CN110820707B

CN110820707B - Automatic river channel cleaning device and cleaning method thereof

Info

Publication number: CN110820707B
Application number: CN201911006087.2A
Authority: CN
Inventors: 许明; 孙森; 陈国金
Original assignee: Hangzhou Dianzi University
Current assignee: Hangzhou Dianzi University
Priority date: 2019-10-22
Filing date: 2019-10-22
Publication date: 2021-03-02
Anticipated expiration: 2039-10-22
Also published as: CN110820707A

Abstract

The invention discloses an automatic river channel cleaning device and a cleaning method thereof. The existing river channel cleaning method mainly comprises manual cleaning, large-scale mechanical equipment cleaning and chemical reactant feeding to the river channel. The invention relates to an automatic river channel cleaning device which comprises a robot receiving and sending device, a garbage recycling container, a recycling rope, a cleaning robot and a camera. The robot receiving and dispatching device comprises an electric cradle head, an ejection device and a rope winding and unwinding device. The cleaning robot comprises a first air claw, a second air claw, an air claw driving assembly, a mounting frame and a traveling driving device. According to the invention, through the combination of ejection and underwater propulsion propellers, a river channel automatic cleaning device can automatically pick up floating garbage in a larger range, and further, the workload of manual cleaning is reduced. The clamping jaw adopts the pre-charging type pneumatic jaw, so that the weight is light, the clamping jaw can be ensured to be upward when the cleaning robot is in water, and the difficulty in clamping garbage is reduced.

Description

Automatic river channel cleaning device and cleaning method thereof

Technical Field

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

Background

In urban construction, often need the river course to come the drainage flood discharge, nevertheless along with the river course is gone into with domestic sewage, rubbish to the both sides resident, make a lot of river courses become the foul water ditch, and aquatic life can't survive, has seriously destroyed the aquatic ecosystem in river course. The existing river channel cleaning method mainly comprises manual cleaning, large-scale mechanical equipment cleaning and chemical reactant feeding to the river channel. The manual cleaning consumes time and labor, the execution efficiency is low, and people are required to walk around the river channel every day; the large-scale mechanical equipment cleaning is to clean the river bottom, mainly through the way of sectional flow closure, the river water is drained one section by one section, and the residual rubbish, waterweeds, silt and the like are cleaned, the way has a thorough effect of cleaning the pollutants in the river channel, but has extremely high cost, long time consumption and is not convenient for daily pollutant treatment; the artifical disinfection medicine mode of puting in adopts artifical rowing boat or puts in disinfection medicine from the bank, carries out disinfection treatment to the pollutant in the river, and this kind of mode is lower to the treatment level of pollutant in the river course, can not clear up the rubbish in the river, must cooperate the purpose that just can realize clearing up rubbish in the river with other mode, and in addition, this kind of mode consumes the manpower great, and after the medicine is put into to every turn, the management and control time is shorter.

Disclosure of Invention

The invention aims to provide an automatic river channel cleaning device and a cleaning method thereof.

The invention relates to an automatic river channel cleaning device which comprises a robot receiving and sending device, a garbage recycling container, a recycling rope, a cleaning robot and a camera. The robot transceiver, the garbage recycling container and the camera are all installed on a river bank. The robot transceiver comprises an electric cradle head, an ejection device and a rope winding and unwinding device. The base of the electric pan-tilt is arranged on the river bank. The ejection device is arranged on the electric holder. One end of the recovery rope is fixed with the rope winding roller, and the other end of the recovery rope is connected with the cleaning robot. The recovery rope passes through an ejection channel of the ejection device. The garbage recycling container is positioned under the ejection device.

The cleaning robot comprises a first air claw, a second air claw, an air claw driving assembly, a mounting frame and a traveling driving device. The inner end interval of first gas claw and second gas claw sets up, and all is fixed with the one end of mounting bracket. The first air claw and the second air claw are both air bags. The outer ends of the first air claw and the second air claw are bent and close to each other. The pneumatic claw driving assembly comprises a first pull rope, a second pull rope, a pull rope roller and a pull rope motor. Stringing holes are formed in the two sides of the mounting rack. The two rope threading holes correspond to the first pneumatic claw and the second pneumatic claw respectively in position. The pull rope roller is supported in the mounting frame. The pull rope roller is driven by a pull rope motor. One end of the first pull rope and one end of the second pull rope are respectively fixed with the outer ends of the first pneumatic claw and the second pneumatic claw. The other ends of the first pull rope and the second pull rope respectively penetrate through the two rope penetrating holes in the mounting frame and are fixed with the pull rope roller. The advancing driving device comprises an orientation adjusting assembly, an advancing motor and a propeller. The orientation adjusting component is arranged in the mounting rack; the travel motor is mounted on the orientation adjustment assembly. The output shaft of the advancing motor is fixed with the propeller.

