CN109515636B - System and method for automatically cleaning marine garbage on surface ship - Google Patents
System and method for automatically cleaning marine garbage on surface ship Download PDFInfo
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- CN109515636B CN109515636B CN201811547386.2A CN201811547386A CN109515636B CN 109515636 B CN109515636 B CN 109515636B CN 201811547386 A CN201811547386 A CN 201811547386A CN 109515636 B CN109515636 B CN 109515636B
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 102
- 238000004140 cleaning Methods 0.000 title claims abstract description 21
- 238000000034 method Methods 0.000 title claims abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 230000000007 visual effect Effects 0.000 claims abstract description 16
- 238000010248 power generation Methods 0.000 claims abstract description 8
- 238000007667 floating Methods 0.000 claims description 14
- 229920003023 plastic Polymers 0.000 claims description 12
- 239000004033 plastic Substances 0.000 claims description 12
- 238000003032 molecular docking Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 6
- 238000012806 monitoring device Methods 0.000 claims description 4
- 238000007599 discharging Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 239000013535 sea water Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000011084 recovery Methods 0.000 abstract description 2
- 239000002699 waste material Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 208000034699 Vitreous floaters Diseases 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000004519 manufacturing process 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
- 239000008239 natural water Substances 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
- 238000012546 transfer Methods 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
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Environmental & Geological Engineering (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Refuse Collection And Transfer (AREA)
Abstract
The invention discloses a system and a method for automatically cleaning ocean garbage on a water surface ship, wherein the system comprises a mother ship and a plurality of son ships, and the mother ship comprises a plurality of solar power generation plates, antennas, a plurality of visual targets, a plurality of channels, a plurality of propellers, a plurality of weights, a water pump, a garbage dumping mechanism, a garbage pool, a berthing platform and a waterproof electronic cabin; the visual targets and the channels are arranged on the side face of the mother ship, and the visual targets guide the son ship to dock back into the channels; a berthing platform is arranged in the channel, and the child ship is stopped at the berthing platform after being docked into the channel; a garbage dumping mechanism is arranged above the berthing platform, and a garbage collection frame in the child ship is lifted above the garbage pool and dumped. The invention adopts automatic control and wireless charging technology to realize the control of the boat, the garbage recovery of the boat, the identification of sea surface condition and the charging of the boat, and has strong practicability without human intervention.
Description
Technical Field
The invention belongs to the field of ocean, and particularly relates to a system and a method for automatically cleaning ocean garbage on a surface ship.
Background
At present, the ocean floating plastic produced by the human production and living activities becomes an important source for destroying the ocean ecosystem, and the ocean floating garbage is cleaned up slowly. However, due to the huge ocean space, the prior art for cleaning the ocean garbage needs huge manpower and material resources, and is difficult and heavy. The invention discloses a brand-new full-automatic ocean garbage cleaning system, which consists of a mother ship and a child ship for automatically cleaning garbage on the water surface. The mother ship can be berthed with a plurality of son ships, the son ships are responsible for collecting floating plastics, and after the collection is completed, the floating plastics are returned to the mother ship to be concentrated into a garbage pool of the mother ship. The mother ship and the child ship can all operate automatically. Through the system, the ocean floating plastic can be cleaned effectively for a long time, and the system is particularly suitable for cleaning the ocean scattered floating plastic.
Disclosure of Invention
In view of the above, the invention aims to provide an automatic marine garbage cleaning water surface ship system which adopts automatic control and wireless charging technology to realize control of a ship, garbage recovery of the ship, sea surface condition identification and ship charging, does not need human intervention, and has strong practicability.
The invention provides a system for automatically cleaning marine garbage on a water surface, which comprises a mother ship and a plurality of son ships, and is characterized in that the mother ship comprises a plurality of solar power generation panels, antennas, a plurality of visual targets, a plurality of channels, a plurality of propellers, a plurality of weights, a water pump, a garbage dumping mechanism, a garbage pool, a docking platform and a waterproof electronic cabin;
The solar power generation panels are arranged at the top of the mother ship and are used for supplying power to other parts of the mother ship and the son ship;
the antenna is arranged at the top of the mother ship and is used for receiving and transmitting wireless signals;
The visual target is arranged on the side surface of the mother ship, the channel is also arranged on the side surface of the mother ship, and the visual target is arranged below the visual target and guides the son ship to dock back into the channel;
A berthing platform is arranged in the channel, and the child ship stops at the berthing platform after being docked into the channel; a garbage dumping mechanism is arranged above the berthing platform, and a garbage collecting frame in the sub-ship is lifted above the garbage pool and dumped;
The propeller is arranged on one surface of the mother ship and is used for pushing the mother ship; the weight and the air bag are arranged below the mother ship and are used for adjusting the buoyancy of the mother ship;
The water pump is arranged at the bottom of the garbage pool and used for discharging seawater invaded in the garbage pool;
The waterproof electronic cabin is arranged inside the mother ship, and a battery and a control circuit are arranged in the waterproof electronic cabin.
