cleaning boat |
| CN104176200A (en) * | 2014-08-13 | 2014-12-03 | 上海电机学院 | Floating object refloating ship |
| CN104695399A (en) * | 2015-03-11 | 2015-06-10 | 长江水利委员会长江科学院 | Floating gate hydraulic power integral float-garbage cleaning net frame system |
| CN104790366A (en) * | 2015-04-03 | 2015-07-22 | 东华大学 | Remote control type water-borne trash collector |
| CN104790366B (en) * | 2015-04-03 | 2017-03-01 | 东华大学 | A kind of distance type Overwater rubbish collection device |
| CN106275298A (en) * | 2016-09-23 | 2017-01-04 | 苏州飞驰环保科技股份有限公司 | The water surface cleaning ship that floater gravity flow is collected |
| CN107006208A (en) * | 2017-05-17 | 2017-08-04 | 中国林业科学研究院林业新技术研究所 | A kind of remote-controlled fluitante biomass harvesting apparatus and its application |
| CN107006208B (en) * | 2017-05-17 | 2022-12-09 | 中国林业科学研究院生态保护与修复研究所 | Remotely-controllable floating plant biomass harvesting device and application thereof |
| CN107059823A (en) * | 2017-06-09 | 2017-08-18 | 陈桂芳 | A kind of float assembly that algae is removed for the water surface |
| CN107059823B (en) * | 2017-06-09 | 2018-07-03 | 陈桂芳 | A kind of float assembly that algae is removed for the water surface |
| CN111542473A (en) * | 2017-08-07 | 2020-08-14 | 塞尔日·梅纳德 | Ship for recovering marine waste |
| CN108118671A (en) * | 2018-01-20 | 2018-06-05 | 马海洋 | Surface floating body collection device |
| CN108118671B (en) * | 2018-01-20 | 2020-03-27 | 鲁仕宝 | Water surface floating body collecting device |
| CN108860487A (en) * | 2018-03-01 | 2018-11-23 | 淮海工学院 | A kind of intelligence water surface cleaning robot |
| CN108860487B (en) * | 2018-03-01 | 2023-08-18 | 淮海工学院 | Intelligent water surface trash cleaning robot |
| CN108755634A (en) * | 2018-06-24 | 2018-11-06 | 费先江 | The concentration of river surface, river surface green alga or rubbish floating object is salvaged, administering method |
| CN108755633A (en) * | 2018-06-24 | 2018-11-06 | 费先江 | The a wide range of pick-up boat freely gathered administered for lake surface, river surface floating refuse |
| CN109018220A (en) * | 2018-06-29 | 2018-12-18 | 黄建富 | A kind of garbage on water and grease stain collecting ship |
| CN109204722A (en) * | 2018-09-07 | 2019-01-15 | 上海海事大学 | A kind of mechanical equipment that can collect garbage on water |
| CN110306504A (en) * | 2019-07-05 | 2019-10-08 | 上海海洋大学 | A kind of intelligence collection device for garbage floating on surface and control method |
| CN110295577A (en) * | 2019-07-19 | 2019-10-01 | 湖南机电职业技术学院 | A kind of ocean garbage cleaning device |
| CN111021321A (en) * | 2019-10-28 | 2020-04-17 | 中国一冶集团有限公司 | Water environment is administered and is used filth fishing device |
| CN112793724B (en) * | 2021-02-03 | 2022-07-08 | 武汉理工大学 | Arm-hanging net bag type water surface garbage cleaning device |
| CN112793724A (en) * | 2021-02-03 | 2021-05-14 | 武汉理工大学 | Arm-hanging net bag type water surface garbage cleaning device |
| CN113567178A (en) * | 2021-07-23 | 2021-10-29 | 贵州大学 | Sediment sampler |
| CN113567178B (en) * | 2021-07-23 | 2024-01-26 | 贵州大学 | Sediment sampler |
| CN113525682A (en) * | 2021-08-25 | 2021-10-22 | 诸暨天诚环保科技有限公司 | Water surface floating garbage cleaning system |
| CN113799935A (en) * | 2021-09-16 | 2021-12-17 | 安徽理工大学 | Structural design and use method of unmanned ship for garbage recovery and storage |
| CN114954812A (en) * | 2022-04-02 | 2022-08-30 | 浙江工贸职业技术学院 | Variable remote visual water surface floater cleaning robot |
| CN114954812B (en) * | 2022-04-02 | 2024-05-14 | 浙江工贸职业技术学院 | Variable remote visual water surface floater cleaning robot |
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