CN111232139A - Unmanned environment-friendly ship capable of automatically collecting garbage on water surface - Google Patents
Unmanned environment-friendly ship capable of automatically collecting garbage on water surface Download PDFInfo
- Publication number
- CN111232139A CN111232139A CN202010212317.7A CN202010212317A CN111232139A CN 111232139 A CN111232139 A CN 111232139A CN 202010212317 A CN202010212317 A CN 202010212317A CN 111232139 A CN111232139 A CN 111232139A
- Authority
- CN
- China
- Prior art keywords
- ship body
- garbage
- barrier net
- propeller
- ship
- Prior art date
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
- B63B45/02—Arrangements or adaptations of signalling or lighting devices the devices being intended to illuminate the way ahead or other areas of environments
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B49/00—Arrangements of nautical instruments or navigational aids
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/07—Arrangements on vessels of propulsion elements directly acting on water of propellers
- B63H5/08—Arrangements on vessels of propulsion elements directly acting on water of propellers of more than one propeller
-
- 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
-
- 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
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
Abstract
The invention discloses an unmanned environment-friendly ship capable of automatically collecting water surface garbage, and relates to the technical field of unmanned ship automatic control. The invention realizes the full automatic control of the navigation route and the working state of the environmental protection ship through the control device and the motor control system; the river channel cleaning with high efficiency and high safety is realized through the garbage collection device; the cleaning area is enlarged through the left and right multistage blocking nets; the problem that garbage is easy to leak when ships reverse is solved through the central blocking net; through the cooperation of redundant many propellers, realize the garbage collection operation under the ship is motionless, solved among the prior art ship and can only carry out garbage collection in advancing, the defect of easy mistake and omission.
Description
Technical Field
The invention relates to the technical field of automatic control of unmanned ships, in particular to an unmanned environment-friendly ship capable of automatically collecting garbage on water.
Background
In recent years, with the increase of the demand of people for natural environment and the enhancement of environmental awareness, the cleaning of floating garbage in rivers and lakes is becoming more urgent. Along with the development of unmanned ship technology, the mode that the wireless remote control unmanned ship carries out rubbish recovery has appeared, has avoided traditional artifical salvage mode to have certain dangerous problem, nevertheless is not high-efficient enough in personnel's utilization, consequently, independently collects rubbish on the surface of water through unmanned ship, has very important meaning.
Disclosure of Invention
The invention aims to provide an unmanned environment-friendly ship capable of automatically collecting water surface garbage, which is used for solving the problems in the prior art, automatically and efficiently cleaning the water surface garbage and well solving the problems of low efficiency and danger of the traditional manual mode.
In order to achieve the purpose, the invention provides the following scheme: the invention provides an unmanned environment-friendly ship capable of automatically collecting water surface garbage, which comprises a ship body, wherein a fixed frame is arranged on the ship body, a garbage collecting device and a control device are arranged on the fixed frame, the garbage collecting device is connected with the control device, and the garbage collecting device and the control device are both connected with a power supply.
Preferably, the ship comprises a first ship body and a second ship body which are arranged side by side, the first ship body and the second ship body are connected through the fixed frame, and the garbage collection device is positioned between the first ship body and the second ship body; and the outer sides of the first ship body and the second ship body are respectively provided with a first propeller and a second propeller.
Preferably, the fixed frame comprises a walking pulley at the bottom and anti-collision rollers respectively positioned at the head and tail ends of the first ship body and the second ship body; the distance between the anti-collision rollers is larger than the width of the ship body.
Preferably, the first propeller and the second propeller are both propeller propellers, one propeller of each propeller of the two propeller propellers is a positive propeller, and the other propeller of each propeller is a negative propeller.
Preferably, the power supply is installed in a waterproof bin, and the waterproof bin is installed on the fixed frame between the tails of the first ship body and the second ship body.
