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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
rubbish
control
hull
floating
water
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201910612832.1A
Other languages
Chinese (zh)
Other versions
CN110304209B (en
Inventor
张梦佳
邢博闻
袁立
刘斐
陈洪东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Yumo Information Technology Co Ltd
Shanghai Ocean University
Original Assignee
Shanghai Yumo Information Technology Co Ltd
Shanghai Ocean University
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Yumo Information Technology Co Ltd, Shanghai Ocean University filed Critical Shanghai Yumo Information Technology Co Ltd
Priority to CN201910612832.1A priority Critical patent/CN110304209B/en
Publication of CN110304209A publication Critical patent/CN110304209A/en
Application granted granted Critical
Publication of CN110304209B publication Critical patent/CN110304209B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/32Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02BHYDRAULIC ENGINEERING
    • E02B15/00Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10Devices for removing the material from the surface
    • E02B15/104Conveyors; Paddle wheels; Endless belts
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/0206Control of position or course in two dimensions specially adapted to water vehicles
    • GPHYSICS
    • G08SIGNALLING
    • G08CTRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

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

It is a kind of that nobody manipulates floating on water surface anti-pollution vessel and its control method
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.
CN201910612832.1A 2019-07-09 2019-07-09 Unmanned water floating garbage cleaning boat and control method thereof Active CN110304209B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201910612832.1A CN110304209B (en) 2019-07-09 2019-07-09 Unmanned water floating garbage cleaning boat and control method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201910612832.1A CN110304209B (en) 2019-07-09 2019-07-09 Unmanned water floating garbage cleaning boat and control method thereof

Publications (2)

Publication Number Publication Date
CN110304209A true CN110304209A (en) 2019-10-08
CN110304209B CN110304209B (en) 2021-04-13

Family

ID=68078466

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201910612832.1A Active CN110304209B (en) 2019-07-09 2019-07-09 Unmanned water floating garbage cleaning boat and control method thereof

Country Status (1)

Country Link
CN (1) CN110304209B (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111254897A (en) * 2020-02-27 2020-06-09 武汉理工大学 Unmanned ship for cleaning offshore floating garbage and cleaning method
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
CN112793725A (en) * 2021-02-01 2021-05-14 浙江翌明科技有限公司 Intelligent cleaning machine for water surface garbage floater for unmanned ship and use method thereof

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2052282A (en) * 1979-06-07 1981-01-28 Massei O Oil skimmer vessel
CN202923846U (en) * 2012-11-30 2013-05-08 安徽工业大学 Water surface garbage automatic cleaning boat
CN103640676A (en) * 2013-11-13 2014-03-19 梧州学院 Remote control intelligent rubbish salvage ship
CN108058790A (en) * 2017-12-28 2018-05-22 重庆邮电大学 A kind of rubbish cleaning unmanned boat waterborne
CN108100177A (en) * 2018-01-24 2018-06-01 新昌县楷翔机电有限公司 A kind of intelligent remote manipulates rubbish negative pressure ship
CN207972758U (en) * 2018-01-12 2018-10-16 中国科学院合肥物质科学研究院 A kind of hybrid power robot for water surface cleaner
CN208774975U (en) * 2018-09-27 2019-04-23 中国长江三峡集团有限公司 A kind of waters floating refuse object automatic cleaning apparatus

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2052282A (en) * 1979-06-07 1981-01-28 Massei O Oil skimmer vessel
CN202923846U (en) * 2012-11-30 2013-05-08 安徽工业大学 Water surface garbage automatic cleaning boat
CN103640676A (en) * 2013-11-13 2014-03-19 梧州学院 Remote control intelligent rubbish salvage ship
CN108058790A (en) * 2017-12-28 2018-05-22 重庆邮电大学 A kind of rubbish cleaning unmanned boat waterborne
CN207972758U (en) * 2018-01-12 2018-10-16 中国科学院合肥物质科学研究院 A kind of hybrid power robot for water surface cleaner
CN108100177A (en) * 2018-01-24 2018-06-01 新昌县楷翔机电有限公司 A kind of intelligent remote manipulates rubbish negative pressure ship
CN208774975U (en) * 2018-09-27 2019-04-23 中国长江三峡集团有限公司 A kind of waters floating refuse object automatic cleaning apparatus

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111254897A (en) * 2020-02-27 2020-06-09 武汉理工大学 Unmanned ship for cleaning offshore floating garbage and cleaning method
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
CN112793725A (en) * 2021-02-01 2021-05-14 浙江翌明科技有限公司 Intelligent cleaning machine for water surface garbage floater for unmanned ship and use method thereof

Also Published As

Publication number Publication date
CN110304209B (en) 2021-04-13

Similar Documents

Publication Publication Date Title
CN110304209A (en) It is a kind of that nobody manipulates floating on water surface anti-pollution vessel and its control method
CN107097910B (en) A kind of unmanned boat cleaning systems and its working method with unmanned plane integration of operation
CN205770036U (en) A kind of Marine garbage collection ship
CN107542073A (en) A kind of mixed dynamic water surface cleaning of intelligence based on Raspberry Pi and water monitoring device and method
CN106347594B (en) A kind of wireless charging clears up water surface robot system automatically
CN207972758U (en) A kind of hybrid power robot for water surface cleaner
CN106080990B (en) The unmanned intelligent cleaning ship of new energy river algae
CN109501974A (en) Water rubbish clean-up vessel
CN207029486U (en) A kind of novel garden water area refuse pick-up boat
CN105564603A (en) Hybrid power water surface cleaning robot
CN209441566U (en) A kind of water plant pick-up boat
CN108797542A (en) A kind of Multifunctional river channel contamination removing ship
CN206956694U (en) The small-sized automatic cleaning boat salvaged and classified
CN109594544A (en) A kind of water surface cleaner
CN107022989A (en) A kind of adjustable drum-type garbage on water salvages collection device
CN208021681U (en) Garbage cleaning robot waterborne
CN211228428U (en) Small-size waters floater pickup system
CN108284922A (en) One kind being used for the clean Intelligent unattended lighter aboard ship of the water surface and its control method
CN204059320U (en) Robot for water surface cleaner
CN109774872A (en) A kind of double driven type garbage on water cleaning intelligent robots
CN207257916U (en) Anti-pollution vessel waterborne
CN111877290A (en) Intelligent water surface cleaning robot
CN208616164U (en) A kind of cleaning machine for garbage on water
CN208803449U (en) A kind of over-water floats collection device
CN201400296Y (en) Remote-control electric cleaning boat

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant