CN110304209B - Unmanned water floating garbage cleaning boat and control method thereof - Google Patents
Unmanned water floating garbage cleaning boat and control method thereof Download PDFInfo
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 166
- 238000004140 cleaning Methods 0.000 title claims abstract description 55
- 238000007667 floating Methods 0.000 title claims abstract description 55
- 238000000034 method Methods 0.000 title claims abstract description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 80
- 238000003860 storage Methods 0.000 claims abstract description 31
- 238000005096 rolling process Methods 0.000 claims abstract description 29
- 230000000903 blocking effect Effects 0.000 claims abstract description 26
- 238000009825 accumulation Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 13
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- 241000282414 Homo sapiens Species 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 239000000295 fuel oil Substances 0.000 description 3
- 241000195493 Cryptophyta Species 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 2
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- 238000012545 processing Methods 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
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- 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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- 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
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- 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
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- 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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Abstract
The invention relates to an unmanned control overwater floating garbage cleaning ship and a control method thereof in the technical field of overwater garbage salvage, and the unmanned control overwater floating garbage cleaning ship comprises a ship body, wherein the ship body is provided with a storage bin for storing garbage and a garbage cleaning part for picking up overwater floating garbage, the garbage cleaning part is provided with a rolling frame, a conveyor belt mechanism, an electric push rod and a garbage blocking mechanism which are distributed in a splayed shape, the tail part of the ship body is provided with a propeller, a camera for image acquisition, a GPS module and a 4G module, and the ship body is provided with a control device which is in electric signal connection with the propeller, the camera, the GPS module and the 4G; according to the invention, through the application of the unmanned overwater floating garbage cleaning boat, remote and accurate garbage cleaning is realized, and the human resource loss is reduced.
Description
Technical Field
The invention relates to the technical field of overwater garbage salvage, in particular to an unmanned overwater floating garbage cleaning boat and a control method thereof.
Background
In the modern society, along with the rapid development of economy, the life of people has qualitative leap. Because people pay attention to the development of industry and economy and often neglect the protection of the environment, the quality of water resources in the world is continuously reduced in recent years, the water environment is continuously deteriorated, water shortage and accidents caused by pollution are continuously caused, not only is the production of factories stopped, the production of agriculture and aquaculture reduced, but also the production is even absolutely received, but also adverse social influence and large economic loss are caused, the sustainable development of the society is seriously threatened, and the survival of human beings is threatened.
Along with the improvement of living standard of people, domestic garbage is more and more, as part of people have poor environmental protection consciousness, and a large part of garbage is abandoned in a river channel, a large amount of garbage floats on the water surfaces of rivers and lakes, and partial areas are particularly seriously polluted, such as the operation of a channel and the normal operation of a generator set can be influenced if the positions of a shipping river channel, a power station and the like are not cleaned in time; on the other hand, domestic sewage and industrial wastewater are discharged in large quantities. The river water is heavily enriched with nutrients, so that a large amount of floating algae appear on the water surface, and if the floating algae cannot be cleaned in time, the serious problem that the ecological balance of the area is seriously broken occurs. In order to clean floating garbage on water, various water garbage cleaning ships appear in succession, and the water garbage cleaning ships can be roughly divided into two modes of driving by means of fuel oil and driving by manpower. The fuel oil drive has the problems of air pollution, noise pollution, oil pollution and the like, and has the disadvantages of large volume, high operation cost, large energy consumption and difficulty in popularization. The method for cleaning the water surface garbage by manually driving the boat has the advantages of high labor intensity, low operation efficiency and unsatisfactory cleaning effect. Therefore, how to use water power as a power source, designing and manufacturing the water surface garbage cleaning machine which does not need fuel oil, has no noise pollution and air pollution and is environment-friendly becomes the competitive pursuit target of sanitation equipment manufacturers. The water surface floating garbage cleaning device is equipment for cleaning water surface garbage by utilizing hydraulic drive, and the cleaning device is positioned in a slow flow or still water area and utilizes a self-contained motor as a power source. The machine has the characteristics of high efficiency, low energy consumption, strong self-adaptive capacity and the like, greatly reduces the labor intensity of sanitation workers, and enhances the safety of cleaning water surface garbage.
