CN109518671A - A kind of intelligent cruise formula collecting refuse from open water device - Google Patents
A kind of intelligent cruise formula collecting refuse from open water device Download PDFInfo
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- CN109518671A CN109518671A CN201811547416.XA CN201811547416A CN109518671A CN 109518671 A CN109518671 A CN 109518671A CN 201811547416 A CN201811547416 A CN 201811547416A CN 109518671 A CN109518671 A CN 109518671A
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- refuse collector
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- 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
-
- 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)
- 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)
- Processing Of Solid Wastes (AREA)
Abstract
The present invention relates to a kind of intelligent cruise formula collecting refuse from open water devices, including refuse collector ontology, its top opens up water inlet, and garbage collector is laid in refuse collector ontology, for collecting the rubbish for entering refuse collector body interior by water inlet；Sedimentation device is located at the adjustment of underwater height for realizing refuse collector ontology；Powerpush Unit for realizing cruise route formulate pusher into refuse collector ontology in water move ahead；Sensing device is used to detect the selection of the collection degree and cruise route of refuse collector this internal rubbish；Further include control device, be connected by control processor with sedimentation device, Powerpush Unit and sensing device, realizes and the signal of three is received and instruction transmission；Cleaning efficiency of the present invention is high and flexible, easy to operate in use, and full-automatic water sailing route selection, the collecting refuse from open water without dead angle formula may be implemented.
Description
Technical field
The present invention relates to a kind of intelligent cruise formula collecting refuse from open water devices, belong to the garbage on water process instrumentation of cruise formula
Field.
Background technique
During the rapid development of China's economy, the protection of water resource is increasingly becoming research hotspot instantly.Especially
Tourism industry develops rapidly in recent years, in waters such as many harbour, river, lakes, is difficult to locate in the prevalence of garbage in scenic spot
The problem of reason.Garbage on water pollution problem how is efficiently solved, is in the Sustainable Development and Utilization of the living environment of the mankind
Important link.Therefore, the efficient cleaning garbage on water technology of research and development is a link instantly indispensable in water environment protection.
For the Removal Technology of existing garbage on water, at present substantially using pilot steering machinery ship, artificial distant
Control this two major classes method of refuse collector is salvaged.Also tasting of being salvaged of useful some intelligent water sailing machines now
Examination, such as a kind of garbage floating on water surface collecting robot people of the patent No. 201810606733.8, the patented technology may be implemented pair
The processing of water surface dead angle rubbish, but be difficult to be promoted and grow due to salvaging that principle is excessively complicated, cost of manufacture is excessively high
Phase uses.And although method that pilot steering machinery ship is salvaged operation equipment is simple and easy to get, this method has many limits
System, small-sized river, harbour dead angle at, often there is the region that the water surface is relatively narrow or the depth of water is shallower, carry salvage person
Ship be difficult to pass through, cause to salvage difficult；Meanwhile the waters extremely serious in some pollutions, working environment is excessively severe, and
Be not suitable for going to salvaging by people；Meanwhile in general, for needing to salvage rubbish in time to maintain beautiful landscape lake and river
Stream, it is artificial to salvage the aesthetic measure for having greatly affected scenic environment, it is unfavorable for the development of tourism industry.And manual remote control formula
Refuse collector, such as a kind of collection device for garbage floating on surface of Patent No. 201721542792.0, although this kind of device
The small volume compared with the ship for carrying salvage person can handle dead angle area existing for rubbish, but complicated more in this way in the water surface
The fixed point salvage carried out in the environment of change, the efficiency of manual remote control are too low.To sum up, to the cleaning of garbage on water, whether
It manually directly salvages, or both existing modes generally used are salvaged in remote control.Not only have cleaning difficulty it is larger, it is comprehensive at
This higher problem, and it is increasingly tight generally can not efficiently to help to solve the water hyacinth to take place frequently in typhoon heavy rain season etc.
The large-scale water pollution problem of the region of weight.
For above situation, the waters eutrophication to the refuse on water surface in the places such as scenic spot river, increasingly to take place frequently is led
The water plant of cause spreads unchecked problem, needs to propose that a kind of cleaning efficiency is high, flexible cruise formula intelligence water surface refuse collector.