Preferably, the garbage dumping mechanism comprises a guide rail and a clamping part, the clamping part clamps the garbage collecting frame in the sub-ship, the guide rail lifts the clamped garbage collecting frame to the upper part of the garbage pool, and the clamping part overturns the garbage collecting frame to dump garbage in the garbage pool.
Preferably, a first fixing mechanism is arranged between the garbage pool and the mother ship, and the garbage pool is separated from the mother ship by loosening the first fixing mechanism.
Preferably, a second fixing mechanism is arranged on the berthing platform for fixing the sub-ship; the berthing platform is also provided with a wireless power transmission coil, and can wirelessly charge the berthed sub-ship.
Preferably, the mother ship and the child ship are provided with a GPS device and an electronic compass, and the real-time position and the course angle are obtained.
Preferably, the mother ship is further provided with a vibration monitoring device, and when the sea surface wind wave is larger than a set threshold value, the child ship is recovered, the access door is closed, and the mother ship enters a self-protection state.
Based on the above purpose, the invention also provides an automatic ocean garbage cleaning method, which comprises the following steps:
S10, before throwing, regulating the draft of the mother ship through the weight and the air bag, so that the water surface position overflows half of the height of the channel;
S20, putting the mother ship into a target sea area, and monitoring the state of the mother ship in real time through satellite communication or sending a remote control instruction to the mother ship;
S30, the mother ship sends a task instruction to the son ship, the son ship leaves the mother ship, and a floating plastic collection task is carried out within a limited distance from the mother ship;
S40, after the son ship finishes garbage collection, returning to the mother ship through GPS and radio communication, and recognizing a target on the mother ship through a machine vision system to finish docking;
S50, the mother ship fixes the son ship, charges the son ship through the wireless power transmission system, and meanwhile, the son ship loosens the fixing mechanism of the garbage collection frame, and the garbage dumping mechanism on the mother ship grabs the garbage collection frame and dumps garbage into the garbage pool;
S60, after dumping is completed, the garbage dumping mechanism returns the garbage collection frame to the boat, and the boat is used for fixing the garbage collection frame.
Preferably, in step S10-60, after collecting a large amount of floating plastic, the weight of the mother vessel is increased, and a number of weights are thrown away at this time, so that the draft of the mother vessel is maintained.
Preferably, in step S10-60, the mother ship recalls the child ship by radio sending a command and closes the access door into a self-protected state when severe weather is encountered.
Preferably, in step S10-60, when the waste pool on the mother ship is full, the mother ship is driven back to the port or a new empty waste pool is replaced by a specific ship.
Compared with the prior art, the system and the method for automatically cleaning the marine garbage on the water surface disclosed by the invention have the advantages that the mother ship has the self-regulation capability and the capability of controlling the child ship, can completely break away from manual and automatic uninterrupted work, can set an automatic cruising cleaning route, and are very suitable for cleaning floating matters on natural water surfaces such as river channels, lakes, oceans and the like and artificial water surfaces such as reservoirs, swimming pools and the like. The power of the upper battery of the mother ship is provided by a solar power generation panel and other power generation devices, and the power of the son ship is mainly provided by the mother ship. The mother ship and the mother ship are communicated through radio, and the mother ship and the control center on land are communicated through satellites. The mother ship and the child ship are respectively provided with a GPS device and an electronic compass, and can acquire the real-time position and heading angle of the mother ship and the child ship. And the mother ship is also provided with a vibration monitoring device, if the sea surface stormy waves are too large, the ship body can shake severely, the child ship can be recovered, the passage door is closed, and the ship enters a self-protection state.
Drawings
In order to make the objects, technical solutions and advantageous effects of the present invention more clear, the present invention provides the following drawings for description:
FIG. 1 is a schematic diagram of a mother ship structure of a marine automatic garbage disposal system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the internal structure of a marine automatic garbage disposal surface vessel system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram showing the internal structure of a system for automatically cleaning marine rubbish from a surface ship according to another embodiment of the present invention;
FIG. 4 is a flowchart showing steps of a method for automatically cleaning marine waste on a surface vessel according to an embodiment of the invention.