At present, the domestic and foreign water surface garbage is generally cleaned by adopting a manual salvage mode and a manual and mechanical mixed salvage mode. The manual salvage of the water surface garbage adopts a half-cabin type or salvage by tools such as a net bag held by sanitation workers, and the like, and the operation mode has high labor intensity, severe working environment and low efficiency.
With the related art of unmanned ships maturing and developing, the carrying function of unmanned ships is continuously being explored. Unmanned ship clearance mode device on water can slowly replace original manual cleaning work in the aspect of the environmental pollutant clearance, compares manual cleaning, and unmanned floating rubbish clearance ship on water has reduced artifical distribution at to a great extent, has solved the personal safety problem on water. Unmanned floating rubbish cleaning boat on water has also obtained increasing substantially in the aspect of accurate survey, complete picking up according to the rubbish demand of picking up through accurate GPS location. However, the size of the hull of the existing unmanned water floating garbage cleaning boat in the market limits garbage, the technology aspects of accurate detection and complete pickup are still to be improved, and the cruising ability of the hull is also to be improved.
According to statistical analysis, in recent years, the market demand of civil unmanned overwater floating garbage cleaning ships in China is large, the application prospect of the unmanned overwater floating garbage cleaning ships is good, and related applications are still in the primary stage of scale formation. Especially, the cruising ability of the unmanned overwater floating garbage cleaning boat is limited by the existing battery technology, and the cruising mileage of the unmanned overwater floating garbage cleaning boat influences the development of the unmanned overwater floating garbage cleaning boat. Due to the limitation of a battery technology and a charging technology, the unmanned overwater floating garbage cleaning boat has extremely short sustainable working time, so that the application of the unmanned overwater floating garbage cleaning boat is greatly restricted. After the unmanned overwater floating garbage cleaning ship runs for a period of time, the unmanned overwater floating garbage cleaning ship must return to supplement electric energy. In the prior art, the storage capacity of a battery on an unmanned overwater floating garbage cleaning ship reaches the technical bottleneck, how to increase the running distance of the unmanned overwater floating garbage cleaning ship, improve the use efficiency and accurately execute commands is a technical point and a difficult point which need to be solved urgently by technical staff in the field.
Therefore, there is a need for an improved structure that overcomes the above-mentioned deficiencies.
Disclosure of Invention
The invention aims to provide an unmanned overwater floating garbage cleaning boat and a control method thereof.
The purpose of the invention is realized as follows: an unmanned water floating garbage cleaning boat, comprising:
the ship body is provided with a battery pack capable of supplying power by itself;
the storage bin is arranged on the ship body and used for storing garbage, and the upper end of the storage bin is provided with an opening;
the control device is arranged on the ship body, is in wireless communication connection with the remote control platform and is powered by the battery pack; and
the propeller is arranged at the tail part of the ship body and is controlled by a control device;
further comprising:
the overturning supporting seat is fixedly arranged at the front end of the storage bin;
the conveying belt mechanism is used for conveying garbage into the storage bin, is inclined and conveys the garbage from low to high, is vertically and rotatably connected with the overturning support seat, is positioned right above an opening at the upper end of the storage bin at the highest end of the conveying belt mechanism, and is close to the water surface at the lowest end of the conveying belt mechanism during fishing;
the electric push rod is used for driving the conveyor belt mechanism to vertically rotate and is controlled by the control device, and two ends of the electric push rod are respectively in rotating connection with the conveyor belt mechanism and the ship body;
the garbage blocking mechanisms are respectively arranged at the left side and the right side of the lowest end of the conveyor belt mechanism, and the arrangement form of the two garbage blocking mechanisms is splayed outwards; and
install at the conveyer belt mechanism least significant end, be used for dragging for floating rubbish to play the rubbish on the conveyer belt mechanism and drag for the mechanism, the rubbish is dragged for the mechanism and is in between two rubbish stopping devices and be close to the conveyer belt mechanism least significant end.
