CN112459026A - Unmanned robot that floats clearly - Google Patents
Unmanned robot that floats clearly Download PDFInfo
- Publication number
- CN112459026A CN112459026A CN202011269664.XA CN202011269664A CN112459026A CN 112459026 A CN112459026 A CN 112459026A CN 202011269664 A CN202011269664 A CN 202011269664A CN 112459026 A CN112459026 A CN 112459026A
- Authority
- CN
- China
- Prior art keywords
- mounting bin
- bin
- range
- unit mounting
- unit
- 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
-
- 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
-
- 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
- E02B15/104—Conveyors; Paddle wheels; Endless belts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned float-cleaning robot, which comprises a robot body, a control unit, an energy storage unit, a range-increasing unit, a power unit and a floater collecting mechanism, wherein a slag storage bin is arranged on the robot body, range-increasing unit mounting bins, a control unit mounting bin and an energy storage unit mounting bin are respectively arranged on two sides of the slag storage bin on the robot body, a range-increasing device mounting bin waterproof cabin cover, a control unit mounting bin waterproof cabin cover and an energy storage unit mounting bin waterproof cabin cover are respectively arranged on the range-increasing unit mounting bin, the control unit mounting bin and the energy storage unit mounting bin, and a range-increasing device mounting bin ventilation cover is arranged on one side of the robot body, which is positioned on the range-increasing unit mounting bin. According to the invention, the design can fully develop an unmanned control technology, develop novel equipment, perform normalized cleaning on the water inlet area of the power station, ensure the cleanness of the water inlet area of the power station, reduce the adverse effect of the blockage of the trash rack on the power generation benefit, and improve the social image of the environmental protection of the power station.
Description
Technical Field
The invention belongs to the technical field of hydropower station systems, and particularly relates to an unmanned rinsing robot.
Background
The hydropower station is a comprehensive engineering facility for converting water energy into electric energy, and generally comprises a reservoir formed by a water retaining structure and a water discharging structure, a hydropower station water diversion system, a power generation plant, electromechanical equipment and the like;
the water inlet area of the hydropower station unit is often blocked by floaters, and the problems are as follows:
(1) the floating objects in the water inlet area of the grouping water inlet are mainly white garbage and a small amount of floating wood, and if the floating objects are not cleaned timely, the trash rack of the water inlet is blocked, and the front-back pressure difference which is unfavorable for power generation is caused.
(2) Because of the requirements of safety and management, personnel are forbidden to enter the region for operation in the daily power generation period in the water inlet region of the unit, and the shutdown measures are adopted to cause adverse effects on the benefits of the power station, the floaters in the region cannot be cleaned in time. Meanwhile, as the floaters are mainly white garbage, the floaters accumulated in the area cause negative influence on the environment-friendly image of the power station:
therefore, based on the problems, the unmanned bleaching robot is designed for solving the problems.
Disclosure of Invention
The invention aims to: the problems of power generation benefit loss and environmental protection image loss caused by inconvenience in direct manual cleaning of floaters in the water inlet area of the conventional hydropower station unit are solved.
The technical scheme adopted by the invention is as follows: an unmanned robot for cleaning and floating, comprising a machine body, a control unit, an energy storage unit, a range-increasing unit, a power unit and a floater collecting mechanism, wherein a CPU processor is arranged in the machine body, a slag storage bin is arranged on the machine body, a range-increasing unit mounting bin, a control unit mounting bin and an energy storage unit mounting bin are respectively arranged on the machine body at two sides of the slag storage bin, a range-increasing unit mounting bin waterproof cabin cover, a control unit mounting bin waterproof cabin cover and an energy storage unit mounting bin waterproof cabin cover are respectively arranged on the range-increasing unit mounting bin, the control unit mounting bin and the energy storage unit mounting bin, a range-increasing unit mounting bin ventilation cover is arranged on one side of the machine body at the range-increasing unit mounting bin, a range-increasing unit is arranged in the range-increasing unit mounting bin, the control unit is arranged in the control unit mounting bin, the energy storage unit is arranged in the energy storage unit mounting bin, the floater collecting mechanism comprises a power motor and a stainless steel conveying net belt, the power unit comprises a plurality of controllable electric marine propeller propellers with v brushless motors, a fixing frame is arranged on the machine body, the fixing frame is located on the floater collecting mechanism, a control monitoring camera is arranged on the fixing frame, and the control unit, the energy storage unit, the range extending unit, the power unit and the power motor are all electrically connected with a PCU (Power control Unit) processor.
