CN103935476A - Autonomous navigation water surface robot cleaner - Google Patents
Autonomous navigation water surface robot cleaner Download PDFInfo
- Publication number
- CN103935476A CN103935476A CN201410144574.6A CN201410144574A CN103935476A CN 103935476 A CN103935476 A CN 103935476A CN 201410144574 A CN201410144574 A CN 201410144574A CN 103935476 A CN103935476 A CN 103935476A
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- China
- Prior art keywords
- central processing
- water surface
- processing unit
- hull
- autonomous navigation
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
Abstract
The invention aims to provide an autonomous navigation water surface robot cleaner which can arrive at a predetermined place in an autonomous navigation mode, and is automated in work, high in cleaning efficiency, low in cost and capable of effectively cleaning garbage in any area of the water surface. The autonomous navigation water surface robot cleaner comprises a ship body, a control device and a driving device are arranged on the ship body, the control device comprises a video collection device, a navigation device, a central processing unit and a communication module, the driving device, the video collection device, the navigation device and the communication module are connected with the central processing unit respectively, a garbage collection frame located on the lower portion of the ship body is further arranged on the ship body, an collecting opening of the garbage collection frame is located in the forward direction of the ship body, a base station installed on the ground communicates with the central processing unit in a wireless mode, and an operator controls the ship body to sail to collect the garbage on the water surface through the base station. The autonomous navigation water surface robot cleaner can be applied to the field of water surface cleaning devices.
Description
Technical field
The present invention relates to a kind of clean ship, relate in particular to a kind of autonomous navigation robot for water surface cleaner.
Background technology
Refuse on water surface need to be regularly carried out in the water surface such as artificial lake or dam region in scenic spot, in order to avoid the accumulation of rubbish and then cause water pollution.At present, most of time, be all to adopt artificial salvaging.But this had both strengthened staff's labour intensity, make again staff be in danger.The event that cleanup crew falls water body is reported in media also time.In addition, also there is relevant enterprise to design water surface cleaning ship, the utility model patent that is 203005707U as publication number discloses a kind of water surface cleaning ship, this clean ship comprises the left ship and the right ship that are connected by connecting bridge, between left ship and right ship, be connected with trawlnet, utilize this trawlnet to carry out collecting refuse from open water, and then reach the object of refuse on water surface.The application for a patent for invention that and for example publication number is 103466049A discloses a kind of clean ship waterborne, this clean ship includes hull, hull afterbody is provided with thrust unit, hull end is provided with clean hatch door, between clean hatch door and hull, adopt and rotary connection, hull inside is provided with control device of wireless, clean motor and the motor of removing obstacles, hull inside is provided with centrifugal compressor, it is connected with clean motor, centrifugal compressor air port is provided with filtering net, hull inside is provided with multiple storing bins, storing bin and clean hatch door are mutually penetrating, hull top is provided with infrared camera and solar energy power source apparatus, hull front end is provided with manipulator, clean motor, clean motor, between manipulator and control device of wireless, be electrically connected.From above-mentioned two schemes, the most volume of existing water surface cleaning ship is larger, and cost of manufacture is large, and flexibility ratio is inadequate, the shallow water area particularly position ship at water surface edge is difficult to reach, and due to current and ripples promotion, water surface edge tends to assemble a large amount of rubbish.
Given this, need to design that a kind of cleaning efficiency is high, safety good, alerting ability is good, can clean the rubbish at water surface edge and can realize the garbage on water clean ship of Long-distance Control.
Summary of the invention
Technical matters to be solved by this invention is to overcome the deficiencies in the prior art, provides a kind of and can realize that automatic navigation arrives set-up site, automated job, cleaning efficiency is high, cost is low and can effectively clear up the autonomous navigation robot for water surface cleaner of the rubbish of water surface arbitrary region.
The technical solution adopted in the present invention is: the present invention includes hull, on described hull, be provided with control setup and actuating device, described control setup comprises video acquisition device, homing advice, central processing unit and communication module, described actuating device, described video acquisition device, described homing advice is all connected with described central processing unit with described communication module, on described hull, be also provided with rubbish harvester, described rubbish harvester comprises the refuse collection framework that is arranged at described hull bottom, the collection mouth of described refuse collection framework is positioned in the working direction of described hull, communication is carried out by wireless mode and described central processing unit in the base station that is arranged at ground, the video information that described central processing unit collects described video acquisition device is sent to base station, operating personal transmits control signal to described central processing unit by described base station, described in described central processing unit controls, actuating device drives described hull to carry out autonomous navigation and to complete water surface clean up task according to predefined route.