Preferably, the orientation adjustment assembly comprises a rotary frame, a steering gear, a circular arc steering rack, a first driving gear, a supporting shaft, a second driving gear, a steering shaft, a first steering driving motor and a second steering driving motor. The revolving 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 rotary frame. The first drive gear is supported within the mounting bracket. The first driving gear is meshed with the arc steering rack. The first drive gear is driven by a first steer drive motor. Both ends of the supporting shaft are fixed with the inner side surface of the revolving frame. The axis of the supporting shaft is vertically crossed with the central axis of the revolving frame. The steering shaft and the support shaft form a revolute pair. The inner end of the steering shaft is fixed with the middle part of the inner side of the arc steering rack. The central axis of the arc steering rack coincides with the axis of the support shaft. The second driving gear is supported on the revolving frame. The second drive gear is meshed with the steering gear. The second drive gear is driven by a second steering drive motor. The traveling motor is fixed at 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 winding and unwinding device comprises 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 comprises a protective cover. The safety cover is fixed in the one end that first gas claw, second gas claw were kept away from to the mounting bracket. The protective cover is fixed with the recovery rope.

Preferably, a UWB positioning chip is arranged in the mounting rack. Three UWB base stations are fixed on the river levee at intervals; the UWB positioning chip on the cleaning robot is matched with the three UWB base stations to determine the spatial position of the UWB positioning chip.

Preferably, the opposite sides of the first gas claw and the second gas claw are provided with convex hulls which are sequentially arranged from inside to outside.

The cleaning method of the automatic river channel cleaning device comprises the following steps:

step one, an electric holder acts to enable an ejection opening of an ejection device to face a target garbage object; the ejection device ejects the cleaning robot to the target garbage object. The cleaning robot is in a state that the first air claw and the second air claw are upward in water.

And step two, the orientation of the propeller is adjusted by the orientation adjusting component. The advancing motor drives the propeller to rotate, so that the cleaning robot moves towards the target garbage object.

After the cleaning robot reaches the position right below the target garbage, the orientation adjusting assembly adjusts the propeller to the position right below the orientation; the pull rope motor rotates positively to open the first pneumatic claw and the second pneumatic claw.

And step four, the advancing motor drives the propeller to rotate continuously, so that the cleaning robot rises, and the first air claw and the second air claw are in contact with the target garbage. And then, the rope pulling motor rotates reversely, so that the first air claw and the second air claw are closed to catch the garbage.

And step five, starting to take up the rope by the rope retracting device in the robot transceiving device, so that the recovery rope is pulled back, and driving the cleaning robot to return to the ejection opening of the ejection device.

And step six, the pull rope motor rotates forwards to enable the first air claw and the second air claw to be opened, and the garbage falls into the garbage recycling container. And then, the rope pulling motor rotates reversely, so that the first air claw and the second air claw are closed.

The invention has the beneficial effects that:

1. according to the invention, through the combination of ejection and underwater propulsion propellers, a river channel automatic cleaning device can automatically pick up floating garbage in a larger range, and further, the workload of manual cleaning is reduced.

2. The clamping jaw adopts a pre-charging type pneumatic jaw, and can be driven only by two pull ropes and one motor; and, the light in weight of gas claw, the clamping jaw was up when so can guarantee cleaning machines people's aquatic, has reduced the degree of difficulty of getting the rubbish thing of clamp.

