CN110979575A - Intelligent self-powered water surface garbage cleaning system and working method - Google Patents
Intelligent self-powered water surface garbage cleaning system and working method Download PDFInfo
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- CN110979575A CN110979575A CN201911322137.8A CN201911322137A CN110979575A CN 110979575 A CN110979575 A CN 110979575A CN 201911322137 A CN201911322137 A CN 201911322137A CN 110979575 A CN110979575 A CN 110979575A
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- garbage
- controller
- buoy
- water surface
- unmanned ship
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B22/00—Buoys
- B63B22/04—Fixations or other anchoring arrangements
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- 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 an intelligent self-powered water surface garbage cleaning system which comprises a remote computer, an unmanned ship and a water surface buoy. The unmanned ship comprises a propelling mechanism, a cruising mechanism, a garbage cleaning mechanism, a garbage collecting and dumping mechanism and a controller which are arranged on a ship body, the remote computer is in wireless connection with the controller, the water surface buoy comprises a buoy body, a control center, a communication antenna and a self-generating device are arranged on the buoy body, a garbage collecting box is arranged on the buoy body, and the control center is in wireless connection with the controller. The water surface buoy charges the storage battery through an alternating magnetic field between the transmitting coil and a receiving coil arranged on the unmanned ship. The invention also discloses a working method of the water surface garbage cleaning system, which comprises 4 steps. The invention realizes the intellectualization, the automation, the high efficiency, the energy saving and the environmental protection of the water surface garbage cleaning and collection. The efficiency of surface of water rubbish clearance is greatly improved, has practiced thrift manpower and materials.
Description
Technical Field
The invention relates to a garbage cleaning and collecting system and a working method, in particular to an intelligent self-powered water surface garbage cleaning system and a working method, and belongs to the technical field of water surface garbage cleaning.
Background
With the rapid development of economy in China, the living standard of people is continuously improved, and tourism becomes an important form of leisure activities of people. The method has the beneficial effects that the economic development is promoted, and the tourism consumption brings negative effects, which are mainly reflected in the pollution of the tourism consumption to the tourism environment, such as plastic products, waste paper and other wastes left by tourism consumers, and the wastes pollute the water quality and influence the attractiveness of the environment. At present, people mainly use manual cleaning to clean the water surface garbage, so that a large amount of manpower and material resources are consumed, the cleaning efficiency is low, and the requirement for cleaning the water surface garbage in a river channel and a lake cannot be met.
Disclosure of Invention
The invention aims to provide an intelligent self-powered water surface garbage cleaning system, which can realize the intellectualization and automation of water surface garbage cleaning.
In order to solve the problems, the technical scheme adopted by the invention is as follows:
an intelligent self-powered water surface garbage cleaning system comprises a remote computer, an unmanned ship and a water surface buoy,
the unmanned ship comprises a propelling mechanism, a cruising mechanism, a garbage cleaning mechanism, a garbage collecting and dumping mechanism and a controller which are arranged on a ship body, wherein the propelling mechanism, the cruising mechanism, the garbage cleaning mechanism and the garbage collecting and dumping mechanism are all controlled by the controller, the remote computer is wirelessly connected with the controller,
the water surface buoy comprises a buoy body, a control center, a communication antenna and a self-generating device are mounted on the buoy body, the control center is connected with the self-generating device, garbage collecting boxes are mounted on two sides of the buoy body, the control center is in wireless connection with a controller, an anchor chain is fixedly connected to the bottom of the buoy body, a gravity anchor is fixedly connected to the end portion of the anchor chain,
the unmanned ship is provided with a storage battery and a receiving coil connected with the storage battery, the buoy body is provided with a transmitting coil, the transmitting coil is connected with a self-generating device, and the water surface buoy charges the storage battery through an alternating magnetic field between the transmitting coil and the receiving coil.
Further, the propulsion mechanism comprises a motor and a propeller, the motor is respectively connected with the storage battery and the controller,
the cruising mechanism comprises a camera and a communication antenna, the camera is connected with the controller,
the garbage cleaning mechanism comprises an actuating motor arranged on the ship body and a manipulator hinged on the ship body, the actuating motor is respectively connected with the manipulator and the controller, the manipulator realizes the cleaning and collection of garbage through rotation,
garbage collection emptys the mechanism including installing the dustbin at hull middle part and installing the device of empting in the dustbin bottom, and when rubbish was emptyd in the manipulator upset, the manipulator was located the top of dustbin.
Further, the dumping device comprises a rotating supporting plate, a supporting rod and a base, the base is fixed on the bottom plate of the unmanned ship, two ends of the supporting rod are hinged to the rotating supporting plate and the base respectively, and rotating devices at two ends of the supporting rod are connected with the controller.
Further, the manipulator comprises a bottom plate, side baffles fixedly connected to two sides of the bottom plate, and a rear baffle for connecting the two side baffles and the bottom plate, wherein two sides of the bottom plate are hinged to two sides of the ship body through supporting rods connected with the bottom plate, and the side baffles on the two sides are splayed.
Further, in order to reduce the resistance during navigation, the bottom plate, the baffle plate and the rear baffle plate are all made of net-shaped metal materials.
Further, the self-generating device comprises a tidal current energy generating device and a solar generating device, and the tidal current energy generating device is provided with a flow guide cover. Therefore, the water flow speed can be accelerated, and the power generation efficiency is improved.
Furthermore, the periphery of the bottom of the garbage collection box is provided with a floating pipe, and the floating pipe and the wall of the garbage collection box are both made of high polymer polyethylene materials. It has good impact resistance, is harmless to the environment, and is light, stable and safe.
Furthermore, the number of the anchor chains is 4, and the anchor chains are symmetrically arranged by taking the buoy body as a center.
The invention further provides a working method of the intelligent self-powered water surface garbage cleaning system, which comprises the following steps:
s1, the remote computer transmits the cruising route to the controller, the controller then controls the propelling mechanism to drive the ship to cruise on the water surface, in the cruising process, the cruising mechanism transmits the acquired pictures to the controller, then the controller communicates with the remote computer in a wireless transmission mode, signals are fed back to the controller after being processed by the computer, then the controller respectively controls the propelling mechanism and the garbage cleaning mechanism to carry out the work of navigating on the water surface and cleaning garbage on the water surface, and in the cleaning process, the controller controls the garbage cleaning mechanism to pour the cleaned garbage into the garbage collecting mechanism;
s2, when the pictures collected by the cruise mechanism show that the garbage in the garbage collection mechanism is full, the controller controls the propulsion mechanism to drive the unmanned ship to return to the buoy body;
s3, when the unmanned ship navigates back to the buoy, the control center in the buoy sends a signal to the controller in the unmanned ship, and then the controller controls the garbage collection mechanism to pour the garbage into the garbage collection box at the buoy and then return to the original position;
and S4, driving the unmanned ship to the side of the buoy, charging the storage battery on the unmanned ship by the self-generating device in the buoy through the alternating magnetic field between the transmitting coil and the receiving coil, sending a charging stop signal to the control center by the controller on the unmanned ship when the storage battery is fully charged, and carrying out the next work by the unmanned ship.
Further, in step S1, the propulsion mechanism includes a motor and a propeller, the motor is respectively connected with the storage battery and the controller,
the cruising mechanism comprises a camera and a communication antenna, the camera is connected with the controller,
the garbage cleaning mechanism comprises an actuating motor arranged on the ship body and a manipulator hinged on the ship body, the actuating motor is respectively connected with the manipulator and the controller, the manipulator realizes the cleaning and collection of garbage through rotation,
garbage collection emptys the mechanism including installing the dustbin at hull middle part and installing the device of empting in the dustbin bottom, and when rubbish was emptyd in the manipulator upset, the manipulator was located the top of dustbin.