Preferably, the garbage collection device comprises a water guide plate, a garbage filtering basket, a third propeller and a blocking net; the water guide plate and the third propeller are respectively fixed on the fixed frame through bolts; the water guide plate is positioned at the bottom of the ship body, two sides of the water guide plate are respectively and tightly connected with the first ship body and the second ship body, the tail part of the water guide plate is bent upwards, the upper edge of the tail part of the water guide plate is tightly connected with the waterproof bin, and an opening is formed in the bent part; the garbage filtering basket is positioned above the middle part of the water guide plate; the bottom plate, the back plate, the left side plate and the right side plate of the garbage filtering basket are all hollow plates; the garbage filtering basket is a movable part, a limiting device is arranged between the garbage filtering basket and the ship body, and the garbage filtering basket can be integrally taken out from the upper part; the third propeller is positioned above the tail part of the water guide plate and behind the garbage filtering basket; and the water inlet of the third propeller is tightly connected with the opening at the tail part of the water guide plate.
Preferably, the barrier nets comprise a left barrier net, a right barrier net and a central barrier net, and the left barrier net, the right barrier net and the central barrier net are respectively connected with the fixed frame through steering gears and are controlled to rotate by the steering gears; the left barrier net and the right barrier net are respectively positioned on the fixed frames at the front ends of the first ship body and the second ship body; the left barrier net and the right barrier net are of a one-stage or multi-stage structure, when the left barrier net and the right barrier net are of a multi-stage structure, the multi-stage left barrier net and the multi-stage right barrier net are connected through a gear rack, and a motor drives the gear to rotate, so that the left barrier net or the right barrier net at the next stage moves along the rack; the length of the left barrier net and the right barrier net is 50% -400% of the length of the ship body; the anti-collision rollers are respectively arranged at one ends of the left barrier net and the right barrier net far away from the ship body;
the left block net and the right block net are folded outwards at two sides of the ship body in a non-working state, and are unfolded forwards to form a certain angle in a working state; the central block net is positioned at the front part of the garbage filtering basket, the upper edge of the central block net is connected to the fixed frame through a steering engine, the central block net rotates to be horizontal or above the horizontal state in a working state, and the central block net rotates to be vertical in a non-working state or when a ship reverses.
Preferably, the control device comprises a controller, a radar and a binocular camera; the radar and the binocular camera are both connected with the controller; the controller is also connected with communication equipment for transmitting and receiving external signals and navigation equipment for positioning the ship body; the communication equipment transmits signals through wireless serial port communication, and the 4G route provides network communication to receive external signals; the navigation equipment is used for positioning through a GPS and navigating and avoiding obstacles through a millimeter wave radar and a laser radar.
Preferably, the automatic lighting device comprises a light ray identification sensor and a lighting lamp, the light ray identification sensor automatically identifies the brightness of ambient light rays, and the lighting lamp automatically turns on lighting according to the brightness of the light rays.
Compared with the prior art, the invention has the following technical effects:
the navigation route and the working state of the environment-friendly ship are completely and automatically controlled through the control device; the river channel cleaning with high efficiency and high safety is realized through the garbage collection device; the cleaning area is enlarged through the left and right multistage blocking nets; the problem that garbage flows out when the ship reverses is solved through the central blocking net; through the cooperation of redundant many propellers, realize the garbage collection operation under the ship is motionless, solved among the prior art ship and can only carry out garbage collection in advancing, the defect of easy mistake and omission.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic bottom view of the present invention;
FIG. 3 is a schematic side sectional view of the present invention;
fig. 4 is a schematic view of the barrier net of the present invention when collapsed;
the garbage filter comprises a sensor assembly 1, a sensor assembly 2, a power supply and control device assembly 3, a garbage filter basket 41, a first ship body 42, a second ship body 51, a first anti-collision roller 52, a second anti-collision roller 53, a third anti-collision roller 54, a fourth anti-collision roller 55, a fifth anti-collision roller 56, a sixth anti-collision roller 61, a first propeller 62, a second propeller 63, a third propeller 71-74, a walking pulley 8, a fixed frame 91, a left barrier net 92, a right barrier net 93, a central barrier net 10 and a water guide plate.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
As shown in fig. 1 to 4, the present embodiment provides an unmanned environmental protection ship for automatically collecting garbage on water, which includes a ship body, wherein the ship body has a load of 200KG, the weight of the ship body is less than 80KG, and a person with a weight of 80KG can stand on the ship for maintenance; the ship body is provided with a fixed frame 8, wherein the fixed frame 8 is a metal structure frame, preferably made of aluminum alloy, but not limited to aluminum alloy, and also made of other waterproof metal materials, and all structures on the ship body are fixed on the fixed frame 8 through bolts; the garbage collecting device and the control device are arranged on the fixed frame 8, the garbage collecting device is connected with the control device, and the garbage collecting device and the control device are both connected with a power supply which supplies power.
In this embodiment, the hull comprises a first hull 41 and a second hull 42 arranged side by side, the first hull 41 and the second hull 42 are connected by the fixed frame 8, and the garbage collection device is located between the first hull 41 and the second hull 42; a first propeller 61 and a second propeller 62 are respectively installed at the outer sides of the first hull 41 and the second hull 42, and both the propellers are connected with a control device and a power supply.
The fixed frame 8 comprises a walking pulley at the bottom and anti-collision rollers respectively positioned at the head and tail ends of the first ship body 41 and the second ship body 42; four walking pulleys are arranged, including a walking pulley 71, a walking pulley 72, a walking pulley 73 and a walking pulley 74, which are respectively positioned at four corners of the bottom of the ship body; the anti-collision rollers at the head end and the tail end of the first hull 41 are respectively a fourth anti-collision roller 54 and a third anti-collision roller 53, and the anti-collision rollers at the head end and the tail end of the second hull 42 are respectively a first anti-collision roller 51 and a second anti-collision roller 52; the distance between the anti-collision rollers oppositely arranged on the first hull 41 and the second hull 42 is larger than the width of the hulls, namely the distance between the first anti-collision roller 51 and the fourth anti-collision roller 54 and the distance between the second anti-collision roller 52 and the third anti-collision roller 53 are larger than the width of the hulls.
Specifically, the first propeller 61 and the second propeller 62 are both propeller propellers, one propeller of each propeller is a positive propeller, and the other propeller of each propeller is a negative propeller; the maximum advancing speed of the ship body is 3.5m/s, and the ship can stably advance at a low speed; wherein, two propellers work simultaneously, and the screw direction of rotation is unanimous, the rotational speed is the same, and the lateral force that its produced offsets mutually for the ship can keep straight line navigation.
In this embodiment, the power and control device assembly 2 is mounted in a waterproof bin mounted on the fixed frame 8 between the tails of the first and second hulls 41, 42; the power supply is a lithium battery and provides power for the navigation of the unmanned ship and the operation of the control device.
In this embodiment, the garbage collection apparatus includes a water guide plate 10, a garbage filter basket 3, a third pusher 63, and a blocking net; the water guide plate 10 and the third propeller 63 are respectively fixed on the fixed frame 8 through bolts; the water guide plate 10 is positioned at the bottom of the ship body, two sides of the water guide plate are tightly connected with the first ship body 41 and the second ship body 42, the tail part of the water guide plate 10 is bent upwards, the upper edge of the water guide plate is tightly connected with the battery waterproof bin, and an opening is formed in the bent part; the garbage filtering basket 3 is positioned above the middle part of the water guide plate 10; the bottom plate, the back plate, the left side plate and the right side plate of the garbage filtering basket 3 are all hollow plates; the garbage filtering basket 3 is a movable part, a limiting device is arranged between the garbage filtering basket and the ship body, and the garbage filtering basket can be integrally taken out from the upper part, wherein the limiting device can be a limiting hook arranged at the top of a garbage filtering frame so as to be placed on the ship body, and other limiting devices meeting the requirement can also be adopted; the third propeller 63 is positioned above the tail part of the water guide plate 10 and behind the garbage filtering basket 3; the water inlet of the third propeller 63 is tightly connected with the opening at the tail of the water guide plate 10.