Summary of the invention
The present invention provides a kind of intelligent cruise formula collecting refuse from open water device, and cleaning efficiency is high and flexible, is having
It is easy to operate in body use process, full-automatic water sailing route selection may be implemented, the garbage on water without dead angle formula is received
Collection.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of intelligent cruise formula collecting refuse from open water device, including refuse collector ontology, top open up water inlet, rubbish
Collector is laid in refuse collector ontology, for collecting the rubbish for entering refuse collector body interior by water inlet
Rubbish；
Sedimentation device is located at the adjustment of underwater height for realizing refuse collector ontology；
Powerpush Unit for realizing cruise route formulate pusher into refuse collector ontology in water move ahead；
Sensing device is used to detect the selection of the collection degree and cruise route of refuse collector this internal rubbish；
Further include control device, is connected by control processor with sedimentation device, Powerpush Unit and sensing device, it is real
Now the signal of three is received and is sent with instruction；
As present invention further optimization, garbage collector above-mentioned includes rubbish strainer, and opening is connected to water inlet,
Rubbish filter screen bottom is connected by water inlet line with oil pollution separator, and oil pollution separator is connected with water pump simultaneously, row
Waterpipe is connected with water pump, and drainage pipeline stretches out refuse collector ontology and forms discharge outlet；
Sedimentation device above-mentioned includes the resin airbag for being mounted on refuse collector body bottom portion, and is laid in garbage collection
Air pump inside device noumenon is connected, and exhaust pipe is connected with air pump, and exhaust pipe stretches out refuse collector ontology
Access air；
Powerpush Unit above-mentioned includes the propeller that at least one is mounted on this body sidewall of refuse collector, is passed through
Electric-machine directly-driven realizes moving ahead for refuse collector ontology；
Sensing device above-mentioned includes passing in refuse collector body interior close to the throw-in type liquid level that the position of bottom is installed
Sensor, two the first ultrasonic sensors for being symmetrically mounted on water inlet and it is mounted on the second surpassing at rubbish screen port
Sonic sensor；
Control device above-mentioned includes the control panel for being mounted on refuse collector body interior, which is provided with microcontroller, point
It is not connected with throw-in type liquid level sensor, the first ultrasonic sensor and the second ultrasonic sensor, microcontroller is simultaneously
It is connected with water pump, air pump,
Further include battery, is connected respectively with control panel, motor；
As present invention further optimization, the cylindrical structure of crust of the device of refuse collector ontology above-mentioned, in
Inner cavity is divided into two parts by device demarcation plate by portion, and the lumen portion adjacent with water inlet lays garbage collector, another
Water pump, air pump, oil pollution separator, control panel and battery are laid in lumen portion,
At least one propeller is uniformly distributed along the circumferential outer surface of refuse collector ontology, and each propeller passes through
Electric-machine directly-driven connection；
As present invention further optimization, refuse collector ontology above-mentioned further includes the counterweight for being laid in its interior bottom
Block, outside batteries are arranged battery waterproof shell；
As present invention further optimization, microcontroller above-mentioned is STM32F103 microcontroller.
By above technical scheme, compared with the existing technology, the invention has the following advantages:
This refuse collector ontology is machine processing, the generally existing artificial treatment rubbish of the alternative industry of garbage disposal now
Mode, according to used liquid level sensor, the present apparatus can make a return voyage automatically when garbage collection is full, it is only necessary to artificial cleaning filter
Net.This small-sized intelligent treatment device had both saved a large amount of human resources, and make compared with traditional artificial treatment mode
Overall cost is lower；
This refuse collector body construction is simple, and basic composition is only by small-sized variable-frequency water pump, liquid level sensor, supersonic sensing
Device, strainer etc. are constituted, and composition is simple, and simple for production, cost is relatively low；
This refuse collector bulk volume is smaller, can complete the processing at water surface dead angle, is conducive to the thorough clear of garbage on water
Reason；
This refuse collector ontology is not necessarily to manual control during collection, in marine pollution outburst, can be used for clearing up
Health status of the pollution sources such as water surface algae without worrying salvage person, is conducive to the improvement of water environment pollution.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the overall structure cross-sectional view of the preferred embodiment of the present invention；
Fig. 2 is the overall structure front view of the preferred embodiment of the present invention；
Fig. 3 is the preferred embodiment of the present invention using water pump as the refuse collector body construction diagram of power；
System operation figure when Fig. 4 is the sedimentation device progress settlement Control of the preferred embodiment of the present invention；
Fig. 5 is that the sedimentation device of the preferred embodiment of the present invention carries out device operation water inlet detailed cross-sectional when settlement Control；
Fig. 6 is the main structure schematic illustration of the preferred embodiment of the present invention.
