CN112937811A

CN112937811A - Crawler-type cleans intelligent robot of discarded object under water

Info

Publication number: CN112937811A
Application number: CN202110368314.7A
Authority: CN
Inventors: 吕海宁; 杨建民; 孙鹏飞; 毛竞航; 万懿; 倪未希; 余杨晚晴; 施超; 沈显星
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2021-06-11
Anticipated expiration: 2041-04-06
Also published as: CN112937811B

Abstract

The invention discloses a crawler-type intelligent robot for cleaning underwater wastes, which comprises: a frame; the pair of crawler assemblies are respectively arranged on two sides of the rack and positioned at the bottom of the rack; the storage bin is arranged on the rack and positioned between the pair of crawler assemblies; the bin suction inlet is arranged at the end part of the bin and is connected with the bin; the plurality of propellers are arranged on the rack; the control bin is arranged on the rack; the suction inlet of the storage bin is horn-shaped, and one end of the suction inlet connected with the storage bin is smaller than one end far away from the storage bin; the feed bin comprises a sea water pump, and underwater waste can be sucked into the feed bin through the feed bin suction inlet after the feed bin is started. The invention improves the waste collection mode and improves the cleaning efficiency; the advancing mode of the robot is improved, and the cleaning range is enlarged; the suction device is improved, and the cleaning capability of large-scale waste is increased.

Description

Crawler-type cleans intelligent robot of discarded object under water

Technical Field

The invention relates to the technical field of ocean development, in particular to a crawler-type intelligent robot for cleaning underwater wastes.

Background

The plastic garbage which is not degradable and endangers ecological safety exists in the coastal zone for a long time. The prior art and the equipment are mainly used for removing rubbish on the sea surface, and no effective countermeasure is available for the rubbish in water and on the seabed. At present, garbage in water and seabed is cleared mainly by manually submerging and picking up the garbage, and the mode has low efficiency and danger. The cleaning device for the seabed garbage still needs to be further developed.

In the chinese patent application No. 201910713798.7, it discloses a submarine refuse clearing robot, but it uses a mechanical arm to pick up refuse, which is inefficient and difficult to clear a large amount of submarine refuse; and the mechanical transmission is complex, and the control difficulty is higher.

In chinese patent application No. 201810631568.1, it discloses a subsea environmental maintenance cleaning device that uses negative pressure to suck up waste, which is then transported by air flow to the hull of the vessel above the sea surface. The size of the garbage sucked by the method is limited by the vent pipe, a large vent pipe is needed when the garbage with a slightly large size is required to be cleaned, the movement of the water supply surface ship body is greatly limited, and the method cannot be applied to the scene of cleaning a large amount of garbage such as plastic bottles on the seabed.

In the chinese patent application with application number 201821858100.8, it discloses a multipurpose underwater robot, on one hand, its main innovation point is multipurpose integration, the cleaning function needs to be refined; on the other hand, the mechanical arm is used for picking up the garbage, the efficiency is low, and the cleaning of a large amount of submarine garbage is difficult.

Therefore, the technical personnel in the field are dedicated to developing a crawler-type intelligent robot for cleaning underwater wastes, so that the waste collection mode is improved, and the cleaning efficiency is improved; the advancing mode of the robot is improved, and the cleaning range is enlarged; the suction device is improved, and the cleaning capability of large-scale waste is increased.

Disclosure of Invention

In order to achieve the above object, the present invention provides a crawler-type intelligent robot for cleaning underwater waste, comprising:

a frame;

the pair of crawler assemblies are respectively arranged on two sides of the frame and positioned at the bottom of the frame;

a bin disposed on the frame between the pair of track assemblies for storing the underwater waste;

the bin suction inlet is arranged at the end part of the bin, is connected with the bin and is used for sucking the underwater waste;

the propellers are arranged on the rack and used for floating the intelligent robot in water;

the control bin is arranged on the rack and used for controlling the intelligent robot;

the bin suction inlet is horn-shaped, and one end of the bin suction inlet, which is connected with the bin, is smaller than one end of the bin suction inlet, which is far away from the bin;

the bin includes a sea water pump configured to draw the underwater waste into the bin through the bin suction inlet after being turned on.

Further, the frame is a truss structure.

Further, the thruster comprises a plurality of horizontal thrusters and a plurality of vertical thrusters, wherein the plurality of horizontal thrusters are evenly distributed on the rack, and the plurality of vertical thrusters are distributed on the top of the intelligent robot.

