CN106347594B - A kind of wireless charging clears up water surface robot system automatically - Google Patents
A kind of wireless charging clears up water surface robot system automatically Download PDFInfo
- Publication number
- CN106347594B CN106347594B CN201610920165.XA CN201610920165A CN106347594B CN 106347594 B CN106347594 B CN 106347594B CN 201610920165 A CN201610920165 A CN 201610920165A CN 106347594 B CN106347594 B CN 106347594B
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- robot
- floating object
- module
- coil
- robot system
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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
-
- 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 discloses a kind of wireless charging to clear up water surface robot system automatically, including robot and base station, robot includes waterproof circuit portion and the propeller, photographing module, floating object trapping module, WiFi module and the GPS module that are all connected with waterproof circuit portion, base station includes support, is arranged on the platform of support front end, the rotating shaft being arranged on support, the bull stick being fixedly connected with rotating shaft vertical direction, the electromagnet that bull stick front end is set and the target of bull stick top setting, and the second coil and the second magnet array are set on platform.The present invention possesses autonomous floating object capture ability and autonomous homeward charging ability, can completely disengage artificial autonomous, non-stop run, is especially suitable for the floating floater cleaning of the artificial water surface such as the natural water surface such as river course, lake, ocean and reservoir, swimming pool.In addition, the robot is also equipped with floating object Automatic-dumping ability, the floating object that can be focused on the floating object being collected on the base station of bank stacks point, really realizes unmanned running.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of wireless charging clears up water surface robot system automatically.
Background technology
In recent years, China waters floating object pollution problem getting worse.The floating drift of the waters such as river course, coastal waters, lake, reservoir
Float is seen everywhere.Floating floating object has become the important sources of water pollution, not only have impact on ocean rivers and lakes ecology
System, residents ' health is jeopardized, serious infringement is also caused to ecoscape.The manner of cleaning up of waters floating object is main at present
There are two kinds of mechanical chipping and manual cleaning.Mechanical chipping mainly uses ship for colleting garbage floated on water, this manner of cleaning up efficiency high,
Cleaning amount is big, suitable for the cleaning of floating object concentrated area.But for scattered floating object, using the property of floater cleaning boat
Valency ratio and cleaning efficiency are obviously very low, at present to use manual cleaning mode more.But manual cleaning is also required to expend very high people
Power, material resources, and potential safety hazard be present.Also there is some automatic floats cleaning ship can be in water surface autonomous cruise, to floating on the way
Thing is cleared up.But these floater cleaning boats are searched for without active, the ability of capture floating object, and all do not account for floating
The final discharge of thing and the continuous operation ability of cleaning ship, it is far apart apart from useful application.
The content of the invention
In view of this, it is an object of the invention to provide a kind of wireless charging to clear up water surface robot system automatically, uses
Automatically control with wireless charging technology, to realize motion control to automatic cleaning machine device people, the identification of floating object, follow the trail of and catch
Obtain, make a return voyage charging and floating object capture are practical without human intervention.
To reach above-mentioned purpose, the invention provides a kind of wireless charging to clear up water surface robot system, including machine automatically
Device people and base station, wherein,
The robot includes waterproof circuit portion, propeller, photographing module, floating object trapping module, WiFi module and GPS
Module, the propeller, photographing module, floating object trapping module, WiFi module and GPS module are all connected with waterproof circuit portion,
Wherein,
The waterproof circuit portion includes waterproof circuit case, first coil and the first magnet array, first coil and the first magnetic
Iron array is each attached to below waterproof circuit case；
The propeller is arranged on waterproof circuit case both sides, for realizing the advance, retrogressing and turning of the robot；
The photographing module includes camera and the steering motor being connected with camera, and camera is 360 ° of Plane Rotations
Formula, steering motor are 360 ° of Plane Rotation formulas；
The floating object trapping module include moving collection plate, flashboard, rope, floating object collect basket, rotary shaft, motor,
Support frame and dead electricity type electromagnet, moving collection plate, floating object are collected basket, rotary shaft and motor and are connected with support frame；
Flashboard passes through rope and rotation axis connection；Rope is also connected with moving collection plate；Motor and rotation axis connection, control its positive and negative
Turn；Floating object collection basket is by dead electricity type electromagnetic actuation above waterproof circuit case；
The WiFi module is fixed on the support frame, for being communicated with remote terminal；
The GPS module is fixed on the support frame, for obtaining the real time position of robot；
The base station includes support, is arranged on the platform of support front end, the rotating shaft being arranged on support and rotating shaft Vertical Square
It is described flat to the bull stick being fixedly connected, the electromagnet being fixedly connected with bull stick front end and the target being fixedly connected with bull stick top
Second coil and the second magnet array are set on platform.