In figure: 1 is water inlet, and 2 be rubbish strainer, and 3 be discharge outlet, and 4 be water pump, and 5 be crust of the device, and 6 separate for device
Plate, 7 be battery, and 8 be oil pollution separator, and 9 be air pump, and 10 be resin airbag, and 11 be propeller, and 12 be control panel, and 13 be investment
Formula liquid level sensor, 14 be the first ultrasonic sensor, and 15 be clump weight, and 16 be battery waterproof shell, and 17 be the second ultrasonic wave
Sensor.
Specific embodiment
In conjunction with the accompanying drawings, the present invention is further explained in detail.These attached drawings are simplified schematic diagram, only with
Illustration illustrates basic structure of the invention, therefore it only shows the composition relevant to the invention.
As Figure 1-Figure 5, the present invention includes following characteristics component: 1 is water inlet, and 2 be rubbish strainer, and 3 be discharge outlet,
4 be water pump, and 5 be crust of the device, and 6 be device demarcation plate, and 7 be battery, and 8 be oil pollution separator, and 9 be air pump, and 10 be resin airbag,
11 be propeller, and 12 be control panel, and 13 be throw-in type liquid level sensor, and 14 be the first ultrasonic sensor, and 15 be clump weight, 16
It is the second ultrasonic sensor for battery waterproof shell, 17.
A kind of intelligent cruise formula collecting refuse from open water device of the invention, including refuse collector ontology, top are opened
If water inlet, garbage collector is laid in refuse collector ontology, enters garbage collection dress by water inlet for collecting
Set the rubbish of body interior；
Sedimentation device is located at the adjustment of underwater height for realizing refuse collector ontology；
Powerpush Unit for realizing cruise route formulate pusher into refuse collector ontology in water move ahead；
Sensing device is used to detect the selection of the collection degree and cruise route of refuse collector this internal rubbish；
Further include control device, is connected by control processor with sedimentation device, Powerpush Unit and sensing device, it is real
Now the signal of three is received and is sent with instruction；
As present invention further optimization, garbage collector above-mentioned includes rubbish strainer, and opening is connected to water inlet,
Rubbish filter screen bottom is connected by water inlet line with oil pollution separator, and oil pollution separator is connected with water pump simultaneously, row
Waterpipe is connected with water pump, and drainage pipeline stretches out refuse collector ontology and forms discharge outlet；
Sedimentation device above-mentioned includes the resin airbag for being mounted on refuse collector body bottom portion, and is laid in garbage collection
Air pump inside device noumenon is connected, and exhaust pipe is connected with air pump, and exhaust pipe stretches out refuse collector ontology
Access air；
Powerpush Unit above-mentioned includes the propeller that at least one is mounted on this body sidewall of refuse collector, is passed through
Electric-machine directly-driven realizes moving ahead for refuse collector ontology；
Sensing device above-mentioned includes passing in refuse collector body interior close to the throw-in type liquid level that the position of bottom is installed
Sensor, two the first ultrasonic sensors for being symmetrically mounted on water inlet and it is mounted on the second surpassing at rubbish screen port
Sonic sensor；
Control device above-mentioned includes the control panel for being mounted on refuse collector body interior, which is provided with microcontroller, point
It is not connected with throw-in type liquid level sensor, the first ultrasonic sensor and the second ultrasonic sensor, microcontroller is simultaneously
It is connected with water pump, air pump,
Further include battery, is connected respectively with control panel, motor；
As present invention further optimization, the cylindrical structure of crust of the device of refuse collector ontology above-mentioned, in
Inner cavity is divided into two parts by device demarcation plate by portion, and the lumen portion adjacent with water inlet lays garbage collector, another
Water pump, air pump, oil pollution separator, control panel and battery are laid in lumen portion,
At least one propeller is uniformly distributed along the circumferential outer surface of refuse collector ontology, and each propeller passes through
Electric-machine directly-driven connection；
As present invention further optimization, refuse collector ontology above-mentioned further includes the counterweight for being laid in its interior bottom
Block, outside batteries are arranged battery waterproof shell；
As present invention further optimization, microcontroller above-mentioned is STM32F103 microcontroller.
