CN108860487A - A kind of intelligence water surface cleaning robot - Google Patents
A kind of intelligence water surface cleaning robot Download PDFInfo
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- CN108860487A CN108860487A CN201810172250.1A CN201810172250A CN108860487A CN 108860487 A CN108860487 A CN 108860487A CN 201810172250 A CN201810172250 A CN 201810172250A CN 108860487 A CN108860487 A CN 108860487A
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- Prior art keywords
- hull
- water surface
- robot
- control system
- master control
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
Abstract
The invention discloses a kind of intelligent water surface cleaning robots, including hull, floating drum, refuse collector system, rubbish storage storehouse, dynamical system, power supply system, master control system, and the refuse collector system includes refuse collector and flexible mechanism；The floating drum is fastened on respectively on two floating drum clamp devices, and the rear side of the refuse collector or inside are equipped with turnover panel, rubbish storage storehouse is arranged among hull, dynamical system is arranged in rubbish storage storehouse rear；The dynamical system includes the motor, transmission mechanism and hydraulic propeller of hull interior, and the top of the dynamical system is equipped with transfer；The power supply system includes battery and charging and discharging protection device；The master control system includes Bluetooth control system, dirt identification device, visual pattern identifying system and GPS navigation system.The present invention, which can replace, manually carries out work of independently removing contamination in all kinds of waters surface, promotes efficiency of removing contamination, reduces cost of labor, and enhance safety.
Description
Technical field
The present invention relates to mechanical device and transport fields, specifically a kind of more particularly to the equipment of collecting refuse from open water
Intelligent water surface cleaning robot.
Background technique
China is vast in territory, the inevitable multiplicity in waters, and in actual production life, many water sources, such as river, man-made lake, shallow
The waters surface such as beach, hot spring, bathing beach, all inevitably adrift artificial refuses such as polybag, foam, and it is fallen leaves, excessive
The nature rubbish such as algae.Especially city main stem in, coastal cities seashore, household garbage and tourist attraction water body
Rubbish, it is beautiful that these all affect people's lives health and environment.
The mode for clearing up garbage on water at home mainly has commercial pick-up boat, which needs that professional is employed to carry out the water surface
Cleaning；There are also manually with small-sized fishing device such as：It slips through the net, the auxiliary such as fork clear up river, and in addition there are also salvage persons to be sitting in
Machine is operated on ship carries out water surface clean-up operation.In general, existing commercial pick-up boat volume is big, at high cost, and needs to count
The work of people's cooperating, there are many more small areas, not can enter salvaging cleaning, can only be allowed to become urban waters greening
Dead angle.It fully relies on and manually removes contamination, personal safety cannot be guaranteed, work difficulty and operation intensity are all very big.
Currently, the domestic water surface is removed contamination, equipment technology level is lower, substantially using manpower as the form supplemented by mother-tool, effect of removing contamination
Rate is relatively low.The higher cleaning robot of automation and intelligence degree that sewage disposal apparatus is combined with hull is more rarely seen.
Summary of the invention
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of intelligent water surface cleaning robot
Problem.
To achieve the above object, the present invention provides the following technical solutions：
A kind of intelligence water surface cleaning robot, including hull, floating drum, refuse collector system, rubbish storage storehouse, power
System, power supply system, master control system, the refuse collector system include refuse collector and flexible mechanism, the rubbish
Rubbish collection device be arranged before hull, refuse collector some in horizontal plane hereinafter, refuse collector is mounted on
Above flexible mechanism, the flexible mechanism is fixed on the front of hull；The floating drum is fastened on two floating drum clamp devices respectively
On, two floating drum clamp devices are mounted on hull two sides according to suitable spacing, and floating drum clamp device has regulating device,
The floating drum is below floating drum clamp device, when the weight in rubbish storage storehouse in hull is more than setting value, floating drum clamp device
Hull is adjusted at a distance from the water surface；The hull is equipped with crossbeam, and monitoring camera is fixedly mounted on the side vertical bar of the crossbeam
Visual processes camera is fixedly mounted in head, the other side；The rear side of the refuse collector or inside are equipped with one and hull bottom
The equal turnover panel in portion, turnover panel connect rotating shaft electric motor by turnover panel shaft；Rubbish storage storehouse, the rubbish are set among the hull
Dynamical system is arranged in storage silo rear, and when hull is close to rubbish, refuse collector rotates automatically, and rubbish is allocated in hull
Turnover panel, when the garbage weight on turnover panel reaches a timing, turnover panel shaft and rotating shaft electric motor start to carry out rotation work, rubbish meeting
It is fallen in rubbish storage storehouse automatically along the platen surface with inclination angle, rubbish storage storehouse is close to the side of turnover panel；The power
System includes the motor, transmission mechanism and hydraulic propeller of hull interior, and the top of the dynamical system is equipped with transfer；Institute
Stating power supply system includes battery and charging and discharging protection device；The master control system includes Bluetooth control system, dirt identification dress
It sets, visual pattern identifying system and GPS navigation system, the transfer, power supply system and master control system are arranged at hull
Tail portion.