Further, the feed bin sunction inlet include with the suction pipe that the feed bin is connected and with the suction bin that the suction pipe is connected, suction bin has first face, second face, third face and fourth face, the middle part opening of first face just the opening is connected to suction pipe, the second face, the third face with the fourth face all with first face is crossing, just the second face, the third face with the fourth face encloses and closes the open space in two sides that forms.

Further, the bottom edges of the second, third and fourth faces are provided with serrations.

Further, the feed bin includes main drain port, dirt removing opening and at least one recovery outlet, wherein, main drain port sets up the tip of feed bin and is close to the top of feed bin, dirt removing opening sets up the bottom of feed bin, the recovery outlet sets up the bottom of feed bin.

Further, still include buoyancy portion, buoyancy portion sets up the higher authority of feed bin, buoyancy portion adopts buoyancy material to make.

Further, the anti-collision device further comprises an anti-collision strip, wherein the anti-collision strip is arranged around the circumference of the buoyancy portion.

Further, still include camera device, camera device sets up the top edge of intelligent robot, camera device is configured as can acquire the image of the discarded object under water.

Further, still include the bearing head, the bearing head sets up the top center of intelligent robot is used for being connected with the umbilical cable.

The crawler-type intelligent robot for cleaning underwater wastes provided by the invention has the following technical effects:

1. and a horn-shaped pump suction port is adopted to improve the quality and increase the efficiency of waste collection. The horn-shaped pump suction port with the serrated part is used for turning over, gathering and collecting the wastes, so that the waste collection efficiency is greatly improved. Because the device collects the functions of seeking, gathering and collecting, and has simple mechanical structure and good controllability, the device avoids the complex structure of mechanical arms. Not only can improve the efficiency, but also can reduce the cost.

2. The positioning is rapid and efficient, and the cleaning range is wide. The robot can be driven to rapidly advance in the sea through the propeller, quickly reach a task area after being arranged, and can pass through the propeller when encountering complex terrains or large obstacles; when the device is used for seabed operation, a track slow advancing mode is adopted, so that the cleaning efficiency is ensured, and the device has the capability of crossing complex terrains. The two are matched to improve the positioning efficiency of the robot and expand the cleaning range. Meanwhile, the efficiency of the robot during placement and recovery is improved, the adaptability of the robot to different environments is improved, and the cleaning performance of the robot is not affected. This additional structure of the push type does not add much cost.

3. The cleaning capacity is strong, and the bearing capacity is large. The large-sized waste is cleaned in a large-caliber pump suction mode. The design of the symmetrical water outlet and the bottom dirt removing opening is added into the bin for storing the waste, so that the influence of drainage on the robot body and the influence of sediment accumulation are effectively reduced. The cooperation of sunction inlet and feed bin has still guaranteed effective storage capacity when guaranteeing the cleaning capacity. The robot has certain collection capacity for larger wastes, and the design of the water outlet and the sewage disposal port reduces the influence of factors such as seawater, silt and the like carried by the sucked wastes, thereby ensuring the balance and the effective storage capacity of the robot. The cleaning effect of each time of cloth placement is improved, the number of times of cloth placement and recovery of the robot is reduced to a certain extent, the use efficiency is greatly improved, and the economic cost is reduced.

The conception, the specific structure and the technical effects of the present invention will be further described with reference to the accompanying drawings to fully understand the objects, the features and the effects of the present invention.

Drawings

FIG. 1 is a schematic structural diagram of a preferred embodiment of the present invention;

FIG. 2 is a front view of FIG. 1;

FIG. 3 is a side view of FIG. 1;

FIG. 4 is a bottom view of FIG. 1;

fig. 5 is a top view of fig. 1.

The system comprises a robot 100, an intelligent robot 10, a rack 20, a crawler assembly 21, a crawler chassis 22, a crawler 23, a crawler motor 30, a bin 31, a main drainage port 32, a decontamination port 33, a recovery drainage port 40, a bin suction port 41, a suction pipe 42, a suction bin 43, a sawtooth part 44, a first surface 45, a second surface 46, a third surface 47, a fourth surface, a horizontal propeller 50, a vertical propeller 60, a control bin 70, a buoyancy part 80, an anti-collision strip 81, a bearing head 82 and a camera device 90.

Detailed Description

The technical contents of the preferred embodiments of the present invention will be more clearly and easily understood by referring to the drawings attached to the specification. The present invention may be embodied in many different forms of embodiments and the scope of the invention is not limited to the embodiments set forth herein.

