CN106218825A - A kind of water rubbish clean-up vessel optimizing trajectory planning - Google Patents

A kind of water rubbish clean-up vessel optimizing trajectory planning Download PDF

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Publication number
CN106218825A
CN106218825A CN201610831702.3A CN201610831702A CN106218825A CN 106218825 A CN106218825 A CN 106218825A CN 201610831702 A CN201610831702 A CN 201610831702A CN 106218825 A CN106218825 A CN 106218825A
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CN
China
Prior art keywords
vessel
binary hull
hull
binary
arrangement
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Granted
Application number
CN201610831702.3A
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Chinese (zh)
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CN106218825B (en
Inventor
何晓凤
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Anhui Technical College of Mechanical and Electrical Engineering
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Anhui Technical College of Mechanical and Electrical Engineering
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Priority to CN201610831702.3A priority Critical patent/CN106218825B/en
Publication of CN106218825A publication Critical patent/CN106218825A/en
Application granted granted Critical
Publication of CN106218825B publication Critical patent/CN106218825B/en
Expired - Fee Related legal-status Critical Current
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/32Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02BHYDRAULIC ENGINEERING
    • E02B15/00Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10Devices for removing the material from the surface
    • E02B15/104Conveyors; Paddle wheels; Endless belts
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00

Abstract

nullThe invention discloses a kind of water rubbish clean-up vessel optimizing trajectory planning,Belong to cleaning technology field,For solving the difficult problem that floater is processed,And optimize the flight path of water rubbish clean-up vessel,This anti-pollution vessel includes binary hull、It is arranged on the compressor on binary hull、The extraction conveyer belt being arranged on binary hull、It is arranged on the hydro-motor promoting ship motion on binary hull、The cargo hold being arranged on binary hull and the V-arrangement baffle plate being arranged on binary hull,Described binary hull is provided with BEI-DOU position system,It is additionally provided with laser distance on binary hull and measures system、Rubbish video recognition system and transmission system,Solve the difficult problem that floater is processed,User is made can the most in the light of actual conditions to plan the flight path of water rubbish clean-up vessel,There is protection aquatic environment and reduce the beneficial effect of energy consumption.