Further, conveyer belt mechanism is including carrying the conveyer belt body frame of driving motor, drive shaft, conveyer belt, driven shaft, slope, drive shaft, driven shaft transverse arrangement, the upset supporting seat is connected to the vertical rotation ground of conveyer belt body frame, electric putter's flexible portion end is rotated and is connected the conveyer belt body frame, electric putter's portion rotates and connects the hull, drive shaft, driven shaft rotate respectively and connect highest end, the least significant end at the conveyer belt body frame, the conveyer belt suit is on drive shaft and driven shaft, carry driving motor to install on the conveyer belt body frame, carry driving motor controlled device control, the output main shaft of carrying driving motor is connected with the drive shaft transmission.
Further, rubbish is dragged for mechanism and is included support frame, rolling frame, rotation driving motor, support frame fixed mounting is at the conveyer belt body frame lower extreme, the vertical ground that rotates of rolling frame is installed on the support frame, the rolling frame is in the position between two rubbish stopping mechanisms, rotation driving motor installs on the support frame and is controlled by the controlling means, rotation driving motor's output main shaft and rolling frame axle head transmission are connected, the rolling frame has a plurality of claw poles, the rotation axis of claw pole perpendicular to rolling frame, a plurality of claw poles become the multirow around the rotation axis circumference range of rolling frame.
Furthermore, each garbage blocking mechanism comprises a cross rod and a plurality of longitudinal rods, the cross rods are transversely arranged when garbage is salvaged, the longitudinal rods are perpendicular to the cross rods and are fixedly connected with the cross rods, and the longitudinal rods are arranged along the length direction of the cross rods.
Furthermore, a camera connected with the control device is installed on the storage bin, the shooting end of the camera faces the front in the running state, and the garbage blocking mechanism and the garbage scooping mechanism are both located in the shooting range of the camera.
Furthermore, an infrared sensor connected with the control device and used for monitoring the garbage accumulation height is installed at the edge of an opening at the upper end of the storage bin.
Further, install the 4G module on the hull, controlling means passes through 4G module and remote control platform wireless communication connection.
Furthermore, a GPS module connected with the control device is installed on the ship body.
Further, a direction sensor connected with the control device and used for sensing the driving direction is mounted on the ship body.
A control method for an unmanned overwater floating garbage cleaning boat comprises the following steps:
the method comprises the following steps: carrying out initialization setting, wherein the ship body floats on the water surface and is in a standby state;
step two: GPS positioning information of the ship body is acquired through a GPS module, and communication preparation between the control device and the remote control platform is made;
step three: the remote control platform establishes a remote communication relation with the control device through the 4G module so as to normally receive the instruction and send the request;
step four: the remote control platform sends a garbage cleaning task signal to the 4G module;
step five: the control device enters a starting state after acquiring a garbage cleaning task signal and prepares for starting;
step six: starting a propeller thruster, and acquiring an environment image on a navigation line through a camera;
step seven: the camera is aligned to the front of the flight path and used for collecting a navigation environment, and whether floating garbage exists on the flight path is judged through the control device;
step eight: when the control device judges whether floating garbage exists on the navigation line, whether the electric quantity of the battery pack meets the operation requirement of picking up the garbage is detected;
step nine: if the electric quantity of the battery pack is detected to meet the operation requirement for picking up the garbage, starting the rotary driving motor and the conveying driving motor by using the control device, and executing the step eleven if the electric quantity of the battery pack does not meet the operation requirement for picking up the garbage;
step ten: the integral inclination of the conveyor belt mechanism is adjusted by using an electric push rod, so that the garbage blocking mechanisms are attached to the water surface to block floating garbage, then the rotary driving motor is used for driving the rolling frame to vertically rotate upwards, the floating garbage blocked between the two garbage blocking mechanisms is conveyed onto the conveyor belt of the conveyor belt mechanism, the floating garbage is conveyed into the storage bin along with the upward movement of the conveyor belt, whether the garbage accumulation height is over-limit is monitored in real time by an infrared sensor, when the garbage accumulation height reaches a limited height and is sensed by the infrared sensor, the rotary driving motor and the conveying driving motor stop working at the same time, the current position is recorded by the GPS module, and a propeller is started to drive the ship body to return to the ship;
step eleven: recording the current position point through the GPS module, returning the ship body to supplement the electric quantity of the battery pack, returning the position point recorded by the original GPS module after the electric quantity of the battery pack is supplemented, and continuously executing the step seven;
step twelve: after the garbage cleaning task is completed and the next new task is not received, the control device sends a return request to the remote control platform through the 4G module, the remote control platform sends a return command to the control device through the 4G module, and then the propeller thruster is started to drive the ship body to return.
