CN104773267A - Self-adaptive fishing ship - Google Patents
Self-adaptive fishing ship Download PDFInfo
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- CN104773267A CN104773267A CN201510181081.4A CN201510181081A CN104773267A CN 104773267 A CN104773267 A CN 104773267A CN 201510181081 A CN201510181081 A CN 201510181081A CN 104773267 A CN104773267 A CN 104773267A
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Abstract
The invention discloses a self-adaptive fishing ship, which comprises a ship body, light-duty manipulators, a heavy-duty manipulator and a garbage storage cabin, wherein the light-duty manipulators, the heavy-duty manipulator and the garbage storage cabin are arranged on the ship body; the tail ends of the light-duty manipulators are provided with string bags used for fishing garbage on the surface of a river; the tail end of the heavy-duty manipulator is provided with a mechanical paw used for grabbing a heavy object at the bottom of the river; each of the light-duty manipulators and the heavy-duty manipulator comprises an upper arm, a middle arm, a lower arm and a base; the bases are rotatably connected to the ship body and are driven to rotate through rotation driving motors. By using the self-adaptive fishing ship provided by the invention, the acquirement and the understanding, towards the information of a working environment, of fishing can be added; the autonomous obstacle avoidance and the automatic tracking are realized; meanwhile, a proper fishing mechanical arm can be intelligently selected to fish according to different objects to be fished; the performance requirement that the fishing ship autonomously works in a complicated environment is met.
Description
Technical field
The present invention relates to automated machine apparatus field, specifically a kind of self adaptation salvor.
Background technology
At present, China's pollution of river is day by day serious, and major cause is that the rubbish that can not be decomposed is dumped into river, comprises the white garbage and demersal heavy rubbish that can bubble through the water column.Because present stage a lot of river courses salvor all needs manual operation, inefficiency, in some hazardous environment, life is impacted safely meanwhile.
Therefore, need to improve existing salvor, increase the utonomous working performance of salvor, enable salvor realize carrying out three-dimensional map model construction to unknown river course environment, and can realize can automatic obstacle avoiding, automatic tracking, meet the performance requriements of salvor utonomous working in complex environment.
Summary of the invention
In view of this, the object of the invention is to overcome defect of the prior art, a kind of self adaptation salvor is provided, it can increase to salvage understands the acquisition of operating environment information, and realize automatic obstacle avoiding, automatic tracking, suitable salvaging mechanical arm can be selected to salvage according to the different intelligent of salvaged thing simultaneously, meet the performance requriements of salvor utonomous working in complex environment.
Self adaptation salvor of the present invention, comprise hull, the underloading manipulator be arranged on hull, heavy-duty machinery hand and rubbish storage cabin, underloading arm end is provided with the string bag for salvaging river surface rubbish, heavy-duty machinery hand end is provided with the mechanical paw for capturing river bed weight, underloading manipulator and heavy-duty machinery hand include upper arm, middle arm, underarm and pedestal, and pedestal is rotationally connected with hull and drives it to rotate by a rotary drive motor;
Further, arm actuating device is equipped with between described pedestal and underarm, between underarm and middle arm, between middle arm and upper arm, arm actuating device comprises bearing pin arranged in parallel and drive spindle, bearing pin upper driving is combined with arm driven gear, and drive spindle upper driving is combined with the arm driving gear engaged with arm driven gear;
Further, described mechanical paw comprises the mechanical finger that paw seat and two are respectively in paw seat both sides; Mechanical finger comprises interior segment, middle segment and outer segment; Interior segment is fixed on paw seat, middle segment two ends respectively and interior segment and outer segment be rotatably connected and be equipped with finger actuating device between interior segment and middle segment, between middle segment and outer segment; Refer to that actuating device comprises finger hinge arranged in parallel and refers to pipe link; Refer to that hinge upper driving is combined with finger driving gear and Intermediate bevel gears, refer to that pipe link upper driving is combined with the finger driven gear engaged with finger driving gear, be provided with finger drive motor in paw seat and this finger drive motor output shaft is fixed with the output bevel gear engaged with Intermediate bevel gears and take turns;
Further, described base bottom is vertically provided with rotary-driven shaft and this rotary-driven shaft upper driving is combined with rotary drive gear, and the transmission of rotating machine mouth is combined with the rotation driving gear with rotary drive gears meshing;