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
1-3, Including one mother ship and several son ships, the mother ship includes a solar panel 11, an antenna 12, a visual target 13, a channel 14, a propeller 15, a weight 16, a water pump 18, a garbage dumping mechanism 19, a garbage pool 20, a docking platform 21 and a waterproof electronic cabin 22;
The solar power generation panels 11 are arranged at the top of the mother ship and supply power to other parts of the mother ship and the son ship;
The antenna 12 is arranged on the top of the mother ship and receives and transmits wireless signals;
The visual targets 13 are arranged on the side surface of the mother ship, the channels 14 are also arranged on the side surface of the mother ship, the number of the visual targets 13 is the same as that of the visual targets 13, and the visual targets 13 guide the son ship to dock back into the channels 14;
a docking platform 21 is arranged in the passage 14, and the boat is docked in the docking platform 21 after being docked in the passage 14; a garbage dumping mechanism 19 is arranged above the berthing platform 21, and a garbage collection frame in the sub-ship is lifted above the garbage pool 20 and dumped;
the propeller 15 is arranged on one surface of the mother ship and is used for pushing the mother ship; the weight 16 and the air bag 17 are arranged below the mother ship for adjusting the buoyancy of the mother ship;
the water pump 18 is arranged at the bottom of the garbage pool 20 and is used for discharging seawater invaded in the garbage pool 20;
The watertight electronic compartment 22 is provided inside the mother vessel, in which a battery and a control circuit are provided.
In a specific embodiment, the garbage dumping mechanism 19 includes a guide rail and a clamping part, the clamping part clamps the garbage collection frame in the sub-ship, the guide rail lifts the clamped garbage collection frame to the upper part of the garbage pool 20, and the clamping part overturns the garbage collection frame to dump the garbage therein into the garbage pool 20.
The middle of the mother ship is provided with a garbage pool 20, the garbage pool 20 has a large space and extends to 3-5m under water for storing sea surface floaters collected by the son ship, a first fixing mechanism is arranged between the garbage pool 20 and the mother ship, the first fixing mechanism is loosened, and the garbage pool 20 is separated from the mother ship.
The docking platform 21 is provided with a wireless power transmission coil, and can wirelessly charge the docked sub-ship. A second fixing mechanism is arranged on the berthing platform 21 for fixing the sub-ship; the docking platform 21 is also provided with a wireless power transfer coil, which enables wireless charging of the docked sub-ship. And the mother ship and the child ship are respectively provided with a GPS device and an electronic compass, so that real-time positions and heading angles are obtained. The mother ship is also provided with a vibration monitoring device, and when the sea surface wave is larger than a set threshold value, the son ship is recovered, the channel 14 door is closed, and the mother ship enters a self-protection state.
Step flow diagram of method embodiment referring to fig. 4, comprising the steps of:
S10, before throwing, regulating the draft of the mother ship through the weight and the air bag, so that the water surface position overflows half of the height of the channel;
S20, putting the mother ship into a target sea area, and monitoring the state of the mother ship in real time through satellite communication or sending a remote control instruction to the mother ship;
S30, the mother ship sends a task instruction to the son ship, the son ship leaves the mother ship, and a floating plastic collection task is carried out within a limited distance from the mother ship;
S40, after the son ship finishes garbage collection, returning to the mother ship through GPS and radio communication, and recognizing a target on the mother ship through a machine vision system to finish docking;
S50, the mother ship fixes the son ship, charges the son ship through the wireless power transmission system, and meanwhile, the son ship loosens the fixing mechanism of the garbage collection frame, and the garbage dumping mechanism on the mother ship grabs the garbage collection frame and dumps garbage into the garbage pool;
S60, after dumping is completed, the garbage dumping mechanism returns the garbage collection frame to the boat, and the boat is used for fixing the garbage collection frame.
In a specific embodiment, in step S10-60, after a large amount of floating plastic is collected, the self weight of the mother ship is increased, and a plurality of weights are thrown away at this time, so that the draft of the mother ship is kept unchanged.
When severe weather is encountered, the mother ship recalls the child ship by sending a command by radio, and closes the access door to enter a self-protection state.
After the mother ship finishes cleaning floating plastic in the appointed sea area, the mother ship can navigate to the next target area for cleaning.