The invention has the beneficial effects that:
1) the camera is installed, the shooting area of the camera is in front of a flight line during navigation, the camera is used for collecting the environmental state of the navigation area and feeding back the environmental condition in time, image processing is carried out through the control device, the amount of floating garbage on the water surface is fed back in time, when the camera finds the floating garbage, the control device plans a reasonable garbage picking scheme, and simultaneously the position of the ship body is effectively recorded through the GPS module, so that the flight line is conveniently recorded, the return point of the ship body is more favorably recorded, the ship body can conveniently and accurately arrive at and return to the recording point, and the 4G module is used for receiving a task signal and sending a request signal, so that wireless communication between the control device and a remote;
2) the garbage picking operation is very convenient, the floating garbage is conveyed to the lowest end of the conveyor belt mechanism by utilizing the rolling frame which rotates continuously, and then the floating garbage is conveyed to the storage bin by the conveyor belt mechanism;
3) the method comprises the steps that the garbage accumulation height of a storage bin is detected in real time through an infrared sensor, the garbage accumulation amount is calculated through a control device, when the volume of the storage bin cannot meet the accumulation requirement, the current picking work is stopped, and the garbage is returned and unloaded after positioning points are accurately recorded;
4) through the control method, the ship body can reach the designated garbage picking place, the picking way is reasonably planned, the function of detecting the garbage accumulation amount is realized through the infrared sensor, in the driving process, the image of the navigation environment is collected through the camera and accurately analyzed, the direction sensor can timely feed back the situation of the peripheral position of the ship body to the control device, the direction can be conveniently and timely adjusted, the GPS module can also accurately record the position of the return flight point, so that the recorded point can be accurately returned after unloading, the positioning is accurate, the garbage cleaning amount is accurate, the method has better practicability and is convenient to popularize and apply.
Drawings
Fig. 1 is a schematic side view of the present invention.
Fig. 2 is a schematic arrangement in a top view of the present invention.
Fig. 3 is a schematic diagram of the control relationship of the present invention.
In the figure, 1 ship body, 2 storage bins, 3 conveyor belt mechanisms, 301 conveying driving motors, 302 driving shafts, 303 conveyor belts, 304 driven shafts, 305 conveyor belt main frames, 4 overturning supporting seats, 5 electric push rods, 6 garbage blocking mechanisms, 601 cross rods, 602 longitudinal rods, 7 garbage scooping mechanisms, 701 supporting frames, 702 rolling frames, 702a claw rods, 703 rotary driving motors, 8 cameras, 9 infrared sensors, 10-4G modules, 11GPS modules, 12 direction sensors, 13 propeller propellers, 14 control devices, 15 remote control platforms, 16 water surfaces and 17 battery packs.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
Referring to fig. 1-3, an unmanned water floating garbage cleaning boat comprises:
a hull 1 having a self-powerable battery pack 17;
a storage bin 2 which is arranged on the ship body 1 and used for storing garbage, wherein the upper end of the storage bin is provided with an opening;
a control device 14 which is arranged on the ship body 1, is connected with a remote control platform 15 in a wireless communication way and is powered by a battery pack 17; and
a propeller 13 installed at the rear of the hull 1 and controlled by a control device 14;
further comprising:
an overturning supporting seat 4 fixedly arranged at the front end of the storage bin 2;
the conveying belt mechanism 3 is used for conveying garbage into the storage bin 2, is inclined and conveys the garbage from low to high, the conveying belt mechanism 3 is vertically and rotatably connected with the overturning supporting seat 4, the highest end of the conveying belt mechanism 3 is positioned right above an opening at the upper end of the storage bin 2, and the lowest end of the conveying belt mechanism 3 is close to the water surface 16 during fishing;
the electric push rod 5 is used for driving the conveyor belt mechanism 3 to vertically rotate and is controlled by the control device 14, and two ends of the electric push rod 5 are respectively in rotating connection with the conveyor belt mechanism 3 and the ship body 1;
a pair of garbage blocking mechanisms 6 which are respectively arranged at the left side and the right side of the lowest end of the conveyor belt mechanism 3, and the arrangement form of the two garbage blocking mechanisms 6 is splayed outwards; and
install at 3 lowest ends of conveyer belt mechanism, be used for dragging for the rubbish on the conveyer belt mechanism 3 with floating rubbish and drag for mechanism 7, rubbish drags for mechanism 7 and is in between two rubbish stop gears 6 and be close to 3 lowest ends of conveyer belt mechanism.