Further, described arm actuating device also comprises the oil-immersed multi-disk brake for hindering drive spindle to rotate be arranged on bearing pin;
Self adaptation salvor of the present invention also comprises three-dimensional information harvester for gathering operating environment three-dimensional information around hull and builds the central process unit of three-dimensional map for the three dimensional signal that receives the collection of three-dimensional information harvester; Three-dimensional information harvester comprises and being distributed in around hull for detecting the ultrasonic transmission/reception sensor of obstacle distance;
Further, described three-dimensional information harvester also comprises and is arranged at hull front end and the camera be connected with central process unit signal;
The present invention also comprises the autonomous cruise speed system for the work of adaptive control mechanical paw, and autonomous cruise speed system comprises:
Position transduser, is arranged at underarm and upper arm is inner, for detecting the luffing angle of underarm and upper arm;
Vision sensor, is arranged at upper arm, for detecting locus, the attitude of crawled object, and monitors the mode of operation of mechanical finger;
Touch sensor, is arranged at mechanical finger inside face, for the complete information of the crawled object of active obtaining, and monitors the mode of operation of mechanical finger;
Force sensor, the clamping face being arranged at the outer segment of mechanical finger is inner, for detecting the clamp pressure of outer segment, and monitors the mode of operation of mechanical finger; Embedded board computing machine, receives and also processes position transduser, vision sensor, touch sensor and force sensor feedack, and to give an order signal to mechanical paw.
The invention has the beneficial effects as follows: self adaptation salvor of the present invention, when carrying out river garbage and salvaging, heavy-duty machinery hand can clear up the weight of river surface and river bed, multiple underloading manipulators are arranged symmetrically in the both sides of hull, are divided into two groups of collaborative works, and in current a pair underloading manipulator string bag, rubbish reaches the upper limit, then by garbage transporting in the rubbish storage silo in hull, meanwhile, rear a pair underloading manipulator is started working, and iterative cycles realizes salvaging; In addition, salvor of the present invention can realize automatic path planning and automatically salvage function, meets the needs of salvor to utonomous working in complexity.Be input to central process unit by three-dimensional information harvester to the information of operating environment and by Information Monitoring and carry out three-dimensional map structure; online overall trajectory planning is realized in conjunction with control system; detect the obstacle on path by ultrasonic transduter simultaneously; in conjunction with control system, local directed complete set is carried out to overall plan path; realize the autonomous fishing job of salvor at extreme operating conditions; relieve salvor and need manually-operated constraint; improve the work efficiency of salvor, protect the personal safety of staff simultaneously.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described:
Fig. 1 is structural representation of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is arm driving device structure schematic diagram of the present invention;
Fig. 4 is the structural representation of mechanical paw of the present invention;
Fig. 5 is the schematic diagram of autonomous cruise speed system of the present invention.
Detailed description of the invention
Fig. 1 is structural representation of the present invention; As shown in the figure, the self adaptation salvor of the present embodiment, comprise hull 1, the underloading manipulator 18 be arranged on hull 1, heavy-duty machinery hand 16 and rubbish storage cabin 17, underloading manipulator 18 end is provided with the string bag 14 for salvaging river surface rubbish, heavy-duty machinery hand 16 end is provided with the mechanical paw for capturing river bed weight, underloading manipulator 18 and heavy-duty machinery hand 16 include upper arm 13, middle arm 12, underarm 11 and pedestal 10, and pedestal 10 is rotationally connected with hull 1 and drives it to rotate by a rotary drive motor 7; The self adaptation salvor of the present embodiment, when carrying out river garbage and salvaging, heavy-duty machinery hand 16 can clear up the weight of river surface and river bed, multiple underloading manipulators 18 are arranged symmetrically in the both sides of hull 1, are divided into two groups of collaborative works, and in current a pair underloading manipulator 18 string bag 14, rubbish reaches the upper limit, then by garbage transporting in the rubbish storage silo in hull 1, meanwhile, rear a pair underloading manipulator 18 is started working, and iterative cycles realizes salvaging.
