CN110304209A - It is a kind of that nobody manipulates floating on water surface anti-pollution vessel and its control method - Google Patents
It is a kind of that nobody manipulates floating on water surface anti-pollution vessel and its control method Download PDFInfo
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- CN110304209A CN110304209A CN201910612832.1A CN201910612832A CN110304209A CN 110304209 A CN110304209 A CN 110304209A CN 201910612832 A CN201910612832 A CN 201910612832A CN 110304209 A CN110304209 A CN 110304209A
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- 238000007667 floating Methods 0.000 title claims abstract description 60
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 13
- 239000010813 municipal solid waste Substances 0.000 claims abstract description 94
- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 238000005096 rolling process Methods 0.000 claims abstract description 29
- 230000005611 electricity Effects 0.000 claims description 15
- 210000000078 claw Anatomy 0.000 claims description 10
- 239000013589 supplement Substances 0.000 claims description 7
- 238000012544 monitoring process Methods 0.000 claims description 6
- 238000004891 communication Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000002360 preparation method Methods 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000000903 blocking effect Effects 0.000 claims 1
- 238000004140 cleaning Methods 0.000 abstract description 15
- 238000009826 distribution Methods 0.000 abstract description 2
- 238000003860 storage Methods 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000295 fuel oil Substances 0.000 description 3
- 238000009825 accumulation Methods 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000195493 Cryptophyta Species 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003912 environmental pollution Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- ZZUFCTLCJUWOSV-UHFFFAOYSA-N furosemide Chemical compound C1=C(Cl)C(S(=O)(=O)N)=CC(C(O)=O)=C1NCC1=CC=CO1 ZZUFCTLCJUWOSV-UHFFFAOYSA-N 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000010842 industrial wastewater Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000035800 maturation Effects 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 230000009466 transformation 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
- E02B15/104—Conveyors; Paddle wheels; Endless belts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Refuse Collection And Transfer (AREA)
- Radar, Positioning & Navigation (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Civil Engineering (AREA)
Abstract
The present invention relates to the unmanned manipulation floating on water surface anti-pollution vessel of the one kind in rubbish fishing operation waterborne field and its control methods, including hull, hull be provided with storage rubbish storing bin and in picked up water floating refuse rubbish cleaning member, rubbish cleaning member is provided with rolling frame, conveyer mechanism, electric pushrod and the rubbish of eight shape distribution stop mechanism, hull tail portion is provided with propeller, it is additionally provided with the video camera for Image Acquisition, it is additionally provided with GPS module, 4G module, hull is equipped with and screw propeller, video camera, GPS module, the control device of 4G modular telecommunications number connection；The present invention realizes remote precisely rubbish cleaning, reduces expense of human by the application of unmanned manipulation floating on water surface anti-pollution vessel.
Description
Technical field
The present invention relates to rubbish fishing operation waterborne fields, are that a kind of unmanned manipulation floating on water surface rubbish is clear specifically
Manage ship and its control method.
Background technique
In current society, with economic rapid development, people's lives are all haveed a qualitative leap.Since people pay attention to
Industry and expanding economy, often ignore the protection to environment, this is allowed under world water resources quality is continuous in recent years
Drop, water environment is continuous worsening, since water shortage caused by polluting and accident constantly occur, not only makes plant downtime, agricultural and aquatic products
It cultivates the underproduction even to have no harvest, and causes undesirable social influence and biggish economic loss, seriously threatened society can
Sustainable development has threatened the existence of the mankind.
As the improvement of people's living standards, house refuse is also more and more, since groups of people's environmental consciousness is not strong, very greatly
A part of rubbish is abandoned in people river, causes to float a large amount of rubbish on the water surface in river, river, lake, and partial region pollution is special
Seriously, if such as shipping river, power station position clear up not in time, it will influence navigation channel operation, generating set run well；
On the other hand, since sanitary sewage and industrial wastewater largely discharge.The serious nutrition accumulation of river water, causes the water surface to occur largely
Planktonic algae, such as cleaning not in time, will also occur seriously breaking the significant problem of local area ecological balance.In order to clear up floating on water
There are various water rubbish clean-up vessels in succession in rubbish, is broadly divided into for by fuel oil driving and pilot steering two ways.
