CN109229290A - A kind of automatic pick-up boat of garbage on water - Google Patents
A kind of automatic pick-up boat of garbage on water Download PDFInfo
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- CN109229290A CN109229290A CN201811128618.0A CN201811128618A CN109229290A CN 109229290 A CN109229290 A CN 109229290A CN 201811128618 A CN201811128618 A CN 201811128618A CN 109229290 A CN109229290 A CN 109229290A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims abstract description 43
- 238000001514 detection method Methods 0.000 claims abstract description 42
- 238000005183 dynamical system Methods 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 8
- 230000001360 synchronised effect Effects 0.000 claims description 49
- 230000008859 change Effects 0.000 claims description 16
- 230000000694 effects Effects 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 3
- 238000002604 ultrasonography Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 6
- 239000000203 mixture Substances 0.000 abstract description 3
- 238000007667 floating Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000000295 fuel oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention discloses a kind of automatic pick-up boats of garbage on water, including hull and dynamical system, control system, collection system, salvaging transportation system；The control system is by single-chip microcontroller, guide needle control, acceleration detection sensor, relay, actuator composition, actuator mainly includes ultrasonic sensor, servo-driver, shaft, barn door and bottom plate, ultrasonic sensor and servo-driver communication connection, servo-driver includes servo motor, signal is passed to servo-driver by ultrasonic sensor, the rotation of servo-driver control servo motor, when servo motor rotation, shaft drives bottom plate and acceleration detection sensor to rotate together, but guide needle control is directed toward constant at this time, to which the acceleration detection sensor changes with the hull relative position；The invention is salvaged and unmanned using intelligence, is solved tradition and is salvaged large labor intensity, the drawbacks such as working environment is severe, cleaning efficiency is low.
Description
Technical field
The invention belongs to field of intelligent control technology, are related to a kind of automatic pick-up boat of garbage on water.
Background technique
Now existing large-scale pick-up boat drives by fuel oil, and there is only air pollution, noise pollution and oil pollutions
The problems such as, and it is bulky, operating cost is high, energy consumption is high, need professional person to operate, to cannot be widely used
In the garbage collection operations of city river and scenic spot waters, it is difficult to popularize.
To solve the problems, such as collecting refuse from open water, at present many areas or using manually salvaging by the way of based on, use
Half cabin formula or deck automatic barge hold string bag station by sanitationman and directly rubbish fishing are come up above deck.It is this traditional
Refloatation method large labor intensity, working environment are severe, and personal safety is not guaranteed, clear up rubbish low efficiency；Traditional water surface rubbish
Rubbish is cleared up ship and is salvaged using the track of linear reciprocal motion, since rubbish has certain drift relative to the water surface, salvages effect
Bad, operator needs ceaselessly to manipulate back and forth the case where being unevenly distributed according to rubbish, time-consuming and laborious, and damages to machine
Evil is larger, moreover, general mechanization marine salvage equipment work surface is small, cannot reach beach, the work of narrow river bank, can not be thorough
It removes rubbish.The present invention has made improvement on the basis of existing technology, improves the efficiency for salvaging rubbish, overcomes well
Drawbacks described above.
Summary of the invention
The technical problem to be solved by the present invention for the above-mentioned state of the art is to provide a kind of garbage on water to salvage automatically
Ship can independently pursue the track of rubbish；Using the principle of eccentric wheel, using special collection device, by the floating refuse in front
It is led through and, collection is placed in dedicated dustbin.