Preferably, control circuit, observation circuit, wireless charging circuit, battery pack and electricity are set in the waterproof circuit case
Sub- compass, observation circuit, wireless charging circuit, battery pack and electronic compass are all connected with control circuit.
Preferably, the waterproof circuit case also includes watertight line, and the waterproof circuit case is by the watertight line with promoting
Device, photographing module, floating object trapping module, WiFi module connect with GPS module.
Preferably, the first coil and the first magnet array pass through epoxy resin encapsulated, the first coil and first
Magnet array is all fixedly connected with waterproof circuit case.
Preferably, the first coil uses multiply litz wire coiling.
Preferably, spring is provided with the middle part of the moving collection plate, the junction of support frame is provided with spring.
Preferably, the moving collection plate opens in eight words.
Preferably, second coil and the second magnet array pass through epoxy resin encapsulated, second coil and second
Magnet array is all fixedly connected with platform.
Preferably, second coil uses multiply litz wire coiling.
Compared with prior art, robot system disclosed by the invention possesses autonomous floating object capture ability and autonomous homeward
Charging ability, artificial autonomous, non-stop run can be completely disengaged, and can be communicated with remote terminal, can set certainly
Main cruise cleaning route, it is especially suitable for the floating drift of the artificial water surface such as the natural water surface such as river course, lake, ocean and reservoir, swimming pool
Float is cleared up.In addition, the robot is also equipped with floating object Automatic-dumping ability, the floating object being collected into can be focused on bank
Floating object on base station stacks point, really realizes unmanned running.
Brief description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carried out
Explanation：
Fig. 1 is the structured flowchart of wireless charging automatic cleaning machine device people's system of the embodiment of the present invention；
Fig. 2 is robot architecture's schematic diagram of wireless charging automatic cleaning machine device people's system of the embodiment of the present invention；
Fig. 3 is robot architecture's upward view of wireless charging automatic cleaning machine device people's system of the embodiment of the present invention；
Fig. 4 is the architecture of base station schematic diagram of wireless charging automatic cleaning machine device people's system of the embodiment of the present invention；
Fig. 5 is the detailed construction schematic diagram of wireless charging automatic cleaning machine device people's system of the embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, rather than whole embodiments.Based on this hair
Embodiment in bright, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to the scope of protection of the invention.
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
It is structured flowchart, the machine of wireless charging automatic cleaning machine device people's system of the embodiment of the present invention referring to shown in Fig. 1-5
Device people structural representation, upward view, the detailed construction schematic diagram of architecture of base station schematic diagram and system, the system include robot 1
With base station 2, wherein,
The robot 1 includes waterproof circuit portion 11, propeller 12, photographing module 13, floating object trapping module 14, WiFi
Module 15 and GPS module 16, the propeller 12, photographing module 13, floating object trapping module 14, WiFi module 15 and GPS moulds
Block 16 is all connected with waterproof circuit portion 11, wherein,
Waterproof circuit portion 11 includes waterproof circuit case 111, the magnet array 113 of first coil 112 and first, first coil
112 and first magnet array 113 be each attached to the lower section of waterproof circuit case 111；
Propeller 12 is arranged on the both sides of waterproof circuit case 111, for realizing the advance, retrogressing and turning of robot 1；
Photographing module 13 includes camera and the steering motor being connected with camera, and camera is 360 ° of Plane Rotation formulas,
Steering motor is 360 ° of Plane Rotation formulas；
Floating object trapping module 14 includes moving collection plate 141, flashboard 142, rope 143, floating object and collects basket 144, rotation
Rotating shaft 145, motor 146, support frame 147 and dead electricity type electromagnet, moving collection plate 141, floating object collect basket 144, rotation
Axle 145 and motor 146 are connected with support frame 147；Flashboard 142 is connected by rope 143 with rotary shaft 145；Rope 143 is also
It is connected with moving collection plate 141；Motor 146 is connected with rotary shaft 145, controls its rotating；Floating object collects basket 144 and passes through mistake
Electric type electromagnetic actuation is above waterproof circuit case；
WiFi module 15 is fixed in support frame 147, for being communicated with remote terminal；
GPS module 16 is fixed in support frame 147, for obtaining the real time position of robot 1；
Base station 2 includes support 21, the platform 22 for being arranged on the front end of support 21, sets rotating shaft 23 on the stent 21, with turning
Bull stick 24 that the vertical direction of axle 23 is fixedly connected, the electromagnet 25 being fixedly connected with the front end of bull stick 24 and fixed with the top of bull stick 24
The target 26 of connection, the second coil 222 and the second magnet array 221 are set on platform 22.