Compared with the prior art, the invention has the beneficial effects that:
1. the intelligent self-powered water surface garbage cleaning system provided by the invention realizes a series of processes of sailing, cleaning and collecting garbage and pouring into the garbage collection box of the buoy body by the unmanned automatic ship. The whole system realizes the intellectualization, the automation, the high efficiency, the energy saving and the environmental protection of the cleaning of the garbage on the water surface. The efficiency of surface of water rubbish clearance is greatly improved, people only need regularly collect rubbish from the buoy can, practiced thrift manpower and materials.
2. The buoy body has a self-generating function and can realize wireless charging to the unmanned ship, and the electric energy of the buoy can be provided by a tidal current energy and light energy combined power generation device.
3. The unmanned ship is driven by electric energy, so that the pollution to the water area environment is avoided, and the effect of environmental protection is achieved.
4. The buoy body adopts a tidal current energy and solar energy combined power generation device, so that the whole garbage cleaning system can automatically acquire energy meeting the work of the whole garbage cleaning system, and the garbage cleaning cost is reduced.
5. The working method of the invention realizes high intellectualization, the camera sends the shot image to the controller, then the camera communicates with the remote computer in a wireless transmission mode, the signal is fed back to the controller after being processed by the computer, and then the controller controls the motor to further carry out the water surface navigation and the water surface garbage cleaning work, thus the operation is simple and convenient.
Drawings
Fig. 1 is a schematic structural view of an unmanned ship according to a preferred embodiment of the present invention.
Fig. 2 is a schematic front view of an unmanned ship in accordance with a preferred embodiment of the present invention.
Fig. 3 is a side schematic view of an unmanned ship in a preferred embodiment of the invention.
Fig. 4 is a flow chart of the operation of the unmanned ship in a preferred embodiment of the present invention.
Fig. 5 is a schematic structural view of a water surface buoy in a preferred embodiment of the invention.
Fig. 6 is a schematic front view of a surface buoy in accordance with a preferred embodiment of the present invention.
Fig. 7 is a side schematic view of a surface buoy in a preferred embodiment of the invention.
Fig. 8 is a top view of a surface buoy in accordance with a preferred embodiment of the present invention.
Fig. 9 is a flow chart of the operation of the surface buoy in a preferred embodiment of the present invention.
Fig. 10 is a schematic structural view of a dumping device D1 of the unmanned ship according to a preferred embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples. The objects, aspects and advantages of the present invention will become more apparent from the following description. It should be understood that the described embodiments are preferred embodiments of the invention, and not all embodiments.
Referring to fig. 1 to 4 and 9, an intelligent self-powered surface garbage disposal system includes a remote computer 100, an unmanned ship and a surface buoy.
The unmanned ship comprises a propelling mechanism A, a cruising mechanism B, a garbage cleaning mechanism C, a garbage collecting and dumping mechanism D and a controller 7, wherein the propelling mechanism A, the cruising mechanism B, the garbage cleaning mechanism C and the garbage collecting and dumping mechanism D are installed on a ship body and are controlled by the controller 7, and the remote computer 100 is in wireless connection with the controller 7.
The propulsion mechanism A comprises a motor 1 and a propeller 3, wherein the motor 1 is respectively connected with a storage battery 2 and a controller 7.
The cruise mechanism B comprises a camera 5 and a communication antenna 6, and the camera 5 is connected with a controller 7. The camera 5 is used for collecting distribution of river channel garbage and collection conditions of garbage on unmanned ships.
The garbage cleaning mechanism C comprises an executing motor 9 installed on the ship body and a manipulator 8 hinged to the ship body, the executing motor 9 is connected with the manipulator 8 and the controller 7 respectively, and the manipulator 8 cleans and collects garbage through rotation. Referring to fig. 1, the manipulator 8 preferably includes a bottom plate 8a, side barriers 8b fixedly connected to two sides of the bottom plate 8a, and a back barrier 8c connecting the two side barriers 8b and the bottom plate 8a, two sides of the bottom plate 8a are hinged to two sides of the hull through support rods 8d connected to the bottom plate, and the side barriers 8b on the two sides are in a figure-eight shape. The components of the manipulator 8 are made of reticular metal materials, so that the resistance in navigation can be reduced to a certain extent.