In the drawings, structurally identical elements are represented by like reference numerals, and structurally or functionally similar elements are represented by like reference numerals throughout the several views. The size and thickness of each component shown in the drawings are arbitrarily illustrated, and the present invention is not limited to the size and thickness of each component. The thickness of the components may be exaggerated where appropriate in the figures to improve clarity.

As shown in fig. 1 and 4, the invention discloses a crawler-type intelligent robot 100 for cleaning underwater waste, comprising:

a frame 10 for supporting other components of the intelligent robot 100; the frame 10 may be a truss structure, a support formed by combining a plurality of trusses;

a pair of track assemblies 20 respectively disposed at both sides of the frame 10 and at the bottom of the frame 10 for walking on the water bottom;

a bin 30, arranged on the frame 10, between the two crawler assemblies 20, for storing the sucked garbage;

a bin suction inlet 40 provided at an end of the bin 30 for sucking the garbage into the feeding bin 30;

a plurality of horizontal thrusters 50 uniformly distributed on the edge of the frame 10 for propelling the intelligent robot 100 to move; in some embodiments, the horizontal thruster 50 can rotate relative to the rack 10, so that the horizontal thruster 50 forms a different included angle with the rack 10 in the horizontal plane, and the moving direction of the intelligent robot 100 is controlled by adjusting the angle between the horizontal thruster 50 and the rack 10; in some embodiments, the number of horizontal thrusters 50 is 4, each positioned at the four corners of the frame 10;

and a plurality of vertical thrusters 60, which are distributed on the top of the intelligent robot 100 and can rotate, for thrusting the intelligent robot 100 to move. In some embodiments, the number of the vertical thrusters 60 is set to 2, respectively provided at the middle of the opposite edges of the top of the intelligent robot 100. By arranging the horizontal propeller 50 and the vertical propeller 60, the intelligent robot 100 can be suspended in water for operation, and is used for observing the terrain, searching an operation area and crossing large obstacles;

and the control cabin 70 is arranged on the rack 10 and is used for controlling the intelligent robot 100 and/or communicating with a ground control center to receive control instructions. The control cabin 70 also includes a power distribution cabin for supplying power thereto.

In some embodiments, as shown in fig. 1 and 3, track assembly 20 includes a track chassis 21, tracks 22, and track motors 23. The crawler belt chassis 21 is movably arranged on the rack 10 in parallel, the crawler belt 22 is wrapped on the outer side of the crawler belt chassis 21, and the crawler belt motor 23 drives the crawler belt 22 to rotate through the transmission mechanism so as to drive the intelligent robot 100 to move under the water; the crawler chassis 21 moves relative to the frame 10 so that the intelligent robot 100 can pass through different terrains. Through setting up track assembly 20, can be so that intelligent robot 100 is not influenced by the topography when walking at the bottom, enlarged intelligent robot 100's work and cleaned the scope.

In some embodiments, as shown in fig. 1 and fig. 2, the bin suction port 40 is configured to be horn-shaped, that is, from the end of the bin suction port 40 close to the bin 30 to the end far from the bin 30, the size of the bin suction port 40 becomes larger, which may be gradually larger or may be increased in a jumping manner, that is, the end connected to the bin is smaller than the end far from the bin. In some embodiments, the silo suction port 40 includes a suction pipe 41 and a suction bin 42, one end of the suction pipe 41 is connected to the silo 30, and the other end of the suction pipe 42 is connected to the suction bin 42, the size of the suction pipe 41 is gradually increased from the end close to the silo 30 to the end far away from the silo 30, or the size of the suction pipe 41 is constant; the suction chamber 42 may include a first surface 44, a second surface 45, a third surface 46, and a fourth surface 47, wherein the first surface 44 is open at the middle and is connected to the suction pipe 41, and the second surface 45, the third surface 46, and the fourth surface 47 intersect with the first surface 44, thereby enclosing a space with two open sides; sawteeth 43 can be further arranged on the bottom edges of the second face 45, the third face 46 and the fourth face 47, so that the suction bin 42 can be inserted into silt at the water bottom, and the garbage can be sucked conveniently. The intelligent robot 100 sucks garbage into the bin 30 through the bin suction port 40 in a pumping manner, and adopts the horn-shaped bin suction port 40, for example, the pipe diameter of the suction pipe 41 can be 260mm, and the large caliber of the suction pipe is favorable for cleaning large-scale waste; and is beneficial to the searching, gathering and collecting of the waste, thereby greatly improving the waste collecting efficiency. The suction pipe 41 may be connected to the silo 30 via a flange face. A sea water pump is arranged in the storage bin 30, and the waste is sucked by starting the sea water pump.