To realize the above-mentioned technical purpose, the technical scheme adopted by the invention is as follows: a kind of automatic pick-up boat of garbage on water, including
Hull, hull include dynamical system and power-supply system, and the dynamical system mainly includes driving motor and propeller, the driving
Motor is connected with propeller drive；The power-supply system is located in hull and is electrically connected with dynamical system, mentions for dynamical system
For electric energy, it is characterised in that: further include control system, collection system salvages transportation system；The control system mainly includes list
Piece machine, acceleration detection sensor, guide needle control and actuator, single-chip microcontroller are connect with acceleration detection sensor communication, described
When the acceleration detection sensor hull relatively is fixed, acceleration detection sensor detects the position letter of guide needle control transmitting
Number, after single-chip microcontroller receives the signal of transmitting, driving motor movement is controlled by PWM wave, driving motor drives propeller to complete ship
The forward travel of body；The actuator mainly includes ultrasonic sensor, servo-driver, shaft, barn door and bottom plate, bottom plate
It is fixedly connected in shaft with acceleration detection sensor, shaft is connected on servo-driver, and guide needle control is fixedly connected
In on barn door, barn door is connected to above bottom plate by pillar, and ultrasonic sensor and servo-driver communication connection are described
Servo-driver is constant relative to the hull position, and servo-driver includes servo motor, and ultrasonic sensor passes signal
Servo-driver is passed, servo-driver controls the rotation of servo motor, when servo motor rotation, watches since shaft is connected to
It taking on driver, shaft drives bottom plate and acceleration detection sensor to rotate together, but guide needle control direction is constant at this time, from
And the acceleration detection sensor changes with the hull relative position, the acceleration detection sensor detects compass
The position change of controller signals, and then the principal direction for making the hull advance changes, to change the direction of motion of hull；Institute
It states collection system to be made of collecting wheel and collecting board, the collecting wheel is the two profiling blade variable eccentric collecting wheels in left and right, the receipts
Collecting plate is to become wing bias collecting board, the left profiling blade variable eccentric collecting wheel and the right profiling blade variable eccentric collecting wheel band respectively
The change wing bias collecting board to be moved to be stretched in opposite directions bunched rotary motion, collecting wheel drives collecting board to carry out rotary motion,
Before rubbish is focused on the salvaging transportation system；The salvaging transportation system is by salvaging plate, delivery board, synchronous conveying chain, chain
At 50 degree of angles, the salvaging plate is pacified by hinge mount for wheel, synchronous long axis and hinge mount composition, the synchronous conveying chain and horizontal plane
Loaded on the synchronous long axis；The salvaging plate is rotated with the synchronous conveying chain around the sprocket wheel, next described same
Step-length axis supports the free end of the hinge mount, and the salvaging plate continues to rotate with the synchronous conveying chain around the chain
Dynamic, and so on, the overturning for salvaging plate with respect to conveyor surface completion from negative angle to positive-angle salvages rubbish to described defeated
It send on plate.
Preferably, the single-chip microcontroller model STM32F103RBT6 of the control system.
Preferably, model 120W, 12V the minisize dc permanent magnetic speed-adjusting 5D120GN-CC type motor of the driving motor.
Preferably, the model KS103 series of the ultrasonic sensor.
Preferably, the salvaging transportation system use arcuation guide rail, the salvagings plate be it is netted, on the salvaging plate
Equipped with piece is picked, the piece that picks is given also along the arcuation guide rail when carrying out salvaging movement with the salvaging plate
Direction constantly moves up and down, and the rubbish being wrapped on the salvaging plate is rejected completely upwards.
Preferably, the sprocket wheel is two pairs of large and small sprocket wheels (construction).
Preferably, the synchronous conveying chain is that two synchronous conveying chains are parallel, and every certain chain number of spacing is described in one
Synchronous long axis is connected, and the synchronous long axis has the function of realizing the synchronous conveying chain synchronization and the installation salvaging plate.
Preferably, the guide needle control includes the anti-dazzling screen at the top of compass and compass, and the acceleration detection passes
Sensor detects that the position signal of barn door transmitting at the top of the compass passes through PWM wave after single-chip microcontroller receives the signal of transmitting
Driving motor movement is controlled, driving motor drives the forward travel of propeller completion hull.
Preferably, the servo controller has a comparator, and external signal is compared with reference signal, the side of judging
To and size, to generate the turn signal of servo motor.
The present invention compared with prior art possessed by the utility model has the advantages that the invention using intelligence salvage and it is unmanned, solution
Large labor intensity, working environment are severe in traditional salvaging mode of having determined, personal safety does not ensure, cleaning efficiency is low, generate
The drawbacks such as environmental pollution and noise pollution, work surface are small.Using spiral forward travel, solves traditional line formula back and forth movement
Caused by operation it is time-consuming and laborious, larger drawback is damaged to machine, can travel along rubbish region, make salvaging effect more
It is good；Collecting wheel design becomes wing eccentric moving mechanism using profiling, drives collecting board to carry out the bunched rotary motion that stretches, increases work
Effective breadth of industry, improves work efficiency and operation quality；Salvaging mechanism uses arcuation guide rail, covers on netted salvaging plate
Piece is picked, picks piece while carrying out salvaging movement with fishing bar, constantly up and down also along the given direction of arcuation guide rail
Movement will be wrapped in the rubbish salvaged on plate and reject upwards completely, prevent polybag etc. to be wrapped in and salvage on plate, guarantee entirely system
System can be with reliably working.
Detailed description of the invention
Fig. 1 is control system partial structure diagram；
Fig. 2 is to salvage transportation system structural schematic diagram；
Fig. 3 is synchronous conveying chain structural schematic diagram；
Fig. 4 is device for cleaning water surface rubbish schematic side view；
Fig. 5 is overall schematic of the present invention.
1, acceleration detection sensor；2, guide needle control；3, decelerating motor；4, shaft；5, barn door；6, bottom plate；7,
Collecting wheel；8, plate is salvaged；9, delivery board；10, synchronous conveying chain；11, sprocket wheel；12, synchronous long axis 13, hinge mount；A, hull；B,
Collection system；C, transportation system is salvaged.
Specific embodiment
Specific embodiments of the present invention will be described in further detail below.
The automatic pick-up boat of a kind of garbage on water of the invention, including hull A, the hull A includes dynamical system and power supply
System, the dynamical system mainly include driving motor and propeller, and the driving motor is connected with propeller drive, driving electricity
Model 120W, 12V the minisize dc permanent magnetic speed-adjusting 5D120GN-CC type motor of machine；The power-supply system is located in hull A simultaneously
It is electrically connected with dynamical system, provides electric energy for dynamical system, further included control system, collection system B, salvage transportation system C；
The control system mainly includes single-chip microcontroller, acceleration detection sensor 1, guide needle control 2 and actuator, single-chip microcontroller model
STM32F103RBT6, single-chip microcontroller and 1 communication connection of acceleration detection sensor, the guide needle control 2 include compass and refer to
Anti-dazzling screen at the top of compass, when the acceleration detection sensor 1 hull relatively is fixed, the acceleration detection sensor 1 is examined
The position signal that barn door 5 transmits at the top of the compass is measured to control after single-chip microcontroller receives the signal of transmitting by PWM wave
Driving motor movement, driving motor drive the forward travel of propeller completion hull A；The actuator mainly includes that ultrasonic wave passes
Sensor, servo-driver, shaft 4, barn door 5 and bottom plate 6, bottom plate 6 and acceleration detection sensor 1 are fixedly connected in shaft 4,
Shaft 4 is connected on servo-driver, and guide needle control 2 is fixedly connected on barn door 5, and barn door 5 is connected by pillar
Above bottom plate 6, the model KS103 of ultrasonic sensor is serial, ultrasonic sensor and servo-driver communication connection, institute
It is constant relative to the hull position to state servo-driver, servo-driver includes servo motor 3, and ultrasonic sensor is by signal
Servo-driver is passed to, servo-driver controls the rotation of servo motor 3, when servo motor 3 rotates, since shaft 4 connects
It is connected on servo-driver, shaft 4 drives bottom plate 6 and acceleration detection sensor 1 to rotate together, but guide needle control 2 at this time
Be directed toward it is constant, so that the acceleration detection sensor 1 changes with the hull relative position, the acceleration detection sensor
1 detects the position change of 2 signal of guide needle control, and then the principal direction for making the hull advance changes, to change ship
The direction of motion of body A has a reference circuit inside servo-driver, and the generation period is 20MS, and the benchmark of width 1.5MS is believed
Number, the servo controller has a comparator, and external signal is compared with reference signal, judges direction and size, from
And generate the turn signal of servo motor 3；
The collection system B is made of collecting wheel 7 and collecting board 71, and the collecting wheel 7 is that the profiling of left and right two becomes wing bias receipts
Collection wheel, the collecting board are to become wing bias collecting board, and the left profiling blade variable eccentric collecting wheel and the right profiling change wing are eccentric
Collecting wheel drives the change wing bias collecting board to be stretched in opposite directions bunched rotary motion respectively, and collecting wheel 7 drives collecting board
71 carry out rotary motion, before rubbish is focused on the salvaging transportation system；
The salvaging transportation system C is by salvaging plate 8, delivery board 9, synchronous conveying chain 10, sprocket wheel 11, synchronous long axis 12 and hinge mount
13 compositions, the synchronous conveying chain 10 and horizontal plane are at 50 degree of angles, and the synchronous conveying chain is that two synchronous conveying chains are parallel, often
The certain chain number of spacing is connected with a synchronous long axis, the synchronous long axis have realize the synchronous conveying chain it is synchronous and
The effect for salvaging plate 8 is installed, the salvaging plate 8 is installed on 13 on the synchronous long axis by hinge mount 13；The salvaging
Plate 8 is rotated with the synchronous conveying chain 10 around the sprocket wheel 11, and next synchronous long axis supports the hinge mount
13 free end, the salvaging plate 8 continue to rotate with the synchronous conveying chain 10 around the sprocket wheel 11, and the sprocket wheel 11 is
Two pairs of large and small sprocket builds, and so on, the overturning for salvaging plate 8 with respect to conveyor surface completion from negative angle to positive-angle will
Rubbish is salvaged to the delivery board 9, salvage transportation system use arcuation guide rail, the salvagings plate 8 be it is netted, it is described to beat
Fishing plate 8, which is equipped with, picks piece, and the piece that picks with the salvaging plate 8 when carrying out salvaging movement, also along the arcuation guide rail
Given direction constantly moves up and down, and the rubbish being wrapped on the salvaging plate 8 is rejected completely upwards；
Concrete operations are as follows: when water surface cleaning unmanned boat work, the left profiling blade variable eccentric collecting wheel and the right profiling
Blade variable eccentric collecting wheel drives the change wing bias collecting board to be stretched in opposite directions bunched rotary motion respectively, by floating on water
Rubbish cleaning focus on the salvaging transportation system between left hull and right hull before, the salvaging transportation system by rubbish into
After row drainage in elevator to rubbish storing storehouse；Before garbage floating on water surface is collected into the salvaging transportation system, the salvaging is defeated
The leading portion of system is sent to be immersed in the water, the synchronous conveying chain 10 and horizontal plane are at 50 °, and the netted salvaging plate 8 is with parallel institute
Synchronous conveying chain 10 is stated to rotate around sprocket wheel 11, and the synchronous long axis next at this time supports the freedom of the hinge mount 13
End, as the parallel synchronous conveying chain 10 remains in operation, the opposite conveyor surface of the netted salvaging plate 8 is completed from negative angle to just
The overturning of angle.Therefore, floating refuse is salvaged by netted salvaging plate 8 to the netted delivery board 9, when rubbish is transported to rubbish
When case position, since the netted salvaging plate 8 turns over certain angle, rubbish reduces its normal pressure, 13 elasticity of hinge mount
Restore, rubbish is sprung into dustbin thereafter, salvages process at this time and complete；The salvaging plate 8 uses reticular structure, is used for
The tiny floating material such as drainage algae；In order to guarantee that the salvaging transportation system can reliably work, the salvaging transportation system is adopted
It with arcuation guide rail, is cased on the salvaging plate 8 and picks piece, the piece that picks is carrying out salvaging the same of movement with the salvaging plate 8
When, it constantly moves up and down also along the given direction of arcuation guide rail, the rubbish on the salvaging plate 8 will be wrapped in
It rejects completely upwards, polybag etc. is prevented to be wrapped on the salvaging plate 8, guarantee that whole system (can also can be used with reliably working
Water flow or high pressure gas realize this function).The synchronous conveying chain 10 and two pairs of large and small sprocket wheels, it is described for driving
Transportation system operation is salvaged, realizes that floating refuse is collected, and be transported to dustbin, the synchronous conveying chain 10 is same by two
It is parallel to walk carrier chain, every certain chain number of spacing is connected with a synchronous long axis, and the synchronous long axis, which has, realizes synchronization
Carrier chain 10 is synchronous and installs the effect for salvaging plate 8；Usually, rubbish being unevenly distributed on the water surface, if adopting
It is salvaged with the track of linear reciprocal motion, since rubbish has certain drift relative to the water surface, salvaging effect is bad, manipulates people
Member needs the case where being unevenly distributed according to rubbish ceaselessly to manipulate back and forth, time-consuming and laborious, and damages larger, ultrasonic wave to machine
The mutual cooperation of sensor and servo-driver be it is more satisfactory, this motion profile can be to greatest extent by garbage collection
Get up；When water surface cleaning unmanned boat advances, the hull is turned to but the direction of the compass is constant, and the acceleration detection passes