Shown in Fig. 1, as the preferred embodiment of the present invention, by garbage collector, sedimentation device, Powerpush Unit, sense
It answers device and control device to form, is the main structure schematic illustration of the preferred embodiment of the present invention shown in Fig. 6；
Garbage collector includes rubbish strainer, and opening is connected to water inlet, and rubbish filter screen bottom passes through water inlet line and oil
Pollution discharge separator is connected, and oil pollution separator is connected with water pump simultaneously, and drainage pipeline is connected with water pump, and drainage pipeline stretches out
Refuse collector ontology forms discharge outlet；
Using water pump as power, under the promotion of pump working, floating has the water flow of rubbish can be with around refuse collector ontology
Constant flow velocity enters garbage collector, when flowing through strainer, completes the interception of rubbish, remaining water is arrived by oil-sewage separation device
Up to water pump, finally, water pump can be flowed through by the water of rubbish filtering, is discharged into again by discharge outlet in the water body of surrounding.
Sedimentation device includes the resin airbag for being mounted on refuse collector body bottom portion, is filled with garbage collection is laid in
The air pump for setting body interior is connected, and exhaust pipe is connected with air pump, and exhaust pipe stretches out refuse collector ontology and connects
Enter air；That is, sedimentation device based on throw-in type liquid level sensor, is realized by air pump adjusting.
Powerpush Unit includes the propeller that at least one is mounted on this body sidewall of refuse collector, with propeller
For power device, by the detailed calculating and test of the distribution to underwater engine, reasonably optimizing is laid out to determine propeller most
Good distributing position；Propeller is using electric-machine directly-driven and reduces gear, reduces propulsion system and is taken up space.
Control device is with microcontroller, throw-in type liquid level sensor, the first ultrasonic sensor and the second ultrasonic wave biography
Sensor is basic framework, by STM32F103 microcontroller by the first ultrasonic sensor received, the second ultrasonic sensor
Handled with the data that throw-in type liquid transmitter is passed back, judged according to the program write in advance, to propulsion system,
The sendings such as water pump driver, air bag driver instruction, realizes correlation function.
Throw-in type liquid level sensor, air pump and water pump also prevent sedimenting system as emergency simultaneously, in garbage collection
The throw-in type liquid level sensor that position inside device noumenon close to bottom is installed, the water in real-time measurement refuse collector
Back microcontroller processing is passed measurement data in position.
Sensing device includes the throw-in type level sensing installed in refuse collector body interior close to the position of bottom
Device, two the first ultrasonic sensors for being symmetrically mounted on water inlet and the second ultrasound being mounted at rubbish screen port
Wave sensor；First ultrasonic sensor and the second ultrasonic sensor constantly monitor the position of sanitary fill, and data are passed back
Microcontroller processing；When two groups of ultrasonic sensors, which experience rubbish, has accumulated full, the processing system meeting of signal is received
Control device, which makes a return voyage, receives the cleaning of strainer to put into next task；
Navigation route selection system is also to be controlled with the first ultrasonic sensor and the second ultrasonic sensor simultaneously.
Battery is multiple groups lithium battery composition, uses series system for the power supply of water pump, air pump and propeller.
As shown in figure 3, when the refuse collector ontology has just entered water, it is entire to fill when being not yet activated into working stage
The horizontal highest point set is significantly larger than the water surface；After triggering starting, it is mounted on the resin airbag of refuse collector body bottom portion,
Air is discharged by the exhaust pipe being connected with outside air in air pump, so that resin airbag own vol reduces, it is former shown in Fig. 4
Originally buoyancy suffered by the present apparatus bubbled through the water column reduces to which device is sunk down under the water surface, meanwhile, it is mounted on refuse collector
The water-head height that the throw-in type liquid level sensor real-time collecting water surface and refuse collector body edges of body bottom portion are formed,
By passing the data obtained back microcontroller processing, according to threshold value set in advance, cooperate the contraction adjusting of air pump so that the water surface
It is fixed with the water surface difference at device edge, so that device integrally obtains a stable influent stream flow.
