CN112937812B

CN112937812B - Floated intelligent robot that cleans discarded object under water

Info

Publication number: CN112937812B
Application number: CN202110370944.8A
Authority: CN
Inventors: 吕海宁; 杨建民; 万懿; 沈显星; 倪未希; 余杨晚晴; 施超; 孙鹏飞; 毛竞航
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2021-04-07
Filing date: 2021-04-07
Publication date: 2023-01-17
Anticipated expiration: 2041-04-07
Also published as: CN112937812A

Abstract

The invention discloses a suspension type intelligent robot for cleaning underwater waste, which comprises: a frame; the garbage can is arranged on the rack; at least one cutting pump connected to the waste bin by a pipe; the thrusters are arranged on the rack and used for pushing the intelligent robot to move in a floating manner and keeping the intelligent robot balanced; the control layer is arranged on the rack and used for controlling the intelligent robot; wherein the cutting pump is configured to be able to suck up the underwater waste and shred the underwater waste before being delivered to the waste bin. The invention improves the waste collection mode, improves the cleaning efficiency and reduces the cleaning cost; the robot running mode is improved, and the cleaning range is expanded.

Description

Floated intelligent robot that cleans discarded object under water

Technical Field

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

Background

The exploration and maintenance of marine environment and the implementation of various submarine projects have the problems of mainly relying on manual work, low efficiency and lack of intelligent devices at the present stage. Most of the existing intelligent robots are only suitable for land or air, and few robots are designed for underwater environments. The underwater environment is complex, a large amount of underwater garbage and underwater organisms exist, and the practicability of underwater operation needs to be considered.

In the Chinese patent application with the application number of 201910713798.7, the seabed garbage cleaning robot is disclosed, which mainly advances by mechanically simulating gait movement, has a good effect on the underwater environment, but lacks the capability of quickly moving to a target point in a suspension manner, and meanwhile, the seabed garbage cleaning robot is complex in mechanical structure, high in control difficulty and weak in balance keeping capability.

In chinese patent application No. 202010750699.9, an underwater garbage cleaning machine is disclosed which uses wheeled movement to move quickly in relatively shallow terrain but does not provide sufficient environmental adaptability to take steps in complex undersea environments.

In chinese patent application No. 202010889035.0, it is disclosed a multi-angle above and below water garbage cleaning machine which lacks an efficient way of moving while working on the bottom of the water.

In order to solve the problems of low cleaning efficiency, small pertinence to seabed garbage, small cleaning range, high cost and the like of the existing technical scheme aiming at ocean garbage, technical personnel in the field are dedicated to developing a suspension type intelligent robot for cleaning underwater waste, the waste collection mode is improved, the cleaning efficiency is improved, and the cleaning cost is reduced; the travel mode of the robot is improved, and the cleaning range is enlarged.

Disclosure of Invention

In order to achieve the above object, the present invention provides an intelligent robot for cleaning underwater waste in a suspension manner, comprising:

a frame;

the garbage can is arranged on the rack;

at least one cutting pump connected to the waste bin by a pipe;

the propellers are arranged on the rack and used for pushing the intelligent robot to move in a floating mode in water and enabling the intelligent robot to keep balance in the water;

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

wherein the cutting pump is configured to be able to suck up the underwater waste and shred the underwater waste before being delivered to the waste bin.

Further, the frame includes two curb plates that set up relatively to and connect a plurality of crossbeams of the parallel arrangement of two curb plates.

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 at the bottom of the intelligent robot.

Furthermore, the number of the horizontal propellers is 4, and the horizontal propellers are respectively positioned on two sides of the rack; the horizontal thrusters are positioned on the same plane; the number of the vertical thrusters is 3, and the vertical thrusters are respectively positioned in the centers of the lower edges of the three side surfaces of the rack.

Further, the cutting pump is located on the side wall of the garbage can, and the pipeline is a hose.

Further, a filter screen is arranged in the garbage can, and the filter screen is arranged at a water outlet of the garbage can.