The conveyor belt mechanism 3 comprises a conveying driving motor 301, a driving shaft 302, a conveyor belt 303, a driven shaft 304, an inclined conveyor belt main frame 305, the driving shaft 302, the driven shaft 304 is transversely arranged, the conveyor belt main frame 305 is vertically and rotatably connected with an overturning supporting seat 4, the tail end of a telescopic part of an electric push rod 5 is rotatably connected with the conveyor belt main frame 305, a fixed part of the electric push rod 5 is rotatably connected with a ship body 1, the driving shaft 302, the driven shaft 304 is respectively rotatably connected with the highest end of the conveyor belt main frame 305, the lowest end of the conveyor belt main frame 305 is sleeved on the driving shaft 302 and the driven shaft 304, the conveying driving motor 301 is installed on the conveyor belt main frame 305, the conveying driving motor 301 is controlled by a control device 14.
The garbage scooping mechanism 7 comprises a support frame 701, a rolling frame 702 and a rotary driving motor 703, wherein the support frame 701 is fixedly installed at the lowest end of the conveyor belt main frame 305, the rolling frame 702 is vertically and rotatably installed on the support frame 701, the rolling frame 702 is located between the two garbage blocking mechanisms 6, the rotary driving motor 703 is installed on the support frame 701 and is controlled by a control device 14, an output main shaft of the rotary driving motor 703 is in transmission connection with the shaft end of the rolling frame 702, the rolling frame 702 is provided with a plurality of claw rods 702a, the claw rods 702a are perpendicular to the rotation axis of the rolling frame 702, the plurality of claw rods 702a are circumferentially arranged in a plurality of rows around the rotation axis of the rolling frame 702, and the structure of the rolling frame 702 in the embodiment is similar to that of a rotary rolling.
Each garbage blocking mechanism 6 comprises a cross rod 601 and a plurality of longitudinal rods 602, the cross rods 601 are transversely arranged when garbage is salvaged, the longitudinal rods 602 are perpendicular to the cross rods 601 and fixedly connected with the cross rods 601, and the longitudinal rods 602 are arranged along the length direction of the cross rods 601. The garbage blocking mechanism 6 can be set into a blocking net structure distributed in a horizontal splayed shape according to requirements, and is not limited to the structural form disclosed in the embodiment.
The storage bin 2 is provided with a camera 8 connected with a control device 14, the shooting end of the camera 8 faces the front in a running state, and the garbage blocking mechanism 6 and the garbage scooping mechanism 7 are both positioned in the shooting range of the camera 8. Due to the installation of the camera 8, the shooting area of the camera 8 is the front of the air route during navigation, and the camera 8 is used for collecting the environmental state of the navigation area, feeding back the environmental state in time, processing images through the control device 14 and feeding back the floating garbage amount on the water surface 16 in time.
The edge of the opening at the upper end of the storage bin 2 is provided with an infrared sensor 9 which is connected with a control device 14 and used for monitoring the garbage accumulation height. The garbage stacking height of the storage bin 2 is detected in real time, and the garbage picking operation is stopped immediately after the height exceeds the limit.
