CN113401296B - Intelligent water surface garbage cleaning system - Google Patents

Intelligent water surface garbage cleaning system Download PDF

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Publication number
CN113401296B
CN113401296B CN202110900622.XA CN202110900622A CN113401296B CN 113401296 B CN113401296 B CN 113401296B CN 202110900622 A CN202110900622 A CN 202110900622A CN 113401296 B CN113401296 B CN 113401296B
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China
Prior art keywords
water surface
intelligent
garbage
charging
ship
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CN202110900622.XA
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Chinese (zh)
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CN113401296A (en
Inventor
苏绍辉
王聪
陈生亮
吴俊斌
庄增滨
洪汉洋
朱权
陈峥
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Xiamen Baiou Environmental Intelligence Technology Co ltd
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Xiamen Baiou Environmental Intelligence Technology Co ltd
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Priority to CN202110900622.XA priority Critical patent/CN113401296B/en
Priority to PCT/CN2021/112161 priority patent/WO2023010604A1/en
Publication of CN113401296A publication Critical patent/CN113401296A/en
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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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30—Constructional details of charging stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/22—Arrangement of ship-based loading or unloading equipment for cargo or passengers of conveyers, e.g. of endless-belt or screw-type
    • 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
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B3/00—Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
    • E02B3/20—Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00—Type of vehicles
    • B60L2200/32—Waterborne vessels
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/12—Electric charging stations

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Ocean & Marine Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Power Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Cleaning Or Clearing Of The Surface Of Open Water (AREA)

Abstract

The invention provides an intelligent water surface garbage cleaning system, which comprises an intelligent salvage ship, a bank rotating device, a charging device and a garbage stacking area, wherein the bank rotating device is arranged on the bank; the rotating device is positioned at the position close to the water surface on the bank and is provided with a lifting platform extending towards the water surface, the lifting platform can rotate to one side far away from the water surface, and the intelligent salvage ship is detachably connected with the lifting platform; the charging device and the garbage stacking area are both positioned on one side of the rotating device far away from the water surface; the intelligent salvage ship comprises a ship body, a charging receiving end, a garbage storage bin, a salvage transmission belt and a discharge transmission belt; the charging receiving end is positioned outside the ship body and can be electrically connected with the charging device; salvage transmission band, rubbish storage storehouse and the transmission band of unloading and all be located the hull and correspond the connection in proper order. The invention enables the salvage ship to automatically and continuously clean the water surface garbage, realizes unmanned and intelligent water surface garbage cleaning and improves the cleaning efficiency.

Description

Intelligent water surface garbage cleaning system
Technical Field
The invention relates to the technical field of water area garbage cleaning equipment, in particular to an intelligent water surface garbage cleaning system.
Background
With the rapid development of social economy, the living standard of people is remarkably improved. However, while attention is paid to industrial and economic development, environmental protection is neglected. In recent years, environmental problems are increasingly prominent, the pollution problem of water environment is more and more concerned by various social circles, and the problem of treating garbage floating on rivers, lakes and reservoirs appears in the visual field of people.
At present, the cleaning of the garbage on the water surface in the market mainly depends on manual salvage, but the cleaning mode has high labor intensity, severe working environment and low efficiency; there are also mechanized salvage ships with net bags, but this kind of too is artificial control, and the resistance that ship gos forward can be strengthened to net bag salvage moreover.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides an intelligence surface of water rubbish clearance system realizes unmanned, intelligent surface of water rubbish clearance, improves cleaning efficiency.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
an intelligent water surface garbage cleaning system comprises an intelligent salvage ship, a rotating device, a charging device and a garbage stacking area, wherein the rotating device, the charging device and the garbage stacking area are located on a shore;
the rotating device is positioned at the position close to the water surface on the bank side, a lifting platform extending towards the water surface is arranged on the rotating device, the lifting platform can rotate to one side far away from the water surface, and the intelligent salvage ship is detachably connected with the lifting platform;
the charging device and the garbage stacking area are both positioned on one side of the rotating device, which is far away from the water surface;
the intelligent salvage ship comprises a ship body, a charging receiving end, a garbage storage bin, a salvage transmission belt and a discharge transmission belt;
the charging receiving end is positioned at the tail of the ship body and is electrically connected with the charging device when the intelligent salvage ship rotates to one side far away from the water surface;
the salvaging transmission belt, the garbage storage bin and the unloading transmission belt are all positioned in the ship body and are sequentially and correspondingly connected;
the feed inlet of salvaging the transmission band with the discharge gate of the transmission band of unloading is all in outwards setting up on the hull, the discharge gate of the transmission band of unloading is in when intelligence salvage ship is rotatory to the one side of keeping away from the surface of water with the district is stacked to rubbish is corresponding.