The problems such as there is only air pollution, noise pollution and oil pollutions by fuel oil driving, and bulky, operating cost
Height, energy consumption is high, it is difficult to popularize.And use pilot steering canoe cleaning garbage on water method, not only large labor intensity, make
Industry low efficiency, and cleaning effect is undesirable.Therefore, how using waterpower as power source, manufacture and design and make an uproar without fuel oil, nothing
Sound pollution and air pollution, environmentally protective cleaning machine for garbage on water become the target that sanitation equipment producer competitively chases.The water surface
Floating refuse cleaning plant is a kind of equipment for carrying out refuse on water surface using hydro powered, and cleaning plant is in unhurried current or quiet
Pool, then using included motor as power source.The machine has the characteristics that high efficiency, low energy consumption, adaptive ability are strong, greatly
The labor intensity of environmental sanitation worker is reduced greatly, and enhances the safety of refuse on water surface.
Currently, generally salvaging mode and artificial mechanism composite salvage side using artificial to the cleaning of garbage on water both at home and abroad
Formula.Artificial pumped surface rubbish is to hold the salvaging of the tools such as the string bag, this operation mode labor using half cabin formula, or by sanitationman
Fatigue resistance is big, working environment is severe, efficiency is also very low.
It is constantly excavated with the relevant technologies maturation and development, the carrying function of unmanned boat of unmanned boat.In environmental pollution
Object cleaning aspect unmanned boat cleaning mode device waterborne can slowly substitute original artificial cleaning work, and compare manual cleaning,
Unmanned manipulation floating on water surface anti-pollution vessel largely reduces manual allocation, solves personal safety waterborne and asks
Topic.Unmanned manipulation floating on water surface anti-pollution vessel picks up demand by accurate GPS positioning, according to rubbish, precisely detect, it is complete
It is also increased substantially in terms of whole pickup.But existing unmanned manipulation floating on water surface anti-pollution vessel, hull are big in the market
Small limiting rubbish, the technical aspect in accurate detection, completely picked up need to be improved, and also has in terms of hull cruising ability
Wait improve.
It analyzes according to statistics, the huge market demand of the civilian unmanned manipulation floating on water surface anti-pollution vessel in China's recent years,
The application prospect of unmanned manipulation floating on water surface anti-pollution vessel is preferable, but in related application at this stage also in not yet formation scale
Primary stage.Especially unmanned manipulation floating on water surface anti-pollution vessel cruising ability, existing battery technology limit unmanned behaviour
The shipping kilometre of floating on water surface anti-pollution vessel is controlled, the course continuation mileage of unmanned manipulation floating on water surface anti-pollution vessel influences its development
Very big short slab.Due to being limited by battery technology and charging technique, unmanned manipulation floating on water surface anti-pollution vessel is sustainable
Working time is extremely short, greatly restricts so that it is above received in application.Unmanned manipulation floating on water surface anti-pollution vessel traveling one
It just must return to after the section time and carry out electric energy supplement.The storage of present technology battery on unmanned manipulation floating on water surface anti-pollution vessel
The ability of depositing has reached technical bottleneck, how to improve the operating range of unmanned manipulation floating on water surface anti-pollution vessel, improves and use
Efficiency, and can accurately execute order is those skilled in the art's technology emphasis urgently to be resolved and difficult point.
Therefore, we are it is necessary to improve such a structure, to overcome drawbacks described above.
Summary of the invention
The object of the present invention is to provide a kind of unmanned manipulation floating on water surface anti-pollution vessel and its control methods, by nobody
The mode of manipulation detects the floating refuse on the water surface and salvages floating refuse, reduces expense of human, evades certain waterborne
Safety accident.
The object of the present invention is achieved like this: a kind of unmanned manipulation floating on water surface anti-pollution vessel, comprising:
Hull, have can self-powered battery pack；
It is mounted on storing bin on hull, for storing rubbish, upper end has opening；
Be mounted on it is on hull, being connect with remote control table wireless telecommunications, by battery-powered control device；With
And
Screw propeller being mounted on hull tail portion, being controlled by control device；
Further comprise:
It is fixedly mounted on the turning-over support seat of storing bin front end；
For by rubbish be transported to it is in storing bin, inclined, from the low conveyer mechanism conveyed toward height, the biography
Tape-feed vertically rotationally connect turning-over support seat, the conveyer mechanism most significant end be in storing bin upper end opening just on
Side, when salvaging, the conveyer mechanism least significant end is close to the water surface；
It is described electronic to push away for driving electric pushrod that conveyer mechanism is rotated vertically, being controlled by control device
Bar both ends are rotatablely connected with conveyer mechanism, hull respectively；
A pair is separately mounted to the rubbish at left and right sides of conveyer mechanism least significant end and stops mechanism, and two rubbish stop mechanism
Arrangement form be in outward eight shape；And
Be mounted on conveyer mechanism least significant end, for floating refuse to be picked up to the rubbish on conveyer mechanism pick up machine
Structure, the rubbish pick up mechanism and are between two rubbish obstruction mechanisms and close to conveyer mechanism least significant end.
Further, the conveyer mechanism includes feed drive motor, drive shaft, conveyer belt, driven shaft, inclined biography
Band body frame, the drive shaft, driven shaft lateral arrangement are sent, the conveyer belt body frame rotationally connects turning-over support seat, institute vertically
The pars contractilis end rotation connection conveyer belt body frame of electric pushrod is stated, the portion that determines of the electric pushrod is rotatablely connected hull, described
Drive shaft, driven shaft are rotatably connected on the most significant end of conveyer belt body frame, least significant end respectively, the conveyer belt be sleeved on drive shaft and
On driven shaft, the feed drive motor is mounted on conveyer belt body frame, and the feed drive motor is controlled by control device, institute
The output main shaft and drive shaft for stating feed drive motor are sequentially connected.
Further, it includes support frame, rolling frame, rotary drive motor that the rubbish, which picks up mechanism, and support frame as described above is solid
Dingan County is mounted in conveyer belt body frame least significant end, and the rolling frame is rotatably mounted on support frame vertically, and the rolling frame is in two
A rubbish stops the position between mechanism, and the rotary drive motor installation is controlled on the support frame and by control device, described
The output main shaft of rotary drive motor and rolling frame shaft end are sequentially connected, and the rolling frame has several claw bars, and the claw bar hangs down
Directly in the rotation axis of rolling frame, several claw bars surround the rotation axis circumferential array of rolling frame at multiple rows of.
Further, it includes cross bar and several vertical poles that each rubbish, which stops mechanism, and when salvaging rubbish, the cross bar is horizontal
To arrangement, the vertical pole is fixedly connected perpendicular to cross bar and with cross bar, and several vertical poles are arranged along cross bar length direction.
Further, the video camera connecting with control device is installed on the storing bin, it is described under driving status to take the photograph
The camera shooting end of camera is towards front, and the rubbish stops mechanism and rubbish picks up mechanism and is in the image pickup scope of video camera.
Further, storing bin upper end opening edge be equipped with it is being connect with control device, for monitoring rubbish heap
The infrared inductor of product height.
Further, 4G module is installed, the control device passes through 4G module and remote control table on the hull
Wireless telecommunications connection.
Further, the GPS module connecting with control device is installed on the hull.
Further, direction sensing connecting with control device, for incuding driving direction is installed on the hull
Device.