Referring to fig. 1 and 9, the garbage collection and dumping mechanism D includes a garbage can 10 installed in the middle of the ship body and a dumping device D1 installed at the bottom of the garbage can 10, and when the robot 8 overturns to dump garbage, the robot 8 is located above the garbage can 10. Referring to fig. 10, preferably, the dumping device includes a rotating support plate 28, two support rods 29 and a base 30, a parallelogram link mechanism is formed between the two support rods 29 and the rotating support plate 28 and between the two support rods 29 and the base 30, the base 30 is fixed on the bottom plate of the unmanned ship, two ends of each support rod 29 are respectively hinged with the rotating support plate 28 and the base 30, and rotating devices 29a at two ends of each support rod 29 are connected with the controller 7. When dumping the garbage, the controller 7 controls the support rod 29 to rotate around the bottom end thereof, and the rotating blade 28 also rotates around the upper end of the support rod to dump the garbage into the garbage collection box 15 at the buoy body 13 described below.
Referring to fig. 5 to 8, the water surface buoy comprises a buoy body 13, wherein a guardrail 14, a communication antenna 16, a hatch 17, a rubber ring 18, an anchor lamp 23, a control center 24 and a self-generating device E are mounted on the buoy body 13. The self-generating device E is used for obtaining power supply energy at the buoy body 13 and comprises a tidal current energy generating device 11 and a solar generating device 27, the tidal current energy generating device 11 pushes energy obtaining blades 25 to rotate through tidal current to generate electricity, and the tidal current energy generating device 11 is provided with a flow guide cover 21, so that the water flow speed can be increased, and the generating efficiency can be improved. The control center 24 is connected with a self-generating device E (see figure 9), the garbage collection boxes 15 are installed on two sides of the buoy body 13, the control center 24 is wirelessly connected with the controller 7, four anchor chains 19 are fixedly connected to the bottom of the buoy body 13, and gravity anchors 20 are fixedly connected to the end portions of the anchor chains 19, so that the buoy body can be fixed at the same ocean position.
Preferably, the bottom peripheral edge of the garbage collection box 15 is provided with a floating pipe 22, and the floating pipe 22 and the wall of the garbage collection box 15 are both made of high polymer polyethylene material, so that the garbage collection box has good impact resistance, is harmless to the environment, and is light, stable and safe.
With continued reference to fig. 1, 5 and 9, the unmanned ship is equipped with a battery 2 for supplying electric power and a receiving coil 4 connected thereto, the receiving coil 4 being installed at the side of the unmanned ship. The side surface of the buoy body 13 is provided with a transmitting coil 12, the transmitting coil 12 is connected with a self-generating device E, and the water surface buoy charges the storage battery 2 through an alternating magnetic field between the transmitting coil 12 and the receiving coil 4.
With reference to fig. 4 and fig. 9, the working method of the intelligent self-powered water surface garbage disposal system of the present invention includes the following steps:
s1, the remote computer 100 transmits the cruising route to the controller 7, the controller 7 then controls the propulsion mechanism A to drive the ship to cruise on the water surface through the motor 1, in the cruising process, the camera 5 of the cruising mechanism B transmits the acquired pictures to the controller 7, then the controller 7 communicates with the remote computer in a wireless transmission mode, signals are fed back to the controller 7 after being processed by the computer, then the controller 7 respectively controls the motor 1 of the propulsion mechanism A and the execution motor 9 of the garbage cleaning mechanism C to perform the water surface navigation and water surface garbage cleaning work, and in the cleaning process, the controller 7 controls the garbage cleaning mechanism C to pour the cleaned garbage into the garbage collection mechanism D;
s2, when the picture collected by the cruising mechanism B shows that the garbage in the garbage collecting mechanism D is full, the controller 7 controls the propelling mechanism A to drive the unmanned ship to return to the buoy body 13;
s3, after the unmanned ship navigates back to the buoy, the control center 24 in the buoy sends a signal to the controller 7 in the unmanned ship, and then the controller 7 controls the garbage collection mechanism D to dump garbage into the centralized box 15 at the buoy and then return to the original position;
s4, then the unmanned ship drives to the side of the buoy, then the self-generating device E in the buoy charges the storage battery 2 on the unmanned ship through the alternating magnetic field between the transmitting coil 12 and the receiving coil 4, when the storage battery 2 is fully charged, the controller 7 on the unmanned ship sends a stop charging signal to the control center 24, and the unmanned ship performs the next work.