Further, the dustbin still includes the recovery outlet, it sets up to retrieve the outlet the bottom of dustbin.

Further, still include buoyancy portion, buoyancy portion sets up on the dustbin, buoyancy portion adopts buoyancy material to make.

Further, the underwater waste treatment device further comprises a first camera device, wherein the first camera device is arranged on the rack and is configured to be capable of acquiring images of the underwater waste and identifying the position of the underwater waste.

Further, the dustbin also comprises a second camera device which is positioned in the dustbin and is configured to identify the storage state of the underwater waste in the dustbin.

The suspension type intelligent robot for cleaning underwater waste has the following technical effects:

1. the cutting pump is used for adsorbing the underwater waste, the underwater waste is cut into fragments and is conveyed to the garbage can for storage through the pipeline from the cutting pump, the influence of factors such as the size and the shape of the garbage on the collection efficiency of the underwater waste can be ignored, and the storage efficiency of the underwater waste after being cut is higher;

2. by adopting a suspension propulsion advancing mode, the robot can be guaranteed to have good adaptability to a complex seabed environment and sufficient environmental adaptability, can quickly move to a target point where underwater waste is located, and guarantees the cleaning efficiency of the underwater waste. The suspension balance is kept through the propeller during working, so that an effective and good moving mode is realized during underwater working; and the cleaning range is enlarged;

3. by adopting an intelligent algorithm and training a large number of data sets, the intelligent robot can autonomously identify the position of the underwater waste through the picture shot by the camera device and can rapidly move to the position of the underwater waste for cleaning, so that the cleaning efficiency is improved, and the manual operation is avoided being complicated.

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 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.

The system comprises 100-an intelligent robot, 10-a rack, 11-a side plate, 12-a cross beam, 30-a garbage can, 40-a cutting pump, 41-a pipeline, 50-a horizontal propeller, 60-a vertical propeller, 70-a control layer, 80-a buoyancy part, 90-a first camera device and 91-an underwater illuminating lamp.

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 fig. 2, the present invention discloses an intelligent robot 100 for cleaning underwater waste in a suspension manner, comprising:

a frame 10 for supporting other components of the intelligent robot 100;

a garbage can 30 disposed on the frame 10 for storing garbage;

at least one cutting pump 40 connected to the garbage can 30 through a pipe 41, provided at a side of the garbage can 30, for sucking underwater waste and conveying the underwater waste after being shredded into the garbage can 30;

a plurality of horizontal thrusters 50, evenly distributed on the frame 10, for thrusting the intelligent robot 100 to move;

and a plurality of vertical thrusters 60 disposed on the frame 10 for thrusting the intelligent robot 100 to move.

And a control layer 70, disposed on the rack 10, for controlling the intelligent robot 100 and/or communicating with a ground control center to receive control instructions. Preferably, the control layer 70 is disposed on the upper portion of the trash can 30.

In some embodiments, as shown in fig. 1, the frame 10 includes two side plates 11 disposed oppositely, and the two side plates 11 are connected by a plurality of cross beams 12 disposed in parallel. Other components of the intelligent robot 100 are reasonably arranged on the side plates 11 and the cross beam 12. The trash can 30 is disposed between the two side plates 11, the plurality of horizontal thrusters 50 may be uniformly disposed on the two side plates 11, and the plurality of vertical thrusters 60 may be uniformly disposed at the bottom of the rack 10. In some embodiments, the frame 10 may also be a truss structure, i.e., formed by connecting a plurality of cross beams and vertical beams to each other in an intersecting manner.

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 the horizontal thrusters 50 is 4, and the horizontal thrusters 50 are evenly distributed around the frame 10, for example, two horizontal thrusters 50 are respectively disposed on two side plates 11, and the horizontal thrusters 50 on each side plate 11 are oppositely disposed. The plurality of horizontal pushers 50 may be disposed on the same plane.