Description

A kind of water rubbish clean-up vessel optimizing trajectory planning
Technical field
The invention belongs to cleaning technology field, relate to a kind of garbage cleaning device, be specifically related to a kind of optimization trajectory planning Water rubbish clean-up vessel.
Background technology
Along with China's rapid development of economy, paid attention to economy in the past, to ignore the problem day that environment caused aobvious prominent, everywhere Through being commonly reported that the generation water contamination accident such as Herba Eichhorniae, cyanophyceae, large-area floating material one time-triggered protocol is still difficulty.Substantial amounts of Floating material hazardness is very big, and it not only hinders navigation channel, and in reservoir area harm generating set and the safety of ship lock, to properly functioning Bring impact.Such as the floating material poured in Gezhouba Shiplock for 07 year, just bring the biggest impact to the normal pass of ship.
On the cleaning water surface, rubbish clears up energy consumption particular importance, the boat often looked into for the power of the planning of flight path for reducing Mark planning not only and is not consumed energy, and for waste of time also especially severe.
Summary of the invention
According to above the deficiencies in the prior art, the technical problem to be solved is to propose one to optimize trajectory planning Water rubbish clean-up vessel, by arrange on hull extract conveyer belt continuously extract on the water surface rubbish live swim Thing, solves the difficult problem processing floater, and by arranging BEI-DOU position system on hull, laser distance measures system System, rubbish video recognition system and transmission system so that user can the most in the light of actual conditions plan that garbage on water is clear The flight path of reason ship, optimizes the flight path of water rubbish clean-up vessel, has protection aquatic environment and reduces the beneficial effect of energy consumption.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is:
A kind of water rubbish clean-up vessel optimizing trajectory planning, this anti-pollution vessel includes binary hull, is arranged on binary Compressor on hull, be arranged on binary hull extract conveyer belt, be arranged on the spray promoting ship motion on binary hull Water engine, the cargo hold being arranged on binary hull and the V-arrangement baffle plate being arranged on binary hull, described binary hull is provided with BEI-DOU position system, binary hull is additionally provided with laser distance and measures system, rubbish video recognition system and transmission system.
Described water rubbish clean-up vessel also includes a controller, and described controller is hand-held by user on the coast.Institute State binary hull and include two point hulls being parallel to each other, a cargo hold is set in each point of hull.Described extraction conveyer belt Including two cylinders and a conveyer belt being arranged on two cylinders, outside described conveyer belt, it is provided with multiple gear being parallel to each other Block, the length of block is parallel with the axis of cylinder equal to the width of conveyer belt and block.Described V-arrangement baffle plate includes that V-arrangement is expanded Section and parallel channels section, the width of the widest part of the V-arrangement opening of V-arrangement expansion segment equal to binary hull two hulls between away from From, V-arrangement expansion segment away from the width of one end of the widest part of V-arrangement opening equal to the width of parallel channels section, V-arrangement expansion segment narrow End and parallel channels section seamless link.Described compressor is arranged on the eminence on binary hull, and V-arrangement baffle plate is arranged on binary hull On lower, extract conveyer belt and be inclined on binary hull, one end of parallel channels section of V-arrangement baffle plate is inserted in its lower end In, the upper end extracting conveyer belt is arranged on the top of compressor charging aperture.Described hydro-motor is arranged on binary hull two Between individual point of hull.The bottom of the V-arrangement expansion segment of described V-arrangement baffle plate is provided with portable plate.Two points of ships on described binary hull Body one side facing each other is provided with slide rail, and two slide rails are parallel to each other in same horizontal plane inscribe, are respectively provided with two in slide rail Individual slide block, each slide block is connected with the cylinder extracting conveyer belt, is additionally provided with hydraulically extensible bar, described hydraulically extensible bar in slide rail It is connected with slide block.
The medicine have the advantages that and solve the difficult problem that floater is processed that there is the useful of protection aquatic environment Effect, and greatly reduce the personnel amount processing garbage on water, substantially increase garbage on water elimination efficiency and speed, can Effectively planning cleaning flight path, has saved clearance time and energy consumption.
Accompanying drawing explanation
Below the content expressed by this specification accompanying drawing and the labelling in figure are briefly described:
Fig. 1 is the population structure signal of the water rubbish clean-up vessel of the detailed description of the invention optimization trajectory planning of the present invention Figure;
Fig. 2 is the side-looking structural representation of the water rubbish clean-up vessel of the detailed description of the invention optimization trajectory planning of the present invention Figure;
Being labeled as in above-mentioned figure: 1, binary hull;2, V-arrangement baffle plate;3, conveyer belt is extracted;4, compressor;5, power train System;6, hydro-motor.
Detailed description of the invention
Below against accompanying drawing, by the description to embodiment, each component that the detailed description of the invention of the present invention is the most involved Shape, structure, mutual alignment between each several part and annexation, the effect of each several part and operation principle, manufacturing process and Operate with method etc., be described in further detail, to help those skilled in the art to the inventive concept of the present invention, technology Scheme has more complete, accurate and deep understanding.
A kind of water rubbish clean-up vessel optimizing trajectory planning, this anti-pollution vessel includes binary hull 1, is arranged on binary Compressor 4, the extraction conveyer belt 3 being arranged on binary hull 1 on hull 1, it is arranged on binary hull 1 promotion ship motion Hydro-motor 6, the cargo hold 5 being arranged on binary hull 1 and the V-arrangement baffle plate 2 being arranged on binary hull 1.
Described binary hull 1 is provided with BEI-DOU position system, for the location of water rubbish clean-up vessel self.Binary hull Being additionally provided with laser distance on 1 and measure system, rubbish video recognition system and transmission system, rubbish video recognition system is used for identifying Floating thing on the water surface, laser distance measure system for measure floating thing on the water surface of rubbish video recognition system identification with Distance between binary hull 1, transmission system is used for receiving and exporting data.
Described water rubbish clean-up vessel also includes a controller, and described controller is hand-held by user on the coast, makes User is by controller and transmission system connectivity, and then receives the data of transmission system transfers and utilize controller to control water surface rubbish The flight path of rubbish cleaning ship.User determines the position of garbage on water by laser distance measurement system and rubbish video recognition system Putting, then optimize water rubbish clean-up vessel and run flight path, water rubbish clean-up vessel is by the position of BEI-DOU position system location self Put and then the requirement campaign of the person of installing and using.
Described binary hull 1 includes two point hulls being parallel to each other.One cargo hold 5 is set in each point of hull.
Described extraction conveyer belt 3 includes two cylinders and a conveyer belt being arranged on two cylinders, in order to carry smoothly Floating thing on water intaking face, increases success rate of extracting, is provided with multiple block being parallel to each other, the length of block outside described conveyer belt Degree is parallel with the axis of cylinder equal to the width of conveyer belt and block.
Described V-arrangement baffle plate 2 includes V-arrangement expansion segment and parallel channels section, the width of the widest part of the V-arrangement opening of V-arrangement expansion segment Degree is equal to the distance between two hulls of binary hull 1, and V-arrangement expansion segment is away from the width of one end of the widest part of V-arrangement opening Equal to the width of parallel channels section, the narrow end of V-arrangement expansion segment and parallel channels section seamless link.
In order to prevent compressor 4 from intaking causing trouble, described compressor 4 is arranged on the eminence on binary hull 1, and V-arrangement keeps off Plate 2 is arranged on the lower on binary hull 1, and when binary hull 1 is arranged on the water surface, the bottom of V-arrangement baffle plate 2 is immersed in water In, surfacing in top, compressor 4 is completely more than the water surface.Extract conveyer belt 3 to be inclined on binary hull 1, its lower end In the one end of the parallel channels section inserting V-arrangement baffle plate 2, the upper end extracting conveyer belt 3 is arranged on the top of compressor 4 charging aperture.
Described hydro-motor 6 is arranged on binary hull 1 between two points of hulls, on the one hand is used for promoting optimization flight path The water rubbish clean-up vessel motion of planning, on the other hand sucks outside fluid between two points of hulls of binary hull 1, has It is beneficial to extract conveyer belt 3 and extracts the floating thing of flow surface, improve the water rubbish clean-up vessel cleaning rubbish optimizing trajectory planning Efficiency.
In order to regulate the flow velocity of the fluid between two points of hulls entering binary hull 1, the V-arrangement of described V-arrangement baffle plate 2 expands The bottom opening section is provided with portable plate, and described portable plate passes through by rotating the held fluid of the V-arrangement expansion segment of regulation V-arrangement baffle plate 2 Area of section, even completely enclose V-arrangement expansion segment so that fluid cannot pass through V-arrangement expansion segment.
Two points of hulls on described binary hull 1 one side facing each other is provided with slide rail, and two slide rails are same Horizontal plane inscribe is parallel to each other, and is respectively provided with two slide blocks in slide rail, and each slide block is connected with the cylinder extracting conveyer belt 3, sliding Being additionally provided with hydraulically extensible bar in rail, described hydraulically extensible bar is connected with slide block, is regulated with shortening by the elongation of hydraulically extensible bar Extract the height of conveyer belt 3.In order to reduce the water rubbish clean-up vessel the optimizing trajectory planning resistance when the water surface moves merely, When the water rubbish clean-up vessel optimizing trajectory planning moves merely at the water surface, improve the height extracting conveyer belt 3.Make to extract Conveyer belt 3 contacts with surface deviation, then rotates portable plate and makes portable plate and plane-parallel, so optimizes trajectory planning When water rubbish clean-up vessel runs, resistance is minimum.
Above in conjunction with accompanying drawing, the present invention is exemplarily described, it is clear that the present invention implements not by aforesaid way Restriction, as long as have employed the method design of the present invention and the improvement of various unsubstantialities that technical scheme is carried out, or without changing Enter and design and the technical scheme of the present invention are directly applied to other occasion, all within protection scope of the present invention.This Bright protection domain should be as the criterion with the protection domain that claims are limited.