The invention has the beneficial effects that: the invention provides an intelligent water surface garbage cleaning system, which is characterized in that a salvage transmission belt is arranged in an intelligent salvage ship to automatically salvage garbage on the water surface into a garbage storage bin, when the garbage in the garbage storage bin is fully piled, the ship is stopped on a lifting platform of a rotating device at the bank side, the rotating device turns the whole salvage ship to a charging device which is also arranged at the bank side and the direction of a garbage stacking area, the garbage is unloaded into the garbage stacking area through an unloading transmission belt, and meanwhile, the salvage ship is charged by adopting the charging device, so that the salvage ship can carry out continuous water surface garbage cleaning operation, unmanned and intelligent water surface garbage cleaning is realized, and the cleaning efficiency is improved.
Drawings
FIG. 1 is a schematic structural diagram of an intelligent water surface garbage cleaning system;
FIG. 2 is a schematic diagram of an embodiment of an intelligent salvage ship charging;
FIG. 3 is a schematic structural diagram of a trailer of the intelligent water surface garbage cleaning system;
FIG. 4 is a side view of the trailer;
fig. 5 is a system diagram of an intelligent water surface garbage disposal system of an embodiment;
FIG. 6 is a schematic illustration of a region segmentation according to an embodiment;
FIG. 7 is a detailed flow chart of the garbage salvage of the intelligent salvage ship of the embodiment.
Description of reference numerals:
10. an intelligent salvage ship; 101. a hull; 102. a charging receiving end; 103. a garbage storage bin; 104. fishing the transmission belt; 105. a discharging conveying belt; 106. a storage bin door;
20. a rotating device; 201. a lifting platform; 202. a trailer; 203. a fixed base; 204. a driving wheel; 205. a driven wheel; 206. rotating the base; 207. a guide rail; 208. a slider; 209. a hoist; 210. a lifting rope; 211. a connecting frame; 212. a lifting switch; 213. an upper limit switch; 214. a lower limit switch; 215. an inclined bracket; 216. a slide rail; 217. a wheel; 218. a bolt; 219. a net bag;
30. a charging device; 301. a charging pole; 302. a charging switch; 303. a charging transmitting terminal;
40. a waste stacking area; 50. a central control room.
Detailed Description
In order to explain the technical contents, the objects and the effects of the present invention in detail, the following description is made with reference to the accompanying drawings in combination with the embodiments.
Referring to fig. 1 to 7, an intelligent water surface garbage disposal system,
the system comprises an intelligent salvage ship, a rotating device, a charging device and a garbage stacking area, wherein the rotating device, the charging device and the garbage stacking area are positioned on a shore;
the rotating device is positioned at the position close to the water surface on the bank side, a lifting platform extending towards the water surface is arranged on the rotating device, the lifting platform can rotate to one side far away from the water surface, and the intelligent salvage ship is detachably connected with the lifting platform;
the charging device and the garbage stacking area are both positioned on one side of the rotating device, which is far away from the water surface;
the intelligent salvage ship comprises a ship body, a charging receiving end, a garbage storage bin, a salvage transmission belt and a discharge transmission belt;
the charging receiving end is positioned at the tail of the ship body and is electrically connected with the charging device when the intelligent salvage ship rotates to one side far away from the water surface;
the salvaging transmission belt, the garbage storage bin and the unloading transmission belt are all positioned in the ship body and are sequentially and correspondingly connected;
the feed inlet of salvaging the transmission band with the discharge gate of the transmission band of unloading is all in outwards setting up on the hull, the discharge gate of the transmission band of unloading is in when intelligence salvage ship is rotatory to the one side of keeping away from the surface of water with the district is stacked to rubbish is corresponding.