The 4G module 10 is installed on the ship body 1, and the control device 14 is in wireless communication connection with the remote control platform 15 through the 4G module 10.
The hull 1 is provided with a GPS module 11 connected to a control device 14.
The hull 1 is provided with a direction sensor 12 connected to a control device 14 for sensing a traveling direction.
The control method of the unmanned water floating garbage cleaning boat comprises the following steps:
the method comprises the following steps: carrying out initialization setting, wherein the ship body 1 floats on the water surface 16 and is in a standby state;
step two: GPS positioning information of the ship body 1 is acquired through the GPS module 11, and communication preparation between the control device 14 and the remote control platform 15 is made;
step three: the remote control platform 15 establishes a remote communication relationship with the control device 14 through the 4G module 10 to normally receive instructions and send requests;
step four: the remote control platform 15 sends a garbage cleaning task signal to the 4G module 10;
step five: the control device 14 enters a starting state after acquiring the garbage cleaning task signal and prepares for starting;
step six: starting the propeller thruster 13, and acquiring an environment image on a navigation line through the camera 8;
step seven: the camera 8 is aligned with the front of the flight path and used for collecting the navigation environment, and the control device 14 is used for judging whether floating garbage exists on the flight path;
step eight: when the control device 14 judges whether floating garbage exists on the route, whether the electric quantity of the battery pack 17 meets the operation requirement of picking up the garbage is detected;
step nine: if the electric quantity of the battery pack 17 is detected to meet the operation requirement for picking up the garbage, the control device 14 is utilized to start the rotary driving motor 703 and the conveying driving motor 301, and if the electric quantity of the battery pack 17 does not meet the operation requirement for picking up the garbage, the step eleven is executed;
step ten: the integral inclination of the conveyor belt mechanism 3 is adjusted by using the electric push rod 5, so that the garbage blocking mechanisms 6 are attached to the water surface 16 to block floating garbage, then the rotary driving motor 703 is used for driving the rolling frame 702 to vertically rotate upwards, the floating garbage blocked between the two garbage blocking mechanisms 6 is brought onto the conveyor belt 303 of the conveyor belt mechanism 3, the floating garbage is conveyed into the storage bin 2 along with the upward movement of the conveyor belt 303, whether the garbage accumulation height is over-limit is monitored by the infrared sensor 9 in real time, when the garbage accumulation height reaches the limited height and is sensed by the infrared sensor 9, the rotary driving motor 703 and the conveying driving motor 301 stop working at the same time, the current position is recorded by the GPS module 11, and the propeller 13 is started to drive the ship body 1 to return;
step eleven: recording the current position point through the GPS module 11, returning the ship body 1 to supplement the electric quantity of the battery pack 17, returning to the position point recorded by the original GPS module 11 after the electric quantity of the battery pack 17 is supplemented, and continuously executing the step seven;
step twelve: when the next new task is not received after the garbage cleaning task is completed, the control device 14 sends a return request to the remote control platform 15 through the 4G module 10, the remote control platform 15 sends a return command to the control device 14 through the 4G module 10, and then the propeller 13 is started to drive the ship body 1 to return.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. An unmanned water floating garbage cleaning boat, comprising:
a hull (1) having a self-powerable battery pack (17);
the storage bin (2) is arranged on the ship body (1) and used for storing garbage, and the upper end of the storage bin is provided with an opening;
the control device (14) is arranged on the ship body (1), is in wireless communication connection with the remote control platform (15) and is powered by a battery pack (17); and
a propeller (13) mounted at the tail of the hull (1) and controlled by a control device (14);
characterized in that, further comprising:
an overturning supporting seat (4) fixedly arranged at the front end of the storage bin (2);
the conveying belt mechanism (3) is used for conveying garbage into the storage bin (2), is inclined and is conveyed from low to high, the conveying belt mechanism (3) is vertically and rotatably connected with the overturning supporting seat (4), the highest end of the conveying belt mechanism (3) is positioned right above an opening at the upper end of the storage bin (2), and the lowest end of the conveying belt mechanism (3) is close to the water surface (16) during fishing;