In normal work as shown in Fig. 2, garbage on water is received as water flow inflow device enters rubbish by water inlet
Storage, the water pump to work at this time siphon away water from refuse collector, and water reaches water pump by oil-sewage separation device, finally lead to
The drainage pipeline discharge being connected with extraneous water body is crossed, and rubbish is then trapped on the rubbish strainer of collector surface；When being mounted in
Second ultrasonic detector at garbage collector edge senses that rubbish will expire, then passes this signal back controller, thus
The entire refuse collector ontology rubbish strainer for clearance such as make a return voyage automatically carries out next round work.
When normal work, Systematic selection is selected to clear up route by navigation route.It takes and scans piecewise from entire waters
Mode moves along a straight line from homeposition, cleans garbage on water, mobile to side when encountering obstacle or detecting bank, continues
Adjacent domain rubbish is cleaned along straight line, the navigation of whole device is realized by propeller.
In case of emergency, prevent sedimenting system will by the emergency that throw-in type liquid level sensor, air pump, water pump form
It plays a role.Throw-in type liquid level sensor is placed in refuse collector body bottom portion real-time measurement refuse collector
Water level handles the microcontroller that measurement data passes control device back；Using the determining different water levels and flow of experiment as journey
The threshold value of water level control in sequence；The different operating mould of draining pump and air pump is determined after data and threshold value comparison that sensor is passed back
Formula exports unlike signal by microcontroller and water pump driver is driven to export different capacity, and Lai Shixian flowing water is dynamic flat with water inlet
Weighing apparatus.In emergency circumstances, the gentle pump power of water pump, which opens to the maximum, ensures that device will not sink.
The application is designed the mechanical structures such as refuse collector, cruising power device, control device, can be narrow
Or waters that is shallower and having water plant to be distributed is sentenced the efficient rubbish fixed point of progress from where line search rubbish and is collected, and can be from innervation
Know that rubbish has been collected full so that voluntarily return designated place is dumped rubbish and investment fixed point dust man makees again, realization is waterborne
It navigates by water, the full intelligence of garbage collection；Simultaneously the device reasonable selection devise induction and control system, have it is low in cost,
The characteristics of convenient for promoting.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific term) there is meaning identical with the general understanding of those of ordinary skill in the application fields.Should also
Understand, those terms such as defined in the general dictionary, which should be understood that, to be had and the meaning in the context of the prior art
The consistent meaning of justice, and unless defined as here, it will not be explained in an idealized or overly formal meaning.
The meaning of "and/or" described herein refers to that the case where respective individualism or both exists simultaneously wraps
Including including.
The meaning of " connection " described herein can be between component be directly connected to be also possible to pass through between component
Other components are indirectly connected with.
Taking the above-mentioned ideal embodiment according to the present invention as inspiration, through the above description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property range is not limited to the contents of the specification, it is necessary to which the technical scope thereof is determined according to the scope of the claim.
Claims (5)
1. a kind of intelligent cruise formula collecting refuse from open water device, it is characterised in that: including refuse collector ontology, top is opened
If water inlet, garbage collector is laid in refuse collector ontology, enters garbage collection dress by water inlet for collecting
Set the rubbish of body interior；
Sedimentation device is located at the adjustment of underwater height for realizing refuse collector ontology；
Powerpush Unit for realizing cruise route formulate pusher into refuse collector ontology in water move ahead；
Sensing device is used to detect the selection of the collection degree and cruise route of refuse collector this internal rubbish；
Further include control device, is connected by control processor with sedimentation device, Powerpush Unit and sensing device, it is real
Now the signal of three is received and is sent with instruction.