3. The invention can also realize real-time monitoring of the river channel and play a role in early warning in time.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the structure of the cleaning robot according to the present invention;

fig. 3 is a schematic view of the construction of the travel driving apparatus of the present invention.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1, an automatic cleaning device for river channels comprises a robot transceiver 102, a garbage collection container 103, a collection 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 mounted on the river levee 101. The camera 107 employs a binocular camera, and is capable of determining the spatial position of a subject. The cleaning robot 105 is housed in the robot transceiver 102. The camera 107 takes a picture of the river and transmits it to the controller. The controller identifies whether the trash 106 floats on the water surface through an image recognition algorithm and judges the position of the trash 106.

The robot transceiver 102 includes an electric cradle head, an ejector, and a rope winding and unwinding device. The base of the electric pan-tilt is installed on the river levee 101. The ejection device is arranged on the electric holder. The orientation of the ejection device is adjusted by the electric cradle head. The ejection device adopts an electromagnetic ejector, a spring ejection device or a pneumatic ejection device. The rope winding and unwinding device comprises a rope winding roller and an unwinding motor. The rope winding rollers are supported on the frame of the robot transceiver 102 and are driven by the unwinding motor. One end of the recovery cord 104 is fixed to the cord-winding roller, and the other end is connected to the tail end of the cleaning robot 105. The retrieval string 104 passes through the launch channel of the launch device. The ejection device is used for ejecting the cleaning robot 105 near the refuse 106, and the ejection distance is controlled by controlling the ejection force. The rope retracting device is used to pull the cleaning robot 105, which has caught the waste 106, back into the ejection position of the ejector.

The garbage recycling container 103 is positioned right below the ejection device; the top of the waste collection container 103 is provided with an opening. In an initial state, the cleaning robot 105 is located in an ejection channel of the ejection device; at this time, when the cleaning robot 105 releases the garbage 106 caught by itself, the garbage 106 falls 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 bracket 205, a protective cover 206, and a travel driving device. A UWB positioning chip is disposed within the mounting block 205. The inner ends of the first gas claw 201 and the second gas claw 202 are arranged at intervals and are fixed with one end of the mounting frame 205. The first gas claw 201 and the second gas claw 202 are both air bags. The opposite sides of the first gas claw 201 and the second gas claw 202 are provided with convex hulls which are arranged in sequence from inside to outside. The inner cavity of the convex hull is communicated with the inner cavity of the air bag main body. When the first gas claw 201 or the second gas claw 202 is inflated, the convex hull will expand, so that the outer end of the first gas claw 201 or the second gas claw 202 bends to the side away from the convex hull. The first gas claw 201 and the second gas claw 202 are filled with gas. In the initial state, the first gas claw 201 and the second gas claw 202 are bent to have outer ends in contact with each other.

The pneumatic gripper drive assembly includes a first pull cord 203, a second pull cord 204, a pull cord roller, and a pull cord motor. Stringing holes are formed in both sides of the mounting frame 205. The two stringing holes correspond to the first pneumatic claw 201 and the second pneumatic claw 202 respectively. The pull-cord roller is supported within the mounting bracket 205. The pull rope motor is fixed in the mounting frame 205, and the output shaft is fixed with one end of the pull rope roller. One ends of the first pull rope 203 and the second pull rope 204 are fixed to the outer ends of the first air claw 201 and the second air claw 202 respectively. The other ends of the first pulling rope 203 and the second pulling rope 204 respectively pass through two rope threading holes on the mounting frame 205 and are fixed with the pulling rope roller. The protective cover 206 is fixed at one end of the mounting frame 205 far away from the first air claw 201 and the second air claw 202. A protective cover 206 is secured to the retrieval string 104.

When the rope roller rotates, the first rope 203 and the second rope 204 are synchronously wound on or paid out from the rope roller. When the first pulling rope 203 and the second pulling rope 204 wind the pulling rope rollers, the outer ends of the first air gripper 201 and the second air gripper 202 are pulled to be turned towards the directions away from each other, so that the first air gripper 201 and the second air gripper 202 are in an open state. The first air claw 201 and the second air claw 202 are not in a slender strip shape, but in a shape of an arc plate in the circumferential direction, so that when the outer ends of the two first air claws 201 and the second air claw 202 are closed, the garbage 106 can be effectively grabbed.