As a further solution of the present invention：The hull is the single hull structure of twin float composition.
As further scheme of the invention：The refuse collector is made of the smooth crotch of multiple groups, flexibly
The refuse collector of different model is installed in mechanism.
As further scheme of the invention：The hydraulic propeller is pump spray Powered Propulsion formula hydraulic jet propulsion system,
Master control system is passed through using the pump spray Powered Propulsion formula hydraulic jet propulsion system of double-row type as dynamical system using dual-row design
It allows robot to work, realizes synchronous steering, advances, car-backing function.
As further scheme of the invention：The transfer is arranged on the hydraulic propeller at dynamical system rear
, it when transfer opening, realizes forward motion, when transfer closure, realizes reversing/ship movement, work as transfer
When executing leftward or rightward movement, as steering operation.
As further scheme of the invention：The Bluetooth control system realizes the remote assistance of Human-to-Machine people；Institute
It states dirt identification device to be made of infrared sensor and ultrasonic sensor, the identification of water surface dirt and robot are hidden in completion
The front of refuse collector is arranged in obstacle, the infrared sensor, and the two sides of hull are arranged in ultrasonic sensor；It is described
Visual pattern identifying system can assist dirt identification device to carry out near work and people's remote assistance and observer robot
Situation carries out auxiliary detecting to the dirt on the water surface while working sensor, promotes the identification of water surface dirt and collects effect
Rate, it is unreachable or than more covert place in human eye, human assistance operation can be carried out by visual pattern identifying system；It is described
GPS navigation system can position the operating position of distribution of machine people in real time, and robot realization can be allowed to pull in shore automatically.
As further scheme of the invention：The refuse collector is detachable and replaces, the rubbish storage storehouse
Detachably.
As further scheme of the invention：Hydraulic propeller in the floating drum clamp device and dynamical system is
3D printing.
As further scheme of the invention：The application method of the intelligent water surface cleaning robot, including it is following
Step：
Step 1：It searches and turns to
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, and sensor is real-time
Robot information nearby is detected, and is sent to master control system, whether master control system calculating is bank, if not, system continues to search
It seeks, repeats the above steps；If so, master control system issues the instruction in change direction to transfer, transfer, which turns to, to be continued
It searches, repeats the above steps；
Step 2：Dirt identification and collection
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, and sensor is real-time
Obstacle information near detection, visual pattern identifying system auxiliary detection robot, and it is sent to master control system, master control system meter
It calculates/identifies whether and repeat the above steps for dirt if not, system continues to identify；If so, master control system, which issues, collects dirt
The instruction of object to refuse collector, refuse collector work, system continues to identify, repeat the above steps；
Step 3：Dirt storage
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, pressure sensor
Dirt weight information on turnover panel is sent to master control system by real-time working, and whether it is more than preset weight that master control system calculates, if
No, system works on, and repeats the above steps；If so, issuing the instruction of rotating shaft electric motor rotation to rotating shaft electric motor, rotating shaft electric motor
Rotation, enters the delay dirt on turnover panel in rubbish storage storehouse, system works on, and repeats the above steps；
Step 4：Hull is adjusted at a distance from the water surface
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, water level detecting dress
The range information for setting detection hull and the water surface is sent to master control system, and whether it is more than default line that master control system calculates, if not, being
System works on, and repeats the above steps；Hull is adjusted at a distance from the water surface to floating drum clamp device if so, issuing, and is floated
Cylinder clamp device work, system work on, repeat the above steps.