Further, described video acquisition device gathers video and also by described central processing unit, video image is processed, and automatically identifies garbage on water and control described actuating device to drive towards target rubbish and complete automatic collection.
Further, described rubbish harvester also comprises two clean besoms, two described clean besoms are arranged at respectively described both sides of collecting mouthful the arranged outside to described hull, the setting party of described clean besom to and the working direction of described hull between angle be acute angle.
Further, described rubbish harvester also comprises cleaning nozzle, on described hull, is provided with water pump, and the water outlet of described water pump is connected with described cleaning nozzle by pipeline, and described water pump is electrically connected with described central processing unit.
Further, described rubbish harvester also comprises folding and unfolding door, and described folding and unfolding door matches with described collection mouthful, and described folding and unfolding door is moved by servo driving, and described steering wheel is electrically connected with described central processing unit.
Further, described actuating device comprises the propelling unit that is arranged at respectively described hull bottom both sides, described in two, is connected with described central processing unit, and described central processing unit is connected with described propelling unit and realizes difference control.
Further, described video acquisition device comprises the The Cloud Terrace that is arranged on described hull and is arranged on the camera on described The Cloud Terrace, and described camera is connected with described central processing unit.
Further, described homing advice comprises gps satellite alignment sensor, electronic compass and inertia measuring module, and described gps satellite alignment sensor, described electronic compass and described inertia measuring module are all electrically connected with described central processing module.
Further, be also provided with obstacle avoidance apparatus on described hull, described obstacle avoidance apparatus comprises super sonic, radar and/or laser range sensor, and described obstacle avoidance apparatus is connected with described central processing unit.
Further, be also provided with crashproof wheel at the gun wale of described hull.
The invention has the beneficial effects as follows: in the present invention, by control setup is set in small hull, actuating device and rubbish harvester, control setup wherein comprises video acquisition device, homing advice, central processing unit and communication module, utilize described video acquisition device to obtain the situation at water surface scene, carry out wireless telecommunications by the central processing unit on ground base station and hull, the graphicinformation that video acquisition device gets is sent to ground base station, ground base station sends control signal to central processing unit, central processing unit drives homing advice and actuating device to occur to move and makes hull to the waters motion that has rubbish, rubbish harvester on hull effectively gathers the rubbish on the water surface, described video acquisition device gathers video and by described central processing unit, video image is processed, automatically identification garbage on water control described actuating device and drive towards target rubbish and complete automatic collection, gather thereby realize automatically, the present invention adopts Long-distance Control, reaches waters carry out operation without staff, has reduced widely staff's labour intensity, has ensured staff's personal safety, has also reduced personnel's input, has lowered cost of labor, in addition, by central processing unit, twin screw is realized to difference control, and utilize this small hull can control hull to reach position, accurate waters, realize the rubbish on any waters is cleaned.
In addition, collection mouth both sides at described refuse collection framework arrange clean besom, and make the arranged outside of described clean besom to described hull, the setting party of described clean besom to and the working direction of described hull between angle be acute angle, so the setting of clean besom can expand refuse collection area and improve the refuse collection efficiency near bank; And utilize water pump undersurface water is smoked and by described cleaning nozzle, the rubbish on the water surface is sprayed, the rubbish of position, water surface dead angle can be guided to the position that is easy to cleaning; Moreover folding and unfolding door can, by its switch of Remote control, also can automatically be closed in the time that hull falls back backward, while advancing, automatically open, ensureing that hull advances carries out refuse collection, and the rubbish of collecting while retreating is retained in refuse collection framework, avoids secondary pollution; Last obstacle avoidance apparatus and the crashproof setting of taking turns, can effectively avoid hull to hit a submerged reef in operational process or be subjected to the situation of external force collision, makes hull protected.
Brief description of the drawings
Fig. 1 is the first visual angle structural representation of the present invention;
Fig. 2 is the second visual angle structural representation of the present invention;
Fig. 3 is the 3rd visual angle structural representation of the present invention.
