CN110820707A - A kind of river automatic cleaning device and cleaning method thereof - Google Patents

Abstract

The invention discloses an automatic river cleaning device and a cleaning method thereof. The existing river cleaning methods mainly include manual cleaning, large-scale mechanical equipment cleaning, and chemical reactant injection into the river. The present invention is an automatic river cleaning device, comprising a robot transceiver device, a garbage recycling container, a recycling rope, a cleaning robot and a camera. The robot transceiver device includes an electric pan/tilt, an ejection device and a rope retracting device. The cleaning robot includes a first air gripper, a second air gripper, a gripper driving assembly, a mounting frame and a traveling drive device. The invention combines the ejection and the underwater propulsion propeller, so that a river channel automatic cleaning device can automatically pick up floating garbage in a large range, thereby reducing the workload of manual cleaning. The gripper of the present invention adopts a pre-filled air gripper, which is light in weight, so it can ensure that the gripper faces upward when the cleaning robot is in water, thereby reducing the difficulty of gripping garbage.

Description

A kind of river automatic cleaning device and cleaning method thereof

technical field

The invention belongs to the technical field of cleaning robots, and in particular relates to an automatic river cleaning device and a cleaning method thereof.

Background technique

In urban construction, rivers are often needed for drainage and flood discharge. However, as the residents on both sides of the river discharge domestic sewage and garbage into the rivers, many rivers have become stinky ditches, and aquatic organisms cannot survive, which has seriously damaged the water ecosystem of the rivers. The existing river cleaning methods mainly include manual cleaning, large-scale mechanical equipment cleaning, and chemical reactant injection into the river. Manual cleaning is time-consuming and labor-intensive, and the execution efficiency is low, requiring people to walk around the river every day; large-scale mechanical equipment cleaning is to clean the bottom of the river, mainly by segmenting the river, draining the river section by section to clean up the remaining garbage. , aquatic plants, silt, etc. This method has a relatively thorough cleaning effect on pollutants in the river, but the cost is extremely high, the time consuming is long, and it is not convenient for daily pollutant treatment. Disinfectants are put in to disinfect the pollutants in the river water. This method has a low level of treatment of pollutants in the river, and cannot clean up the garbage in Hanoi. It must be cooperated with other methods to achieve the purpose of cleaning up the garbage in Hanoi. Moreover, this method consumes a lot of manpower, and after each administration, the control time is short.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an automatic river cleaning device and a cleaning method thereof.

The present invention is an automatic river cleaning device, comprising a robot transceiver device, a garbage recycling container, a recycling rope, a cleaning robot and a camera. The robot transceiver device, the garbage collection container and the camera are all installed on the river bank. The robot transceiver device includes an electric pan/tilt head, an ejection device and a rope retracting device. The base of the electric head is installed on the river bank. The ejection device is mounted on the electric head. One end of the recovery rope is fixed with the rope winding roller, and the other end is connected with the cleaning robot. The recovery rope is passed through the ejection channel of the ejection device. The garbage collection container is located directly below the ejection device.

The cleaning robot includes a first air gripper, a second air gripper, an air gripper drive assembly, a mounting frame and a traveling drive device. The inner ends of the first air gripper and the second air gripper are arranged at intervals, and both are fixed with one end of the mounting frame. Both the first air gripper and the second air gripper are air bags. The outer ends of the first air gripper and the second air gripper are bent close to each other. The air gripper drive assembly includes a first pull rope, a second pull rope, a pull rope roller and a pull rope motor. Both sides of the mounting frame are provided with rope holes. The two rope threading holes correspond to the positions of the first air gripper and the second air gripper respectively. The pull rope roller is supported in the mounting frame. The pull rope roller is driven by the pull rope motor. One ends of the first pull rope and the second pull rope are respectively fixed with the outer ends of the first air gripper and the second air gripper. The other ends of the first pull rope and the second pull rope respectively pass through the two rope holes on the mounting frame, and are fixed with the pull rope roller. The traveling drive device includes an orientation adjustment assembly, a traveling motor and a propeller. The orientation adjustment assembly is installed in the mounting frame; the travel motor is installed on the orientation adjustment assembly. The output shaft of the travel motor is fixed to the propeller.