As further scheme of the invention：It further include step 5 for special area：Remote assistance：Console hair
Send real messages to robot, robot issues the instruction of work to master control system, and master control system sends actual instruction to each portion
Part, each joint.
Compared with prior art, the beneficial effects of the invention are as follows：Intelligent water surface cleaning robot of the invention can replace
Work of independently removing contamination manually is carried out in all kinds of waters surface, promotes efficiency of removing contamination, reduces cost of labor, and enhance safety.With tradition
Device for cleaning dirt on surface of water is compared and is had the following advantages that：
(1) intelligent water surface cleaning robot realizes intelligent cruise by GPS system, in the case where left unguarded, according to
Need to be arranged the working time section of intelligent water surface cleaning robot, intelligent water surface cleaning robot can be automatic during this period of time
Realization starts, clears up, bring to a series of operation such as pull in shore.
(2) during the water surface is cleared up, intelligent water surface cleaning robot passes through ultrasonic sensor and infrared sensor
It identifies garbage on water and barrier and intelligent water surface cleaning robot and bank is avoided to hit, and be able to detect that eye-observation
Less than place.Simultaneously under the auxiliary of image identification system, the discrimination of garbage on water is improved, cleaning efficiency is increased.
(3) unrecognized in special circumstances in intelligent water surface cleaning robot, it can be remotely controlled by Video transmission system
Intelligent water surface cleaning robot working condition, remote assistant carry out rubbish cleaning.
(4) intelligent water surface cleaning robot is using the fixed floating drum of chelating device, not according to the complexity of water surface situation
Together, the orientation and dynamics of adjust automatically chelating component, balances hull, reinforces stability.In conjunction with intelligent spraying dynamical system, multiple
Miscellaneous waters easily realizes the movement such as walking, turning of ship, the winding of foreign matter in water, machine is avoided relative to propeller propulsion system
The passability of device people is stronger.
(5) intelligent water surface cleaning robot is in scale removal process, because rubbish bears a heavy burden, passes through level gauging system
System, real-time monitoring intelligence water surface cleaning robot keep intelligence at a distance from the water surface, and in floating drum-hull jacking system communication
The relative distance of water surface cleaning machine device people and the water surface guarantee the safety of the working environment of intelligent water surface cleaning robot.Work as floating drum
When more than drinking water warning line, then liquid level measuring system can make intelligent water surface cleaning robot make a return voyage immediately by GPS system.
(6) cleaning plant can be replaced to intelligent water surface cleaning robot, to deal with difference according to the actual conditions of the water surface
Waters and Various Seasonal, to increase the application range and practicability of intelligent water surface robot.
Detailed description of the invention
Fig. 1 is the main view of intelligent water surface cleaning robot.
Fig. 2 is the top view of intelligent water surface cleaning robot.
Fig. 3 is the structural schematic diagram of another refuse collector in intelligent water surface cleaning robot.
Fig. 4 is the structural schematic diagram of still another refuse collector in intelligent water surface cleaning robot.
Fig. 5 is the structural schematic diagram of pump spray Powered Propulsion formula hydraulic jet propulsion system in intelligent water surface cleaning robot.
Fig. 6 is the flow chart of intelligent water surface cleaning robot application method step 1.
Fig. 7 is the flow chart of intelligent water surface cleaning robot application method step 2.
Fig. 8 is the flow chart of intelligent water surface cleaning robot application method step 3.
Fig. 9 is the flow chart of intelligent water surface cleaning robot application method step 4.
Figure 10 is the flow chart of intelligent water surface cleaning robot application method step 5.