Detailed description of the invention
As shown in Figures 1 to 3, in the present embodiment, the present invention includes hull 1, on described hull 1, be provided with control setup and actuating device.Described control setup comprises video acquisition device, homing advice, central processing unit and communication module, described actuating device, described video acquisition device, described homing advice is all connected with described central processing unit with described communication module, on described hull 1, be also provided with rubbish harvester, described rubbish harvester comprises the refuse collection framework 2 that is arranged at described hull 1 bottom, the collection mouth 3 of described refuse collection framework 2 is positioned in the working direction of described hull 1, communication is carried out by wireless mode and described central processing unit in the base station that is arranged at ground, the video information that described central processing unit collects described video acquisition device is sent to base station, operating personal transmits control signal to described central processing unit by described base station, described in described central processing unit controls, actuating device drives described hull 1 to carry out autonomous navigation and to complete water surface clean up task according to predefined route.In the present embodiment, described communication module has comprised the antenna 13 being arranged on hull.By described antenna 13, realize video or data transmission with base station.
Further, described rubbish harvester also comprises two clean besoms 4, two described clean besoms 4 are arranged at respectively described mouthfuls 3 both sides the arranged outside to described hull 1 of collecting, the setting party of described clean besom 4 to and the working direction of described hull 1 between angle be acute angle.Described rubbish harvester also comprises cleaning nozzle 5, on described hull 1, is provided with water pump 6, and the water outlet of described water pump 6 is connected with described cleaning nozzle 5 by pipeline 12, and described water pump 6 is electrically connected with described central processing unit.Described rubbish harvester also comprises folding and unfolding door 7, and described folding and unfolding door 7 matches with described collection mouth 3, and described folding and unfolding door 7 is moved by servo driving, and described steering wheel is electrically connected with described central processing unit.Described refuse collection framework 2 is that the metal framework that is arranged on hull 1 bottom holds rubbish for collecting.Clean besom 4 is arranged on hull 1 front portion, and its function is to expand refuse collection area and improve the refuse collection efficiency near bank.Folding and unfolding door 7 can, by its switch of Remote control, also can automatically be closed when hull 1 falls back backward, while advancing, automatically opens.Cleaning nozzle 5 is drawn up by the forwards water surface ejection water coming and the rubbish of position, water surface dead angle is guided to the position that is easy to cleaning by water pump 6.
Described actuating device comprises that 8, two the described propelling units 8 of propelling unit that are arranged at respectively described hull 1 two bottom sides are connected with described central processing unit, and described central processing unit is connected with described propelling unit 8 and realizes difference control.
Described video acquisition device gathers video and also by described central processing unit, video image is processed, and automatically identifies garbage on water and control described actuating device to drive towards target rubbish and complete automatic collection.Described video acquisition device comprises the The Cloud Terrace 9 being arranged on described hull 1 and is arranged on the camera 10 on described The Cloud Terrace 9, and described camera 10 is connected with described central processing unit.The video image that described camera 10 gets is by being wirelessly transmitted to ground base station and showing by controlling software, and operating personal can be handled robot in base station according to realtime graphic.Thereby described The Cloud Terrace 9 can 360 degree horizontally rotate and adjust the ambient conditions of pitching visual angle multi-angle observation robot.Described base station receives the status information such as video information and hull position and attitude the demonstration in real time that water surface robot is passed back, and operating personal can be monitored the mode of operation of one or more water surface robot simultaneously and when needed it be carried out to manual control by ground base station.
Described homing advice comprises gps satellite alignment sensor, electronic compass and inertia measuring module, and described gps satellite alignment sensor, described electronic compass and described inertia measuring module are all electrically connected with described central processing module.
Particularly, described base station is hand-held controller and/or is arranged at indoor control desk.On described hull 1, be also provided with obstacle avoidance apparatus, described obstacle avoidance apparatus comprises super sonic, radar and/or laser range sensor, and described obstacle avoidance apparatus is connected with described central processing unit.Also be provided with and crashproofly take turns 11 at the gun wale of described hull 1.In the present embodiment, on the ship side of both sides, be respectively arranged with four and describedly crashproofly take turns 11.
The present invention can clear up garbage on water according to setting path full automaticity, thereby saves a large amount of manpowers and ship operating cost, and safe and efficient attractive in appearance, and a kind of new automation, long-range, intelligentized solution are provided for the water surface is clean.
The present invention can be applicable to Water cleaning equipment field.
It should be noted that, above-mentionedly only describe the present invention with preferred embodiment, can not limit to interest field of the present invention at this point, therefore in the situation that not departing from inventive concept, the equivalence that the content of all utilizations specification sheets of the present invention and accompanying drawing part is carried out changes, and all reason is with being included within the scope of claim of the present invention.