The relatively described hull of sensor 1 is fixed, and at a certain determining position, the acceleration detection sensor 1 is able to detect that signal, monolithic
Machine and 1 communication connection of acceleration detection sensor, the guide needle control 2 include the anti-dazzling screen at the top of compass and compass,
When the acceleration detection sensor 1 hull relatively is fixed, the acceleration detection sensor 1 is detected at the top of the compass
The position signal that barn door 5 transmits after single-chip microcontroller receives the signal of transmitting, controls driving motor movement, driving electricity by PWM wave
Machine drives the forward travel of propeller completion hull 1；The direction of the compass meaning is constant, when 1 rotary motion of hull, institute
Acceleration detection sensor 1 is stated to rotate together with hull, whenever hull is run to the right when driving, 1 total energy of acceleration detection sensor
Detect the anti-dazzling screen 5 of guide needle section, then the acceleration detection sensor 1 outputs signal to single-chip microcontroller, single-chip microcontroller control
The driving motor operating；Change the relative position of the acceleration detection sensor 1 and the hull, so that it may change the ship
The general direction that body advances, the servo 3 are fixed relative to the hull, when the servo motor 3 rotation, 4 band of shaft
Move the bottom plate 6 and the acceleration detection sensor 1 rotate together, but the compass and the barn door 5 be directed toward it is constant, this
Sample just changes the relative position of the acceleration detection sensor 1 and the hull, to change the acceleration detection sensor 1
Detect the position of the compass output acceleration signals, i.e., the described hull is in the direction difference faced when accelerating, effect
Fruit is exactly the principal direction for changing the hull and being threadingly advanced.
Operation instruction: ultrasonic sensor of the invention can detecte the rubbish around hull, if hull does not have nearby
Rubbish, then hull advances by the direction of script, if detecting rubbish, can change direction under the action of servo-driver, from
And make direction running of the hull along rubbish；The collecting wheel design of salvaging system becomes wing eccentric moving mechanism using profiling, drives and receives
Collection plate carries out the bunched rotary motion that stretches.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as protection of the invention
Range.
Claims (9)
1. a kind of automatic pick-up boat of garbage on water, including hull (A), the hull (A) includes dynamical system and power-supply system, institute
Stating dynamical system mainly includes driving motor and propeller, and the driving motor is connected with propeller drive；The power-supply system
It is electrically connected in hull (A) and with dynamical system, provides electric energy for dynamical system, it is characterised in that: further include control system
System, collection system (B) salvage transportation system (C)；The control system mainly include single-chip microcontroller, acceleration detection sensor (1),
Guide needle control (2) and actuator, single-chip microcontroller and acceleration detection sensor (1) communication connection, the acceleration detection sensor
(1) when the hull is fixed relatively, acceleration detection sensor (1) detects the position signal of guide needle control (2) transmitting, single
After piece machine receives the signal of transmitting, driving motor movement is controlled by PWM wave, driving motor drives propeller to complete hull (1)
Forward travel；The actuator mainly includes ultrasonic sensor, servo-driver, shaft (4), barn door (5) and bottom plate
(6), bottom plate (6) and acceleration detection sensor (1) are fixedly connected on shaft (4), and shaft (4) is connected on servo-driver,
Guide needle control (2) is fixedly connected on barn door (5), and barn door (5) is connected to above bottom plate (6) by pillar, ultrasound
Wave sensor and servo-driver communication connection, the servo-driver is constant relative to the hull position, servo-driver
Including servo motor (3), signal is passed to servo-driver by ultrasonic sensor, and servo-driver controls servo motor (3)
Rotation, when servo motor (3) rotation when, since shaft (4) is connected on servo-driver, shaft (4) can drive bottom plate (6)
It is rotated together with acceleration detection sensor (1), but guide needle control (2) direction is constant at this time, so that the acceleration detection passes
Sensor (1) changes with the hull relative position, and the acceleration detection sensor (1) detects guide needle control (2)