Preferably, the orientation adjustment assembly includes a revolving frame, a steering gear, a circular arc steering rack, a first drive gear, a support shaft, a second drive gear, a steering shaft, a first steering drive motor and a second steering drive motor. The swivel frame is supported in the mounting frame. The central axis of the revolving frame coincides with the central axis of the mounting frame. The steering gear is coaxially fixed with the swivel frame. The first drive gear is supported within the mount. The first drive gear meshes with the steering gear. The first drive gear is driven by the first steering drive motor. Both ends of the support shaft are fixed with the inner side surface of the revolving frame. The axis of the support shaft intersects perpendicularly with the central axis of the revolving frame. The steering shaft and the support shaft form a rotating pair. The inner end of the steering shaft is fixed with the inner middle of the arc steering rack. The central axis of the arc steering rack coincides with the axis of the support shaft. The second drive gear is supported on the revolving frame. The second driving gear meshes with the arc steering rack. The second drive gear is driven by the second steering drive motor. The travel motor is fixed to the outer end of the steering shaft.

Preferably, the camera adopts a binocular camera.

Preferably, the ejection device adopts an electromagnetic ejector, a spring ejection device or a pneumatic ejection device.

Preferably, the rope retracting and unwinding device includes a rope winding roller and an unwinding motor. The rope winding roller is supported on the frame of the robot transceiver and driven by the unwinding motor. The rope winding roller is fixed with the recovery rope.

Preferably, the top of the garbage collection container is provided with an opening.

Preferably, the cleaning robot further includes a protective cover. The protective cover is fixed on one end of the mounting bracket away from the first air gripper and the second air gripper. The protective cover is fixed with the recovery rope.

Preferably, the mounting frame is provided with a UWB positioning chip. Three UWB base stations are fixed at intervals on the river bank; the UWB positioning chip on the cleaning robot cooperates with the three UWB base stations to determine the spatial position of the UWB positioning chip.

Preferably, the opposite sides of the first air gripper and the second air gripper are provided with convex hulls arranged in sequence from the inside to the outside.

The cleaning method of the river channel automatic cleaning device is as follows:

Step 1: The electric pan/tilt moves so that the ejection port of the ejection device faces the target garbage; the ejection device ejects the cleaning robot toward the target garbage. In the water of the cleaning robot, the first air gripper and the second air gripper face upward.

Step 2: Adjust the direction of the propeller towards the adjustment component. The travel motor drives the propeller to rotate, so that the cleaning robot moves towards the target garbage.

Step 3: After the cleaning robot reaches directly below the target garbage, it adjusts the propeller towards the adjustment component to face directly downward; the pull-rope motor rotates forward, so that the first air gripper and the second air gripper are opened.

Step 4: The travel motor drives the propeller to continue to rotate, so that the cleaning robot rises, and the first air gripper and the second air gripper are in contact with the target garbage. Afterwards, the pull rope motor is reversed, so that the first air gripper and the second air gripper are closed to catch the garbage.

Step 5. The retracting and unwinding rope device in the robot's transceiver device begins to retract the line, so that the retracting rope is pulled back, and the cleaning robot is driven back to the ejection port of the ejection device.

Step 6. The pull-rope motor rotates forward, so that the first air gripper and the second air gripper are opened, and the garbage falls into the garbage recycling container. After that, the pull rope motor is reversed, so that the first air gripper and the second air gripper are closed.

The beneficial effects that the present invention has are:

1. The present invention combines ejection and underwater propulsion propeller, so that an automatic river cleaning device can automatically pick up floating garbage in a large range, thereby reducing the workload of manual cleaning.

2. The gripper of the present invention adopts a pre-filled air gripper, which can be driven only by two pulling ropes and a motor; and the gripper is light in weight, so it can ensure that the gripper faces upwards when cleaning the robot in water. Reduced the difficulty of picking up trash.

3. The present invention can also realize the real-time monitoring of the river, and play the role of timely warning.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present invention;

Fig. 2 is the structural representation of cleaning robot in the present invention;

FIG. 3 is a schematic view of the structure of the traveling driving device in the present invention.

Detailed ways

The present invention will be further described below with reference to the accompanying drawings.

As shown in FIG. 1 , an automatic river cleaning device includes a robot transceiver 102 , a garbage collection container 103 , a recycling rope 104 , a cleaning robot 105 , a camera 107 and a controller. The robot transceiver 102 , the garbage collection container 103 , and the camera 107 are all installed on the river bank 101 . The camera 107 adopts a binocular camera, which can determine the spatial position of the object to be photographed. The cleaning robot 105 is housed in the robot transceiver 102 . The camera 107 takes pictures of the river and transmits it to the controller. The controller identifies whether there is garbage 106 floating on the water surface through an image recognition algorithm, and determines the location of the garbage 106 .