In step S1, the propulsion mechanism a includes a motor 1 and a propeller 3, the motor is connected to a battery 2 and a controller 7 respectively; the cruise mechanism B comprises a camera 5 and a communication antenna 6, and the camera 5 is connected with a controller 7; the garbage cleaning mechanism C comprises an execution motor 9 arranged on the ship body and a manipulator 8 hinged on the ship body, the execution motor 9 is respectively connected with the manipulator 8 and the controller 7, and the manipulator 8 realizes the cleaning and collection of garbage through rotation; garbage collection emptys mechanism D is including installing dustbin 10 at hull middle part and installing the device D1 of empting in the dustbin bottom, and when manipulator 8 overturns and emptys rubbish, manipulator 8 is located the top of dustbin 10.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and it is obvious that any person skilled in the art can easily conceive of alternative or modified embodiments based on the above embodiments and these should be covered by the present invention.
Claims (10)
1. The utility model provides an intelligent self-powered surface of water rubbish clearance system which characterized in that:
comprises a remote computer, an unmanned ship and a water surface buoy,
the unmanned ship comprises a propelling mechanism, a cruising mechanism, a garbage cleaning mechanism, a garbage collecting and dumping mechanism and a controller which are arranged on a ship body, wherein the propelling mechanism, the cruising mechanism, the garbage cleaning mechanism and the garbage collecting and dumping mechanism are all controlled by the controller, the remote computer is wirelessly connected with the controller,
the water surface buoy comprises a buoy body, a control center, a communication antenna and a self-generating device are mounted on the buoy body, the control center is connected with the self-generating device, garbage collecting boxes are mounted on two sides of the buoy body, the control center is in wireless connection with a controller, an anchor chain is fixedly connected to the bottom of the buoy body, a gravity anchor is fixedly connected to the end portion of the anchor chain,
the unmanned ship is provided with a storage battery and a receiving coil connected with the storage battery, the buoy body is provided with a transmitting coil, the transmitting coil is connected with a self-generating device, and the water surface buoy charges the storage battery through an alternating magnetic field between the transmitting coil and the receiving coil.
2. The intelligent self-powered surface garbage disposal system of claim 1, wherein:
the propulsion mechanism comprises a motor and a propeller, the motor is respectively connected with a storage battery and a controller,
the cruising mechanism comprises a camera and a communication antenna, the camera is connected with the controller,
the garbage cleaning mechanism comprises an actuating motor arranged on the ship body and a manipulator hinged on the ship body, the actuating motor is respectively connected with the manipulator and the controller, the manipulator realizes the cleaning and collection of garbage through rotation,
garbage collection emptys the mechanism including installing the dustbin at hull middle part and installing the device of empting in the dustbin bottom, and when rubbish was emptyd in the manipulator upset, the manipulator was located the top of dustbin.
3. The intelligent self-powered surface garbage disposal system of claim 2, wherein:
the dumping device comprises a rotary supporting plate, a supporting rod and a base, the base is fixed on the bottom plate of the unmanned ship, two ends of the supporting rod are hinged to the rotary supporting plate and the base respectively, and the rotary devices at two ends of the supporting rod are connected with the controller.