In this embodiment, the barrier net includes a left barrier net 91, a right barrier net 92 and a central barrier net 93, which are respectively connected to the fixed frame 8 through steering gears, and are controlled to rotate by the steering gears; the left barrier net 91 and the right barrier net 92 are respectively positioned on the fixed frame 8 at the front ends of the first hull 41 and the second hull 42; the left barrier net 91 and the right barrier net 92 are of one-stage or multi-stage structures, and the length of the left barrier net and the right barrier net is controlled to be 50% -400% of the length of the ship body; the far ends of the left barrier net 91 and the right barrier net 92 are respectively provided with a fifth anti-collision roller 55 and a sixth anti-collision roller 56; the left barrier net 91 and the right barrier net 92 are folded outwards on two sides of the ship body in a non-working state, and are unfolded forwards to form a certain angle in a working state; the central barrier 93 is positioned at the front part of the garbage filtering basket 3, the upper edge of the central barrier 93 is connected to the fixed frame 8 through a steering engine, the central barrier 93 rotates to be in a horizontal state in a working state, and the central barrier 93 rotates to be in a vertical state in a non-working state or when a ship reverses.
A first propeller 61 and a second propeller 62 are arranged on the outer side of the rear part of the ship body, and the ship body can be pushed to move forwards together with a third propeller 63 of the garbage collection device when positive force is exerted; meanwhile, the reverse force can be exerted to offset the forward force of the third propeller 63, and the garbage collection under the condition that the ship body is still can be realized.
In a normal working state, a part of the garbage filtering basket 3 is immersed in water, and the water guide plate 10 is below a waterline; the left barrier net 91 and the right barrier net 92 are forwards opened to form a certain angle, and the central barrier net 93 rotates to be in a horizontal state; negative pressure is generated by the operation of the third propeller 63 (propeller), and the flow direction of the surface river is guided by the pressure difference through the water guide plate 10.
In this embodiment, the control device includes a controller, and the sensor assembly 1 includes a radar and a binocular camera; the radar and the binocular camera are both connected with the controller; the controller is also connected with communication equipment for transmitting and receiving external signals and navigation equipment for positioning the ship body; the communication equipment comprises wireless serial port communication and a 4G route, signals are transmitted through the wireless serial port communication, and the 4G route provides network communication to receive external signals; the navigation equipment is GPS navigation equipment, is positioned through a GPS and is navigated and obstacle-avoiding through a millimeter wave radar and a laser radar.
The radar adopts a millimeter wave radar and a laser radar and is used for avoiding obstacles; the binocular camera collects water surface image data, is arranged at a certain angle, collects three-dimensional image data and transmits the three-dimensional image data to the controller, and automatically identifies the size and the position of the garbage according to an AI (intelligent algorithm); the controller takes an embedded GPU development board as a carrier, and is loaded with an image processing algorithm, an unmanned ship navigation route planning algorithm and each component coordination control algorithm, so as to find the position of the water surface garbage, plan a navigation route and perform coordination control on each electrical component.
In this embodiment, still include automatic lighting device, automatic lighting device includes light identification sensor and light, through the light identification sensor automatic identification ambient light's the light and shade, the illumination is opened according to light and shade automatically to the light.
The working process of the unmanned environment-friendly ship in the embodiment can be divided into 3 stages: a positioning stage, a garbage collection stage and a return stage.
Firstly, the unmanned environment-friendly ship scans the whole water area through a binocular camera, the obtained water surface picture is transmitted back to the controller, and the image recognition algorithm is used for recognizing the water surface garbage. The navigation equipment positions the position of the rubbish and determines the initial position of the unmanned environment-friendly ship, and a path planning algorithm calculates the optimal path between the two positions; after the calculation is completed, the positioning phase is ended.
After the positioning stage is finished, starting to execute a garbage collection task; the unmanned environment-friendly ship starts autonomous navigation according to a program compiled in advance and a calculated path so as to reach a task destination; if the radar finds the obstacle in the way, the radar can bypass the obstacle under the guidance of the navigation equipment, and after the unmanned ship reaches the destination, the unmanned ship carries out the work of the garbage collection stage according to the flow compiled in advance.