In figure：1- refuse collector；2- flexible mechanism；3- floating drum clamp device；4- floating drum；5- motor；6- crossbeam；7-
Turnover panel；8- turnover panel shaft and rotating shaft electric motor；9- rubbish storage storehouse；10- dynamical system；11- transfer；12- power supply system；13-
Master control system；4- infrared sensor；15- ultrasonic sensor.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Please refer to Fig. 1~5, in the embodiment of the present invention, a kind of intelligence water surface cleaning robot, including hull, floating drum 4, rubbish
Rubbish collection device system, rubbish storage storehouse 9, dynamical system 10, power supply system 12, master control system 13, the hull are twin float
The single hull structure of composition, the hull figure is smaller, can work in the untouchable region of people, reduces operating irregularity；
The refuse collector system includes refuse collector 1 and flexible mechanism 2, and the refuse collector 1 is by multiple groups light
Sliding crotch composition, the refuse collector 1 are arranged before hull, refuse collector 1 some horizontal plane with
Under, refuse collector 1 is mounted in flexible mechanism 2 and works, and the flexible mechanism 2 is fixed on the front of hull, flexible mechanism 2
On the refuse collector 1 (as shown in Figure 3-4) of different model can be installed；It is tight that the floating drum 4 is fastened on two floating drums respectively
It is fixedly mounted with and sets on 3, two floating drum clamp devices 3 are mounted on hull two sides according to suitable spacing, and floating drum clamp device 3 has
Regulating device, is adjusted the spacing of hull and the water surface, and the floating drum 4 can increase hull to floating drum under floating drum clamp device 3
4 sequestering power improves the stability of ship, while comparing traditional Water-surface cleaning ship, and floating drum 4 can reduce the water surface to the water surface
The working resistance of clean robot can also reduce impact stress when robot for water surface cleaner collision obstacle, when rubbish in hull
When the weight of rubbish storage silo 9 is more than setting value, the adjustment hull that floating drum clamp device 3 can be intelligent prevents at a distance from the water surface
Hull does not have flow surface excessively, influences the operation of dynamical system 10；The hull is equipped with crossbeam 6, the side vertical bar of the crossbeam 6
On fix a monitoring camera, a visual processes camera is fixed in the other side, can hold demand adjustment camera height
Degree；The rear side of the refuse collector 1 or inside are equipped with a turnover panel 7 equal with hull bottom, and turnover panel 7 is turned by turnover panel
Axis and rotating shaft electric motor 8 work；When hull is close to rubbish, refuse collector 1 rotates automatically, and rubbish is allocated in hull
Turnover panel 7, when the garbage weight on turnover panel 7 reaches a timing, turnover panel shaft and rotating shaft electric motor 8 start to carry out rotation work, rubbish
Rubbish can be fallen on automatically in rubbish storage storehouse 9 along the platen surface with inclination angle, and rubbish storage storehouse 9 is close to the side of turnover panel, plate
It is high lower, it dumps rubbish convenient for turnover panel；One capacity biggish rubbish storage storehouse 9 is set among the hull, and the rubbish is deposited
Dynamical system 10 is arranged in 9 rear of warehouse, and the dynamical system 10 includes motor 5, transmission mechanism and the hydraulic jet propulsion of hull interior
Device, as shown in figure 5, the hydraulic propeller is pump spray Powered Propulsion formula hydraulic jet propulsion system, using dual-row design, use is double
The pump spray Powered Propulsion formula hydraulic jet propulsion system of formula allows robot to work, Ke Yishi as dynamical system by master control system 13
The now functions such as synchronous steering, advance, reversing, compare the propeller plant of traditional Water-surface cleaning ship, can be to avoid water plant
The problem of twining dead propeller, sundries blocking water injector, and power is larger, in rubbish storage storehouse 9 waste deposit it is excessive when
Time remains to neatly carry out garbage collection, increases the sphere of action that the water surface is removed contamination, extends service life；The dynamical system
10 top is equipped with transfer 11, and the transfer 11 is relied on the hydraulic propeller at 10 rear of dynamical system,
When transfer 11 is open, forward motion may be implemented, when transfer 11 is closed, reversing (ship) movement may be implemented,
When transfer 11 executes movement to the left (or to the right), as steering operation；The power supply system 12 include battery and
Charging and discharging protection device；The master control system 13 include Bluetooth control system, dirt identification device, visual pattern identifying system and
GPS navigation system, the Bluetooth control system can be realized the remote assistance of Human-to-Machine people, and the dirt identification device is by red
Outer sensor 14 and ultrasonic sensor 15 form, and can complete to hide obstacle to the identification of water surface dirt and robot, described
The front of refuse collector 1 is arranged in infrared sensor 14, and the two sides of hull, the vision is arranged in ultrasonic sensor 15
Image identification system can assist dirt identification device to carry out the situation near work and people's remote assistance and observer robot,
The visual pattern identifying system can carry out auxiliary detecting to the dirt on the water surface, promote water while working sensor
The identification and collection efficiency of face dirt, it is unreachable or than more covert place in human eye, it can be with by visual pattern identifying system
Human assistance operation is carried out, the GPS navigation system can position in real time and send operating position and the robot of robot
Automatically pull in shore；The transfer 11, power supply system 12 and master control system 13 are arranged at the tail portion of hull.