In a preferred embodiment, the control unit comprises a control receiving antenna group, a receiving remote control, a control monitoring display and a control monitoring camera, wherein the control receiving antenna group is arranged at one corner of the machine body, and the control monitoring camera is fixedly arranged on the machine body through a fixing frame and is opposite to the stainless steel conveying mesh belt.
In a preferred embodiment, the float collection mechanism further comprises an electrically powered thrust rod, with the electrically powered thrust rod being electrically connected to the CPU processor.
In a preferred embodiment, the machine body is made of a steel structure floating platform, a steel keel structure and a steel plate shape.
In a preferred embodiment, the energy storage unit is an x AH, v lithium battery pack.
In a preferred embodiment, the end of the float collection mechanism is located above the port of the slag storage bin.
In a preferred embodiment, the range extending unit is a v, kW gasoline generator.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. in the invention, an operator holds and receives a remote control remote controller in a hand, and after receiving an instruction sent by the remote control remote controller, a CPU processor controls a power propeller in a power unit to provide power, and a power motor in a floater collecting mechanism drives a stainless steel conveying net belt to rotate, so that floaters are conveyed into a residue storage bin;
2. according to the invention, the designed unmanned working mode is used for cleaning floaters in the water inlet area of the unit in front of the power station dam and transferring the floaters to the shore for disposal, so that the working efficiency is improved, the possibility of front-back pressure difference caused by blockage of the trash rack at the water inlet of the unit can be effectively reduced, and the social image of the power station in the aspect of environmental protection can be effectively improved by timely cleaning the floaters.
Drawings
FIG. 1 is a schematic view of the overall structure of the unmanned bleaching robot of the present invention;
FIG. 2 is a block diagram of the working principle of the unmanned bleaching robot of the present invention;
FIG. 3 is a design diagram of the working structure of the unmanned bleaching robot of the invention;
fig. 4 is a design diagram of a collecting structure of the unmanned bleaching robot.
The labels in the figure are: 1. a body; 2. a float collection mechanism; 3. a power unit; 4. a slag storage bin; 5. controlling the monitoring camera; 6. remotely controlling a remote controller; 7. manipulating the monitor display; 8. a range extending unit; 9. an energy storage unit; 10. controlling a receiving antenna group; 11. a power motor; 12. the range extender is provided with a bin ventilation cover; 13. a waterproof cabin cover of the range extender installation cabin; 14. the control unit is provided with a waterproof cabin cover; 15. the energy storage unit is provided with a waterproof cabin cover; 16. a control unit; 17. a CPU processor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all 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.
Referring to fig. 1-4, an unmanned robot for cleaning and floating comprises a machine body 1, a control unit 16, an energy storage unit 9, a range-increasing unit 8, a power unit 3 and a floater collecting mechanism 2, wherein a CPU (central processing unit) 17 is arranged in the machine body 1, a slag storage bin 4 is arranged on the machine body 1, range-increasing unit installation bins, a control unit installation bin and an energy storage unit installation bin are respectively arranged on two sides of the slag storage bin 4 on the machine body 1, a range-increasing unit installation bin waterproof bin cover 13, a control unit installation bin waterproof bin cover 14 and an energy storage unit installation bin waterproof bin cover 15 are respectively arranged on the range-increasing unit installation bin, the control unit installation bin and the energy storage unit installation bin, a range-increasing unit 8 is arranged in the range-increasing unit installation bin, the control unit 16 is arranged in the control unit installation bin, energy storage unit 9 establishes the inside in energy storage unit installation storehouse, the floater is collected mechanism 2, power pack 3 establishes respectively in the both sides of organism 1, the floater is collected mechanism 2 and is included power motor 11, stainless steel conveying mesh belt, including the controllable electronic marine propeller of a plurality of 24v brushless motor in power pack 3, be equipped with the mount on organism 1, the mount is located on floater collection mechanism 2 simultaneously, be equipped with on the mount and control surveillance camera head 5, the control unit 16, energy storage unit 9, increase journey unit 8, power pack 3, power motor 11 all is connected with PCU treater 17 electricity.