As can be seen from the above description, the beneficial effects of the present invention are: through set up in intelligent salvage ship salvage the automatic rubbish of transmission band on with the surface of water salvage to the rubbish storage storehouse in, when rubbish in the rubbish storage storehouse is piled up on full through the elevating platform who stops the ship at the rotating device on bank, and by rotating device with whole salvage ship turn to the same direction that sets up in the charging device on bank and rubbish stacking area place, unload rubbish through the transmission band of unloading and stack the district in to rubbish, adopt charging device to charge to salvage ship simultaneously, make salvage ship can carry out continuous surface of water rubbish cleaning operation, unmanned, intelligent surface of water rubbish clearance has been realized, cleaning efficiency is improved.
Furthermore, a sliding rail and a trailer are sequentially arranged on the lifting platform, and wheels are arranged at the bottom of the trailer;
the slide rail is fixed on the lifting platform, the wheel is located in the slide rail and the front end and the rear end of the wheel are respectively provided with a bolt, and the bolts are used for fixing the wheel.
As can be seen from the above description, the trailer is detachably fixed on the lifting platform through the sliding rails and the bolts, so that the intelligent salvage ship can be conveniently dragged to the ground from the lifting platform to be transported on the ground or returned to the lifting platform from the ground through the trailer.
Furthermore, a net bag is arranged at the top of the trailer;
the intelligent salvage ship can stably stop on the lifting platform through the net bag.
According to the description, the net bag can guarantee that the intelligent salvage ship stably stops on the lifting platform and cannot slide.
Furthermore, the rotating device comprises a fixed base, a rotating base, a motor, a driving wheel, a driven wheel, a guide rail, a sliding block, a connecting frame, a winch and a lifting rope;
the fixed base is fixed at a position close to the water surface on the bank side;
the driving wheel is connected with the motor shaft, the driven wheel is a turntable bearing with a toothed outer ring, the outer ring of the driven wheel is meshed with the driving wheel, the inner ring of the driven wheel is fixed above the fixed base, and the rotating base is fixed above the outer ring of the driven wheel;
the guide rail is vertically fixed above the rotating base;
the winch is positioned at the top of the guide rail;
the connecting frame is of an F-shaped structure, the two transverse ends of the F-shaped structure of the connecting frame extend towards the direction far away from the water surface and are connected to the guide rail in a vertically sliding mode through the sliding block, and the lifting platform is fixed to the bottom of the vertical end of the F-shaped structure of the connecting frame;
the lifting rope is telescopically connected between the winch and the sliding block above the connecting frame.
According to the above description, the rotating device can lift the parked intelligent salvage ship, the rotating base can be driven to rotate the intelligent salvage ship to the bank through the connection between the motor, the driving wheel and the driven wheel, and the charging device on the bank can charge and discharge garbage to the garbage stacking area on the bank conveniently.
Furthermore, the rotating device also comprises a lifting switch, an upper limit switch and a lower limit switch;
the lifting switch is a distance sensor;
the lifting switch is arranged at one vertical end of the F-shaped structure of the connecting frame;
the upper limit switch and the lower limit switch are respectively fixed at the upper end and the lower end of the guide rail.
According to the above description, the lifting switch adopts the distance sensor, when the intelligent salvage ship is located on the lifting platform, the lifting switch automatically opens and closes by sensing the distance of the intelligent salvage ship, so that the intelligent salvage ship is automatically controlled to ascend and descend, the automatic stop of ascending and descending is realized by combining the limit switches at the upper end and the lower end of the guide rail, and the ascending and descending height is prevented from exceeding the length of the guide rail.
Further, the rotating device further comprises an inclined bracket;
the two ends of the inclined bracket are respectively fixed on the top of the guide rail and one side of the rotating base, which is far away from the guide rail, and the inclined bracket, the guide rail and the rotating base form a triangular structure.
From the above description, the inclined bracket, the guide rail and the rotating base form a triangular structure, which further enhances the strength of the rotating device.