When the waste pool on the mother ship is full, the mother ship drives back to the port or a new empty waste pool is replaced by a specific ship.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (4)
1. The automatic marine garbage cleaning method is characterized in that the adopted automatic marine garbage cleaning water surface ship system comprises one mother ship and a plurality of son ships, wherein the mother ship comprises a plurality of solar power generation panels, antennas, a plurality of visual targets, a plurality of channels, a plurality of propellers, a plurality of weights, a water pump, a garbage dumping mechanism, a garbage pool, a berthing platform and a waterproof electronic cabin;
The solar power generation panels are arranged at the top of the mother ship and are used for supplying power to other parts of the mother ship and the son ship;
the antenna is arranged at the top of the mother ship and is used for receiving and transmitting wireless signals;
The visual target is arranged on the side surface of the mother ship, the channel is also arranged on the side surface of the mother ship, and the visual target is arranged below the visual target and guides the son ship to dock back into the channel;
A berthing platform is arranged in the channel, and the child ship stops at the berthing platform after being docked into the channel; a garbage dumping mechanism is arranged above the berthing platform, and a garbage collecting frame in the sub-ship is lifted above the garbage pool and dumped;
The propeller is arranged on one surface of the mother ship and is used for pushing the mother ship; the weight and the air bag are arranged below the mother ship and are used for adjusting the buoyancy of the mother ship;
The water pump is arranged at the bottom of the garbage pool and used for discharging seawater invaded in the garbage pool;
The waterproof electronic cabin is arranged in the mother ship, and a battery and a control circuit are arranged in the waterproof electronic cabin;
The garbage dumping mechanism comprises a guide rail and a clamping part, the clamping part clamps the garbage collecting frame in the sub-ship, the guide rail lifts the clamped garbage collecting frame to the upper part of the garbage pool, and the clamping part overturns the garbage collecting frame to dump garbage in the garbage pool;
a first fixing mechanism is arranged between the garbage pool and the mother ship, and the garbage pool is separated from the mother ship by loosening the first fixing mechanism;
The berthing platform is provided with a second fixing mechanism for fixing the sub-ship; the berthing platform is also provided with a wireless power transmission coil, so that the berthing sub-ship can be charged in a wireless manner;
the mother ship and the child ship are respectively provided with a GPS device and an electronic compass, and a real-time position and a course angle are obtained;
The mother ship is also provided with a vibration monitoring device, and when the sea surface wind wave is larger than a set threshold value, the child ship is recovered, the passage door is closed, and the mother ship enters a self-protection state;
the cleaning method comprises the following steps:
S10, before throwing, regulating the draft of the mother ship through the weight and the air bag, so that the water surface position overflows half of the height of the channel;
S20, putting the mother ship into a target sea area, and monitoring the state of the mother ship in real time through satellite communication or sending a remote control instruction to the mother ship;
S30, the mother ship sends a task instruction to the son ship, the son ship leaves the mother ship, and a floating plastic collection task is carried out within a limited distance from the mother ship;
S40, after the son ship finishes garbage collection, returning to the mother ship through GPS and radio communication, and recognizing a target on the mother ship through a machine vision system to finish docking;
S50, the mother ship fixes the son ship, charges the son ship through the wireless power transmission system, and meanwhile, the son ship loosens the fixing mechanism of the garbage collection frame, and the garbage dumping mechanism on the mother ship grabs the garbage collection frame and dumps garbage into the garbage pool;
S60, after dumping is completed, the garbage dumping mechanism returns the garbage collection frame to the boat, and the boat is used for fixing the garbage collection frame.
2. A method according to claim 1, characterized in that in step S10-60, after collecting a large amount of floating plastic, the weight of the mother vessel is increased, whereby several weights are thrown away, so that the draft of the mother vessel remains unchanged.
3. The method according to claim 1, wherein in step S10-60, the mother ship recalls the child ship by sending a command by radio and closes the access door to enter a self-protected state when severe weather is encountered.
4. The method according to claim 1, characterized in that in step S10-60, when the refuse receptacle on the mother ship is full, the mother ship is driven back to the port or a new empty refuse receptacle is replaced by a specific ship.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811547386.2A CN109515636B (en) | 2018-12-18 | 2018-12-18 | System and method for automatically cleaning marine garbage on surface ship |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811547386.2A CN109515636B (en) | 2018-12-18 | 2018-12-18 | System and method for automatically cleaning marine garbage on surface ship |
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| Publication Number | Publication Date |
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| CN109515636A CN109515636A (en) | 2019-03-26 |
| CN109515636B true CN109515636B (en) | 2024-04-23 |
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| CN201811547386.2A Active CN109515636B (en) | 2018-12-18 | 2018-12-18 | System and method for automatically cleaning marine garbage on surface ship |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021000237A1 (en) * | 2019-07-01 | 2021-01-07 | 唐山哈船科技有限公司 | Cleaning robot and cleaning method for sea surface garbage |
| CN110553709B (en) * | 2019-10-24 | 2022-01-07 | 宁波上航测绘有限公司 | Equipment for monitoring marine environment |
| CN110979575B (en) * | 2019-12-20 | 2022-03-01 | 上海海洋大学 | Intelligent self-powered water surface garbage cleaning system and working method |
| CN112224350A (en) * | 2020-08-26 | 2021-01-15 | 招商局深海装备研究院(三亚)有限公司 | Semi-submersible double-body marine environment protection ship |
| CN111891303A (en) * | 2020-08-26 | 2020-11-06 | 招商局深海装备研究院(三亚)有限公司 | Box type marine environment protection ship capable of being used for collecting and treating marine garbage |
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