The position change of signal, and then the principal direction for making the hull advance changes, to change the direction of motion of hull (A)；
The collection system is made of collecting wheel (7) and collecting board (71), and the collecting wheel (7) is that the profiling change wing of left and right two is inclined
Heart collecting wheel, the collecting board are to become wing bias collecting board, and the left profiling blade variable eccentric collecting wheel and the right profiling become the wing
Eccentric collecting wheel drives the change wing bias collecting board to be stretched in opposite directions bunched rotary motion respectively, and collecting wheel (7) drives
Collecting board (71) carries out rotary motion, before rubbish is focused on the salvaging transportation system；
The salvaging transportation system is by salvaging plate (8), delivery board (9), synchronous conveying chain (10), sprocket wheel (11), synchronous long axis
(12) it is formed with hinge mount (13), at 50 degree of angles, the salvaging plate (8) passes through hinge for the synchronous conveying chain (10) and horizontal plane
Frame (13) is installed on the synchronous long axis (13)；The salvaging plate (8) is as the synchronous conveying chain (10) is around the chain
Take turns (11) rotation, next synchronous long axis supports the free end of the hinge mount (13), salvagings plate (8) continuation with
The synchronous conveying chain (10) around the sprocket wheel (11) rotate, and so on, the salvagings plate (8) with respect to conveyor surface completion
Overturning from negative angle to positive-angle salvages rubbish on the delivery board (9).
2. the automatic pick-up boat of a kind of garbage on water according to claim 1, it is characterised in that: the monolithic of the control system
Machine model STM32F103RBT6.
3. the automatic pick-up boat of a kind of garbage on water according to claim 2, it is characterised in that: the model of the driving motor
For 120W, 12V minisize dc permanent magnetic speed-adjusting 5D120GN-CC type motor.
4. the automatic pick-up boat of a kind of garbage on water according to claim 3, it is characterised in that: the ultrasonic sensor
Model KS103 series.
5. the automatic pick-up boat of a kind of garbage on water according to claim 4, it is characterised in that: the salvaging transportation system is adopted
With arcuation guide rail, the salvaging plate (8) be it is netted, the salvagings plate (8) equipped with piece is picked, beat with described by the piece that picks
When fishing plate (8) carries out salvaging movement, constantly moves up and down, will be wrapped in also along the given direction of arcuation guide rail
The rubbish salvaged on plate (8) is rejected completely upwards.
6. the automatic pick-up boat of a kind of garbage on water according to claim 5, it is characterised in that: the sprocket wheel (11) is two pairs
Large and small sprocket build.
7. the automatic pick-up boat of a kind of garbage on water according to claim 6, it is characterised in that: the synchronous conveying chain is two
Synchronous conveying chain is parallel, and every certain chain number of spacing is connected with a synchronous long axis, and the synchronous long axis, which has, to be realized
The synchronous conveying chain is synchronous and installs the effect for salvaging plate (8).
8. the automatic pick-up boat of a kind of garbage on water according to claim 7, it is characterised in that: the guide needle control
It (2) include anti-dazzling screen at the top of compass and compass, the acceleration detection sensor (1) detects and hides at the top of the compass
The position signal of tabula rasa (5) transmitting after single-chip microcontroller receives the signal of transmitting, controls driving motor movement, driving electricity by PWM wave
Machine drives the forward travel of propeller completion hull (1).
9. the automatic pick-up boat of a kind of garbage on water according to claim 8, it is characterised in that: the servo controller has one
External signal is compared with reference signal, judges direction and size by a comparator, to generate turning for servo motor (3)
Dynamic signal.
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| CN201811128618.0A CN109229290A (en) | 2018-09-27 | 2018-09-27 | A kind of automatic pick-up boat of garbage on water |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113080181A (en) * | 2021-04-14 | 2021-07-09 | 刘云 | Amphibious grass cutting ship |
| CN113863246A (en) * | 2021-08-02 | 2021-12-31 | 中山大学 | Marine waste collection device |
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| CN113080181A (en) * | 2021-04-14 | 2021-07-09 | 刘云 | Amphibious grass cutting ship |
| CN113863246A (en) * | 2021-08-02 | 2021-12-31 | 中山大学 | Marine waste collection device |
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Application publication date: 20190118 |