The robot transceiver device 102 includes an electric pan/tilt head, an ejection device and a rope retracting device. The base of the electric head is installed on the river bank 101 . The ejection device is mounted on the electric head. The electric head adjusts the orientation of the ejection device. The ejection device adopts an electromagnetic ejector, a spring ejection device or a pneumatic ejection device. The winding and unwinding device includes a winding roller and an unwinding motor. The roping roller is supported on the frame of the robot transceiver 102 and is driven by the unwinding motor. One end of the recovery rope 104 is fixed to the rope winding roller, and the other end is connected to the rear end of the cleaning robot 105 . The recovery cord 104 is passed through the ejection channel of the ejection device. The ejection device is used to eject the cleaning robot 105 near the garbage 106, and the ejection distance is controlled by controlling the ejection force. The retracting and releasing rope device is used to pull the cleaning robot 105 that has grabbed the garbage 106 back into the ejection position of the ejection device.

The garbage collection container 103 is located directly below the ejection device; the top of the garbage collection container 103 is provided with an opening. In the initial state, the cleaning robot 105 is located in the ejection channel of the ejection device; at this time, if the cleaning robot 105 releases the garbage 106 grasped by itself, the garbage 106 will fall into the garbage collection device 103 .

As shown in FIG. 2 , the cleaning robot 105 includes a first air gripper 201 , a second air gripper 202 , an air gripper driving assembly, a mounting frame 205 , a protective cover 206 and a traveling driving device. A UWB positioning chip is arranged in the mounting frame 205 . The inner ends of the first air gripper 201 and the second air gripper 202 are spaced apart and fixed to one end of the mounting frame 205 . The first air gripper 201 and the second air gripper 202 are both airbags. The opposite sides of the first air gripper 201 and the second air gripper 202 are provided with convex hulls arranged in sequence from the inside to the outside. The inner cavity of the convex hull is communicated with the inner cavity of the airbag main body. When the first air gripper 201 or the second air gripper 202 is filled with gas, the convex hull will expand, so that the outer end of the first air gripper 201 or the second air gripper 202 is bent to the side away from the convex hull. Both the first air gripper 201 and the second air gripper 202 are filled with gas. In an initial state, the first air gripper 201 and the second air gripper 202 are bent until their outer ends are in contact with each other.

The air gripper drive assembly includes a first cable 203, a second cable 204, a cable roller and a cable motor. Both sides of the mounting frame 205 are provided with rope holes. The two rope threading holes correspond to the positions of the first air gripper 201 and the second air gripper 202 respectively. The pull cord rollers are supported within the mounting frame 205 . The wire-pulling motor is fixed in the mounting frame 205, and the output shaft is fixed to one end of the wire-pulling roller. One ends of the first pull rope 203 and the second pull rope 204 are respectively fixed to the outer ends of the first air gripper 201 and the second air gripper 202 . The other ends of the first pull rope 203 and the second pull rope 204 respectively pass through the two rope passing holes on the mounting frame 205 and are fixed to the pull rope roller. The protective cover 206 is fixed on one end of the mounting bracket 205 away from the first air gripper 201 and the second air gripper 202 . The protective cover 206 is fixed to the recovery rope 104 .

When the pull rope roller rotates, the first pull rope 203 and the second pull rope 204 are simultaneously wound on the pull rope roller or released from the pull rope roller. When the first pull rope 203 and the second pull rope 204 are wound around the pull rope roller, the outer ends that pull the first air gripper 201 and the second air gripper 202 are turned in a direction away from each other, so that the first air gripper 201 and the second air gripper 202 are turned away from each other. The second air gripper 202 is in an open state. The first air gripper 201 and the second air gripper 202 are not in the shape of slender strips, but in the shape of an arc-shaped plate in the circumferential direction. Efficiently grab trash 106.

As shown in FIG. 3 , the travel drive device includes an orientation adjustment assembly, a travel motor and a propeller 207 . The orientation adjustment assembly includes a revolving frame 307, a steering gear 301, a circular arc steering rack 302, a first drive gear 303, a support shaft 304, a second drive gear 305, a steering shaft 306, a first steering drive motor and a second steering drive motor . The revolving frame 307 is supported within the mounting frame. The central axis of the revolving frame 307 coincides with the central axis of the mounting frame. The steering gear 301 is fixed coaxially with the revolving frame 307 . The first drive gear 303 is supported within the mounting frame. The first drive gear 303 meshes with the steering gear 301 . The first drive gear 303 is driven by the first steering drive motor. Both ends of the support shaft 304 are fixed to the inner surface of the revolving frame 307 . The axis of the support shaft 304 perpendicularly intersects the central axis of the revolving frame 307 . The steering shaft 306 and the support shaft 304 constitute a rotating pair. The inner end of the steering shaft 306 is fixed to the inner middle of the arc steering rack 302 . The central axis of the arc steering rack 302 coincides with the axis of the support shaft 304 . The second drive gear 305 is supported on the revolving frame 307 . The second driving gear 305 meshes with the arc steering rack 302 . The second drive gear 305 is driven by the second steering drive motor. The orientation adjustment assembly is used to adjust the propeller 207 to change the direction of travel of the cleaning robot 105 in the water.