Firstly, the controller starts the third propeller 63, water in the garbage filtering basket 3 is discharged, and water in the front of the water guide plate 10 enters the water guide plate 10 due to negative pressure generated by water level difference; the flowing water enters the water guide plate 10 together with floating garbage on the surface, and is filtered by the filter basket, clean water is discharged, and the floating garbage is remained in the filter basket. The water above the water guide plate 10 is continuously discharged, the water in the front of the water guide plate 10 is continuously flowed in, and finally the floating garbage in the area is collected into the filtering basket. Then, the third propeller 63 stops working, the controller controls the steering engine to rotate, the central barrier net 93 is placed in a vertical state, and the left barrier net 91 and the right barrier net 92 are folded outwards to be placed on two sides of the ship body. At this point, the single garbage collection task ends.
After the single garbage collection task is finished, the unmanned environment-friendly ship returns to the state of the positioning stage, and the position of the next floating garbage is continuously searched and positioned. Then the control device plans a path, and the unmanned ship enters the next garbage collection stage.
When the image recognition algorithm recognizes that the water surface garbage is completely cleaned up, or the controller receives feedback of low power supply electric quantity, the controller sends a return flight instruction, and the unmanned environment-friendly ship enters a return flight stage.
And when the return navigation stage begins, the navigation equipment positions the position of the unmanned ship, automatically plans a path according to the position of the base station input in advance, and autonomously navigates to the position of the base station. After the unmanned environment-friendly ship returns to the base station, the garbage in the garbage filtering basket 3 is taken out manually, the battery is charged, and the unmanned environment-friendly ship finishes work.
In conclusion, the unmanned environment-friendly ship for automatically collecting the water surface garbage achieves the purposes of autonomous navigation and automatic garbage recovery of unmanned operation through the control of the intelligent algorithm and the controller, and achieves river channel cleaning with high efficiency and high safety.
Example two
The embodiment is an improvement on the basis of the first embodiment, and the improvement is as follows: the left barrier net 91 and the right barrier net 92 are of a multi-stage structure, the left barrier net 91 and the right barrier net 92 in multiple stages are connected through a gear and a rack, a motor drives the gear to rotate, so that the left barrier net 91 or the right barrier net 92 in the next stage moves along the rack, and the length of the left barrier net 91 or the right barrier net 92 in the next stage is controlled to be 50% -400% of the length of the ship body.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (9)
1. The utility model provides an automatic collect unmanned environmental protection ship of surface of water rubbish, includes the hull, its characterized in that: the garbage collecting device is characterized in that a fixed frame is arranged on the ship body, a garbage collecting device and a control device are arranged on the fixed frame, the garbage collecting device is connected with the control device, and the garbage collecting device and the control device are connected with a power supply.
2. The unmanned, environmentally friendly vessel for automatically collecting garbage on water as claimed in claim 1, wherein: the ship comprises a first ship body and a second ship body which are arranged side by side, the first ship body and the second ship body are connected through a fixed frame, and the garbage collection device is positioned between the first ship body and the second ship body; and the outer sides of the first ship body and the second ship body are respectively provided with a first propeller and a second propeller.
3. The securing frame of claim 1, wherein: the fixed frame comprises four pulleys at the bottom and anti-collision rollers respectively positioned at the head end and the tail end of the first ship body and the second ship body; the distance between the anti-collision rollers is larger than the width of the ship body.
4. The unmanned, environmentally friendly vessel for automatically collecting garbage on water as claimed in claim 2, wherein: the first propeller and the second propeller are both propeller propellers, one propeller of each propeller is a positive propeller, and the other propeller of each propeller is a negative propeller.
5. The unmanned, environmentally friendly vessel for automatically collecting garbage on water as claimed in claim 2, wherein: the power supply is installed in the waterproof bin, and the waterproof bin is installed on the fixed frame between the tails of the first ship body and the second ship body.