Using being set as above, waterproof circuit portion 11 and propeller 12 are completely under water, moving collection plate 141, flashboard 142
Collecting basket 144 with floating object, half is in underwater in normal state.
1st, robot 1, which realizes, makes an inspection tour function.
The propulsion of robot 1 is realized by two symmetrical propellers 12, and passes through the positive and negative of two propellers 12 of control
Turn to realize moving forward and backward for robot 1, the different rotating speeds of two propellers 12 of control realize the turning of robot 1.Robot 1
Settable terminal (mobile phone or tablet personal computer) remote control and autonomous cruise both of which.In terminal remote control pattern, terminal passes through WiFi
WiFi module 15 with robot 1 communicates, and advance, retrogressing and the turning of control machine people 1, and can pass through photographing module
13 see the real-time pictures that camera is passed back, furthermore, it is possible to cruise, maked a return voyage to the setting of robot 1 by terminal, captured etc. times
Business.In autonomous cruise pattern, robot 1 carries out floater cleaning according to the path point set, when robot 1 reaches set point
Afterwards, photographing module 13 carries out 360 ° of rotation sweeps in horizontally and vertically direction, such as finds floating object, is then cleared up, cleared up
Cheng Hou, go to next set point.
2nd, robot 1 realizes floating object identification, tracking and capturing function.
In the cruise and search procedure of robot 1, floater identification is carried out using machine vision algorithm, and obtain
Coordinate of the floater in the plane of delineation；Then using the coordinate information of floating object as feedback quantity, control machine people 1 follows the trail of drift
Float is advanced, until robot is sailed in floating object region.
When robot 1 is by floater position, floating object is directed to two pieces of activities due to relative motion
Region between collecting board 141, rotary shaft 145 is driven axially to rotate clockwise by motor 146, two wound in rotary shaft 145
Strand rope 143 is tightened, and one rope 143 drives flashboard 142 to move upwards, and another strand rope 143 drives moving collection plate 141
Inwardly close up, now, robot 1 is moved forward, and floating object is collected in basket 144 as current slip into floating object；By suitable
When delay, motor 146 inverts, and drives rotary shaft 145 axially to rotate counterclockwise, and moving collection plate 141 returns to acquiescence and opens position
Put, at the same time, flashboard 142 falls after rise under gravity, and floating object is blocked in into floating object collects in basket 144, completes drift
Float captures.
3rd, robot system complete make a return voyage charging and floating object topple over function.
Bank is built in the base station 2 charged and topple over floating object function, and its structural representation is referring to Fig. 4.The branch of base station 2
Rotating shaft 23 is provided with frame 21, bull stick 24 is vertical with rotating shaft 23 to be fixedly connected, and target 26 is provided with bull stick 24, for vectoring aircraft
Device people 1 is maked a return voyage.The first step of charging of making a return voyage is that the position in the front of base station 2 is driven to according to path point cruise.Camera rotates
The rear of 180 ° of face robots 1, the target 26 on base station 2 is identified；Then robot 1 is made using vision guide technology
Base station 2 is retracted into from front；After robot enters base station, the front end of bull stick 24 is equipped with electromagnet 25, holds the ferromagnetism of robot 1
Floating object collects basket 144, lifts floating object collection basket 144 by the rotating band turn bar 24 of rotating shaft 23 and topples over.Floating object is collected
Basket 144 by dead electricity type electromagnetic actuation above waterproof circuit case 111, it is necessary to when unloading floating object, give dead electricity type electromagnet
It is powered, suction disappears, and floating object is collected the can of basket 144 and is removed.
In concrete application example, waterproof circuit case is made using nonmetallic organic material, can be provided for robot enough
Buoyancy.
For the platform 22 that robot 1 stops positioned under water, it is interior or envelope has the second coil 222 and the second magnet array thereon
221, arrive base station 2 when robot 1 is smoothly homeward, the second magnet array 221 on platform 22 is with the waterproof circuit case 111 of robot 1
First magnet array 113 of bottom attracts each other, and realizes the fixation of robot 1.Now, the second coil 222 on platform 22 with
The first coil 112 of the bottom of 1 waterproof circuit case of robot 111 is just aligned, and can carry out wireless charging, stops the machine of completion
People 1 and the location status of base station 2 are shown in Figure 5.If robot 1 will start new task, only propeller 12 need to be controlled to start
To desired speed, caused propulsive force can make robot 1 shake off the suction of magnet and advance.
Waterproof circuit case 111 also includes watertight line, and waterproof circuit case 111 passes through watertight line and propeller 12, photographing module
13rd, floating object trapping module 14, WiFi module 15 and GPS module 16 connect.
The magnet array 113 of first coil 112 and first passes through epoxy resin encapsulated, the magnet battle array of first coil 112 and first
Row 113 are all fixedly connected with waterproof circuit case 111, and first coil 112 uses multiply litz wire coiling.
The middle part of moving collection plate 141 is provided with spring, the junction of support frame 147 is provided with spring, activity is received
Collect plate 141 to open in eight words.
Second coil 222 and the second magnet array 221 pass through epoxy resin encapsulated, the second coil 222 and the second magnet battle array
Row 221 are all fixedly connected with platform 22, and the second coil 222 uses multiply litz wire coiling.
Further, control circuit, observation circuit, wireless charging circuit, battery pack and electricity are set in waterproof circuit case 111
Sub- compass, observation circuit, wireless charging circuit, battery pack and electronic compass are all connected with control circuit.Observation circuit is supervised at any time
Electricity, the floating object capture data such as number of battery pack are surveyed, when monitor value reaches threshold value, open homeward charging tasks, robot 1
Real time position obtained by GPS module 16.Waterproof circuit case 111 also includes watertight line, and waterproof circuit case 111 passes through watertight line
It is connected with propeller 12, photographing module 13, floating object trapping module 14, WiFi module 15 and GPS module 16.
The magnet array 113 of first coil 112 and first passes through epoxy resin encapsulated, the magnet battle array of first coil 112 and first
Row 113 are fixedly connected with waterproof circuit case 111.First coil 112 uses multiply litz wire coiling.Second coil 222 and second
Magnet array 221 is fixedly connected by epoxy resin encapsulated, the second coil 222 and the second magnet array 221 with platform 22.Second
Coil 222 uses multiply litz wire coiling.
Open, its middle part and be provided with the junction of support frame 147 in eight words under the default conditions of moving collection plate 141
Spring, make the opening and closing of moving collection plate 141 more flexible.
It should be appreciated that exemplary embodiment as described herein is illustrative and be not restrictive.Although retouched with reference to accompanying drawing
One or more embodiments of the invention is stated, it should be understood by one skilled in the art that without departing from appended right
It is required that in the case of the spirit and scope of the present invention limited, the change of various forms and details can be made.