When the steering shaft 306 is driven by the second driving gear 305 to rotate until its axis does not coincide with the revolving frame 307, the rotation of the second driving gear 305 can drive the outer end of the steering shaft 306 to rotate in a circular shape (the axis of the steering shaft 306 conical rotation); therefore, through the rotation of the first steering drive motor and the second steering drive motor, the orientation of the outer end of the steering shaft can be controlled to change with two degrees of freedom. A travel motor is fixed to the outer end of the steering shaft 306 . The output shaft of the travel motor is fixed to the propeller 207 .

The UWB positioning chip and the signal output interface of the camera are connected with the controller. All motors are connected to the controller through motor drivers. The cable connecting the cleaning robot 105 and the controller is fixed together with the recovery rope 104 . The control interface of the ejection device is connected with the controller. Three UWB base stations are fixed on the river bank 101 at intervals; the UWB positioning chip on the cleaning robot 105 cooperates with the three UWB base stations, and can determine the spatial position of the UWB positioning chip.

The cleaning method of the river channel automatic cleaning device is as follows:

Step 1: The camera 107 captures a photo or video and transmits it to the controller. When the controller determines whether there is garbage 106 on the river surface and the location of the garbage 106 according to the received photo or video.

Step 2: The controller controls the action of the electric pan/tilt so that the ejection port of the ejection device faces the target garbage; the controller controls the ejection device to eject the cleaning robot 105 toward the target garbage. Since the first air gripper 201 and the second air gripper 202 of the cleaning robot 105 are airbags and have a relatively small weight, the first air gripper 201 and the second air gripper 202 in the water of the cleaning robot 105 are in an upward state.

Step 3: The controller determines the position of the cleaning robot 105 according to the signal transmitted by the UWB positioning chip.

Step 4: After the control system obtains the relative orientation of the garbage 106 and the cleaning robot 105 through the camera 107, the control system controls the first driving gear 303 and the second driving gear 305 to rotate, so that the propeller 207 faces the side away from the garbage 106. The travel motor drives the propeller 207 to rotate, so that the cleaning robot 105 moves toward the garbage 106 .

Step 5. After the cleaning robot 105 reaches directly below the garbage 106, the direction adjustment assembly drives the propeller 207 to face directly downward; the pulling rope motor rotates forward, so that the first air gripper 201 and the second air gripper 202 are opened.

Step 6. The travel motor drives the propeller 207 to continue to rotate, so that the cleaning robot 105 rises to the point where the first air gripper 201 and the second air gripper 202 are in contact with the garbage 106. The air gripper 202 is closed to grab the trash 106 .

Step 7: The retracting and unwinding device in the robot transceiver 102 starts to retract the cable, so that the retracting cable 104 is pulled back, and the cleaning robot 105 is driven back to the ejection port of the ejection device.

Step 8: The pulling rope motor rotates forward, so that the first air gripper 201 and the second air gripper 202 are opened, and the garbage 106 falls into the garbage collection container 103 to realize garbage cleaning. After that, the pulling rope motor is reversed, so that the first air gripper 201 and the second air gripper 202 are closed.

Claims (10)