A kind of control method of unmanned manipulation floating on water surface anti-pollution vessel, includes the following steps:
Step 1: Initialize installation is carried out, hull swims in standby on the water surface；
Step 2: obtaining the GPS positioning information of hull by GPS module, carry out control device and remote control table it
Between communication prepare；
Step 3: remote control table establishes telecommunication relationship by 4G module and control device to normally receive instruction
It is requested with sending；
Step 4: remote control table sends rubbish clean-up task signal to 4G module；
Step 5: control device enters starting state after obtaining rubbish clean-up task signal, carries out the preparation set out；
Step 6: starting screw propeller acquires the ambient image on navigation route by video camera；
Step 7: for acquiring navigation environment in front of video camera alignment course line, and judged by control device be on course line
It is no that there are floating refuses；
Step 8: when control device is judged on course line with the presence or absence of floating refuse, whether the electricity for detecting battery pack meets
Pick up the operational requirements of rubbish；
Step 9: if detect that the electricity of battery pack meets the operational requirements for picking up rubbish, started using control device
Rotary drive motor, feed drive motor when being unsatisfactory for picking up the operational requirements of rubbish such as the electricity of battery pack, execute step 10
One；
Step 10: using the integral inclined degree of electric pushrod adjustment conveyer mechanism, so that rubbish stops mechanism and is attached to water
It on face, to stop floating refuse, then drives rolling frame to be rotated straight up using rotary drive motor, will stop two
The floating refuse that a rubbish stops between mechanism takes on the conveyer belt of conveyer mechanism, with moving upwards for conveyer belt, drift
Whether floating rubbish is transported in storing bin, and transfinited by infrared inductor real-time monitoring sanitary fill height, in sanitary fill
When height reaches restriction height and incuded by infrared inductor, rotary drive motor and feed drive motor are simultaneously stopped work,
Current location is recorded by GPS module, starts screw propeller to drive hull to make a return voyage；
Step 11: recording current location point by GPS module, and hull makes a return voyage to supplement the electricity of battery pack, works as battery
The location point of former GPS module record is returned after the completion of the electricity supplement of group, and continues to execute step 7；
Step 12: after completing rubbish clean-up task, when not receiving next new task, control device passes through 4G mould
Block is sent to remote control table returns to request, and remote control table sends return command to control device by 4G module, so
Start screw propeller afterwards to drive hull to make a return voyage.
The beneficial effects of the present invention are:
1) due to being mounted with video camera, the shooting area of video camera is in front of course line when navigation, and video camera is for acquiring boat
The ambient condition in row region, and environmental aspect is timely feedbacked, and image procossing is carried out by control device, timely feedback water surface drift
Floating quantity of refuse, when video camera finds floating refuse, control device plans that reasonable rubbish picks up scheme, while passing through GPS mould
Block effectively records the position of hull, convenient for record course line, is more advantageous to the reentry point of record hull, hull is facilitated accurately to arrive at
And return recording point, 4G module for receiving task signal, sending request signal, convenient for control device and remote control table it
Between wireless connections；
2) rubbish pick-up operation is very convenient, and floating refuse is sent to conveyer mechanism using rotating rolling frame
Least significant end is then transported on band mechanism and floating refuse is transported in storing bin；
3) pass through the sanitary fill height of infrared inductor real-time detection storing bin, and rubbish is calculated by control device
Accumulating amount when the volume of storing bin is unable to satisfy accumulation demand, stops current pickup work, makes a return voyage after accurate recording anchor point
Unload rubbish；
4) it by above-mentioned control method, aloows hull to arrive at specified rubbish and picks up place, pickup of making rational planning for
Approach realizes the function of detection rubbish heap accumulated amount by infrared inductor, in the process of moving, acquires navigation ring by video camera
Border image is simultaneously accurately analyzed, and direction sensor can timely feedback hull peripheral position condition feedback to control device, be convenient for and
When adjustment direction, GPS module also can return waypoint location with accurate recording, so as to accurate return recording point after unloading, registration,
Rubbish cleaning amount is accurate, has preferable practicability, is easy to be extended and applied.
Detailed description of the invention
Fig. 1 is lateral arrangement schematic diagram of the invention.
Fig. 2 is the arrangement schematic diagram of overlook direction of the invention.
Fig. 3 is control planning schematic diagram of the invention.
In figure, 1 hull, 2 storing bins, 3 conveyer mechanisms, 301 feed drive motors, 302 drive shafts, 303 conveyer belts,
304 driven shafts, 305 conveyer belt body frames, 4 turning-over support seats, 5 electric pushrods, 6 rubbish obstruction mechanism, 601 cross bars, 602 vertical poles, 7
Rubbish picks up mechanism, 701 support frames, 702 rolling frames, 702a claw bar, 703 rotary drive motors, 8 video cameras, 9 infrared sensings
Device, 10-4G module, 11GPS module, 12 direction sensors, 13 screw propellers, 14 control devices, 15 remote control tables,
16 waters surface, 17 battery packs.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific examples.