In some embodiments, the vertical thruster 60 can rotate relative to the rack 10 such that the vertical thruster 60 is at a different angle to the rack 10 in a vertical plane, and the angle between the vertical thruster 60 and the rack 10 is adjusted to control the moving direction of the smart robot 100. In some embodiments, as shown in fig. 4, the number of vertical thrusters 60 is 3, distributed on the bottom of the frame 10, for example, one vertical thruster 60 is provided in the center of the lower edge of each of the three sides of the frame 10.

Through setting up horizontal propeller 50 and vertical thruster 60, can adopt suspension propulsive mode drive intelligent robot 100 quick travel in aqueous, guarantee that intelligent robot 100 possesses good adaptability to complicated seabed environment, for example, intelligent robot 100 can utilize the propeller to pass through when meetting complicated topography or great barrier, can quick travel to the target point to guarantee that the discarded object cleans efficiency under water, also enlarged the scope of cleaning. During operation, the intelligent robot 100 is kept in a suspended balance by the propeller, so that the intelligent robot has a good moving mode during underwater operation.

In some embodiments, as shown in fig. 1 and 2, the cutting pump 40 is disposed on a sidewall of the trash can 30, and the pipe 41 connecting the cutting pump 40 and the trash can 30 may be a hose. The cutting pump 40 is activated to absorb underwater waste from the bottom of the water, and then cuts the underwater waste into chips, which are transported from the cutting pump 40 into the trash can 30 through the pipe 41. By arranging the cutting pump 40, the influence of factors such as the size and the shape of the underwater waste on the underwater waste collection efficiency can be ignored, and the storage efficiency of the underwater waste after being shredded is higher. It should be noted that the number of the cutting pumps 40 may be set according to actual requirements, and preferably, may be set to two.

In some embodiments, a filter screen (not shown in the figures) is disposed inside the garbage can 30, and seawater is naturally discharged along with the entering of garbage, so that the garbage can does not occupy a garbage storage space, and the garbage space utilization rate is improved. The strainer is disposed at a drain opening of the trash can 30. In some embodiments, the bottom of the trash bin 30 is further provided with an opening (not shown), and a cover plate (not shown) is provided at the opening. An operator can open the cover plate by rotating the hand wheel, so that silt, underwater waste and the like in the dustbin 30 can be conveniently discharged, and the inside of the dustbin 30 can be cleaned. In some embodiments, the trash bin 30 further includes a recycling drain (not shown) disposed at the bottom of the trash bin 30. The recycling draining port can be provided in a plurality of, 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 filter screen, a water outlet and the like are designed, seawater is naturally discharged along with the entering of underwater wastes, and the space utilization rate is improved.

In some embodiments, as shown in fig. 1 and 3, a buoyancy part 80 is provided on the top of the trash can 30, and the buoyancy part 80 may be made of a buoyant material to reduce a pulling force when the smart robot 100 is pulled out from the water bottom. The buoyancy section 80 may overlie the control layer 70 (see fig. 2).

In some embodiments, as shown in fig. 1 and 2, a first camera 90 and at least one underwater illuminating lamp 91 are further disposed on the intelligent robot 100. The first camera 90 and the underwater illuminating lamp 91 are arranged side by side on the frame. Can be through the algorithm, train in addition a large amount of data sets for the picture that intelligent robot shot through first camera device 90 is autonomic discernment discarded object position under water, and quick travel clears up to discarded object department under water, thereby has improved the degree of automation of clearance discarded object under water, has improved and has cleaned efficiency, avoids manual operation's loaded down with trivial details. The accuracy of image recognition can be improved based on a machine learning algorithm. The underwater illuminating lamp 91 is used for assisting the first camera device 90 in shooting, and the shooting definition is improved.

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

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 the like.

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 operations of walking, rotating the horizontal thruster 50, rotating the vertical thruster 60, switching the underwater illumination lamp 91, switching the camera device 90, etc.