2. intelligent cruise formula collecting refuse from open water device according to claim 1, it is characterised in that: garbage collection above-mentioned
Device includes rubbish strainer, and opening is connected to water inlet,
Rubbish filter screen bottom is connected by water inlet line with oil pollution separator, and oil pollution separator is connected with water pump simultaneously, row
Waterpipe is connected with water pump, and drainage pipeline stretches out refuse collector ontology and forms discharge outlet；
Sedimentation device above-mentioned includes the resin airbag for being mounted on refuse collector body bottom portion, and is laid in garbage collection
Air pump inside device noumenon is connected, and exhaust pipe is connected with air pump, and exhaust pipe stretches out refuse collector ontology
Access air；
Powerpush Unit above-mentioned includes the propeller that at least one is mounted on this body sidewall of refuse collector, is passed through
Electric-machine directly-driven realizes moving ahead for refuse collector ontology；
Sensing device above-mentioned includes passing in refuse collector body interior close to the throw-in type liquid level that the position of bottom is installed
Sensor, two the first ultrasonic sensors for being symmetrically mounted on water inlet and it is mounted on the second surpassing at rubbish screen port
Sonic sensor；
Control device above-mentioned includes the control panel for being mounted on refuse collector body interior, which is provided with microcontroller, point
It is not connected with throw-in type liquid level sensor, the first ultrasonic sensor and the second ultrasonic sensor, microcontroller is simultaneously
It is connected with water pump, air pump,
Further include battery, is connected respectively with control panel, motor.
3. intelligent cruise formula collecting refuse from open water device according to claim 2, it is characterised in that: garbage collection above-mentioned
The cylindrical structure of the crust of the device of device noumenon, it is internal that inner cavity is divided by two parts by device demarcation plate, with water inlet
Adjacent lumen portion lays garbage collector, lays water pump, air pump, oil pollution separator, control panel in another lumen portion
And battery,
At least one propeller is uniformly distributed along the circumferential outer surface of refuse collector ontology, and each propeller passes through
Electric-machine directly-driven connection.
4. intelligent cruise formula collecting refuse from open water device according to claim 2, it is characterised in that: garbage collection above-mentioned
Device noumenon further includes the clump weight for being laid in its interior bottom, and outside batteries are arranged battery waterproof shell.
5. intelligent cruise formula collecting refuse from open water device according to claim 2, it is characterised in that: microcontroller above-mentioned
For STM32F103 microcontroller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811547416.XA CN109518671A (en) | 2018-12-18 | 2018-12-18 | A kind of intelligent cruise formula collecting refuse from open water device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811547416.XA CN109518671A (en) | 2018-12-18 | 2018-12-18 | A kind of intelligent cruise formula collecting refuse from open water device |
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| CN109518671A true CN109518671A (en) | 2019-03-26 |
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| CN201811547416.XA Pending CN109518671A (en) | 2018-12-18 | 2018-12-18 | A kind of intelligent cruise formula collecting refuse from open water device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109811738A (en) * | 2019-03-28 | 2019-05-28 | 东莞理工学院 | A kind of collecting refuse from open water clean robot |
| CN110185125A (en) * | 2019-06-06 | 2019-08-30 | 台州路桥博仁环保设备有限公司 | A kind of garbage collection process device suitable for the water surface |
| CN111137410A (en) * | 2019-12-30 | 2020-05-12 | 广州航海学院 | Liftable surface of water rubbish cleaning machines people |
| CN113955025A (en) * | 2021-11-29 | 2022-01-21 | 青岛科技大学 | Gliding type marine garbage recycling device |
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| CN107142914A (en) * | 2017-07-12 | 2017-09-08 | 水利部交通运输部国家能源局南京水利科学研究院 | Floater automatic collecting device, method |
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| SE0101576D0 (en) * | 2001-05-04 | 2001-05-04 | Inovacor Ab | Process and apparatus for collecting pollutants in a body of water |
| CN106192959A (en) * | 2016-08-29 | 2016-12-07 | 北京工业大学 | A kind of lake contaminants-collecting apparatus |
| CN106759185A (en) * | 2017-03-30 | 2017-05-31 | 中山职业技术学院 | A kind of water float garbage collector |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109811738A (en) * | 2019-03-28 | 2019-05-28 | 东莞理工学院 | A kind of collecting refuse from open water clean robot |
| CN110185125A (en) * | 2019-06-06 | 2019-08-30 | 台州路桥博仁环保设备有限公司 | A kind of garbage collection process device suitable for the water surface |
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| CN111137410A (en) * | 2019-12-30 | 2020-05-12 | 广州航海学院 | Liftable surface of water rubbish cleaning machines people |
| CN113955025A (en) * | 2021-11-29 | 2022-01-21 | 青岛科技大学 | Gliding type marine garbage recycling device |
| CN113955025B (en) * | 2021-11-29 | 2023-08-08 | 青岛科技大学 | Gliding type ocean garbage recycling device |
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