Wherein, the control unit 16 includes a control receiving antenna group 10, a receiving remote control remote controller 6, a control monitor display 7, a control monitor camera 5, the control receiving antenna group 10 is arranged at an angle of the machine body 1, the control monitor camera 5 is fixedly arranged on the machine body 1 through a fixing frame and is right opposite to a stainless steel conveying net belt, then after receiving an instruction sent by the remote control remote controller 6, a power propeller in the power unit 3 is controlled, a power motor 11 in the floater collecting mechanism 2 is arranged, and the control monitor camera 5 collects a field video signal and feeds back the collected video signal to the control monitor display 7, so that visual operation experience is provided, and the remote unmanned float cleaning function is achieved.
The floater collecting mechanism 2 further comprises an electric thrust rod, the electric thrust rod is electrically connected with the CPU 17, and the electric thrust rod inside the floater collecting mechanism 2 is used for lifting and descending the floater collecting mechanism 2 integrally.
Wherein, organism 1 uses steel construction floating platform, steel keel structure, steel panel appearance.
The energy storage unit 9 is a 2 x 2500AH, 12v lithium battery pack, so that a 12v and 24v power supply can be provided for the unmanned bleaching robot.
Wherein the end of the floater collecting mechanism 2 is positioned above the port of the slag storage bin 4.
Wherein, increase journey unit 8 and be 24v, 3kW gasoline engine generator, can provide the electric energy redundancy that charges for energy storage unit 9 like this.
The working principle is as follows:
the unmanned robot for cleaning and floating the garbage adopts a steel main body floating structure, a mechanical collecting conveyor belt is used for salvage, the unmanned robot has certain capacity of storing and transporting the salvaged floater, the integral electric energy is used for driving, a lithium battery pack and a gasoline range extender provide electric energy, the conventional charging and range extender can be used for charging, the battery pack is directly powered and driven, the range extender directly powers and drives, the battery pack has the defects of three energy guarantee modes of undervoltage self-starting charging, thus when an operator holds and receives a remote control remote controller 6 by hand and receives an instruction sent by the remote control remote controller 6, a CPU processor controls a power propeller in a power unit 3 to provide power, a power motor 11 in a floater collecting mechanism 2 is used for driving a stainless steel conveying net belt to rotate, so that the floater is conveyed to a slag storage bin 4, in the process, a field video signal collected by a control monitoring camera 5 is fed back to a control monitoring display 7, give audio-visual operation experience to reach the clear function of floating of long-range unmanned, the form of the unmanned work of this design carries out the floater clearance to unit water inlet region before the power station dam, transports to the bank and deals with, when improving work efficiency, can effectively reduce unit water inlet trash rack and block up the possibility that leads to front and back pressure differential, and secondly the timely clearance of floater can effectively improve the social image of power station in the aspect of environmental protection.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. The utility model provides an unmanned robot that floats that cleans, includes organism (1), the control unit (16), energy storage unit (9), increases journey unit (8), power pack (3), floater collection mechanism (2), its characterized in that: the intelligent garbage bin is characterized in that a CPU (17) is arranged in the machine body (1), a slag storage bin (4) is arranged on the machine body (1), a range-increasing unit mounting bin, a control unit mounting bin and an energy storage unit mounting bin are respectively arranged on two sides of the slag storage bin (4) on the machine body (1), a range-increasing device mounting bin waterproof cabin cover (13), a control unit mounting bin waterproof cabin cover (14) and an energy storage unit mounting bin waterproof cabin cover (15) are respectively arranged on the range-increasing unit mounting bin, a range-increasing device mounting bin ventilation hood (12) is arranged on one side of the range-increasing unit mounting bin on the machine body (1), a range-increasing unit (8) is arranged in the range-increasing unit mounting bin, a control unit (16) is arranged in the control unit mounting bin, an energy storage unit (9) is arranged in the energy storage unit mounting bin, the utility model discloses a marine propeller of motor boat, including floater collection mechanism (2), power unit (3), floater collection mechanism (2) are established respectively in the both sides of organism (1), floater collection mechanism (2) include power motor (11), stainless steel conveying mesh belt, including the controllable electronic marine propeller of a plurality of platform 24v brushless motor in power unit (3), control unit (16), energy storage unit (9), increase journey unit (8), power unit (3), power motor (11) all are connected with PCU treater (17) electricity.
2. An unmanned bleaching robot as claimed in claim 1, wherein: the control unit (16) comprises a control receiving antenna group (10), a receiving remote control remote controller (6), a control monitoring display (7) and a control monitoring camera (5), wherein the control receiving antenna group (10) is arranged at one corner of the machine body (1), and the control monitoring camera (5) is fixedly arranged on the machine body (1) through a fixing frame and is opposite to the stainless steel conveying net belt.
3. An unmanned bleaching robot as claimed in claim 1, wherein: the floater collecting mechanism (2) further comprises an electric thrust rod, and the electric thrust rod is electrically connected with the CPU (17).
4. An unmanned bleaching robot as claimed in claim 1, wherein: the machine body (1) is of a steel structure floating platform, a steel keel structure and a steel plate appearance.
5. An unmanned bleaching robot as claimed in claim 1, wherein: the energy storage unit (9) is a 2X 2500AH, 12v lithium battery pack.
6. An unmanned bleaching robot as claimed in claim 1, wherein: the end of the floater collecting mechanism (2) is positioned above the port of the slag storage bin (4).
7. An unmanned bleaching robot as claimed in claim 1, wherein: the range extending unit (8) is a 24v, 3kW gasoline generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011269664.XA CN112459026A (en) | 2020-11-13 | 2020-11-13 | Unmanned robot that floats clearly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011269664.XA CN112459026A (en) | 2020-11-13 | 2020-11-13 | Unmanned robot that floats clearly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112459026A true CN112459026A (en) | 2021-03-09 |
Family
ID=74825687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011269664.XA Pending CN112459026A (en) | 2020-11-13 | 2020-11-13 | Unmanned robot that floats clearly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112459026A (en) |
-
2020
- 2020-11-13 CN CN202011269664.XA patent/CN112459026A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204059320U (en) | Robot for water surface cleaner | |
| CN112373639B (en) | Marine garbage cleaning device | |
| CN112109852A (en) | Intelligent multifunctional cleaning robot for water surface | |
| CN108284922A (en) | One kind being used for the clean Intelligent unattended lighter aboard ship of the water surface and its control method | |
| CN211893590U (en) | Small-size surface of water rubbish clearance robot | |
| CN208021681U (en) | Garbage cleaning robot waterborne | |
| CN211113553U (en) | Amphibious garbage collection device | |
| CN207089643U (en) | A kind of marine float garbage-cleaning unmanned plane | |
| CN215629818U (en) | Unmanned robot that floats clearly | |
| CN112459026A (en) | Unmanned robot that floats clearly | |
| CN110143261B (en) | Solar unmanned ship for collecting floats on water surface | |
| CN207193926U (en) | Unhurried current cleaning machine for waste floating on water surface device people based on ARM | |
| CN212530000U (en) | Full-automatic high-efficient rubbish salvage ship | |
| CN212556706U (en) | Solar water surface garbage cleaning robot | |
| CN113682439A (en) | Butt-joint type water surface garbage collecting device for base station | |
| CN218662336U (en) | Overwater garbage recovery ship | |
| CN114455013A (en) | Water surface garbage cleaning equipment and method | |
| CN113247193A (en) | Clean ship of surface of water based on remote control operation | |
| CN208119375U (en) | One kind being used for the clean Intelligent unattended lighter aboard ship of the water surface | |
| CN216712966U (en) | Robot for cleaning garbage on water surface | |
| CN218055552U (en) | Novel cleaning machines people on water | |
| CN216809821U (en) | Environment-friendly municipal landscape lake surface device of decontaminating | |
| CN219969957U (en) | Intelligent garbage cleaner for bionic fish | |
| CN216034980U (en) | Butt-joint type water surface garbage collecting device for base station | |
| CN212861805U (en) | Auxiliary equipment is salvaged with floater to river regulation |
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 |