Further, the charging device comprises a charging transmitting end, a charging switch and a charging rod;
the charging switch is a distance sensor;
the charging pole is vertically fixed on one side of the rotating device, which is far away from the water surface;
the charging switch is fixed between the top and the bottom of the charging pole in the direction towards the water surface;
the charging transmitting end is located at the top of the charging pole, and the charging receiving end is located when the intelligent salvage ship is located on one side far away from the water surface, the charging transmitting end is electrically connected with the charging receiving end.
According to the above description, when the intelligent salvage ship rotates to the position of the charging device on one side of the principle water surface through the rotating device, the charging switch automatically opens and closes by sensing the distance of the intelligent salvage ship, and therefore the intelligent salvage ship is charged through the automatic control charging device.
Furthermore, the garbage storage bin also comprises a storage bin door, and the storage bin door is positioned at one end of the garbage storage bin, which is close to the tail part of the ship body;
the salvaging conveying belt is specifically positioned at one end of the garbage storage bin close to the head of the ship body and extends to the outside of the ship body from the front lower part to the outside in an inclined mode;
the unloading conveying belt is specifically located bottom in the garbage storage bin and with storage bin door vertical connection.
According to the above description, the salvage conveyor belt can drive the garbage on the water surface to enter the garbage storage bin through rotation, so that automatic garbage salvage is realized; when the intelligent salvage ship is rotated to one side of the principle water surface through the rotating device to be charged, the storage bin door can be automatically opened, and garbage is conveyed from the garbage storage bin through the discharging conveying belt to fall into the garbage stacking area, so that the garbage can be automatically discharged.
Furthermore, the intelligent salvage ship also comprises a camera, an ultrasonic sensor and a driving device;
the camera and the ultrasonic sensor are both arranged outside the hull of the intelligent salvage ship;
the driving device is arranged in the body of the intelligent salvage ship and is electrically connected with the camera, the ultrasonic sensor, the salvage transmission belt, the discharge transmission belt and the charging receiving end.
According to the above description, the intelligent salvage ship is provided with the camera, the ultrasonic sensor and the driving module to realize the recognition of the garbage on the water surface, the avoidance of obstacles during the water operation and the like, and the unmanned and intelligent garbage salvage is further realized.
Further, still include central control room, central control room respectively with intelligent salvage ship, rotating device and charging device communication connection.
According to the description, the intelligent salvage ship, the rotating device and the charging device are controlled by the central control room to operate, and intelligent and unmanned management is achieved.
Referring to fig. 1 to 4, a first embodiment of the present invention is:
an intelligent water surface garbage cleaning system is shown in fig. 1 and comprises an intelligent salvage ship 10, a rotating device 20 located on the shore, a charging device 30 and a garbage stacking area 40.
Wherein, the rotating device 20 is located near the water surface on the shore, and the charging device 30 and the garbage piling region 40 are both located on the side of the rotating device 20 far from the water surface. In this embodiment, as shown in fig. 1, a lifting platform 201 extending towards the water surface is disposed on the rotating device 20, the intelligent salvage ship 10 is detachably connected to the lifting platform 201, and as shown in fig. 2, the lifting platform 201 can rotate to a side away from the water surface, in this embodiment, the rotating angle of the rotating device 20 is 180 °, and in other equivalent embodiments, the rotating angle of the rotating device 20 is matched with the rotating angle according to the positions of the charging device 30 and the garbage piling region 40.
Wherein, intelligence salvage ship 10 includes hull 101, the receiving terminal 102 charges, rubbish storage bin 103, salvage transmission band 104 and the transmission band 105 of unloading, charge receiving terminal 102 and be located hull 101 afterbody and be connected with charging device 30 electricity when intelligence salvage ship 10 rotates to the one side of keeping away from the surface of water, salvage transmission band 104, rubbish storage bin 103 and the transmission band 105 of unloading all are located hull 101 and correspond the connection in proper order, the feed inlet of salvage transmission band 104 and the discharge gate of the transmission band 105 of unloading all set up outwards on hull 101. In this embodiment, as shown in fig. 1, the garbage storage 103 further includes a storage bin door 106 located at one end of the garbage storage 103 close to the tail of the ship body 101, the discharge conveyor 105 is specifically located at the bottom inside the garbage storage 103 and vertically connected to the storage bin door 106, and as shown in fig. 2, the discharge port of the discharge conveyor 105 corresponds to the garbage piling area 40 when the intelligent salvage ship 10 rotates to the side far from the water surface. In this embodiment, the upper end of the storage bin door 106 is fixed at the tail of the garbage storage bin 103 by a rotating shaft, and the two ends of the rotating shaft are respectively connected with a motor, when garbage is unloaded, the storage bin door 106 drives the rotating shaft to rotate through the motor so that the lower end of the storage bin door 106 rotates from bottom to top to realize opening of the bin door, the unloading conveying belt 105 conveys the garbage in the bin from the bin to the opened bin door through belt transmission so as to fall into the garbage stacking area 40, and the transmission of the unloading conveying belt 105 and the opening of the storage bin door 106 do not affect each other.