6. The refuse collection device according to claim 1, further comprising: the garbage collection device comprises a water guide plate, a garbage filtering basket, a third propeller and a blocking net; the water guide plate and the third propeller are respectively fixed on the fixed frame through bolts; the water guide plate is positioned at the bottom of the ship body, two sides of the water guide plate are respectively and tightly connected with the first ship body and the second ship body, the tail part of the water guide plate is bent upwards, the upper edge of the tail part of the water guide plate is tightly connected with the waterproof bin, and an opening is formed in the bent part; the garbage filtering basket is positioned above the middle part of the water guide plate; the bottom plate, the back plate, the left side plate and the right side plate of the garbage filtering basket are all hollow plates; the garbage filtering basket is a movable part, a limiting device is arranged between the garbage filtering basket and the ship body, and the garbage filtering basket can be integrally taken out from the upper part; the third propeller is positioned above the tail part of the water guide plate and behind the garbage filtering basket; and the water inlet of the third propeller is tightly connected with the opening at the tail part of the water guide plate.
7. A barrier net according to claim 6, wherein: the barrier net comprises a left barrier net, a right barrier net and a central barrier net, and the left barrier net, the right barrier net and the central barrier net are respectively connected with the fixed frame through steering gears and are controlled to rotate by the steering gears; the left barrier net and the right barrier net are respectively positioned on the fixed frames at the front ends of the first ship body and the second ship body; the left barrier net and the right barrier net are of a one-stage or multi-stage structure, when the left barrier net and the right barrier net are of a multi-stage structure, the multi-stage left barrier net and the multi-stage right barrier net are connected through a gear rack, and a motor drives the gear to rotate, so that the left barrier net or the right barrier net at the next stage moves along the rack; the length of the left barrier net and the right barrier net is 50% -400% of the length of the ship body; the anti-collision rollers are respectively arranged at one ends of the left barrier net and the right barrier net far away from the ship body;
the left block net and the right block net are folded outwards at two sides of the ship body in a non-working state, and are unfolded forwards to form a certain angle in a working state; the central block net is positioned at the front part of the garbage filtering basket, the upper edge of the central block net is connected to the fixed frame through a steering engine, the central block net rotates to be horizontal or above the horizontal state in a working state, and the central block net rotates to be vertical in a non-working state or when a ship reverses.
8. The unmanned, environmentally friendly vessel for automatically collecting garbage on water as claimed in claim 1, wherein: the control device comprises a controller, a radar and a binocular camera; the radar and the binocular camera are both connected with the controller; the controller is also connected with communication equipment for transmitting and receiving external signals and navigation equipment for positioning the ship body; the communication equipment transmits signals through wireless serial port communication, and the 4G route provides network communication to receive external signals; the navigation equipment is used for positioning through a GPS and navigating and avoiding obstacles through a millimeter wave radar and a laser radar.
9. The unmanned, environmentally friendly vessel for automatically collecting garbage on a water surface of claim 8, further comprising: still include automatic lighting device, automatic lighting device includes light identification sensor and light, through the light identification sensor automatic identification surrounding environment light's light and shade, the illumination is opened according to light and shade automatically to the light.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010212317.7A CN111232139A (en) | 2020-03-24 | 2020-03-24 | Unmanned environment-friendly ship capable of automatically collecting garbage on water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010212317.7A CN111232139A (en) | 2020-03-24 | 2020-03-24 | Unmanned environment-friendly ship capable of automatically collecting garbage on water surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111232139A true CN111232139A (en) | 2020-06-05 |