In the present embodiment, between described pedestal 10 and underarm 11, between underarm 11 and middle arm 12, arm actuating device is equipped with between middle arm 12 and upper arm 13, arm actuating device comprises bearing pin 19 arranged in parallel and drive spindle 21, bearing pin 19 upper driving is combined with arm driven gear 23, drive spindle 21 upper driving is combined with the arm driving gear 22 engaged with arm driven gear 23, such as, arm actuating device between underarm 11 and middle arm 12, middle arm 12 is fixedly connected with bearing pin 19 and hinged by this bearing pin 19 and underarm 11, drive spindle 21 is articulated with underarm 11 and is in transmission connection with an arm swing motor 20, drive spindle 21 rotates and bearing pin 19 can be driven to rotate thus arm 12 rotates around underarm 11 in realizing, arm actuating device principle between pedestal 10 with underarm 11, between middle arm 12 and upper arm 13 is identical with it, is not repeated at this.
The present embodiment is indulged, and described mechanical paw comprises the mechanical finger 6 that paw seat 5 and two are respectively in paw seat 5 both sides, two mechanical finger 6 bending crawls that can realize rubbish simultaneously, mechanical finger 6 comprises interior segment 25, middle segment 30 and outer segment 31, interior segment 25 is fixed on paw seat 5, middle segment 30 two ends respectively and interior segment 25 and outer segment 31 be rotatably connected and be equipped with finger actuating device between interior segment 25 and middle segment 30, between middle segment 30 and outer segment 31, refer to that actuating device comprises finger hinge 33 arranged in parallel and refers to pipe link 28, refer to that hinge 33 upper driving is combined with finger driving gear 32 and Intermediate bevel gears 27, refer to that pipe link 28 upper driving is combined with the finger driven gear 29 engaged with finger driving gear 32, be provided with finger drive motor 24 in paw seat 5 and this finger drive motor 24 output shaft is fixed with the output bevel gear engaged with Intermediate bevel gears 27 and take turns 26, finger drive motor 24 can refer to that hinge 33 rotates, driving refers to that pipe link 28 rotates around finger hinge 33, thus realize interior segment 25 and middle segment 30, relatively rotate between middle segment 30 and outer segment 31, realize the bending clamping river garbage of mechanical finger 6.
In the present embodiment, rotary-driven shaft 3 is vertically provided with and this rotary-driven shaft 3 upper driving is combined with rotary drive gear 2 bottom described pedestal 10, the transmission of rotating machine mouth is combined with the rotation driving gear 9 engaged with rotary drive gear 2, ensure the string bag 14 or or mechanical paw can rotate in the horizontal direction, improve the freedom of motion of mechanical arm.
In the present embodiment, described arm actuating device also comprises the oil-immersed multi-disk brake for hindering drive spindle 21 to rotate be arranged on drive spindle 21; When upper arm 13 and middle arm 12, reach set angle between middle arm 12 and underarm 11 after, oil-immersed multi-disk brake can make drive spindle 21 stop operating, and keeps its angle.
The self adaptation salvor of the present embodiment also comprises three-dimensional information harvester for gathering hull 1 surrounding operating environment three-dimensional information and builds the central process unit 40 of three-dimensional map for the three dimensional signal that receives the collection of three-dimensional information harvester; Three-dimensional information harvester comprises and being distributed in around hull 1 for detecting the ultrasonic transmission/reception sensor 42 of obstacle distance; Three-dimensional information harvester also comprises binocular vision sensor 41, is arranged at above hull, for gathering three-dimensional environment information, and by image pick-up card 37, information transmission is carried out environmental map structure to computing machine.