The refuse collector 1 designs simple, ingenious, compares the refuse collector of traditional Water-surface cleaning ship,
When detecting dirt, refuse collector 1 is started to work subsequent stopping, reducing energy consumption, the work that refuse collector 1 rotates every time
It is big with area and small to the drag effects of hull, collection efficiency significant increase.The refuse collector 1 can dismantle and
Replacement, conveniently adapts to the needs under different situations, rubbish storage storehouse 9 can dismantle, convenient for clearing up away rubbish.
Intelligent water surface cleaning robot of the invention, can in the case where unmanned remote controlled, left unguarded, intelligence, efficiently,
Refuse on water surface is carried out energy savingly；Under GPS navigation system, intelligent navigation, the functions such as return may be implemented；In ultrasonic wave and
Under the action of infrared sensor and visual identifying system, water surface dirt can be accurately identified and collect, it being capable of accurate judgement rubbish
The presence of rubbish and position so that the rotation of refuse collector 1 is by garbage collection to rubbish storage storehouse 9, while being also avoided that machine
Device people and barrier or river bank bump against；Traditional device for cleaning dirt on surface of water is compared, improved efficiency is obvious；In the auxiliary of monitoring camera
It helps down, artificial remote assistance can be carried out, carry out dirt cleaning.
Hydraulic propeller in the floating drum clamp device 3 and dynamical system 10 is 3D printing.
The battery of robot being made by manufacturers or users according to demand, during the work time, when electricity excessively setting value, machine
Device people can stop current work, make a return voyage automatically, wait staff's charging.When robot is in standby mode, there is electricity
When too low, then by Bluetooth control system, signal is sent to console.
The working principle of the invention is：According to the water body situation to be cleared up, water body location information is sent to robot, machine
The route of device people is i.e. from the original area in region of removing contamination, first along bank from the side automatic running on bank to the another of bank
Then side detects bank by sensor, canoe turns around automatic turning, travels to adjacent side, and so circulation will remove contamination
Region entirety is all searched on one side.When canoe is close to rubbish, dirt identification device can quickly detect the presence of dirt, together
When visual pattern identifying system can fast and accurately judge that the thing in front is rubbish or obstacle, then pass through master control system 13
Control refuse collector 1 gets up garbage collection.When dirt is accumulated to a certain extent in rubbish storage storehouse 9, floating drum is tight
It is fixedly mounted with and sets 3 and can intelligently adjust the distance of the hull water surface, guarantee work safety.When the rubbish on turnover panel 7, which exists, to be detained, turnover panel
Shaft and rotating shaft electric motor 8 can control the rotation of turnover panel 7, can smoothly enter into delay dirt in rubbish storage storehouse 9.In addition to solving
Robot searching less than special area the problem of, can be controlled by remote assistance, the collecting garbage in region is fixed.When
At the end of robot cleaner, then pass through location positioning system auto-returned harbour.