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

When the steering shaft 306 is driven by the second driving gear 305 to rotate to be not coincident with the axis of the steering shaft and the revolving frame, the second driving gear 305 can drive the outer end of the steering shaft 306 to rotate circularly (the axis of the steering shaft 306 rotates in a conical shape); therefore, the outer end orientation of the steering shaft can be controlled to change in two degrees of freedom by the rotation of the first steering drive motor and the second steering drive motor. A traveling motor is fixed to an outer end of the steering shaft 306. An output shaft of the traveling motor is fixed to the propeller 207.

And the UWB positioning chip and the signal output interface of the camera are connected with the controller. All the motors are connected with the controller through the motor drivers. A cable connecting the cleaning robot 105 and the controller is fixed to 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 levee 101 at intervals; the UWB positioning chip on the cleaning robot 105 cooperates with the three UWB base stations to determine the spatial position of the UWB positioning chip.

step one, the camera 107 takes a picture or a video and transmits the picture or the video to the controller, and when the controller judges whether the rubbish 106 exists on the river surface or not and the position of the rubbish 106 according to the received picture or the received video.

Secondly, the controller controls the electric holder to act, so that an ejection opening of the ejection device faces the target garbage; the controller controls the ejector to eject the cleaning robot 105 toward the target trash. Since the first gripper 201 and the second gripper 202 of the cleaning robot 105 are air bags and have a small weight, the first gripper 201 and the second gripper 202 face upward in the water of the cleaning robot 105.

And step three, the controller determines the position of the cleaning robot 105 according to the signal transmitted by the UWB positioning chip.

And fourthly, after the relative position of the garbage 106 and the cleaning robot 105 is obtained by the control system through the camera 107, the first driving gear 303 and the second driving gear 305 are controlled to rotate, so that the propeller 207 faces to the side away from the garbage 106. The traveling motor drives the propeller 207 to rotate, so that the cleaning robot 105 moves toward the debris 106.

Step five, after the cleaning robot 105 reaches the position right below the garbage 106, the orientation adjusting assembly drives the propeller 207 to face the position right below; the pull cord motor rotates forward to open the first air gripper 201 and the second air gripper 202.

And step six, the advancing motor drives the propeller 207 to rotate continuously, so that after the cleaning robot 105 ascends until the first air claw 201 and the second air claw 202 contact with the garbage 106, the rope pulling motor rotates reversely, so that the first air claw 201 and the second air claw 202 are closed, and the garbage 106 is grabbed.

And step seven, the rope retracting device in the robot transceiver 102 starts to retract, so that the retracting rope 104 is pulled back, and the cleaning robot 105 is driven to return to the ejection opening of the ejection device.

And step eight, the pull rope motor rotates forwards to enable the first air claw 201 and the second air claw 202 to be opened, and the garbage 106 falls into the garbage recycling container 103 to realize garbage cleaning. After that, the cord pulling motor is reversed, so that the first air gripper 201 and the second air gripper 202 are closed.

Claims

1. An automatic river channel cleaning device comprises a robot receiving and sending device, a garbage recovery container, a recovery rope, a cleaning robot and a camera; the method is characterized in that: the robot transceiver, the garbage recycling container and the camera are all arranged on a river bank; the robot receiving and dispatching device comprises an electric cradle head, an ejection device and a rope winding and unwinding device; the base of the electric pan-tilt is arranged on the river bank; the ejection device is arranged on the electric holder; one end of the recovery rope is fixed with the rope winding roller, and the other end of the recovery rope is connected with the cleaning robot; the recovery rope passes through an ejection channel of the ejection device; the garbage recovery container is positioned right below the ejection device;

the cleaning robot comprises a first air claw, a second air claw, an air claw driving component, a mounting frame and a traveling driving device; the inner ends of the first pneumatic claw and the second pneumatic claw are arranged at intervals and are fixed with one end of the mounting frame; the first pneumatic claw and the second pneumatic claw are both air bags; the outer ends of the first air claw and the second air claw are bent and close to each other; the pneumatic claw driving assembly comprises a first pull rope, a second pull rope, a pull rope roller and a pull rope motor; both sides of the mounting rack are provided with rope threading holes; the two rope threading holes correspond to the first pneumatic claw and the second pneumatic claw respectively in position; the rope pulling roller is supported in the mounting rack; the pull rope roller is driven by a pull rope motor; one end of the first pull rope and one end of the second pull rope are respectively fixed with the outer ends of the first pneumatic claw and the second pneumatic claw; the other ends of the first pull rope and the second pull rope respectively penetrate through the two rope penetrating holes in the mounting frame and are fixed with the pull rope roller; the advancing driving device comprises an orientation adjusting component, an advancing motor and a propeller; the orientation adjusting component is arranged in the mounting rack; the traveling motor is arranged on the orientation adjusting assembly; the output shaft of the advancing motor is fixed with the propeller.

2. The automatic river channel cleaning device according to claim 1, wherein: the orientation adjusting assembly comprises a rotary frame, a steering gear, an arc steering rack, a first driving gear, a support shaft, a second driving gear, a steering shaft, a first steering driving motor and a second steering driving motor; the rotary frame is supported in the mounting frame; the central axis of the revolving frame is superposed with the central axis of the mounting frame; the steering gear is coaxially fixed with the rotary frame; the first driving gear is supported in the mounting frame; the first driving gear is meshed with the arc steering rack; the first driving gear is driven by a first steering driving motor; both ends of the supporting shaft are fixed with the inner side surface of the revolving frame; the axis of the supporting shaft is vertically intersected with the central axis of the revolving frame; the steering shaft and the support shaft form a revolute pair; the inner end of the steering shaft is fixed with the middle part of the inner side of the arc steering rack; the central axis of the arc steering rack is superposed with the axis of the support shaft; the second driving gear is supported on the rotary frame; the second driving gear is meshed with the steering gear; the second driving gear is driven by a second steering driving motor; the traveling motor is fixed at the outer end of the steering shaft.

3. The automatic river channel cleaning device according to claim 1, wherein: the camera adopts a binocular camera.

4. The automatic river channel cleaning device according to claim 1, wherein: the ejection device adopts an electromagnetic ejector, a spring ejection device or a pneumatic ejection device.

5. The automatic river channel cleaning device according to claim 1, wherein: the rope winding and unwinding device comprises a rope winding roller and an unwinding motor; the rope winding roller is supported on a frame of the robot receiving and dispatching device and is driven by an unwinding motor; the rope winding roller is fixed with the recovery rope.

6. The automatic river channel cleaning device according to claim 1, wherein: the top of the garbage recycling container is provided with an opening.

7. The automatic river channel cleaning device according to claim 1, wherein: the cleaning robot also comprises a protective cover; the protective cover is fixed at one end of the mounting frame, which is far away from the first air claw and the second air claw; the protective cover is fixed with the recovery rope.

8. The automatic river channel cleaning device according to claim 1, wherein: a UWB positioning chip is arranged in the mounting rack; three UWB base stations are fixed on the river levee at intervals; the UWB positioning chip on the cleaning robot is matched with the three UWB base stations to determine the spatial position of the UWB positioning chip.

9. The automatic river channel cleaning device according to claim 1, wherein: convex hulls which are sequentially arranged from inside to outside are arranged on the opposite sides of the first pneumatic claw and the second pneumatic claw.

10. The cleaning method of the automatic river channel cleaning device according to claim 1, wherein the cleaning method comprises the following steps: step one, an electric holder acts to enable an ejection opening of an ejection device to face a target garbage object; the ejection device ejects the cleaning robot to the target garbage object; the cleaning robot presents a state that the first air claw and the second air claw are upward in water;

secondly, the orientation of the propeller is adjusted by the orientation adjusting component; the advancing motor drives the propeller to rotate, so that the cleaning robot moves towards the target garbage;

after the cleaning robot reaches the position right below the target garbage, the orientation adjusting assembly adjusts the propeller to the position right below the orientation; the pull rope motor rotates forwards to open the first air claw and the second air claw;

driving the propeller to continue rotating by the advancing motor, so that the cleaning robot ascends, and the first air claw and the second air claw are in contact with the target garbage; then, the rope pulling motor rotates reversely, so that the first air claw and the second air claw are closed to catch the garbage;

fifthly, the rope winding and unwinding device in the robot transceiver starts to wind up, so that the recovery rope is pulled back, and the cleaning robot is driven to return to an ejection opening of the ejection device;

step six, the pull rope motor rotates forwards to enable the first air claw and the second air claw to be opened, and garbage falls into the garbage recycling container; and then, the rope pulling motor rotates reversely, so that the first air claw and the second air claw are closed.