In some embodiments, as shown in fig. 3 and 4, the silo 30 further comprises a main drain 31, a purge port 32 and a reclaim drain 33. The main drain 31 is provided at an end of the silo 30, near the top of the silo 30. A decontamination opening 32 and a recovery drain opening 33 are provided at the bottom of the silo 30. The recycling drainage port 33 may be provided in plural, preferably, two, symmetrically arranged. The large-caliber pump suction mode is adopted, so that large-sized waste is cleaned, but the large caliber also causes the problems of large seawater pressure, large silt suction amount and the like. Therefore, a main drainage port 31, a recovery drainage port 33 and a decontamination port 32 are designed, the influence of drainage on the intelligent robot 100 body and the influence of sediment accumulation are effectively reduced, and the effective storage capacity is ensured while the cleaning capacity is ensured. The sealing cover is arranged at the decontamination opening 32, and the sealing cover can be opened by an operator through rotating the hand wheel, so that silt, waste and the like in the material bin 30 can be conveniently cleaned. Meanwhile, the operator can also clean the silt or waste in the silo 30 through the decontamination opening 32.

In some embodiments, as shown in fig. 1, a buoyancy part 80 is provided at the top of the bin 30, and the buoyancy part 80 may be made of a buoyancy material to reduce a pulling force when the smart robot 100 is pulled out from the water bottom. The bumper strips 81 can be arranged on the periphery of the buoyancy portion 80 to reduce damage to the intelligent robot 100 when the intelligent robot is impacted, and the bumper strips 81 can surround the whole circumference of the buoyancy portion 80. The vertical thruster 60 may be provided on top of the buoyancy 80.

In some embodiments, as shown in fig. 1, a camera device 90 including a pan/tilt head, a first camera and a lamp is further disposed on the intelligent robot 100. The camera 90 may be located at the edge of the top of the smart robot 100. Through camera device 90, the surface of water operating personnel can discover the target object to control the sea water pump, carry out the suction and clean action.

In some embodiments, a second camera (not shown) may also be disposed in the bin 30 for observing the storage status of the garbage in the bin 30. When the water surface operator finds that the storage bin 30 is full, the pumping and cleaning operation can be controlled to stop, and the intelligent robot 100 is returned to the water surface. The image obtained by the second camera may be automatically recognized by an algorithm to determine the storage state of the garbage in the bin 30, and the pumping and cleaning operation of the intelligent robot 100 and the return to the water surface may be controlled according to the determination result.

In some embodiments, as shown in fig. 1 and 5, a bearing head 82 is provided at a middle position of the top of the intelligent robot 100, and the bearing head 82 may be connected with an umbilical cable, so that the intelligent robot 100 may be pulled out of the water by a mother vessel on the surface of the water.

The intelligent robot 100 provided by the invention can execute shore-based operation and ship-based operation, and the two operation modes are substantially the same in other processes except for the difference of the water inlet mode. The ship-based operation is described herein as an example. The ship-based operation is to perform the hoisting and recovery of the intelligent robot 100 by using a mother ship on the water surface and a deployment and recovery unit (i.e., a winch), and perform a large-scale underwater observation, seabed walking and cleaning operation. The surface mother ship should be provided with an a-frame or similar device.

The whole operation flow is as follows:

latent front inspection: the water surface control unit, the deployment and retrieval unit, and the like are mechanically and electrically connected to the intelligent robot 100 in a reliable manner. The water surface control unit should be able to smoothly receive various sensor data from the intelligent robot 100 and control the intelligent robot 100 to complete the actions of walking, rotating the horizontal propeller 50, rotating the vertical propeller 60, turning on and off the light, turning on and off the camera, and rotating the pan-tilt.

Hanging and putting in water: starting a winch, hoisting the intelligent robot 100, and swinging the A frame to enable the intelligent robot 100 to be away from a ship board and keep a certain safety distance; continuously releasing the umbilical cable to enable the intelligent robot 100 to gradually submerge into the water; in the process of entering water, the seawater pump in the storage bin 30 is started to discharge the air in the storage bin 30 along with the discharge of the seawater.

Submerging: the intelligent robot 100 is slowly submerged by using its gravity. In the submergence process, the winch continues to lay the cable, and whether the propeller is started or not is determined according to actual conditions to perform floating action.

Seabed operation: after the intelligent robot 100 is positioned on the seabed, the intelligent robot walks by using the crawler assemblies 20 to search for wastes sinking on the seabed; when the water surface operator finds the target object by using the image transmitted back by the camera device 90, the sea water pump is started to perform the suction and cleaning actions. The storage state of the garbage in the bin 30 is observed by using the second camera in the bin 30, and when the bin 30 is full, the pumping and cleaning operation is stopped to prepare for returning to the water surface.

And (3) recovering: if the conditions exist, the mother ship on the water surface is driven to the water surface right above the intelligent robot 100, so that dragging of the intelligent robot 100 on the seabed in the cable collecting process is reduced. Along with the accumulation of operation experience, the intelligent robot 100 can be controlled to walk to the original bottom-sitting position, and the effect is similar; the winch is retracted, and the intelligent robot 100 gradually returns to the water surface; in the water outlet process of the intelligent robot 100, the recovery water outlet 33 at the bottom of the storage bin 30 is automatically opened to discharge redundant seawater, so that the tension on the umbilical cable is reduced, and the system safety is improved; and (4) recovering the intelligent robot 100 to a deck support of the mother ship on the water surface, and making the intelligent robot to be elevated in the air.

Emptying the bin: an operator rotates a hand wheel to open a sealing cover at the bottom of the bin 30 of the intelligent robot 100; silt, plastic bottle etc. in the feed bin 30 are discharged through the scrubbing mouth 32, empty on the deck, through 30 bottom scrubbing mouths 32 of feed bin, wash by water in to feed bin 30, clear away its inside remaining silt or rubbish to and manually pick out the plastic bottle etc. and go out.

And (4) latent inspection: after one-time operation is finished, all parts, particularly gaps, of the intelligent robot 100 body are flushed in time by fresh water, so that salt accumulation is prevented, and damage to equipment and mechanical structures is prevented; and checking the state of the system, adjusting and maintaining in time, and preparing for the next operation.

According to the intelligent robot 100, the horn-shaped pump suction port is adopted, so that the cleaning efficiency is improved; the cleaning range is enlarged by combining the crawler belt and the propeller; the use of a large aperture suction inlet in combination with the multi-functional cartridge 30 improves cleaning ability.

The foregoing detailed description of the preferred embodiments of the invention has been presented. It should be understood that numerous modifications and variations could be devised by those skilled in the art in light of the present teachings without departing from the inventive concepts. Therefore, the technical solutions available to those skilled in the art through logic analysis, reasoning and limited experiments based on the prior art according to the concept of the present invention should be within the scope of protection defined by the claims.

Claims

1. The utility model provides a crawler-type cleans intelligent robot of discarded object under water which characterized in that includes:

a frame;

2. The intelligent robot of claim 1, wherein the frame is a truss structure.

3. The intelligent robot of claim 1, wherein the thrusters comprise a plurality of horizontal thrusters and a plurality of vertical thrusters, wherein the plurality of horizontal thrusters are evenly distributed on the frame and the plurality of vertical thrusters are distributed on top of the intelligent robot.

4. The intelligent robot of claim 1, wherein the bin suction inlet comprises a suction pipe connected to the bin and a suction bin connected to the suction pipe, the suction bin has a first face, a second face, a third face, and a fourth face, the first face has a middle opening and the opening is connected to the suction pipe, the second face, the third face, and the fourth face all intersect the first face, and the second face, the third face, and the fourth face enclose a space with two open sides.

5. The smart robot of claim 4, wherein bottom edges of the second face, the third face, and the fourth face are provided with serrations.

6. The intelligent robot according to claim 1, wherein the bin comprises a main drain, a decontamination opening, and at least one recovery drain, wherein the main drain is disposed at an end of the bin near a top of the bin, the decontamination opening is disposed at a bottom of the bin, and the recovery drain is disposed at the bottom of the bin.

7. The intelligent robot according to claim 1, further comprising a buoyancy portion disposed above the bin, the buoyancy portion being made of a buoyant material.

8. The intelligent robot of claim 7, further comprising a bumper strip disposed around a perimeter of the buoyancy section.

9. The intelligent robot of claim 1, further comprising a camera disposed at a top edge of the intelligent robot, the camera configured to acquire images of the underwater waste.

10. The intelligent robot as claimed in claim 1, further comprising a weight head disposed at a top center of the intelligent robot for connection with an umbilical cable.