1. an automatic cleaning device for a river, comprising a robot transceiver, a garbage collection container, a recycling rope, a cleaning robot and a camera; it is characterized in that: the robot transceiver, the garbage recycling container, the camera are all installed on the river bank; The robot transceiver device includes an electric pan-tilt, an ejection device and a rope retracting and releasing device; the base of the electric pan-tilt is installed on the river bank; the ejection device is mounted on the electric pan-tilt; one end of the recovery rope is fixed with the rope winding roller, and the other end connected with the cleaning robot; the recovery rope passes through the ejection channel of the ejection device; the garbage collection container is located directly under the ejection device; The cleaning robot includes a first air gripper, a second air gripper, an air gripper drive assembly, a mounting frame and a traveling drive device; the inner ends of the first air gripper and the second air gripper are arranged at intervals, and both are connected to one end of the mounting frame. fixed; the first air gripper and the second air gripper are both air bags; the outer ends of the first air gripper and the second air gripper are bent close to each other; the air gripper drive assembly includes a first pull rope, a second pull rope, a pull Rope roller and rope motor; both sides of the mounting frame are provided with rope threading holes; the two rope threading holes correspond to the positions of the first air gripper and the second air gripper respectively; the rope drawing roller is supported in the mounting frame; the rope drawing roller Driven by the pull rope motor; one end of the first pull rope and the second pull rope are respectively fixed with the outer ends of the first air gripper and the second air gripper; the other ends of the first pull rope and the second pull rope pass through the mounting frame respectively The two rope holes on the rope pulley are fixed with the pull rope roller; the travel drive device includes an orientation adjustment assembly, a travel motor and a propeller; the orientation adjustment assembly is installed in the mounting frame; the travel motor is installed on the orientation adjustment assembly; travel The output shaft of the motor is fixed to the propeller. 2 . The automatic river cleaning device according to claim 1 , wherein the orientation adjustment assembly comprises a revolving frame, a steering gear, a circular arc steering rack, a first drive gear, a support shaft, a second drive Gear, steering shaft, first steering drive motor and second steering drive motor; the slewing frame is supported in the mounting frame; the central axis of the slewing frame coincides with the central axis of the mounting frame; the steering gear and the slewing frame are coaxially fixed; the first drive The gear is supported in the mounting frame; the first driving gear meshes with the steering gear; the first driving gear is driven by the first steering driving motor; both ends of the support shaft are fixed with the inner side of the revolving frame; The central axis intersects vertically; the steering shaft and the supporting shaft form a rotating pair; the inner end of the steering shaft is fixed to the inner middle of the arc steering rack; the central axis of the arc steering rack coincides with the axis of the supporting shaft; the second drive gear supports On the revolving frame; the second driving gear meshes with the arc steering rack; the second driving gear is driven by the second steering driving motor; the traveling motor is fixed on the outer end of the steering shaft. 3 . The automatic river cleaning device according to claim 1 , wherein the camera adopts a binocular camera. 4 . 4 . The automatic river cleaning device according to claim 1 , wherein the ejection device adopts an electromagnetic ejector, a spring ejection device or a pneumatic ejection device. 5 . 5. An automatic river cleaning device according to claim 1, characterized in that: the rope retracting and unwinding device comprises a rope winding roller and an unwinding motor; The unwinding motor is driven; the rope winding roller is fixed with the recovery rope. 6 . The automatic river cleaning device according to claim 1 , wherein the top of the garbage collection container is provided with an opening. 7 . 7. An automatic river cleaning device according to claim 1, characterized in that: the cleaning robot further comprises a protective cover; the protective cover is fixed on one end of the mounting frame away from the first air gripper and the second air gripper; The hood is secured with a recovery cord. 8. A river channel automatic cleaning device according to claim 1, characterized in that: a UWB positioning chip is arranged in the mounting frame; three UWB base stations are fixed at intervals on the river bank; the UWB positioning chip on the cleaning robot is The three UWB base stations cooperate to determine the spatial position of the UWB positioning chip. 9 . The automatic river cleaning device according to claim 1 , wherein the opposite sides of the first air gripper and the second air gripper are provided with convex hulls arranged in sequence from the inside to the outside. 10 . 10. The method for cleaning a river channel automatic cleaning device according to claim 1, wherein in step 1, the electric pan/tilt moves so that the ejection port of the ejection device is directed toward the target garbage; the ejection device ejects the cleaning robot toward the target Garbage; in the water of the cleaning robot, the first air gripper and the second air gripper are facing upward; Step 2, adjust the orientation of the propeller toward the adjustment component; the travel motor drives the propeller to rotate, so that the cleaning robot moves to the target garbage; Step 3. After the cleaning robot reaches directly below the target garbage, adjust the propeller towards the adjustment component to face directly downward; the pull-rope motor rotates forward, so that the first air gripper and the second air gripper are opened; Step 4: The travel motor drives the propeller to continue to rotate, so that the cleaning robot rises, and the first air gripper and the second air gripper are in contact with the target garbage; after that, the pulling rope motor is reversed, so that the first air gripper and the second air gripper are closed. grab trash; Step 5. The retracting and unwinding rope device in the robot transceiver device begins to retract the line, so that the recovery rope is pulled back, and the cleaning robot is driven back to the ejection port of the ejection device; Step 6. The pulling rope motor rotates forward, so that the first air gripper and the second air gripper are opened, and the garbage falls into the garbage recycling container; after that, the pulling rope motor is reversed, so that the first air gripper and the second air gripper are closed. .

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