Fig. 6-10 is please referred to, the application method of the intelligence water surface cleaning robot includes the following steps：
Step 1：It searches and turns to
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, and sensor is real-time
Detect robot information nearby, and be sent to master control system 13, whether the calculating of master control system 13 is bank, if not, system after
It is continuous to search, it repeats the above steps；If so, master control system 13 issues the instruction in change direction to transfer 11, transfer
11 steerings continue to search for, and repeat the above steps；
Step 2：Dirt identification and collection
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, and sensor is real-time
Obstacle information near detection, visual pattern identifying system auxiliary detection robot, and it is sent to master control system 13, master control system
13 calculate/identify whether and repeat the above steps for dirt if not, system continues to identify；If so, master control system 13 issues
The instruction of trapped dirt to refuse collector 1, refuse collector 1 works, and system continues to identify, repeat the above steps；
Step 3：Dirt storage
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, pressure sensor
Dirt weight information on turnover panel 7 is sent to master control system 13 by real-time working, and whether it is more than default weight that master control system 13 calculates
Amount, if not, system works on, repeats the above steps；If so, issuing instruction that rotating shaft electric motor 8 rotates to rotating shaft electric motor
8, rotating shaft electric motor 8 rotates, and enters the delay dirt on turnover panel 7 in rubbish storage storehouse 9, and system works on, and repeats above-mentioned step
Suddenly；
Step 4：Hull is adjusted at a distance from the water surface
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, water level detecting dress
The range information for setting detection hull and the water surface is sent to master control system 13, and whether it is more than default line that master control system 13 calculates, if
No, system works on, and repeats the above steps；Dress is fastened to floating drum at a distance from the water surface if so, issuing and adjusting hull
3 are set, floating drum clamp device 3 works, and system works on, repeats the above steps；
Step 5 (step is used for special area)：Remote assistance
Console sends real messages to robot, and robot issues the instruction of work to master control system 13, master control system
13 send actual instruction to each component, each joint.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of intelligence water surface cleaning robot, including hull, floating drum (4), refuse collector system, rubbish storage storehouse (9),
Dynamical system (10), power supply system (12), master control system (13), which is characterized in that the refuse collector system includes rubbish
Rubbish collection device (1) and flexible mechanism (2), the refuse collector (1) are arranged before hull, refuse collector (1)
, in horizontal plane hereinafter, refuse collector (1) is mounted on above flexible mechanism (2), the flexible mechanism (2) is fixed for some
In the front of hull；The floating drum (4) is fastened on respectively on two floating drum clamp devices (3), two floating drum clamp devices
(3) hull two sides are mounted on according to suitable spacing, floating drum clamp device (3) has regulating device, and the floating drum (4) is in floating drum
Below clamp device (3), when the weight of rubbish storage storehouse (9) in hull is more than setting value, floating drum clamp device (3) adjusts ship
Body is at a distance from the water surface；The hull is equipped with crossbeam (6), and monitoring camera is fixedly mounted on the side vertical bar of the crossbeam (6)
Visual processes camera is fixedly mounted in head, the other side；The rear side of the refuse collector (1) or inside are equipped with one and hull
The equal turnover panel in bottom (7), turnover panel (7) pass through turnover panel shaft connection rotating shaft electric motor (8)；Rubbish storage is set among the hull
Storehouse (9), dynamical system (10) are arranged in rubbish storage storehouse (9) rear, when hull is close to rubbish, refuse collector (1)
Automatic rotation, is allocated to the turnover panel (7) in hull for rubbish, when the garbage weight on turnover panel (7) reaches a timing, turnover panel shaft and
Rotating shaft electric motor (8) starts to carry out rotation work, and rubbish can fall on automatically rubbish storage storehouse (9) along the platen surface with inclination angle
It is interior, the side of rubbish storage storehouse (9) close to turnover panel (7)；The dynamical system (10) includes the motor (5) of hull interior, transmission
The top of mechanism and hydraulic propeller, the dynamical system (10) is equipped with transfer (11)；The power supply system (12) includes
Battery and charging and discharging protection device；The master control system (13) includes Bluetooth control system, dirt identification device, visual pattern
Identifying system and GPS navigation system, the transfer (11), power supply system (12) and master control system (13) are arranged at hull
Tail portion.
2. intelligence water surface cleaning robot according to claim 1, which is characterized in that the hull is twin float composition
Single hull structure.
3. intelligence water surface cleaning robot according to claim 1, which is characterized in that the refuse collector (1) is
It is made of the smooth crotch of multiple groups, the refuse collector (1) of different model is installed in flexible mechanism (2).