Hanging and putting in water: starting a winch to lift the intelligent robot 100, so that the intelligent robot 100 leaves a ship board and keeps a certain safety distance; the umbilical cable continues to be released, so that the intelligent robot 100 gradually submerges into the water.

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.

Operation: after the intelligent robot 100 is located at a preset position, searching for waste sinking to the sea bottom; when the target is found, the propeller can be started to propel the target, and then the cutting pump is started to perform suction and sweeping actions. The storage state of the garbage in the garbage can 30 is observed by the second imaging device in the garbage can 30, and when the garbage can 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 collects the cable, and the intelligent robot 100 gradually returns to the water surface; in the water outlet process of the intelligent robot 100, a recycling water outlet at the bottom of the garbage can 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 the sealing cover at the bottom of the garbage can 30; silt, plastic bottle etc. in the dustbin 30 are discharged through the scrubbing mouth, empty on the deck, through the scrubbing mouth in dustbin 30 bottom, wash by water in the dustbin 30, clear away its inside remaining silt or waste under water to and manually pick out 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.

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 concept. 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 floated intelligent robot that cleans discarded object under water which characterized in that includes:

a frame;

the garbage can is arranged on the rack;

the two cutting pumps are respectively connected to the garbage can through pipelines; the cutting pump is arranged on the side wall of the garbage can;

the propellers are arranged on the rack and used for pushing the intelligent robot to move in a floating mode in water and enabling the intelligent robot to keep balance in the water; wherein the plurality of thrusters comprise a plurality of horizontal thrusters and a plurality of vertical thrusters, the plurality of horizontal thrusters are evenly distributed on the rack, and the plurality of vertical thrusters are distributed at the bottom of the intelligent robot; the horizontal thruster is configured to rotate relative to the stander so that the horizontal thruster forms different included angles with the stander in a horizontal plane; the vertical thruster is configured to rotate relative to the stander so that the vertical thruster forms different included angles with the stander on a vertical plane;

wherein the cutting pump is configured to be able to suck up the underwater waste and chop the underwater waste before being delivered to the waste bin;

the intelligent robot also comprises a first camera device, and the first camera device is arranged on the rack;

the garbage can also comprises a recycling water outlet which is arranged at the bottom of the garbage can;

the bottom of dustbin is provided with the opening, is provided with the apron at the opening part, the apron is configured to: an operator opens the cover plate by rotating a hand wheel so as to discharge the underwater waste in the dustbin and clean the inside of the dustbin;

the intelligent robot is configured to submerge into water, autonomously identify the position of the underwater waste through the picture shot by the first camera device and move to the position of the underwater waste so as to clean the underwater waste;

the dustbin further comprises a second camera device positioned in the dustbin and configured to be capable of identifying a storage state of the underwater waste in the dustbin;

the intelligent robot is configured to: will the intelligent robot places in the default position, searches and sinks in submarine discarded object, after finding the target, starts the propeller promotes the intelligent robot to the target impels, carries out the suction and cleans the action, utilizes second camera device observes in the dustbin underwater discarded object the save state the dustbin is full, stops to pump to suck and cleans the operation, returns the surface of water.

2. The intelligent robot as recited in claim 1, wherein the frame comprises two opposing side plates, and a plurality of cross beams disposed in parallel connecting the two side plates.

3. The intelligent robot as claimed in claim 1, wherein the number of the horizontal thrusters is 4, respectively located at both sides of the frame; the horizontal thrusters are positioned on the same plane; the number of the vertical thrusters is 3, and the vertical thrusters are respectively positioned in the centers of the lower edges of the three side surfaces of the rack.

4. The intelligent robot of claim 1, wherein the conduit is a hose.

5. The intelligent robot as claimed in claim 1, wherein a filter screen is provided in the dustbin, the filter screen being provided at a drain port of the dustbin.

6. The intelligent robot as claimed in claim 1, further comprising a buoyancy part disposed on the upper surface of the garbage can, wherein the buoyancy part is made of a buoyancy material.