In conjunction with shown in Fig. 1-3, a kind of unmanned manipulation floating on water surface anti-pollution vessel, comprising:
Hull 1, have can self-powered battery pack 17；
It is mounted on storing bin 2 on hull 1, for storing rubbish, upper end has opening；
It is mounted on control dress on hull 1, connecting with 15 wireless telecommunications of remote control table, being powered by battery pack 17
Set 14；And
Screw propeller 13 being mounted on 1 tail portion of hull, being controlled by control device 14；
Further comprise:
It is fixedly mounted on the turning-over support seat 4 of 2 front end of storing bin；
For by rubbish be transported to it is in storing bin 2, inclined, from the low conveyer mechanism 3 conveyed toward height, transmission
Band mechanism 3 is vertical rotationally to connect turning-over support seat 4,3 most significant end of conveyer mechanism be in 2 upper end opening of storing bin just on
Side, when salvaging, 3 least significant end of conveyer mechanism is close to the water surface 16；
It is electronic to push away for driving electric pushrod 5 that conveyer mechanism 3 is rotated vertically, being controlled by control device 14
5 both ends of bar are rotatablely connected with conveyer mechanism 3, hull 1 respectively；
A pair is separately mounted to the rubbish at left and right sides of 3 least significant end of conveyer mechanism and stops mechanism 6, two rubbish arresting engines
The arrangement form of structure 6 is in outward eight shape；And
Be mounted on 3 least significant end of conveyer mechanism, pick up for floating refuse to be picked up the rubbish on conveyer mechanism 3
Mechanism 7, rubbish pick up mechanism 7 and are between two rubbish obstruction mechanisms 6 and close to 3 least significant end of conveyer mechanism.
Above-mentioned conveyer mechanism 3 includes feed drive motor 301, drive shaft 302, conveyer belt 303, driven shaft 304, inclination
Conveyer belt body frame 305, drive shaft 302,304 lateral arrangement of driven shaft, the vertical rotationally connection overturning branch of conveyer belt body frame 305
Seat 4 is supportted, the pars contractilis end of electric pushrod 5 is rotatablely connected conveyer belt body frame 305, and electric pushrod 5 determines portion's rotation connection hull
1, drive shaft 302, driven shaft 304 are rotatably connected on the most significant end of conveyer belt body frame 305, least significant end respectively, and conveyer belt 303 is set with
In drive shaft 302 and driven shaft 304, feed drive motor 301 is mounted on conveyer belt body frame 305, feed drive motor 301
It is controlled by control device 14, the output main shaft and drive shaft 302 of feed drive motor 301 are sequentially connected.
It includes support frame 701, rolling frame 702, rotary drive motor 703 that above-mentioned rubbish, which picks up mechanism 7, and support frame 701 is solid
Dingan County is mounted in 305 least significant end of conveyer belt body frame, and rolling frame 702 is rotatably mounted at vertically on support frame 701, at rolling frame 702
The position between mechanism 6 is stopped in two rubbish, rotary drive motor 703 is mounted on support frame 701 and by control device 14
Control, the output main shaft of rotary drive motor 703 and 702 shaft end of rolling frame are sequentially connected, and rolling frame 702 has several claw bars
The rotation axis of 702a, claw bar 702a perpendicular to rolling frame 702, rotation axis week of several claw bar 702a around rolling frame 702
Multiple rows of to being arranged in, the structure of rolling frame 702 is similar to the rotary type of conventional harvester rolling cage in the present embodiment.
It includes cross bar 601 and several vertical poles 602, the lateral cloth of cross bar 601 when salvaging rubbish that each rubbish, which stops mechanism 6,
It sets, vertical pole 602 is fixedly connected perpendicular to cross bar 601 and with cross bar 601, and several vertical poles 602 are arranged along 601 length direction of cross bar.
Rubbish stops the block structure that mechanism 6 can be arranged to the distribution of eight shape of level according to demand, is not limited only to the present embodiment and discloses
Structure type.
The video camera 8 connecting with control device 14 is installed, video camera 8 takes the photograph under driving status on above-mentioned storing bin 2
Picture end is towards front, and rubbish stops mechanism 6 and rubbish picks up mechanism 7 and is in the image pickup scope of video camera 8.Due to being mounted with
Video camera 8, the shooting area of video camera 8 is in front of course line when navigation, and video camera 8 is used to acquire the ambient condition of navigation area,
And environmental aspect is timely feedbacked, and image procossing is carried out by control device 14, timely feedback 16 floating refuse amount of the water surface.