the electric push rod (5) is used for driving the conveyor belt mechanism (3) to vertically rotate and is controlled by the control device (14), and two ends of the electric push rod (5) are respectively in rotating connection with the conveyor belt mechanism (3) and the ship body (1);
the garbage blocking mechanisms (6) are respectively arranged at the left side and the right side of the lowest end of the conveyor belt mechanism (3), and the arrangement form of the two garbage blocking mechanisms (6) is in a splayed shape which is outwards opened; and
a garbage scooping mechanism (7) which is arranged at the lowest end of the conveyor belt mechanism (3) and used for scooping up the floating garbage onto the conveyor belt mechanism (3), wherein the garbage scooping mechanism (7) is positioned between the two garbage blocking mechanisms (6) and is close to the lowest end of the conveyor belt mechanism (3);
wherein, the conveyor belt mechanism (3) comprises a conveying driving motor (301), a driving shaft (302), a conveyor belt (303), a driven shaft (304) and an inclined conveyor belt main frame (305), the driving shaft (302) and the driven shaft (304) are transversely arranged, the conveyor belt main frame (305) is vertically and rotatably connected with an overturning support seat (4), the tail end of a telescopic part of an electric push rod (5) is rotatably connected with the conveyor belt main frame (305), a fixed part of the electric push rod (5) is rotatably connected with a ship body (1), the driving shaft (302) and the driven shaft (304) are respectively rotatably connected with the highest end and the lowest end of the conveyor belt main frame (305), the conveyor belt (303) is sleeved on the driving shaft (302) and the driven shaft (304), the conveying driving motor (301) is installed on the conveyor belt main frame (305), and the conveying driving motor (301) is controlled by a control, the output main shaft of the conveying driving motor (301) is in transmission connection with a driving shaft (302);
the garbage scooping mechanism (7) comprises a support frame (701), a rolling frame (702) and a rotary driving motor (703), the support frame (701) is fixedly installed at the lowest end of the conveyor belt main frame (305), the rolling frame (702) is vertically and rotatably installed on the support frame (701), the rolling frame (702) is located between the two garbage blocking mechanisms (6), the rotary driving motor (703) is installed on the support frame (701) and is controlled by a control device (14), an output main shaft of the rotary driving motor (703) is in transmission connection with the shaft end of the rolling frame (702), the rolling frame (702) is provided with a plurality of claw rods (702a), the claw rods (702a) are perpendicular to the rotary axis of the rolling frame (702), and the claw rods (702a) are circumferentially arranged in a plurality of rows around the rotary axis of the rolling frame (702);
each garbage blocking mechanism (6) comprises a cross rod (601) and a plurality of longitudinal rods (602), the cross rods (601) are transversely arranged when garbage is salvaged, the longitudinal rods (602) are perpendicular to the cross rods (601) and are fixedly connected with the cross rods (601), and the longitudinal rods (602) are arranged along the length direction of the cross rods (601).
2. An unmanned water borne trash cleaning boat as claimed in claim 1, wherein: the garbage blocking device is characterized in that a camera (8) connected with a control device (14) is installed on the storage bin (2), the shooting end of the camera (8) faces the front in the running state, and the garbage blocking mechanism (6) and the garbage scooping mechanism (7) are both located in the shooting range of the camera (8).
3. An unmanned water borne trash cleaning boat as claimed in claim 1, wherein: an infrared sensor (9) connected with a control device (14) and used for monitoring the garbage accumulation height is installed at the edge of an opening at the upper end of the storage bin (2).
4. An unmanned water borne trash cleaning boat as claimed in claim 1, wherein: install 4G module (10) on hull (1), controlling means (14) are connected with remote control platform (15) wireless communication through 4G module (10).
5. An unmanned water borne trash cleaning boat as claimed in claim 1, wherein: and a GPS module (11) connected with a control device (14) is arranged on the ship body (1).
6. An unmanned water borne trash cleaning boat as claimed in claim 1, wherein: the ship body (1) is provided with a direction sensor (12) which is connected with a control device (14) and is used for sensing the driving direction.