Claims (9)
1. a kind of wireless charging clears up water surface robot system automatically, it is characterised in that including robot (1) and base station (2), its
In,
The robot (1) includes waterproof circuit portion (11), propeller (12), photographing module (13), floating object trapping module
(14), WiFi module (15) and GPS module (16), the propeller (12), photographing module (13), floating object trapping module
(14), WiFi module (15) and GPS module (16) are all connected with waterproof circuit portion (11), wherein,
The waterproof circuit portion (11) includes waterproof circuit case (111), first coil (112) and the first magnet array (113), the
One coil (112) and the first magnet array (113) are each attached to below waterproof circuit case (111)；
The propeller (12) is arranged on waterproof circuit case (111) both sides, for realizing the advance of the robot (1), retreating
And turning；
The photographing module (13) includes camera and the steering motor being connected with camera, and camera is 360 ° of Plane Rotations
Formula, steering motor are 360 ° of Plane Rotation formulas；
The floating object trapping module (14) includes moving collection plate (141), flashboard (142), rope (143), floating object and collected
Basket (144), rotary shaft (145), motor (146), support frame (147) and dead electricity type electromagnet, moving collection plate (141), drift
Float is collected basket (144), rotary shaft (145) and motor (146) and is connected with support frame (147)；Flashboard (142) passes through rope
(143) it is connected with rotary shaft (145)；Rope (143) is also connected with moving collection plate (141)；Motor (146) and rotary shaft
(145) connect, control its rotating；Floating object collection basket (144) is by dead electricity type electromagnetic actuation above waterproof circuit case；
The WiFi module (15) is fixed in support frame (147), for being communicated with remote terminal；
The GPS module (16) is fixed in support frame (147), for obtaining the real time position of robot (1)；
The base station (2) includes support (21), is arranged on the platform (22) of support (21) front end, turn being arranged on support (21)
Axle (23), the bull stick (24) being fixedly connected with rotating shaft (23) vertical direction, the electromagnet being fixedly connected with bull stick (24) front end
(25) target (26) and with bull stick (24) top being fixedly connected, the second coil (222) and second are set on the platform (22)
Magnet array (221).
2. robot system according to claim 1, it is characterised in that control is set in the waterproof circuit case (111)
Circuit, observation circuit, wireless charging circuit, battery pack and electronic compass, observation circuit, wireless charging circuit, battery pack and electricity
Sub- compass is all connected with control circuit.
3. robot system according to claim 1, it is characterised in that the waterproof circuit case (111) also includes watertight
Line, the waterproof circuit case (111) pass through the watertight line and propeller (12), photographing module (13), floating object trapping module
(14), WiFi module (15) and GPS module (16) connection.
4. robot system according to claim 1, it is characterised in that the first coil (112) and the first magnet battle array
(113) are arranged by epoxy resin encapsulated, the first coil (112) and the first magnet array (113) all with waterproof circuit case
(111) it is fixedly connected.
5. robot system according to claim 1, it is characterised in that the first coil (112) uses multiply Ritz
Line coiling.
6. robot system according to claim 1, it is characterised in that the middle part of the moving collection plate (141) is set
There is spring, the junction of support frame (147) is provided with spring.
7. robot system according to claim 1, it is characterised in that the moving collection plate (141) is opened in eight words.
8. robot system according to claim 1, it is characterised in that second coil (222) and the second magnet battle array
It is all fixed with platform (22) by epoxy resin encapsulated, second coil (222) and the second magnet array (221) to arrange (221)
Connection.
9. robot system according to claim 1, it is characterised in that second coil (222) uses multiply Ritz
Line coiling.
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| CN201610920165.XA CN106347594B (en) | 2016-10-21 | 2016-10-21 | A kind of wireless charging clears up water surface robot system automatically |
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| CN106347594B true CN106347594B (en) | 2018-02-09 |
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| CN108839766B (en) * | 2017-03-06 | 2020-08-28 | 浙江雷奥重工机械有限公司 | Robot for cleaning water surface |
| CN107100154B (en) * | 2017-06-21 | 2019-01-29 | 刘帅男 | It is a kind of for clearing up the intelligent robot of river surface rubbish |
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| CN112609653B (en) * | 2020-12-11 | 2022-01-28 | 上海酷班生物科技有限公司 | Automatic monitoring equipment for biological environment health |
| CN112896471B (en) * | 2021-02-05 | 2022-02-08 | 浙江大学 | Multifunctional suspended underwater robot and base station system thereof |
| CN114348215B (en) * | 2021-12-23 | 2023-02-07 | 杭州电子科技大学 | Underwater equipment survey device for preventing underwater biological interference |
| CN114775716A (en) * | 2022-04-07 | 2022-07-22 | 广东海洋大学 | Energy-saving underwater garbage cleaning robot with classification function |
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| CN106347594A (en) | 2017-01-25 |
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