CN111851445B - Marine waste collecting and salvaging device - Google Patents
Marine waste collecting and salvaging device Download PDFInfo
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- CN111851445B CN111851445B CN202010416104.6A CN202010416104A CN111851445B CN 111851445 B CN111851445 B CN 111851445B CN 202010416104 A CN202010416104 A CN 202010416104A CN 111851445 B CN111851445 B CN 111851445B
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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
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
Abstract
The invention relates to a marine garbage collecting and salvaging device, which comprises: the device comprises an inlet collector, a solar panel, an arc-shaped arm, a buoyancy mechanism, a roller support, rollers, a driving motor, a garbage collecting bag, a feeding shifting roller, a material return prevention device, a floating bottom, a propeller driver, a propeller, an electric control unit and a central control unit. According to the invention, the fishing device is remotely controlled by using wireless communication, the operation parameters of the fishing device are adjusted, so that the fishing device can salvage garbage along an appointed route at an appointed fishing speed, the corresponding operation parameters are selected according to different conditions, meanwhile, the central control unit can monitor the operation state of the fishing device in real time, the fishing device can automatically stop and send signals to the electric control unit when the specified operation time is reached or the garbage collection bag reaches the garbage collection saturation amount, the fishing device can be effectively prevented from continuously advancing after the garbage collection bag is full of garbage, and the fishing efficiency of the fishing device is further improved.
Description
Technical Field
The invention relates to the technical field of seawater garbage treatment, in particular to a marine garbage collecting and salvaging device.
Background
With the intensive human activities, the marine pollution problem is also getting more and more serious. The problem of damaging global ocean and coastal ocean garbage from waste fishing nets to plastic bags and cigarette filters is becoming more and more serious. The marine garbage affects the marine landscape, threatens the navigation safety, and affects the health of the marine ecosystem, thereby generating negative effect on marine economy. Due to the influence of marine garbage, a large number of marine organisms die after being swallowed by mistake, and a large number of marine fishes and the like take the marine garbage such as micro plastics in the sea and are further eaten by human beings, so that the health of the human beings is seriously influenced.
At present, the ocean floating garbage is mostly treated by manual salvage, and the manual salvage efficiency is low.
Disclosure of Invention
Therefore, the invention provides a marine garbage collecting and salvaging device, which is used for overcoming the problem of low salvaging efficiency of water surface garbage in the prior art;
in order to achieve the above object, the present invention provides a marine garbage collecting and salvaging apparatus, comprising:
an inlet collector to collect waste on a water surface;
a solar panel disposed on the inlet collector for converting solar energy into electrical energy;
the arc-shaped arms comprise a first arc-shaped arm and a second arc-shaped arm which are respectively arranged at two ends of the inlet collector, and each arc-shaped arm is sleeved with a buoyancy mechanism for enabling the arc-shaped arm to float on the water surface;
the roller wheel brackets comprise a first roller wheel bracket arranged at the end part of the first arc-shaped arm and a second roller wheel bracket arranged at the end part of the second arc-shaped arm, and a roller wheel is arranged in each roller wheel bracket and is used for sucking the garbage on the water surface to the water inlet of the inlet collector;
the driving motors comprise first driving motors arranged on the first roller wheel supports and second driving motors arranged on the second roller wheel supports, the output ends of the driving motors are in transmission connection with the corresponding roller wheels and used for driving the roller wheels to rotate, and the driving motors are connected with the solar panel and used for receiving electric energy transmitted by the solar panel;
the garbage collection bag is arranged at the output end of the inlet collector and is used for storing garbage output by the inlet collector;
the feeding poking roller is arranged in the inlet collector and is used for sucking the garbage at the inlet of the inlet collector;
the anti-return device is arranged in the inlet collector and positioned below the feeding shifting roller and used for preventing garbage in the inlet collector from flowing back to the outside of the inlet collector;
the floating bottom is arranged at the bottom of the inlet collector, and a propeller driver is arranged inside the floating bottom;
the propellers comprise a first propeller and a second propeller, and each propeller is connected with the propeller driver respectively and used for controlling the device to move under the driving of the propeller driver;
the electric control unit is arranged on the fishing vessel, is wirelessly connected with the central control unit and is used for adjusting the operation parameters of a designated part in the fishing device during operation;
the central control unit is arranged in the inlet collector, is respectively connected with the solar panel, the driving motor, the feeding shifting roller and the propeller driver, and is used for adjusting the running route and the fishing rate of the device; the central control unit is also provided with a signal transceiver for data interaction and instruction interaction with the electric control unit;
when the device is used, the electric control unit is used for setting the operation parameters of the fishing device, the electric control unit transmits the parameter information to the central control unit through the signal transceiver after the setting is completed, and the central control unit controls the fishing device to operate according to the specified parameters and salvage floating garbage on the water surface after receiving the information.
Further, a preset route matrix group L, a preset salvage rate matrix group D and a preset salvage time matrix group T are arranged in the electric control unit, wherein:
l, L (L1, L2, L3, L4), L1 is a first preset route curvature matrix, L2 is a second preset route curvature matrix, L3 is a third preset route curvature matrix, L4 is a fourth preset route curvature matrix, and the preset route curvature matrices are arranged in ascending order with the curvature radius as a reference;
d, D (D1, D2, D3 and D4), D1 is a first preset fishing rate matrix, D2 is a second preset fishing rate matrix, D3 is a third preset fishing rate matrix, D4 is a fourth preset fishing rate matrix, and all the preset fishing rate matrices are arranged in an ascending order by taking the fishing rate as a reference;
t, T (T1, T2, T3 and T4), T1 is a first preset fishing time matrix, T2 is a second preset fishing time matrix, T3 is a third preset fishing time matrix, T4 is a fourth preset fishing time matrix, and all the preset fishing time matrices are arranged in an ascending order by taking time length as a reference;
when the fishing device is used, the preset route matrix Li, the preset fishing rate matrix Dj and the preset fishing time matrix Tn are sequentially adjusted through the electric control unit, wherein i =1, 2, 3, 4, j =1, 2, 3, 4, n =1, 2, 3, 4, after the setting is completed, the electric control module establishes a fishing plan matrix group A (Li, Dj, Tn) and transmits the fishing plan matrix group A to the signal transceiver after the establishment is completed, the signal transceiver transmits the fishing plan matrix group A to the central control module after receiving the A matrix group, and the central control module respectively controls the running power of the driving motor, the rotating speed of the feeding poking roller and the running power of the propeller driver according to data in the A matrix group after receiving the A matrix group so that the fishing device can be fished according to the specified parameters.
Further, for the Li matrix, Li (ω ia, ω ib), where ω ia is the rotation speed of the first propeller when the Li matrix is selected by the electronic control unit, and ω ib is the rotation speed of the second propeller when the Li matrix is selected by the electronic control unit; when the electric control unit selects the Li matrix, the fishing device runs, the central control unit controls the propeller driver to adjust the rotating speed of the first propeller to be omega ia and the rotating speed of the second propeller to be omega ib;
for the Dj matrix, Dj (Pja, Pjb, ω j), wherein Pja is the operating power of the first driving motor when the Dj matrix is selected by the electronic control unit, Pjb is the operating power of the second driving motor when the Dj matrix is selected by the electronic control unit, and ω j is the rotating speed of the feeding shifting roller when the Dj matrix is selected by the electronic control unit; when the electric control unit selects the Dj matrix, the fishing device runs, the central control unit adjusts the running power of the first driving motor to Pja, adjusts the running power of the second driving motor to Pjb and adjusts the rotating speed of the feeding shifting roller to omega j.
Furthermore, a positioning unit is also arranged in the electric control unit and used for detecting the relative distance between the fishing device and the electric control unit; when a user places the fishing device on the water surface and starts the fishing device, the electronic control unit takes the position of the electronic control unit as a pole point and the initial advancing direction of the fishing device as a polar axis to establish a polar coordinate system, when the fishing device runs on the water surface, the central control module sends a signal with the running time t to the electronic control unit through the signal transceiver in each unit time t0 interval, the electronic control unit calculates the signal transmission time length according to the signal receiving time and judges the distance rho between the fishing device and the electronic control unit according to the average signal transmission speed, and judges the included angle theta between the fishing device and the polar axis according to the signal transmission direction, and the electronic control unit obtains the polar coordinates P (rho, theta) of the fishing device in a single unit time t0 according to the rho and the theta.
Further, the electronic control unit respectively records position information sent by the fishing device during operation and establishes a polar coordinate matrix group P (P1, P2, P3.. Pn), wherein for polar coordinates Pn, Pn (ρ n, θ n) in the matrix group, ρ n is a relative distance between the fishing device and the electronic control unit at the nth unit time t0, and θ n is an included angle between the fishing device and a polar axis at the nth unit time t 0; the electronic control unit judges the relative speed of the fishing device according to rho-1 and rho n in the coordinate information of polar coordinates Pn-1 and Pn in two adjacent unit times t0, and simultaneously, the electronic control unit judges the actual running direction and the actual moving speed v of the fishing device according to the combination of the theta n-1, the theta n and Li in the fishing plan matrix group A.
Furthermore, a timer is arranged in the central control module and used for counting the running time t of the fishing device, when the fishing device starts to run, the timer can continuously run according to a preset fishing time matrix Tn in the fishing plan matrix group A, when t is smaller than Tn, the fishing device stops running, when t = Tn, the central control chip controls the driving motor and the propeller driver to stop running, and a stop signal is sent to the electric control unit through the signal transceiver to wait for recovery.
Furthermore, a preset speed matrix group V (V1, V2, V3 and V4) is arranged in the central control unit, wherein V1 is a first preset speed matrix of the fishing device when the electric control unit selects a first preset fishing rate matrix D1, V2 is a second preset speed matrix of the fishing device when the electric control unit selects a second preset fishing rate matrix D2, V3 is a third preset speed matrix of the fishing device when the electric control unit selects a third preset fishing rate matrix D3, and V4 is a fourth preset speed matrix of the fishing device when the electric control unit selects a fourth preset fishing rate matrix D4, wherein when the electric control unit selects a specified preset fishing rate matrix Dj, the central control unit selects a corresponding preset speed matrix Vj according to Dj; when fishing device operation, automatically controlled unit can be in real time with fishing device's functioning speed v through signal transceiver carry to well accuse unit, well accuse unit can compare v and Vj:
when t is less than Tn and v is more than or equal to Vj, the central control unit judges that the garbage in the garbage collection bag does not reach the loading saturation amount, and the fishing device continues to advance;
when t is less than Tn and v is less than Vj, the central control unit judges that the garbage in the garbage collection bag reaches the loading saturation amount, controls the fishing device to stop advancing, and sends a stop signal to the electric control unit through the signal transceiver.
Further, the bottom of the floating bottom is arc-shaped, so that the inlet collector can stably float on the water surface.
Further, the garbage collection bag is net-shaped and is used for filtering water in the garbage collection bag when garbage is collected.
Furthermore, fixed frame and fixed knot are installed to the garbage collection bag feed inlet, and the fixed frame of garbage collection bag can be connected with the import collection device rear end through fixed knot auto-release lock catch.
Compared with the prior art, the fishing device has the advantages that the fishing device can be remotely controlled by using the wireless communication of the electric control unit and the central control unit, the fishing device can salvage the garbage on the water surface along an appointed route at an appointed salvage speed by adjusting the operation parameters of the fishing device, the fishing device can be used for improving the salvage efficiency of the fishing device by selecting the corresponding operation parameters according to different conditions, meanwhile, the central control unit can monitor the operation state of the fishing device in real time, the fishing device can be automatically stopped and sends signals to the electric control unit when the specified operation time is reached or the garbage collection bag reaches the garbage collection saturation amount, the fishing device can be effectively prevented from continuously advancing after the garbage collection bag is full of the garbage, and the salvage efficiency of the fishing device is further improved.
Furthermore, a solar panel is further arranged in the fishing device, and the device is powered by solar energy, so that the cruising ability of the fishing device can be effectively improved.
Furthermore, the front end of each arc-shaped arm is provided with a roller, and in the advancing process of the fishing device, the rollers can rotate quickly to form water flow towards the direction of the inlet collector, so that garbage floating on the water surface can be gathered and gathered towards the inlet area of the inlet collector, and the cruising ability of the fishing device is further improved.
Further, the inlet collector is provided with a feeding shifting roller at a position flush with the water surface, and the feeding shifting roller can enable garbage collected at the inlet of the inlet collector to quickly enter the collecting bag, so that the fishing efficiency of the fishing device is further improved.
Further, still be equipped with in feeding dial roller below and prevent the feed back device, prevent that the feed back device can prevent that the rubbish in the garbage collection bag from flowing back to fishing device outside, effectively store rubbish to fishing device's salvage efficiency has further been improved.
Furthermore, the electric control unit is provided with a preset route matrix group L (L1, L2, L3, L4), a preset salvage rate matrix D (D1, D2, D3, D4) and a preset salvage time matrix T (T1, T2, T3, T4), and before the salvage device is used, the salvage device can select different operation parameters to salvage garbage on the water surface according to different conditions by sequentially setting Li, Dj and Tn, so that the salvage device can salvage the garbage on the water surface by using an optimal salvage mode according to different external environments, and the application range of the salvage device is expanded.
Further, for a Li matrix, Li (ω ia, ω ib), and for a Dj matrix, Dj (Pja, Pjb, ω j), the central control chip finishes planning the operation route of the fishing device by adjusting the rotation speed ω ia of the first propeller and the rotation speed ω ib of the second propeller according to the selected Li matrix, finishes adjusting the fishing rate of the fishing device by adjusting the operation power Pja of the first driving motor, the operation power Pjb of the second driving motor and the rotation speed ω j of the feeding shifting roller according to the selected Dj matrix, and controls the operation parameters of the fishing device by adjusting specific parameters, thereby further improving the application range of the fishing device.
Furthermore, the electronic control unit can rapidly determine the relative position between the fishing device and the electronic control unit by positioning the fishing device by using the polar coordinates, and meanwhile, the average moving speed of the fishing device can be judged according to the relative position by recording unit time, so that the condition that the fishing device is lost after long-time operation can be prevented, and the use efficiency of the fishing device is improved.
Furthermore, the electric control unit can judge the garbage saturation amount in the garbage collection bag according to the flat cloud moving speed of the fishing device and control the fishing device to operate or stop operating according to the garbage saturation amount, so that the fishing efficiency of the fishing device is further improved.
Furthermore, the garbage collection bag is connected with the inlet collector through a self-unlocking lock, a large amount of water in garbage can be lifted and filtered after the garbage is filled in a certain amount, then the garbage is transferred to a cleaning ship or a bank, and the garbage collection bag can be replaced quickly to enable the fishing device to be put into use more quickly after the replacement is completed, so that the fishing efficiency of the fishing device is further improved.
Furthermore, the lower part of the floating bottom is arc-shaped, so that the whole fishing device can float conveniently, and the stability of the fishing device is improved.
Drawings
FIG. 1 is a top view of the marine waste collection and salvage device of the present invention;
FIG. 2 is a front view of the marine waste collection and salvage device of the present invention in the direction A-A of FIG. 1;
FIG. 3 is a side view of the marine waste collection and salvage device of the present invention in the direction B-B of FIG. 1;
fig. 4 is a side view of the marine waste collection and fishing device of the present invention in the direction of C-C in fig. 2.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Fig. 1 is a top view of the marine waste collecting and fishing device of the present invention.
The marine garbage collecting and salvaging device comprises an inlet collector 1, a solar panel 2, an arc-shaped arm, a roller bracket, a driving motor, a garbage collecting bag 6 central control unit (not shown in the figure) and an electric control unit (not shown in the figure). Wherein the solar panel 2 is arranged on the inlet collector 1 for converting solar energy into electrical energy. The arc-shaped arms are respectively arranged at two ends of the inlet collector 1. The roller wheel brackets are respectively arranged at the end parts of the arc-shaped arms.
The driving motors are respectively arranged at the upper ends of the roller wheel brackets. The garbage collection bag 6 is arranged at the output end of the inlet collector 1 and is used for collecting garbage. The central control unit is arranged in the inlet collector 1 and is respectively connected with a designated part so as to adjust the running route and the fishing rate of the device. The electric control unit is arranged on the fishing vessel and is wirelessly connected with the central control unit so as to adjust the operation parameters of the designated parts in the fishing device during operation;
when the device is used, the electric control unit is used for setting the operation parameters of the fishing device, the electric control unit transmits the parameter information to the central control unit through the signal transceiver after the setting is completed, and the central control unit controls the fishing device to operate according to the specified parameters and salvage floating garbage on the water surface after receiving the information.
As shown in fig. 1, the arc-shaped arm of the present invention includes a first arc-shaped arm 3-1 and a second arc-shaped arm 3-2, the first arc-shaped arm 3-1 is disposed at the right end of the inlet collector 1, the second arc-shaped arm 3-2 is disposed at the left end of the inlet collector 1, and each arc-shaped arm is sleeved with a floating mechanism for floating the arc-shaped arm on the water surface;
referring to fig. 1, the roller bracket of the present invention includes a first roller bracket 4-1 disposed at an end of the first arc-shaped arm 3-1 and a second roller bracket 4-2 disposed at an end of the second arc-shaped arm 3-2, and rollers are disposed in the roller brackets for absorbing the garbage on the water surface to the water inlet of the inlet collector. In the operation process of the fishing device, the quick rotation of each roller can form water flow towards the direction of the inlet collector 1, so that garbage floating on the water surface can be gathered and gathered towards the inlet of the inlet collector 1.
As shown in fig. 1, the driving motors of the present invention include a first driving motor 5-1 disposed on the first roller support 4-1 and a second driving motor 5-2 disposed on the second roller support 4-2, wherein the output end of each driving motor is connected to the corresponding roller for driving the roller to rotate, and each driving motor is connected to the solar panel 2 for receiving the electric energy transmitted by the solar panel.
Referring to fig. 1, the garbage collection bag 6 of the present invention is disposed at the output end of the inlet collector 1 for storing the garbage output from the inlet collector 1.
In particular, the refuse collection bag 6 is net-shaped to filter out water in the bag when collecting refuse. Fixed frame (not drawn in the figure) and fixed knot (not drawn in the figure) are installed to 6 feed inlets of garbage collection bag, and the fixed frame of garbage collection bag can be connected so that fishing device can replace garbage collection bag 6 fast with the import collection device rear end through fixed knot auto-release lock catch so that.
As shown in fig. 1, the central control unit of the present invention further includes a signal transceiver (not shown) for performing data interaction and command interaction with the electronic control unit.
Referring to fig. 2, which is a front view of the marine garbage collecting and fishing device of the present invention in the direction of a-a in fig. 1, the fishing device further includes a feeding shifting roller 7, a propeller, and a floating bottom 10. Wherein, the feeding poking roller 7 is arranged in the inlet collector 1 and is flush with the water surface for sucking the garbage at the inlet of the inlet collector 1.
The floating bottom 10 is arranged at the bottom of the inlet collector 1 to enable the inlet collector 1 to float on the water surface. The propeller is arranged below the floating bottom 10 and used for driving the fishing device to move.
Referring to fig. 2, the floating bottom 10 of the present invention is provided with propeller drivers (not shown), which are respectively connected to the propellers for driving the propellers to rotate.
Specifically, the propeller driver is further connected with the central control unit and used for receiving instructions of the central control unit, when the fishing device runs, the central control unit transmits specified running parameters to the propeller driving unit, and the propeller driving unit controls each propeller to rotate at a specified rotating speed after receiving running parameter information.
With continued reference to fig. 2, the propeller of the present invention includes a first propeller 9-1 and a second propeller 9-2, each connected to the propeller drive, for controlling the movement of the device under the drive of the propeller drive.
Please refer to fig. 3, which is a side view of the marine garbage collecting and fishing device of the present invention in the direction B-B.
Still be equipped with in the import collector 1 and prevent feed back device 8, it sets up feeding shifting roller 7 below for prevent that the rubbish in the import collector 1 from flowing back outside the import collector 1. When feeding is dialled roller 7 and is drawn into rubbish 6 inside when, prevent that feed back device 8 can play the effect of blockking to the inside rubbish of rubbish collection bag 6 to prevent rubbish backward flow.
Fig. 4 is a side view of the marine waste collecting and fishing device of the present invention in the direction of C-C in fig. 2. The rollers in the first roller bracket 4-1 are in transmission connection with the first driving motor 5-1 through a transmission belt, so that the rollers rotate at a designated speed. The blades are uniformly arranged on the roller, when the roller rolls, the blades are in contact with water, and when power is provided for the fishing device, water flow is generated on the water surface near the fishing device so as to gather garbage to the inlet of the inlet collector 1.
Referring to fig. 1 to 4, the electric control unit of the present invention is provided with a preset route matrix group L, a preset salvage rate matrix group D, and a preset salvage time matrix group T, wherein:
l, L (L1, L2, L3, L4), L1 is a first preset route curvature matrix, L2 is a second preset route curvature matrix, L3 is a third preset route curvature matrix, L4 is a fourth preset route curvature matrix, and the preset route curvature matrices are arranged in ascending order with the curvature radius as a reference;
d, D (D1, D2, D3 and D4), D1 is a first preset fishing rate matrix, D2 is a second preset fishing rate matrix, D3 is a third preset fishing rate matrix, D4 is a fourth preset fishing rate matrix, and all the preset fishing rate matrices are arranged in an ascending order by taking the fishing rate as a reference;
t, T (T1, T2, T3 and T4), T1 is a first preset fishing time matrix, T2 is a second preset fishing time matrix, T3 is a third preset fishing time matrix, and T4 is a fourth preset fishing time matrix, wherein the preset fishing time matrices are arranged in an ascending order by taking time length as a reference.
When the fishing device is used, the preset route matrix Li, the preset fishing rate matrix Dj and the preset fishing time matrix Tn are sequentially adjusted through the electric control unit, wherein i =1, 2, 3, 4, j =1, 2, 3, 4, n =1, 2, 3, 4, after the setting is completed, the electric control module establishes a fishing plan matrix group A (Li, Dj, Tn) and transmits the fishing plan matrix group A to the signal transceiver after the establishment is completed, the signal transceiver transmits the fishing plan matrix group A to the central control module after receiving the A matrix group, and the central control module respectively controls the running power of the driving motor, the rotating speed of the feeding poking roller and the running power of the propeller driver according to data in the A matrix group after receiving the A matrix group so that the fishing device can be fished according to the specified parameters.
Specifically, for the Li matrix, Li (ω ia, ω ib), where ω ia is the rotation speed of the first propeller when the Li matrix is selected by the electronic control unit, and ω ib is the rotation speed of the second propeller when the Li matrix is selected by the electronic control unit; when the electric control unit selects the Li matrix, and the fishing device runs, the central control unit controls the propeller driver to adjust the rotating speed of the first propeller to be omega ia and the rotating speed of the second propeller to be omega ib.
For the Dj matrix, Dj (Pja, Pjb, ω j), wherein Pja is the operating power of the first driving motor when the Dj matrix is selected by the electronic control unit, Pjb is the operating power of the second driving motor when the Dj matrix is selected by the electronic control unit, and ω j is the rotating speed of the feeding shifting roller when the Dj matrix is selected by the electronic control unit; when the electric control unit selects the Dj matrix, the fishing device runs, the central control unit adjusts the running power of the first driving motor to Pja, adjusts the running power of the second driving motor to Pjb and adjusts the rotating speed of the feeding shifting roller to omega j.
Specifically, a positioning unit is further arranged in the electric control unit and used for detecting the relative distance between the fishing device and the electric control unit; when a user places the fishing device on the water surface and starts the fishing device, the electronic control unit takes the position of the electronic control unit as a pole point and the initial advancing direction of the fishing device as a polar axis to establish a polar coordinate system, when the fishing device runs on the water surface, the central control module sends a signal with the running time t to the electronic control unit through the signal transceiver in each unit time t0 interval, the electronic control unit calculates the signal transmission time length according to the signal receiving time and judges the distance rho between the fishing device and the electronic control unit according to the average signal transmission speed, and judges the included angle theta between the fishing device and the polar axis according to the signal transmission direction, and the electronic control unit obtains the polar coordinates P (rho, theta) of the fishing device in a single unit time t0 according to the rho and the theta.
Specifically, the electronic control unit records position information sent by the fishing device during operation and establishes a polar coordinate matrix group P (P1, P2, P3.. Pn), wherein for polar coordinates Pn, Pn (ρ n, θ n) in the matrix group, ρ n is a relative distance between the fishing device and the electronic control unit at the nth unit time t0, and θ n is an included angle between the fishing device and a polar axis at the nth unit time t 0; the electronic control unit judges the relative speed of the fishing device according to rho-1 and rho n in the coordinate information of polar coordinates Pn-1 and Pn in two adjacent unit times t0, and simultaneously, the electronic control unit judges the actual running direction and the actual moving speed v of the fishing device according to the combination of the theta n-1, the theta n and Li in the fishing plan matrix group A.
Specifically, a timer is arranged in the central control module and used for counting the running time t of the fishing device, when the fishing device starts to run, the timer can continuously run according to a preset fishing time matrix Tn in the fishing plan matrix group A, when t is smaller than Tn, the central control chip controls the driving motor and the propeller driver to stop running when t = Tn, and a stop signal is sent to the electric control unit through the signal transceiver to wait for recovery.
Specifically, a preset speed matrix group V (V1, V2, V3 and V4) is arranged in the central control unit, wherein V1 is a first preset speed matrix of the fishing device when the electric control unit selects a first preset fishing rate matrix D1, V2 is a second preset speed matrix of the fishing device when the electric control unit selects a second preset fishing rate matrix D2, V3 is a third preset speed matrix of the fishing device when the electric control unit selects a third preset fishing rate matrix D3, and V4 is a fourth preset speed matrix of the fishing device when the electric control unit selects a fourth preset fishing rate matrix D4, wherein when the electric control unit selects a specified preset fishing rate matrix Dj, the central control unit selects a corresponding preset speed matrix Vj according to Dj; when fishing device operation, automatically controlled unit can be in real time with fishing device's functioning speed v through signal transceiver carry to well accuse unit, well accuse unit can compare v and Vj:
when t is less than Tn and v is more than or equal to Vj, the central control unit judges that the garbage in the garbage collection bag does not reach the loading saturation amount, and the fishing device continues to advance;
when t is less than Tn and v is less than Vj, the central control unit judges that the garbage in the garbage collection bag reaches the loading saturation amount, controls the fishing device to stop advancing, and sends a stop signal to the electric control unit through the signal transceiver.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a marine waste collects fishing device which characterized in that includes:
an inlet collector to collect waste on a water surface;
a solar panel disposed on the inlet collector for converting solar energy into electrical energy;
the arc-shaped arms comprise a first arc-shaped arm and a second arc-shaped arm which are respectively arranged at two ends of the inlet collector, and each arc-shaped arm is sleeved with a buoyancy mechanism for enabling the arc-shaped arm to float on the water surface;
the roller wheel brackets comprise a first roller wheel bracket arranged at the end part of the first arc-shaped arm and a second roller wheel bracket arranged at the end part of the second arc-shaped arm, and a roller wheel is arranged in each roller wheel bracket and is used for sucking the garbage on the water surface to the water inlet of the inlet collector;
the driving motors comprise first driving motors arranged on the first roller wheel supports and second driving motors arranged on the second roller wheel supports, the output ends of the driving motors are in transmission connection with the corresponding roller wheels and used for driving the roller wheels to rotate, and the driving motors are connected with the solar panel and used for receiving electric energy transmitted by the solar panel;
the garbage collection bag is arranged at the output end of the inlet collector and is used for storing garbage output by the inlet collector;
the feeding poking roller is arranged in the inlet collector and is used for sucking the garbage at the inlet of the inlet collector;
the anti-return device is arranged in the inlet collector and positioned below the feeding shifting roller and used for preventing garbage in the inlet collector from flowing back to the outside of the inlet collector;
the floating bottom is arranged at the bottom of the inlet collector, and a propeller driver is arranged inside the floating bottom;
the propellers comprise a first propeller and a second propeller, and each propeller is connected with the propeller driver respectively and used for controlling the device to move under the driving of the propeller driver;
the electric control unit is arranged on the fishing vessel, is wirelessly connected with the central control unit and is used for adjusting the operation parameters of a designated part in the fishing device during operation;
the central control unit is arranged in the inlet collector, is respectively connected with the solar panel, the driving motor, the feeding shifting roller and the propeller driver, and is used for adjusting the running route and the fishing rate of the device; the central control unit is also provided with a signal transceiver for data interaction and instruction interaction with the electric control unit;
when the device is used, the electric control unit is used for setting the operation parameters of the fishing device, the electric control unit transmits the parameter information to the central control unit through the signal transceiver after the setting is finished, and the central control unit controls the fishing device to operate according to the specified parameters and salvage the floating garbage on the water surface after receiving the information;
be equipped with among the automatically controlled unit and predetermine route matrix group L, predetermine salvage speed matrix group D and predetermine salvage time matrix group T, wherein:
l, L (L1, L2, L3, L4), L1 is a first preset route curvature matrix, L2 is a second preset route curvature matrix, L3 is a third preset route curvature matrix, L4 is a fourth preset route curvature matrix, and the preset route curvature matrices are arranged in ascending order with the curvature radius as a reference;
d, D (D1, D2, D3 and D4), D1 is a first preset fishing rate matrix, D2 is a second preset fishing rate matrix, D3 is a third preset fishing rate matrix, D4 is a fourth preset fishing rate matrix, and all the preset fishing rate matrices are arranged in an ascending order by taking the fishing rate as a reference;
t, T (T1, T2, T3 and T4), T1 is a first preset fishing time matrix, T2 is a second preset fishing time matrix, T3 is a third preset fishing time matrix, T4 is a fourth preset fishing time matrix, and all the preset fishing time matrices are arranged in an ascending order by taking time length as a reference;
when the fishing device is used, a preset route matrix Li, a preset fishing rate matrix Dj and a preset fishing time matrix Tn are sequentially adjusted through an electric control unit, wherein i =1, 2, 3, 4, j =1, 2, 3, 4, n =1, 2, 3, 4, after the setting is completed, the electric control module establishes a fishing plan matrix group A (Li, Dj, Tn) and transmits the fishing plan matrix group A to the signal transceiver after the completion of the establishment, the signal transceiver transmits the A matrix group to the central control module after receiving the A matrix group, and the central control module respectively controls the operating power of the driving motor, the rotating speed of the feeding poking roller and the operating power of the propeller driver according to data in the A matrix group after receiving the A matrix group so that the fishing device is fished according to specified parameters;
for the Li matrix, Li (ω ia, ω ib), where ω ia is the rotation speed of the first propeller when the Li matrix is selected by the electronic control unit, and ω ib is the rotation speed of the second propeller when the Li matrix is selected by the electronic control unit; when the electric control unit selects the Li matrix, the fishing device runs, the central control unit controls the propeller driver to adjust the rotating speed of the first propeller to be omega ia and the rotating speed of the second propeller to be omega ib;
for the Dj matrix, Dj (Pja, Pjb, ω j), wherein Pja is the operating power of the first driving motor when the Dj matrix is selected by the electronic control unit, Pjb is the operating power of the second driving motor when the Dj matrix is selected by the electronic control unit, and ω j is the rotating speed of the feeding shifting roller when the Dj matrix is selected by the electronic control unit; when the electric control unit selects the Dj matrix, the fishing device runs, the central control unit adjusts the running power of the first driving motor to Pja, adjusts the running power of the second driving motor to Pjb and adjusts the rotating speed of the feeding shifting roller to omega j.
2. The marine garbage collecting and fishing device of claim 1, wherein the electronic control unit is further provided with a positioning unit for detecting the relative distance between the fishing device and the electronic control unit; when a user places the fishing device on the water surface and starts the fishing device, the electronic control unit takes the position of the electronic control unit as a pole point and the initial advancing direction of the fishing device as a polar axis to establish a polar coordinate system, when the fishing device runs on the water surface, the central control module sends a signal with the running time t to the electronic control unit through the signal transceiver in each unit time t0 interval, the electronic control unit calculates the signal transmission time length according to the signal receiving time and judges the distance rho between the fishing device and the electronic control unit according to the average signal transmission speed, and judges the included angle theta between the fishing device and the polar axis according to the signal transmission direction, and the electronic control unit obtains the polar coordinates P (rho, theta) of the fishing device in a single unit time t0 according to the rho and the theta.
3. The marine garbage collection and fishing device of claim 2, wherein the electronic control unit records position information sent by the fishing device during operation and establishes a polar coordinate matrix group P (P1, P2, P3.. Pn), wherein for polar coordinates Pn in the matrix group, Pn (ρ n, θ n), ρ n is a relative distance between the fishing device and the electronic control unit at an nth unit time t0, and θ n is an included angle between the fishing device and a polar axis at an nth unit time t 0; the electronic control unit judges the relative speed of the fishing device according to rho-1 and rho n in the coordinate information of polar coordinates Pn-1 and Pn in two adjacent unit times t0, and simultaneously, the electronic control unit judges the actual running direction and the actual moving speed v of the fishing device according to the combination of the theta n-1, the theta n and Li in the fishing plan matrix group A.
4. The marine garbage collection and fishing device of claim 3, wherein a timer is arranged in the central control module and used for counting the running time t of the fishing device, when the fishing device starts to run, the timer can count the running time t of the fishing device according to a preset fishing time matrix Tn in the fishing plan matrix group A, when t is smaller than Tn, the fishing device continues to run, when t = Tn, the central control chip controls the driving motor and the propeller driver to stop running, and a stop signal is sent to the electric control unit through the signal transceiver to wait for recovery.
5. The marine garbage collecting and fishing device of claim 4, wherein the central control unit is provided with a preset speed matrix group V (V1, V2, V3, V4), wherein V1 is a first preset speed matrix of the fishing device when the electric control unit selects a first preset fishing rate matrix D1, V2 is a second preset speed matrix of the fishing device when the electric control unit selects a second preset fishing rate matrix D2, V3 is a third preset speed matrix of the fishing device when the electric control unit selects a third preset fishing rate matrix D3, and V4 is a fourth preset speed matrix of the fishing device when the electric control unit selects a fourth preset fishing rate matrix D4, wherein when the electric control unit electrically selects a designated preset fishing rate matrix Dj, the central control unit selects a corresponding preset speed matrix Vj according to Dj; when fishing device operation, automatically controlled unit can be in real time with fishing device's functioning speed v through signal transceiver carry to well accuse unit, well accuse unit can compare v and Vj:
when t is less than Tn and v is more than or equal to Vj, the central control unit judges that the garbage in the garbage collection bag does not reach the loading saturation amount, and the fishing device continues to advance;
when t is less than Tn and v is less than Vj, the central control unit judges that the garbage in the garbage collection bag reaches the loading saturation amount, controls the fishing device to stop advancing, and sends a stop signal to the electric control unit through the signal transceiver.
6. The marine waste collection and fishing device of claim 1, wherein the bottom of the floating bottom is circular arc shaped to allow the inlet collector to stably float on the water surface.
7. The marine waste collection and fishing device of claim 1, wherein the waste collection bag is mesh shaped to filter water from the bag as the waste is collected.
8. The marine garbage collecting and salvaging device as claimed in claim 7, wherein the garbage collecting bag inlet is provided with a fixing frame and a fixing buckle, the fixing frame of the garbage collecting bag is connected with the rear end of the inlet collecting device through the fixing buckle in a self-unlocking way.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010416104.6A CN111851445B (en) | 2020-05-17 | 2020-05-17 | Marine waste collecting and salvaging device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010416104.6A CN111851445B (en) | 2020-05-17 | 2020-05-17 | Marine waste collecting and salvaging device |
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| CN111851445B true CN111851445B (en) | 2022-02-22 |
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| CN116610061B (en) * | 2023-07-19 | 2023-12-05 | 中交（天津）生态环保设计研究院有限公司 | Digital management and control system for whole river channel garbage cleaning process |
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| CN101892657B (en) * | 2010-07-15 | 2012-05-09 | 常州佳讯光电系统工程有限公司 | Automatic collecting equipment and method for water surface float |
| CN204326039U (en) * | 2014-12-16 | 2015-05-13 | 潘若愚 | River surface floating thing automatic cleaning apparatus |
| KR101808514B1 (en) * | 2016-05-17 | 2017-12-13 | 인천대학교 산학협력단 | Unmanned oil skimmer |
| CN109024521B (en) * | 2018-09-04 | 2020-09-29 | 安徽妮可威家居用品有限公司 | Municipal administration view pond rubbish fishing device |
| CN209353313U (en) * | 2018-12-22 | 2019-09-06 | 云南中南水利建设投资有限公司 | A kind of small-size multifunction hydraulic engineering river course clear up device |
| CN109594544A (en) * | 2019-01-30 | 2019-04-09 | 张博曦 | A kind of water surface cleaner |
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