Claims (10)
1. an autonomous navigation robot for water surface cleaner, comprise hull (1), on described hull (1), be provided with control setup and actuating device, it is characterized in that: described control setup comprises video acquisition device, homing advice, central processing unit and communication module, described actuating device, described video acquisition device, described homing advice is all connected with described central processing unit with described communication module, on described hull (1), be also provided with rubbish harvester, described rubbish harvester comprises the refuse collection framework (2) that is arranged at described hull (1) bottom, the collection mouth (3) of described refuse collection framework (2) is positioned in the working direction of described hull (1), communication is carried out by wireless mode and described central processing unit in the base station that is arranged at ground, the video information that described central processing unit collects described video acquisition device is sent to base station, operating personal transmits control signal to described central processing unit by described base station, described in described central processing unit controls, actuating device drives described hull (1) to carry out autonomous navigation and to complete water surface clean up task according to predefined route.
2. autonomous navigation robot for water surface cleaner according to claim 1, it is characterized in that: described video acquisition device gathers video and also by described central processing unit, video image processed, automatically identify garbage on water and control described actuating device and drive towards target rubbish and complete automatic collection.
3. autonomous navigation robot for water surface cleaner according to claim 1, it is characterized in that: described rubbish harvester also comprises two clean besoms (4), two described clean besoms (4) are arranged at respectively the described both sides of mouthful (3) the arranged outside to described hull (1) of collecting, the setting party of described clean besom (4) to and the working direction of described hull (1) between angle be acute angle.
4. autonomous navigation robot for water surface cleaner according to claim 1, it is characterized in that: described rubbish harvester also comprises cleaning nozzle (5), on described hull (1), be provided with water pump (6), the water outlet of described water pump (6) is connected with described cleaning nozzle (5) by pipeline, and described water pump (6) is electrically connected with described central processing unit.
5. autonomous navigation robot for water surface cleaner according to claim 1, it is characterized in that: described rubbish harvester also comprises folding and unfolding door (7), described folding and unfolding door (7) matches with described collection mouthful (3), described folding and unfolding door (7) is moved by servo driving, and described steering wheel is electrically connected with described central processing unit.
6. autonomous navigation robot for water surface cleaner according to claim 1, it is characterized in that: described actuating device comprises the propelling unit (8) that is arranged at respectively described hull (1) two bottom sides, two described propelling units (8) are connected with described central processing unit, and described central processing unit is connected with described propelling unit (8) and realizes difference control.
7. autonomous navigation robot for water surface cleaner according to claim 2, it is characterized in that: described video acquisition device comprises the The Cloud Terrace (9) being arranged on described hull (1) and be arranged on the camera (10) on described The Cloud Terrace (9), described camera (10) is connected with described central processing unit.
8. autonomous navigation robot for water surface cleaner according to claim 1, it is characterized in that: described homing advice comprises gps satellite alignment sensor, electronic compass and inertia measuring module, described gps satellite alignment sensor, described electronic compass and described inertia measuring module are all electrically connected with described central processing module.
9. according to the autonomous navigation robot for water surface cleaner described in claim 1 to 8 any one, it is characterized in that: on described hull (1), be also provided with obstacle avoidance apparatus, described obstacle avoidance apparatus comprises super sonic, radar and/or laser range sensor, and described obstacle avoidance apparatus is connected with described central processing unit.
10. according to the autonomous navigation robot for water surface cleaner described in claim 1 to 8 any one, it is characterized in that: be also provided with crashproof wheel (11) at the gun wale of described hull (1).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410144574.6A CN103935476B (en) | 2014-04-11 | 2014-04-11 | Independent navigation robot for water surface cleaner |
| PCT/CN2015/000236 WO2015154546A1 (en) | 2014-04-11 | 2015-04-04 | Autonomous navigation water-surface cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410144574.6A CN103935476B (en) | 2014-04-11 | 2014-04-11 | Independent navigation robot for water surface cleaner |
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| Publication Number | Publication Date |
|---|---|
| CN103935476A true CN103935476A (en) | 2014-07-23 |
| CN103935476B CN103935476B (en) | 2017-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410144574.6A Active CN103935476B (en) | 2014-04-11 | 2014-04-11 | Independent navigation robot for water surface cleaner |
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| Country | Link |
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| CN (1) | CN103935476B (en) |
| WO (1) | WO2015154546A1 (en) |
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