4. intelligence water surface cleaning robot according to claim 1, which is characterized in that the hydraulic propeller is that pump is spouted
Power push type hydraulic jet propulsion system sprays the hydraulic jet propulsion system conduct of Powered Propulsion formula using the pump of double-row type using dual-row design
Dynamical system allows robot to work by master control system (13), realizes synchronous steering, advances, car-backing function.
5. intelligence water surface cleaning robot according to claim 1, which is characterized in that transfer (11) setting exists
On the hydraulic propeller at dynamical system (10) rear, when transfer (11) opening, realizes forward motion, work as transfer
(11) when being closed, reversing/ship movement is realized, when transfer (11) execute leftward or rightward movement, as steering operation.
6. intelligence water surface cleaning robot according to claim 1, which is characterized in that the Bluetooth control system realizes people
To the remote assistance of robot；The dirt identification device is made of infrared sensor (14) and ultrasonic sensor (15), complete
Obstacle is hidden by the identification of pairs of water surface dirt and robot, and the infrared sensor (14) is arranged in refuse collector (1)
The two sides of hull are arranged in front, ultrasonic sensor (15)；The visual pattern identifying system can assist dirt identification dress
Situation about carrying out near work and people's remote assistance and observer robot is set, while working sensor, on the water surface
Dirt carries out auxiliary detecting, promotes the identification and collection efficiency of water surface dirt, unreachable or than more covert place in human eye, leads to
Human assistance operation can be carried out by crossing visual pattern identifying system；The GPS navigation system can position distribution of machine people in real time
Operating position, realize the automatic cruising of robot and pull in shore automatically.
7. intelligence water surface cleaning robot according to claim 1, which is characterized in that the refuse collector (1) can
Disassembly and replacement, the rubbish storage storehouse (9) are detachable.
8. intelligence water surface cleaning robot according to claim 1, which is characterized in that the floating drum clamp device (3) and
Hydraulic propeller in dynamical system (10) is 3D printing.
9. a kind of application method of intelligent water surface cleaning robot a method as claimed in any one of claims 1-8, which is characterized in that including
Following steps：
Step 1：It searches and turns to
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, sensor real-time detection
The neighbouring information of robot, and is sent to master control system (13), and whether master control system (13) calculating is bank, if not, system after
It is continuous to search, it repeats the above steps；If so, master control system (13) issues the instruction in change direction to transfer (11), turn to
Device (11) steering continues to search for, and repeats the above steps；
Step 2：Dirt identification and collection
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, sensor real-time detection,
Obstacle information near visual pattern identifying system auxiliary detection robot, and it is sent to master control system (13), master control system
(13) it calculates/identifies whether and repeat the above steps for dirt if not, system continues to identify；If so, master control system (13)
The instruction of trapped dirt is issued to refuse collector (1), refuse collector (1) works, and system continues to identify, repeats above-mentioned
Step；
Step 3：Dirt storage
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, and pressure sensor is real-time
Work, dirt weight information on turnover panel (7) is sent to master control system (13), and whether it is more than default weight that master control system (13) calculates
Amount, if not, system works on, repeats the above steps；If so, the instruction for issuing rotating shaft electric motor (8) rotation is electric to shaft
Machine (8), rotating shaft electric motor (8) rotation, enters the delay dirt on turnover panel (7) in rubbish storage storehouse (9), and system works on,
It repeats the above steps；
Step 4：Hull is adjusted at a distance from the water surface
Console or systemic presupposition localization message are sent to robot, and robot issues the instruction of work, water-level detecting device inspection
The range information for surveying hull and the water surface is sent to master control system (13), and whether it is more than default line that master control system (13) calculates, if
No, system works on, and repeats the above steps；If so, it is tight to floating drum at a distance from the water surface to issue regulating command adjusting hull
It is fixedly mounted with and sets (3), floating drum clamp device (3) work, system works on, repeats the above steps.
10. the application method of intelligence water surface cleaning robot according to claim 9, which is characterized in that be used for special section
Domain further includes step 5：Remote assistance：Console sends real messages to robot, and robot issues the instruction of work to master
Control system (13), master control system (13) send actual instruction to each component, each joint.
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