4. The intelligent self-powered surface garbage disposal system of claim 2, wherein:
the manipulator comprises a bottom plate, side baffles fixedly connected with the two sides of the bottom plate, and a rear baffle connecting the two side baffles and the bottom plate, the two sides of the bottom plate are hinged with the two sides of the ship body through supporting rods connected with the bottom plate,
the side baffles at the two sides are splayed.
5. The intelligent self-powered water surface garbage disposal system of claim 4, wherein:
the bottom plate, the baffle and the rear baffle are all made of net-shaped metal materials.
6. The intelligent self-powered surface garbage disposal system of claim 1, wherein:
the self-generating device comprises a tidal current energy generating device and a solar generating device, and the tidal current energy generating device is provided with a flow guide cover.
7. The intelligent self-powered surface garbage disposal system of claim 1, wherein:
the bottom periphery of the garbage collection box is provided with a floating pipe, and the floating pipe and the wall of the garbage collection box are both made of high polymer polyethylene materials.
8. The intelligent self-powered surface garbage disposal system of claim 1, wherein:
the number of the anchor chains is 4, and the anchor chains are symmetrically arranged by taking the buoy body as a center.
9. A working method of an intelligent self-powered water surface garbage cleaning system is characterized by comprising the following steps:
s1, the remote computer transmits the cruising route to the controller, the controller then controls the propelling mechanism to drive the ship to cruise on the water surface, in the cruising process, the cruising mechanism transmits the acquired pictures to the controller, then the controller communicates with the remote computer in a wireless transmission mode, signals are fed back to the controller after being processed by the computer, then the controller respectively controls the propelling mechanism and the garbage cleaning mechanism to carry out the work of navigating on the water surface and cleaning garbage on the water surface, and in the cleaning process, the controller controls the garbage cleaning mechanism to pour the cleaned garbage into the garbage collecting mechanism;
s2, when the pictures collected by the cruise mechanism show that the garbage in the garbage collection mechanism is full, the controller controls the propulsion mechanism to drive the unmanned ship to return to the buoy body;
s3, when the unmanned ship navigates back to the buoy, the control center in the buoy sends a signal to the controller in the unmanned ship, and then the controller controls the garbage collection mechanism to pour the garbage into the garbage collection box at the buoy and then return to the original position;
and S4, driving the unmanned ship to the side of the buoy, charging the storage battery on the unmanned ship by the self-generating device in the buoy through the alternating magnetic field between the transmitting coil and the receiving coil, sending a charging stop signal to the control center by the controller on the unmanned ship when the storage battery is fully charged, and carrying out the next work by the unmanned ship.
10. The working method of the intelligent self-powered water surface garbage cleaning system according to claim 9, characterized in that:
in step S1, the propulsion mechanism includes a motor and a propeller, the motor is connected with the storage battery and the controller respectively,
the cruising mechanism comprises a camera and a communication antenna, the camera is connected with the controller,
the garbage cleaning mechanism comprises an actuating motor arranged on the ship body and a manipulator hinged on the ship body, the actuating motor is respectively connected with the manipulator and the controller, the manipulator realizes the cleaning and collection of garbage through rotation,
garbage collection emptys the mechanism including installing the dustbin at hull middle part and installing the device of empting in the dustbin bottom, and when rubbish was emptyd in the manipulator upset, the manipulator was located the top of dustbin.
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| CN112411497A (en) * | 2020-10-30 | 2021-02-26 | 江苏华淼电子科技有限公司 | River course is fixed point clearance chinampa for rubbish |
| CN112885042A (en) * | 2021-01-26 | 2021-06-01 | 自然资源部第二海洋研究所 | Water surface oil spill monitoring and early warning device and method |
| CN114892624A (en) * | 2022-06-06 | 2022-08-12 | 常州工学院 | Marine floater processing apparatus |
| CN115387307A (en) * | 2022-09-22 | 2022-11-25 | 浙江水利水电学院 | Intelligent robot for cleaning water surface of small-sized closed water area |
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| CN110979575B (en) | 2022-03-01 |
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