Claims (9)

1. the water rubbish clean-up vessel optimizing trajectory planning, it is characterised in that: this anti-pollution vessel includes binary hull (1) compressor (4), the extraction conveyer belt (3) being arranged on binary hull (1) that, are arranged on binary hull (1), it is arranged on Binary hull (1) is upper to be promoted the hydro-motor (6) of ship motion, the cargo hold (5) being arranged on binary hull (1) and is arranged on V-arrangement baffle plate (2) on binary hull (1), described binary hull (1) is provided with BEI-DOU position system, and binary hull also sets on (1) Laser distance is had to measure system, rubbish video recognition system and transmission system.
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 1, it is characterised in that: described garbage on water Cleaning ship also includes a controller, and described controller is hand-held by user on the coast.
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 1, it is characterised in that: described binary hull (1) include two point hulls being parallel to each other, a cargo hold (5) is set in each point of hull.
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 1, it is characterised in that: described extraction is transmitted Band (3) includes two cylinders and a conveyer belt being arranged on two cylinders, is provided with multiple the most flat outside described conveyer belt The block of row, the length of block is parallel with the axis of cylinder equal to the width of conveyer belt and block.
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 1, it is characterised in that: described V-arrangement baffle plate (2) including V-arrangement expansion segment and parallel channels section, the width of the widest part of the V-arrangement opening of V-arrangement expansion segment is equal to binary hull (1) Two hulls between distance, V-arrangement expansion segment away from the width of one end of the widest part of V-arrangement opening equal to parallel channels section Width, the narrow end of V-arrangement expansion segment and parallel channels section seamless link.
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 1, it is characterised in that: described compressor (4) being arranged on the eminence on binary hull (1), V-arrangement baffle plate (2) is arranged on the lower on binary hull (1), extracts conveyer belt (3) it is inclined on binary hull (1), in the one end of the parallel channels section that V-arrangement baffle plate (2) is inserted in its lower end, extracts and transmit The upper end of band (3) is arranged on the top of compressor (4) charging aperture.
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 1, it is characterised in that: described water spray starts Machine (6) is arranged between upper two points of hulls of binary hull (1).
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 1, it is characterised in that: described V-arrangement baffle plate (2) bottom of V-arrangement expansion segment is provided with portable plate.
The water rubbish clean-up vessel of optimization trajectory planning the most according to claim 4, it is characterised in that: described binary hull (1) two points of hulls on one side facing each other is provided with slide rail, and two slide rails are parallel to each other in same horizontal plane inscribe, Being respectively provided with two slide blocks in slide rail, each slide block is connected with the cylinder extracting conveyer belt (3), is additionally provided with hydraulically extensible in slide rail Bar, described hydraulically extensible bar is connected with slide block.
CN201610831702.3A 2016-09-19 2016-09-19 A kind of water rubbish clean-up vessel optimizing trajectory planning Expired - Fee Related CN106218825B (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108729429A (en) * 2018-06-11 2018-11-02 河海大学 A kind of marine refuse collecting robot people of automatic pathfinding

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CN1522932A (en) * 2003-09-11 2004-08-25 上海交通大学 Pipeline apparatus for hyacinth salvage boat
CN201534607U (en) * 2009-11-23 2010-07-28 常州达奇信息科技有限公司 Automatic device for collecting floaters on water
CN101806052A (en) * 2009-02-17 2010-08-18 上海市南洋模范中学 Dual-body duckweed pick-up boat
CN103287549A (en) * 2013-04-10 2013-09-11 暨南大学 Intelligent water quality monitoring and water surface cleaning ship
CN203854828U (en) * 2014-04-11 2014-10-01 珠海云洲智能科技有限公司 Autonomous navigation water surface cleaning robot
CN206012897U (en) * 2016-09-19 2017-03-15 安徽机电职业技术学院 A kind of water rubbish clean-up vessel for optimizing trajectory planning

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5384043A (en) * 1993-05-27 1995-01-24 Jbf Scientific Company, Inc. Skimmer having a retractable dynamic inclined plane
CN1522932A (en) * 2003-09-11 2004-08-25 上海交通大学 Pipeline apparatus for hyacinth salvage boat
CN101806052A (en) * 2009-02-17 2010-08-18 上海市南洋模范中学 Dual-body duckweed pick-up boat
CN201534607U (en) * 2009-11-23 2010-07-28 常州达奇信息科技有限公司 Automatic device for collecting floaters on water
CN103287549A (en) * 2013-04-10 2013-09-11 暨南大学 Intelligent water quality monitoring and water surface cleaning ship
CN203854828U (en) * 2014-04-11 2014-10-01 珠海云洲智能科技有限公司 Autonomous navigation water surface cleaning robot
CN206012897U (en) * 2016-09-19 2017-03-15 安徽机电职业技术学院 A kind of water rubbish clean-up vessel for optimizing trajectory planning

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108729429A (en) * 2018-06-11 2018-11-02 河海大学 A kind of marine refuse collecting robot people of automatic pathfinding

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