7. A control method for an unmanned overwater floating garbage cleaning boat is characterized by comprising the following steps:
the method comprises the following steps: carrying out initialization setting, wherein the ship body (1) floats on the water surface (16) and is in a standby state;
step two: GPS positioning information of the ship body (1) is acquired through a GPS module (11), and communication preparation between a control device (14) and a remote control platform (15) is made;
step three: the remote control platform (15) establishes a remote communication relation with the control device (14) through the 4G module (10) to normally receive instructions and send requests;
step four: the remote control platform (15) sends a garbage cleaning task signal to the 4G module (10);
step five: the control device (14) enters a starting state after acquiring the garbage cleaning task signal and prepares for starting;
step six: starting a propeller thruster (13), and acquiring an environment image on a navigation line through a camera (8);
step seven: the camera (8) is aligned to the front of the air route and used for collecting navigation environment, and a control device (14) is used for judging whether floating garbage exists on the air route;
step eight: when the control device (14) judges whether floating garbage exists on the air route, whether the electric quantity of the battery pack (17) meets the operation requirement of picking up the garbage is detected;
step nine: if the electric quantity of the battery pack (17) is detected to meet the operation requirement for picking up the garbage, starting the rotary driving motor (703) and the conveying driving motor (301) by using the control device (14), and executing the eleventh step if the electric quantity of the battery pack (17) does not meet the operation requirement for picking up the garbage;
step ten: the electric push rod (5) is utilized to adjust the integral gradient of the conveyor belt mechanism (3) so that the garbage blocking mechanism (6) is attached to the water surface (16) to block the floating garbage, then a rotary driving motor (703) is utilized to drive the rolling frame (702) to vertically rotate upwards, the floating garbage blocked between the two garbage blocking mechanisms (6) is brought onto a conveying belt (303) of a conveying belt mechanism (3), the floating garbage is conveyed into a storage bin (2) along with the upward movement of the conveying belt (303), and an infrared sensor (9) monitors whether the garbage accumulation height exceeds the limit in real time, when the garbage accumulation height reaches a limited height and is sensed by the infrared sensor (9), the rotary driving motor (703) and the conveying driving motor (301) stop working at the same time, recording the current position through a GPS module (11), and starting a propeller (13) to drive the ship body (1) to return;
step eleven: recording the current position point through the GPS module (11), returning the ship body (1) to supplement the electric quantity of the battery pack (17), returning to the position point recorded by the original GPS module (11) after the electric quantity of the battery pack (17) is supplemented, and continuously executing the seventh step;
step twelve: after the garbage cleaning task is completed and a next new task is not received, the control device (14) sends a return request to the remote control platform (15) through the 4G module (10), the remote control platform (15) sends a return command to the control device (14) through the 4G module (10), and then the propeller (13) is started to drive the ship body (1) to return.
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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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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111254897B (en) * | 2020-02-27 | 2021-03-16 | 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 |
| CN112793725B (en) * | 2021-02-01 | 2022-01-11 | 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 |
| CN112947202B (en) * | 2021-02-26 | 2022-06-14 | 厦门理工学院 | Intelligent cleaning system for water surface floating garbage and control method |
| CN113089607B (en) * | 2021-04-02 | 2024-08-30 | 华南理工大学 | Intelligent river surge cleaning system and control method |
| CN113309054B (en) * | 2021-06-17 | 2023-03-17 | 福建硕博海洋工程服务有限公司 | Self-driven marine floating garbage collection device and use method |
| CN113401296B (en) * | 2021-08-06 | 2022-09-30 | 厦门佰欧环境智能科技有限公司 | Intelligent water surface garbage cleaning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| GB2052282B (en) * | 1979-06-07 | 1983-04-20 | 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 |
| CN103640676B (en) * | 2013-11-13 | 2016-08-17 | 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 |
| CN108100177B (en) * | 2018-01-24 | 2023-09-29 | 新昌县楷翔机电有限公司 | Intelligent remote control garbage 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 |
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