In the present embodiment, described three-dimensional information harvester also comprises and is arranged at hull 1 front end and the camera be connected with central process unit signal;
The present invention also comprises the autonomous cruise speed system for the work of adaptive control mechanical paw, and autonomous cruise speed system comprises:
Position transduser 35, is arranged at underarm 11 and upper arm 13 is inner, for detecting the luffing angle of underarm 11 and upper arm 13;
Vision sensor 34, is arranged at upper arm 13, for detecting locus, the attitude of crawled object, and monitors the mode of operation of mechanical finger 6;
Touch sensor 36, is arranged at mechanical finger 6 inside face, for the complete information of the crawled object of active obtaining, and monitors the mode of operation of mechanical finger 6;
Force sensor 38, the clamping face being arranged at the outer segment 31 of mechanical finger 6 is inner, for detecting the clamp pressure of outer segment 31, and monitors the mode of operation of mechanical finger 6;
Embedded board computing machine 39, receives and also processes position transduser 35, vision sensor 34, touch sensor 36 and force sensor 38 feedack, and to give an order signal to mechanical paw;
Therefore, the salvor of the present embodiment can realize automatic path planning and automatically salvage function, meets the needs of salvor to utonomous working in complexity.Be input to central process unit by three-dimensional information harvester to the information of operating environment and by Information Monitoring and carry out three-dimensional map structure; online overall trajectory planning is realized in conjunction with control system; detect the obstacle on path by ultrasonic transduter simultaneously; in conjunction with control system, local directed complete set is carried out to overall plan path; realize the autonomous fishing job of salvor at extreme operating conditions; relieve salvor and need manually-operated constraint; improve the work efficiency of salvor, protect the personal safety of staff simultaneously.
What finally illustrate is, above embodiment is only in order to illustrate technical scheme of the present invention and unrestricted, although with reference to preferred embodiment to invention has been detailed description, those of ordinary skill in the art is to be understood that, can modify to technical scheme of the present invention or equivalent replacement, and not departing from aim and the scope of technical solution of the present invention, it all should be encompassed in the middle of right of the present invention.
Claims (8)
1. a self adaptation salvor, is characterized in that: comprise hull, the underloading manipulator be arranged on described hull, heavy-duty machinery hand and rubbish storage cabin; Described underloading arm end is provided with the string bag for salvaging river surface rubbish, and described heavy-duty machinery hand end is provided with the mechanical paw for capturing river bed weight; Described underloading manipulator and heavy-duty machinery hand include upper arm, middle arm, underarm and pedestal; Described pedestal is rotationally connected with described hull and drives it to rotate by a rotary drive motor.
2. self adaptation salvor according to claim 1, is characterized in that: be equipped with arm actuating device between described pedestal and underarm, between underarm and middle arm, between middle arm and upper arm; Described arm actuating device comprises bearing pin arranged in parallel and drive spindle; Described bearing pin upper driving is combined with arm driven gear, and described drive spindle upper driving is combined with the arm driving gear engaged with described arm driven gear.
3. self adaptation salvor according to claim 1, is characterized in that: described mechanical paw comprises the mechanical finger that paw seat and two are respectively in described paw seat both sides; Described mechanical finger comprises interior segment, middle segment and outer segment; Described interior segment is fixed on described paw seat, described middle segment two ends respectively and interior segment and outer segment to be rotatably connected and between described interior segment and middle segment, be equipped with finger actuating device between middle segment and outer segment; Described finger actuating device comprises finger hinge arranged in parallel and refers to pipe link; Described finger hinge upper driving is combined with finger driving gear and Intermediate bevel gears, described finger pipe link upper driving is combined with the finger driven gear engaged with described finger driving gear, is provided with finger drive motor and this finger drive motor output shaft is fixed with the output bevel gear engaged with described Intermediate bevel gears to take turns in described paw seat.
4. self adaptation salvor according to claim 1, it is characterized in that: described base bottom is vertically provided with rotary-driven shaft and this rotary-driven shaft upper driving is combined with rotary drive gear, and the transmission of described rotating machine mouth is combined with the rotation driving gear with described rotary drive gears meshing.
5. self adaptation salvor according to claim 2, is characterized in that: described arm actuating device also comprises the oil-immersed multi-disk brake for hindering drive spindle to rotate be arranged on described bearing pin.
6. self adaptation salvor according to claim 1, is characterized in that: also comprise three-dimensional information harvester for gathering operating environment three-dimensional information around hull and build the central process unit of three-dimensional map for the three dimensional signal that receives the collection of described three-dimensional information harvester; Described three-dimensional information harvester comprises and being distributed in around hull for detecting the ultrasonic transmission/reception sensor of obstacle distance.
7. self adaptation salvor according to claim 6, is characterized in that: described three-dimensional information harvester also comprises and is arranged at hull front end and the camera be connected with described central process unit signal.
8. self adaptation salvor according to claim 1, it is characterized in that: also comprise the autonomous cruise speed system for the work of adaptive control mechanical paw, described autonomous cruise speed system comprises:
Position transduser, is arranged at described underarm and upper arm is inner, for detecting the luffing angle of underarm and upper arm;
Vision sensor, is arranged at described upper arm, for detecting locus, the attitude of crawled object, and monitors the mode of operation of mechanical finger;
Touch sensor, is arranged at mechanical finger inside face, for the complete information of the crawled object of active obtaining, and monitors the mode of operation of mechanical finger;
Force sensor, the clamping face being arranged at the outer segment of mechanical finger is inner, for detecting the clamp pressure of outer segment, and monitors the mode of operation of mechanical finger;
Embedded board computing machine, receives and also processes position transduser, vision sensor, touch sensor and force sensor feedack, and to give an order signal to mechanical paw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510181081.4A CN104773267B (en) | 2015-04-16 | 2015-04-16 | Adaptive pick-up boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510181081.4A CN104773267B (en) | 2015-04-16 | 2015-04-16 | Adaptive pick-up boat |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104773267A true CN104773267A (en) | 2015-07-15 |
| CN104773267B CN104773267B (en) | 2017-08-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510181081.4A Expired - Fee Related CN104773267B (en) | 2015-04-16 | 2015-04-16 | Adaptive pick-up boat |
Country Status (1)
| Country | Link |
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| CN (1) | CN104773267B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108442287A (en) * | 2018-04-04 | 2018-08-24 | 昆明理工大学 | A kind of dismantled and assembled midsplit type garbage cleaning device |
| CN109204715A (en) * | 2018-09-29 | 2019-01-15 | 上海海迅机电工程有限公司 | A kind of unmanned operation ship and its workflow |
| CN109469034A (en) * | 2018-11-14 | 2019-03-15 | 衡阳博思科技有限公司 | A kind of urban river rubbish fishing device |
| CN109826152A (en) * | 2019-04-04 | 2019-05-31 | 李贵双 | Wisdom garden garbage transfer structure |
| CN110823639A (en) * | 2019-12-13 | 2020-02-21 | 深圳市宇驰检测技术股份有限公司 | Automatic sampling device for bottom mud of river and lake |
| WO2021000237A1 (en) * | 2019-07-01 | 2021-01-07 | 唐山哈船科技有限公司 | Cleaning robot and cleaning method for sea surface garbage |
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| CN108442287A (en) * | 2018-04-04 | 2018-08-24 | 昆明理工大学 | A kind of dismantled and assembled midsplit type garbage cleaning device |
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| CN109469034B (en) * | 2018-11-14 | 2020-11-03 | 滁州市瑞景园林建设有限公司 | Urban river rubbish fishing device |
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| WO2021000237A1 (en) * | 2019-07-01 | 2021-01-07 | 唐山哈船科技有限公司 | Cleaning robot and cleaning method for sea surface garbage |
| CN110823639A (en) * | 2019-12-13 | 2020-02-21 | 深圳市宇驰检测技术股份有限公司 | Automatic sampling device for bottom mud of river and lake |
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|---|---|
| CN104773267B (en) | 2017-08-08 |
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Address after: No. 1, Fuxing Avenue, Shuang Fu new area, Jiangjin District, Chongqing Patentee after: chongqing jiaotong university Address before: 400074 Chongqing Nan'an District University Avenue, No. 66 Patentee before: chongqing jiaotong university |
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Granted publication date: 20170808 Termination date: 20200416 |