Above-mentioned 2 upper end opening edge of storing bin be equipped with it is being connect with control device 14, for monitoring sanitary fill height
Infrared inductor 9.With the sanitary fill height of real-time detection storing bin 2, stops rubbish immediately after highly transfiniting and pick up behaviour
Make.
4G module 10 is installed, control device 14 is wireless by 4G module 10 and remote control table 15 on above-mentioned hull 1
Communication connection.
The GPS module 11 connecting with control device 14 is installed on above-mentioned hull 1.
Direction sensor 12 connecting with control device 14, for incuding driving direction is installed on above-mentioned hull 1.
The control method of the unmanned manipulation floating on water surface anti-pollution vessel includes the following steps:
Step 1: Initialize installation is carried out, hull 1 swims in standby on the water surface 16；
Step 2: obtaining the GPS positioning information of hull 1 by GPS module 11, carries out control device 14 and long-range control is flat
Communication between platform 15 prepares；
Step 3: remote control table 15 establishes telecommunication relationship with control device 14 by 4G module 10 normally to connect
It receives instruction and sends request；
Step 4: remote control table 15 sends rubbish clean-up task signal to 4G module 10；
Step 5: control device 14 enters starting state after obtaining rubbish clean-up task signal, carries out the preparation set out；
Step 6: starting screw propeller 13 acquires the ambient image on navigation route by video camera 8；
Step 7: video camera 8 is aligned in front of course line for acquiring navigation environment, and is judged on course line by control device 14
With the presence or absence of floating refuse；
Step 8: when control device 14 is judged on course line with the presence or absence of floating refuse, whether the electricity of detection battery pack 17
Meet the operational requirements for picking up rubbish；
Step 9: if detect that the electricity of battery pack 17 meets the operational requirements for picking up rubbish, control device 14 is utilized
Start rotary drive motor 703, feed drive motor 301, as the electricity of battery pack 17 is unsatisfactory for picking up the operational requirements of rubbish
When, execute step 11；
Step 10: adjusting the integral inclined degree of conveyer mechanism 3 using electric pushrod 5, so that rubbish stops mechanism 6 and is attached to
On the water surface 16, to stop floating refuse, then rolling frame 702 is driven to be rotated straight up using rotary drive motor 703,
It will stop on the conveyer belt 303 that two rubbish stop that the floating refuse between mechanism 6 takes conveyer mechanism 3 to, with conveying
It is moved upwards with 303, floating refuse is transported in storing bin 2, and by 9 real-time monitoring sanitary fill height of infrared inductor
Whether transfinite, when sanitary fill height reaches restriction height and is incuded by infrared inductor 9, rotary drive motor 703 and defeated
It send driving motor 301 to be simultaneously stopped work, current location is recorded by GPS module 11, start screw propeller 13 to drive
Hull 1 makes a return voyage；
Step 11: recording current location point by GPS module 11, and hull 1 makes a return voyage to supplement the electricity of battery pack 17, when
The location point that former GPS module 11 records is returned after the completion of the electricity supplement of battery pack 17, and continues to execute step 7；
Step 12: after completing rubbish clean-up task, when not receiving next new task, control device 14 passes through 4G
Module 10 is sent to remote control table 15 returns to request, and remote control table 15 is sent by 4G module 10 to control device 14
Then return command starts screw propeller 13 to drive hull 1 to make a return voyage.
It is the preferred embodiment of the present invention above, those of ordinary skill in the art can also carry out various changes on this basis
It changes or improves, under the premise of not departing from the present invention total design, these transformation or improve all should belong to that the present invention claims guarantors
Within the scope of shield.
Claims (10)
1. a kind of unmanned manipulation floating on water surface anti-pollution vessel, comprising:
Hull (1), have can self-powered battery pack (17)；
It is mounted on storing bin (2) on hull (1), for storing rubbish, upper end has opening；
It is mounted on control on hull (1), connecting with remote control table (15) wireless telecommunications, being powered by battery pack (17)
Device (14)；And
Screw propeller (13) being mounted on hull (1) tail portion, being controlled by control device (14)；
It is characterized in that, further comprising:
It is fixedly mounted on the turning-over support seat (4) of storing bin (2) front end；
For by rubbish be transported to it is in storing bin (2), inclined, from the low conveyer mechanism (3) conveyed toward height, it is described
Conveyer mechanism (3) is vertical rotationally to connect turning-over support seat (4), and conveyer mechanism (3) most significant end is in storing bin (2)
The surface of upper end opening, when salvaging, conveyer mechanism (3) least significant end is close to the water surface (16)；
It is described for driving electric pushrod (5) that conveyer mechanism (3) is rotated vertically, being controlled by control device (14)
Electric pushrod (5) both ends are rotatablely connected with conveyer mechanism (3), hull (1) respectively；
A pair is separately mounted to the rubbish at left and right sides of conveyer mechanism (3) least significant end and stops mechanism (6), two rubbish arresting engines
The arrangement form of structure (6) is in outward eight shape；And
Be mounted on conveyer mechanism (3) least significant end, pick up for floating refuse to be picked up the rubbish on conveyer mechanism (3)
Mechanism (7), the rubbish pick up mechanism (7) and are between two rubbish obstructions mechanism (6) and minimum close to conveyer mechanism (3)
End.
2. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 1, it is characterised in that: the conveyer belt
Mechanism (3) includes feed drive motor (301), drive shaft (302), conveyer belt (303), driven shaft (304), inclined conveyer belt
Body frame (305), the drive shaft (302), driven shaft (304) lateral arrangement, the conveyer belt body frame (305) rotationally connect vertically
It connects turning-over support seat (4), the pars contractilis end of the electric pushrod (5) is rotatablely connected conveyer belt body frame (305), described electronic to push away
Bar (5) determines portion's rotation connection hull (1), and the drive shaft (302), driven shaft (304) are rotatably connected on conveyer belt master respectively
The most significant end of frame (305), least significant end, the conveyer belt (303) is sleeved in drive shaft (302) and driven shaft (304), described defeated
Driving motor (301) is sent to be mounted on conveyer belt body frame (305), the feed drive motor (301) is controlled by control device (14)
System, the output main shaft of the feed drive motor (301) and drive shaft (302) are sequentially connected.
3. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 2, it is characterised in that: the rubbish fishing
Playing mechanism (7) includes support frame (701), rolling frame (702), rotary drive motor (703), the fixed peace of support frame as described above (701)
Mounted in conveyer belt body frame (305) least significant end, the rolling frame (702) is rotatably mounted at vertically on support frame (701), the rolling
Moving frame (702) is in the position between two rubbish obstructions mechanism (6), and the rotary drive motor (703) is mounted on support frame
(701) it is controlled on and by control device (14), the output main shaft of the rotary drive motor (703) and rolling frame (702) shaft end
Transmission connection, the rolling frame (702) have several claw bars (702a), and the claw bar (702a) is perpendicular to rolling frame (702)
Rotation axis, several claw bars (702a) surround the rotation axis circumferential array of rolling frame (702) at multiple rows of.
4. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 2, it is characterised in that: each rubbish resistance
Blocking mechanism (6) includes cross bar (601) and several vertical poles (602), cross bar (601) lateral arrangement, institute when salvaging rubbish
It states vertical pole (602) to be fixedly connected perpendicular to cross bar (601) and with cross bar (601), several vertical poles (602) are along cross bar (601) length
Direction arrangement.
5. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 1, it is characterised in that: the storing bin
(2) video camera (8) connecting with control device (14) is installed, the camera shooting end court of the video camera (8) under driving status on
Forwards, the rubbish stops mechanism (6) and rubbish picks up mechanism (7) and is in the image pickup scope of video camera (8).
6. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 1, it is characterised in that: the storing bin
(2) upper end opening edge is equipped with infrared inductor connect with control device (14), for monitoring sanitary fill height
(9)。
7. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 1, it is characterised in that: the hull
(1) it is equipped on 4G module (10), the control device (14) passes through 4G module (10) and remote control table (15) channel radio
News connection.
8. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 1, it is characterised in that: the hull
(1) GPS module (11) connecting with control device (14) is installed on.
9. a kind of unmanned manipulation floating on water surface anti-pollution vessel according to claim 1, it is characterised in that: the hull
(1) direction sensor (12) connect with control device (14), for incuding driving direction is installed on.
10. a kind of control method of unmanned manipulation floating on water surface anti-pollution vessel, which comprises the steps of:
Step 1: Initialize installation is carried out, hull (1) swims in standby on the water surface (16)；
Step 2: obtaining the GPS positioning information of hull (1) by GPS module (11), carries out control device (14) and long-range control
Communication between platform (15) prepares；
Step 3: remote control table (15) establishes telecommunication relationship with control device (14) by 4G module (10) with normal
It receives instruction and sends request；
Step 4: remote control table (15) sends rubbish clean-up task signal to 4G module (10)；
Step 5: control device (14) enters starting state after obtaining rubbish clean-up task signal, carries out the preparation set out；
Step 6: starting screw propeller (13) acquires the ambient image on navigation route by video camera (8)；
Step 7: video camera (8) alignment judges on course line in front of course line for acquiring navigation environment, and by control device (14)
With the presence or absence of floating refuse；
Step 8: when control device (14) is judged on course line with the presence or absence of floating refuse, whether the electricity of detection battery pack (17)
Meet the operational requirements for picking up rubbish；
Step 9: it if detect that the electricity of battery pack (17) meets the operational requirements for picking up rubbish, utilizes control device (14)
Start rotary drive motor (703), feed drive motor (301), as the electricity of battery pack (17) is unsatisfactory for picking up the behaviour of rubbish
When making demand, step 11 is executed；
Step 10: using the integral inclined degree of electric pushrod (5) adjustment conveyer mechanism (3), so that rubbish stops mechanism (6) patch
On the water surface (16), to stop floating refuse, then rolling frame (702) are driven to carry out using rotary drive motor (703) vertical
Rotation upwards stops the conveyer belt that the floating refuse between mechanism (6) takes conveyer mechanism (3) in two rubbish for stopping
(303) on, with moving upwards for conveyer belt (303), floating refuse is transported in storing bin (2), and by infrared inductor
(9) whether real-time monitoring sanitary fill height transfinites, and reaches restriction height in sanitary fill height and is felt by infrared inductor (9)
At once, rotary drive motor (703) and feed drive motor (301) are simultaneously stopped work, are recorded by GPS module (11) current
Position starts screw propeller (13) to drive hull (1) to make a return voyage；
Step 11: recording current location point by GPS module (11), and hull (1) makes a return voyage to supplement the electricity of battery pack (17),
The location point that former GPS module (11) records is returned after the completion of the electricity supplement of battery pack (17), and continues to execute step 7；
Step 12: after completing rubbish clean-up task, when not receiving next new task, control device (14) passes through 4G mould
Block (10) is sent to remote control table (15) returns to request, and remote control table (15) passes through 4G module (10) to control device
(14) return command is sent, starts screw propeller (13) then to drive hull (1) to make a return voyage.
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| CN201910612832.1A CN110304209B (en) | 2019-07-09 | 2019-07-09 | Unmanned water floating garbage cleaning boat and control method thereof |
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| CN201910612832.1A CN110304209B (en) | 2019-07-09 | 2019-07-09 | Unmanned water floating garbage cleaning boat and control method thereof |
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| CN110304209B CN110304209B (en) | 2021-04-13 |
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| CN111254897A (en) * | 2020-02-27 | 2020-06-09 | 武汉理工大学 | Unmanned ship for cleaning offshore floating garbage and cleaning method |
| CN111636396A (en) * | 2020-07-11 | 2020-09-08 | 上海健康医学院 | Full-automatic pool and lake floating garbage salvage machine |
| CN111945691A (en) * | 2020-08-17 | 2020-11-17 | 四川东方水利智能装备工程股份有限公司 | Intelligent water cleaning robot |
| CN112459028A (en) * | 2020-11-25 | 2021-03-09 | 澜途集思生态科技集团有限公司 | Water quality maintenance robot and operation method |
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