Family
ID=70863339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010212317.7A Pending CN111232139A (en) | 2020-03-24 | 2020-03-24 | Unmanned environment-friendly ship capable of automatically collecting garbage on water surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111232139A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112502117A (en) * | 2020-12-22 | 2021-03-16 | 北京航天控制仪器研究所 | Unmanned boat for cleaning floaters on water surface and floaters cleaning method thereof |
| CN112695714A (en) * | 2020-12-23 | 2021-04-23 | 苏州础润环境修复科技有限公司 | Water surface garbage fishing device for water treatment and working method thereof |
| CN113104154A (en) * | 2021-04-20 | 2021-07-13 | 江苏虹湾威鹏信息技术有限公司 | Miniature intelligent cleaning unmanned ship |
| CN113460248A (en) * | 2021-08-16 | 2021-10-01 | 广西大学 | Intelligent environment-friendly unmanned ship and operation method thereof |
| CN114291217A (en) * | 2021-12-30 | 2022-04-08 | 合肥工业大学 | Garbage cleaning ship based on visual identification technology and control system thereof |
| CN114411666A (en) * | 2022-01-28 | 2022-04-29 | 杭州华鲲云起信息技术有限公司 | Garbage collection ship and method for collecting garbage by same |
| CN114517469A (en) * | 2022-03-22 | 2022-05-20 | 安徽工程大学 | Bee colony type water surface garbage cleaning robot |
-
2020
- 2020-03-24 CN CN202010212317.7A patent/CN111232139A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112502117A (en) * | 2020-12-22 | 2021-03-16 | 北京航天控制仪器研究所 | Unmanned boat for cleaning floaters on water surface and floaters cleaning method thereof |
| CN112695714A (en) * | 2020-12-23 | 2021-04-23 | 苏州础润环境修复科技有限公司 | Water surface garbage fishing device for water treatment and working method thereof |
| CN113104154A (en) * | 2021-04-20 | 2021-07-13 | 江苏虹湾威鹏信息技术有限公司 | Miniature intelligent cleaning unmanned ship |
| CN113460248A (en) * | 2021-08-16 | 2021-10-01 | 广西大学 | Intelligent environment-friendly unmanned ship and operation method thereof |
| CN114291217A (en) * | 2021-12-30 | 2022-04-08 | 合肥工业大学 | Garbage cleaning ship based on visual identification technology and control system thereof |
| CN114411666A (en) * | 2022-01-28 | 2022-04-29 | 杭州华鲲云起信息技术有限公司 | Garbage collection ship and method for collecting garbage by same |
| CN114517469A (en) * | 2022-03-22 | 2022-05-20 | 安徽工程大学 | Bee colony type water surface garbage cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111232139A (en) | Unmanned environment-friendly ship capable of automatically collecting garbage on water surface | |
| CN212423399U (en) | Unmanned environment-friendly ship capable of automatically collecting garbage on water surface | |
| CN108860487B (en) | Intelligent water surface trash cleaning robot | |
| CN106347594B (en) | A kind of wireless charging clears up water surface robot system automatically | |
| CN110185013A (en) | Water surface cleaning ship device and water surface clean method based on Machine Vision Recognition | |
| CN112693571B (en) | Intelligent water surface float-cleaning ship and intelligent water surface float-cleaning method | |
| CN109533211A (en) | Pump inhales filtering type water body rubbish cleaning intelligent robot and control method | |
| CN210597238U (en) | Intelligent water surface floating garbage collection device | |
| CN111591400A (en) | Water surface garbage autonomous collection method and system | |
| CN105908686A (en) | Floater automatic cleaning device | |
| CN109339008A (en) | Mother and sons' garbage collection system | |
| CN211228428U (en) | Small-size waters floater pickup system | |
| CN110758657A (en) | Novel automatic retrieve surface of water rubbish twinhull vessel | |
| CN110143261B (en) | Solar unmanned ship for collecting floats on water surface | |
| CN210235259U (en) | Modular float-garbage ship | |
| CN102490873A (en) | Water surface operating ship capable of moving up and down | |
| CN215794344U (en) | Solar energy intelligence surface of water floater clearance ship | |
| CN110904933A (en) | Underwater robot for collecting garbage on surface layer of water body | |
| CN215405957U (en) | Unmanned garbage collection device on water | |
| CN207747987U (en) | A kind of autohemagglutination formula device for cleaning water surface rubbish using Driven by Solar Energy | |
| CN109774873A (en) | A kind of liftable device for cleaning water surface rubbish | |
| CN112947413B (en) | Unmanned intelligent float-garbage ship | |
| CN114013858A (en) | Marine waste classified collection system | |
| CN209669827U (en) | Orbit determination road mother and sons' garbage collection system | |
| CN208235477U (en) | A kind of water-surface cleaning device reducing cleaning dead angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |