CN110893896A - Lake surface garbage cleaning remote control ship control system - Google Patents
Lake surface garbage cleaning remote control ship control system Download PDFInfo
- Publication number
- CN110893896A CN110893896A CN201911173968.3A CN201911173968A CN110893896A CN 110893896 A CN110893896 A CN 110893896A CN 201911173968 A CN201911173968 A CN 201911173968A CN 110893896 A CN110893896 A CN 110893896A
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- CN
- China
- Prior art keywords
- remote control
- ship body
- ship
- control system
- driving circuit
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
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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
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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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled
Abstract
The invention discloses a lake surface garbage cleaning remote control ship control system, which comprises a remote control system and a ship body control system, wherein the remote control system comprises a remote control ship body and a ship body control system; the remote controller system comprises a remote controller main body, a remote control end single chip microcomputer, a data acquisition unit and a radio data communication module; the remote controller main body comprises a power rocker, a direction rocker and a remote control mechanical arm; the ship body control system comprises a ship body end single chip microcomputer, a radio data receiving module, a driving circuit of a salvaging mechanical arm joint shaft driving motor, a driving circuit of a ship body power motor and a driving circuit of a ship body steering engine. The remote control fishing robot controls the actions of the fishing mechanical arms by using the remote control mechanical arms which have the same structure as the fishing mechanical arms but have reduced size proportion, so that people control the remote control ship ashore to salvage garbage, and compared with the existing manual fishing, the labor intensity is greatly reduced, and the safety is higher; and the defects that large-scale salvaging equipment is not suitable for small-area water surfaces, the running cost of the large-scale equipment is high and the like are avoided.
Description
Technical Field
The invention relates to the technical field of remote control, in particular to a control system of a lake surface garbage cleaning ship.
Background
In recent years, the environment of lake surface is continuously deteriorated, and the quality of drinking water is directly or indirectly influenced by the pollution of the rubbish on the lake surface. According to authoritative data, 55% of lakes in cities across the country have poor or even extremely poor water quality, 2.99 hundred million rural residents in the country have unsafe drinking water, 25% of urban residents have substandard drinking water sources, and water source pollution endangers the safety of the water environment of the whole society and the safety of drinking water of each person. Therefore, the waste treatment on the lake surface is broken at the eyelash.
At present, the cleaning of the solid garbage on the lake surface at home and abroad has the following two cleaning schemes:
firstly, cleaning by manual work. The method is time-consuming and labor-consuming, and has potential safety hazard.
And secondly, large-scale garbage cleaning equipment is designed, although the large-scale equipment is high in cleaning efficiency, the large-scale equipment needs to be operated by professional personnel, the operation cost is high, and meanwhile, the problem that the solid garbage in lakes in narrow river channels, scenic spots and parks is difficult to clean exists.
And if the lake surface garbage is cleaned by adopting a small-size remote control ship, the defects that manual cleaning wastes time and labor, large-scale equipment cleaning operation cost is high and the like can be overcome. In order to realize the cleaning of the lake surface garbage by using the remote control ship with a small volume, the technical problem of how to control the ship and the mechanical arm for cleaning the garbage needs to be solved.
Disclosure of Invention
In view of the above, the present invention is directed to a lake surface garbage disposal remote control ship control system, which solves the problem of controlling a remote control ship and a garbage disposal robot arm disposed on the remote control ship.
The invention relates to a lake surface garbage cleaning remote control ship control system, which comprises a remote controller system and a ship body control system;
the remote controller system comprises a remote controller main body, a remote control end single chip microcomputer, a data acquisition unit and a radio data communication module;
the remote controller main body comprises a power rocker for controlling an engine of the ship body, a direction rocker for controlling the ship body to turn to a steering engine, and a remote control mechanical arm which has the same structure as a salvaging mechanical arm for cleaning garbage arranged on the ship body and is reduced in size proportion relative to the salvaging mechanical arm;
the data acquisition unit comprises an angle sensor for acquiring the rotation angle of each joint shaft of the remote control mechanical arm, a first potentiometer for acquiring the motion information of the power rocker and a second potentiometer for acquiring the motion of the direction rocker;
the angle sensor, the first potentiometer, the second potentiometer and the radio data communication module are respectively connected with the remote control end single chip microcomputer;
the ship body control system comprises a ship body end single chip microcomputer, a radio data receiving module, a driving circuit of a salvaging mechanical arm joint shaft driving motor, a driving circuit of a ship body power motor and a driving circuit of a ship body steering engine, wherein the ship body end single chip microcomputer is respectively connected with the radio data receiving module, the driving circuit of the salvaging mechanical arm joint shaft driving motor, the driving circuit of the ship body power motor and the driving circuit of the ship body steering engine.
Further, remote control end singlechip and hull end singlechip are Arduino Nano, radio data communication module is 2.4G wireless transmission module, radio data receiving module is 2.4G wireless receiving module.
Further, the remote controller system also comprises a serial port communication module connected with the remote control end single chip microcomputer.
The invention has the beneficial effects that:
the lake surface garbage cleaning remote control ship control system controls the actions of the fishing mechanical arms by using the remote control mechanical arms which have the same structure as the fishing mechanical arms on the ship body but are reduced in size proportion, and manually controls the actions of the remote control mechanical arms in the fishing process, so that the fishing mechanical arms perform corresponding actions along with the remote control mechanical arms, and the fishing of the lake surface garbage is realized. The lake surface garbage cleaning remote control ship control system can realize that people operate the remote control ship ashore to salvage garbage on the lake surface, and compared with the existing manual salvage, the labor intensity is greatly reduced, and the safety is higher; and the defects that large-scale salvaging equipment is not suitable for small-area water surfaces, the running cost of the large-scale equipment is high and the like are avoided.
Drawings
FIG. 1 is a schematic view of a remote control body;
FIG. 2 is a block diagram of a hardware circuit of the remote controller;
FIG. 3 is a block diagram of a hull hardware circuit;
FIG. 4 is a circuit diagram of a remote control end single chip microcomputer;
FIG. 5 is a circuit diagram of a potentiometer;
fig. 6 is a 2.4G wireless transmission module;
FIG. 7 is a circuit diagram of a hull-end single chip microcomputer;
FIG. 8 is a circuit diagram of a 2.4G wireless receiving module;
FIG. 9 is a circuit diagram of a driving circuit of a fishing robot joint shaft driving motor;
FIG. 10 is a circuit diagram of a driving circuit of a fishing robot joint shaft driving motor;
fig. 11 is a circuit diagram of a drive circuit of the fishing robot joint axis drive motor.
Detailed Description
The invention is further described below with reference to the figures and examples.
The lake surface garbage cleaning remote control ship control system comprises a remote controller system and a ship body control system.
The remote controller system comprises a remote controller main body, a remote control end single chip microcomputer, a data acquisition unit, a radio data communication module and a serial port communication module.
The remote controller main body comprises a power rocker 1 for controlling a ship engine, a direction rocker 2 for controlling the ship to turn to a steering engine, and a remote control mechanical arm 3 which has the same structure as a salvaging mechanical arm arranged on the ship for cleaning garbage and is reduced in size proportion relative to the salvaging mechanical arm.
The data acquisition unit comprises an angle sensor 4 for acquiring the rotation angle of each joint shaft of the remote control mechanical arm, a first potentiometer 5 for acquiring the motion information of the power rocker and a second potentiometer 6 for acquiring the motion of the direction rocker.
The angle sensor 4, the first potentiometer 5, the second potentiometer 6 and the radio data communication module 7 are respectively connected with a remote control end singlechip 8.
The ship body control system comprises a ship body end single chip microcomputer 9, a radio data receiving module 10, a driving circuit 11 of a salvaging mechanical arm joint shaft driving motor, a driving circuit 12 of a ship body power motor and a driving circuit 13 of a ship body steering engine, wherein the ship body end single chip microcomputer is respectively connected with the radio data receiving module, the driving circuit of the salvaging mechanical arm joint shaft driving motor, the driving circuit of the ship body power motor and the driving circuit of the ship body steering engine.
The working principle of the lake surface garbage cleaning remote control ship control system is as follows:
the remote controller main body is placed on the shore, and an operator observes the remote control salvage ship on the lake surface and controls the remote controller main body.
When the salvage ship is to be controlled to move forwards or backwards, an operator operates the power rocker of the remote controller, the first potentiometer converts a moving signal of the power rocker into an electric signal to be output, and the remote control end single chip microcomputer processes a signal sent by the first potentiometer and then sends a signal for controlling the ship body to move forwards or backwards to the salvage ship through the wireless data communication module; after receiving the information, a radio data receiving module of the ship body control system sends the information to a ship body end single chip microcomputer, the ship body end single chip microcomputer processes the information and sends a control signal to a driving circuit of a ship body power motor, and the driving circuit of the ship body power motor controls the ship body power motor to act so as to drive the ship body to move forward or backward.
When the fishing vessel is controlled to turn left or right, an operator operates the direction rocker of the remote controller, the second potentiometer converts a moving signal of the direction rocker into an electric signal to be output, and the remote control end singlechip processes a signal sent by the second potentiometer and then sends a signal for controlling the hull to turn left or right to the fishing vessel through the wireless data communication module; after receiving the information, a radio data receiving module of the ship body control system sends the information to a ship body end single chip microcomputer, the ship body end single chip microcomputer processes the information and then sends a control signal to a driving circuit of a ship body steering engine, and the driving circuit of the ship body steering engine controls the ship body steering engine to act so as to drive the ship body to turn left or right.
When the fishing mechanical arm of the fishing boat is to be controlled to fish, an operator controls the remote control mechanical arm to act, the angle sensor converts a rotation signal of a joint shaft of the remote control mechanical arm into an electric signal to be output, and the remote control end single chip microcomputer processes the signal sent by the angle sensor and then sends the signal for controlling the action of the fishing mechanical arm to the fishing boat through the wireless data communication module; after receiving the information, a radio data receiving module of the ship body control system sends the information to a ship body end single chip microcomputer, the ship body end single chip microcomputer sends a control signal to a driving circuit of a salvaging mechanical arm joint shaft driving motor after processing the information, and the driving circuit of the salvaging mechanical arm joint shaft driving motor controls the salvaging mechanical arm to move, so that salvaging is realized.
According to the lake surface garbage cleaning remote control ship control system, the remote control mechanical arm which is the same as the fishing mechanical arm in structure but reduced in size proportion is used for controlling the actions of the fishing mechanical arm, the remote control mechanical arm is manually controlled to move in the fishing process, so that the fishing mechanical arm follows the remote control mechanical arm to do corresponding actions, and therefore the lake surface garbage is fished. The lake surface garbage cleaning remote control ship control system can realize that people operate the remote control ship on the bank to salvage garbage on the lake surface, and compared with the existing manual salvage, the labor intensity is greatly reduced, and the safety is higher; and the defects that large-scale salvaging equipment is not suitable for small-area water surfaces, the running cost of the large-scale equipment is high and the like are avoided.
As the improvement to the above-mentioned embodiment, remote control end singlechip and hull end singlechip are arduino Nano, radio data communication module is 2.4G wireless transmission module, radio data receiving module is 2.4G wireless receiving module. The 2.4G wireless communication module adopted in the improvement realizes the remote transmission and reception of data signals, and has the advantages of small volume, high data transmission speed and the like; meanwhile, the FIFO buffer is included, so that the load of the microcontroller on data processing can be reduced.
As an improvement to the above embodiment, the remote controller system further includes a serial communication module 14 connected to the remote control end single chip microcomputer, the remote controller system is connected to the upper computer through the serial communication module, and the upper computer can control and monitor the remote controller through the serial port.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (3)
1. The utility model provides a lake surface rubbish clearance remote control ship control system which characterized in that: comprises a remote controller system and a ship body control system;
the remote controller system comprises a remote controller main body, a remote control end single chip microcomputer, a data acquisition unit and a radio data communication module;
the remote controller main body comprises a power rocker for controlling an engine of the ship body, a direction rocker for controlling the ship body to turn to a steering engine, and a remote control mechanical arm which has the same structure as a salvaging mechanical arm for cleaning garbage arranged on the ship body and is reduced in size proportion relative to the salvaging mechanical arm;
the data acquisition unit comprises an angle sensor for acquiring the rotation angle of each joint shaft of the remote control mechanical arm, a first potentiometer for acquiring the motion information of the power rocker and a second potentiometer for acquiring the motion of the direction rocker;
the angle sensor, the first potentiometer, the second potentiometer and the radio data communication module are respectively connected with the remote control end single chip microcomputer;
the ship body control system comprises a ship body end single chip microcomputer, a radio data receiving module, a driving circuit of a salvaging mechanical arm joint shaft driving motor, a driving circuit of a ship body power motor and a driving circuit of a ship body steering engine, wherein the ship body end single chip microcomputer is respectively connected with the radio data receiving module, the driving circuit of the salvaging mechanical arm joint shaft driving motor, the driving circuit of the ship body power motor and the driving circuit of the ship body steering engine.
2. The lake surface garbage removal remote control ship control system according to claim 1, characterized in that: remote control end singlechip and hull end singlechip are Arduino Nano, radio data communication module is 2.4G wireless transmission module, radio data receiving module is 2.4G wireless receiving module.
3. The lake surface garbage removal remote control ship control system according to claim 1, characterized in that: the remote controller system also comprises a serial port communication module connected with the remote control end singlechip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911173968.3A CN110893896A (en) | 2019-11-26 | 2019-11-26 | Lake surface garbage cleaning remote control ship control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911173968.3A CN110893896A (en) | 2019-11-26 | 2019-11-26 | Lake surface garbage cleaning remote control ship control system |
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| Publication Number | Publication Date |
|---|---|
| CN110893896A true CN110893896A (en) | 2020-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911173968.3A Pending CN110893896A (en) | 2019-11-26 | 2019-11-26 | Lake surface garbage cleaning remote control ship control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746728A (en) * | 2020-06-17 | 2020-10-09 | 重庆大学 | Novel overwater cleaning robot based on reinforcement learning and control method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08230773A (en) * | 1995-02-27 | 1996-09-10 | Marsima Aqua Syst Corp | Refuse collecting ship |
| CN101585402A (en) * | 2009-04-22 | 2009-11-25 | 武汉大学 | Solar water surface remote control contamination removing ship |
| CN201588198U (en) * | 2010-02-04 | 2010-09-22 | 长春理工大学 | Remote control solar water surface refuse cleaning vessel |
| CN203266633U (en) * | 2013-05-21 | 2013-11-06 | 洛阳理工学院 | Space coordinate positioning grabbing mechanical arm |
| CN205113653U (en) * | 2015-11-17 | 2016-03-30 | 山东科技大学 | Remote control manipulator rubbish clearing boat |
| US20170045887A1 (en) * | 2015-08-10 | 2017-02-16 | Ben Mazin | Remote controlled boat system |
-
2019
- 2019-11-26 CN CN201911173968.3A patent/CN110893896A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08230773A (en) * | 1995-02-27 | 1996-09-10 | Marsima Aqua Syst Corp | Refuse collecting ship |
| CN101585402A (en) * | 2009-04-22 | 2009-11-25 | 武汉大学 | Solar water surface remote control contamination removing ship |
| CN201588198U (en) * | 2010-02-04 | 2010-09-22 | 长春理工大学 | Remote control solar water surface refuse cleaning vessel |
| CN203266633U (en) * | 2013-05-21 | 2013-11-06 | 洛阳理工学院 | Space coordinate positioning grabbing mechanical arm |
| US20170045887A1 (en) * | 2015-08-10 | 2017-02-16 | Ben Mazin | Remote controlled boat system |
| CN205113653U (en) * | 2015-11-17 | 2016-03-30 | 山东科技大学 | Remote control manipulator rubbish clearing boat |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111746728A (en) * | 2020-06-17 | 2020-10-09 | 重庆大学 | Novel overwater cleaning robot based on reinforcement learning and control method |
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Application publication date: 20200320 |