As shown in fig. 1 to 4, a sliding rail 216 and a trailer 202 are sequentially arranged on the lifting platform 201, wherein the sliding rail 216 is fixed on the lifting platform 201; as shown in fig. 3, wheels 217 are arranged at the bottom of the trailer 202 and the wheels 217 are located in the sliding rails 216, as shown in fig. 4, a bolt 218 is further arranged in the sliding rails 216, and the bolt 218 is arranged outside the front and rear wheels 217 of the trailer 202, so that when the intelligent salvage ship 10 is parked on the lifting platform 201 and needs to be dragged to the ground, the bolt 218 can be pulled out, the wheels 217 of the trailer 202 slide out of the sliding rails 216, the whole intelligent salvage ship 10 can be dragged to the ground conveniently, and when ground transportation is not needed, the bolt 218 is plugged in, so that the trailer 202 is fixed and cannot slide on the lifting platform 201.
As shown in fig. 3 or 4, the top of the trailer 202 is provided with a net bag 219 for fixing the intelligent salvage ship 10 not to rock on the lifting platform 201 when the intelligent salvage ship 10 stops on the lifting platform 201, which is beneficial to stable lifting and rotating of the intelligent salvage ship 10 in the following process. In this embodiment, the net bag 219 is made of a net-shaped nylon rope, and has certain strength and elasticity, so as to further ensure the stable stop of the intelligent salvage ship 10.
In the present embodiment, as shown in fig. 1, the rotating device 20 includes a fixed base 203, a rotating base 206, a motor not shown in the figure, a driving wheel 204, a driven wheel 205, a guide rail 207, a sliding block 208, a connecting frame 211, a winding machine 209, and a lifting rope 210.
The fixing base 203 is fixed at a position near the water surface on the bank, the driving wheel 204 is connected with a motor shaft which is not marked on the figure, in this embodiment, the driving wheel 204 adopts a gear with a D-shaped hole in the center, and is connected with the D-shaped shaft of the motor in a matching manner, in other equivalent embodiments, the driving wheel 204 and the motor can also be connected in other shaft manners. Meanwhile, in this embodiment, the driven wheel 205 is a turntable bearing with a toothed outer ring, the outer ring of the gear is meshed with the gear of the driving wheel 204, the inner ring of the driven wheel 205 is fixedly connected above the fixed base 203, the outer ring of the driven wheel is fixed below the rotating base 206, when the motor drives the driving wheel 204 to rotate, the outer ring of the driven wheel 205 can also drive the whole rotating base 206 to rotate along with the rotation, the intelligent salvage ship 10 can be rotated to the shore from the water surface, and subsequent charging and garbage discharging operations are facilitated.
Wherein, guide rail 207 vertical fixation is in the rotating base 206 top, hoist engine 209 is located the top of guide rail 207, and the link 211 that is connected with F type structure on the guide rail 207 connects, it is concrete, as shown in fig. 1, but the horizontal both ends orientation of F type structure of link 211 is kept away from the direction of the surface of water and is extended and pass through slider 208 upper and lower sliding connection on guide rail 207, but lift platform 201 fixes the bottom at the vertical one end of F type structure of link 211 simultaneously, telescopic connection has a lifting rope 210 between hoist engine 209 and the slider 208 of link 211 top, form a holistic liftable structure. That is, the hoisting rope 210 is rotated by the winch 209 to drive the lifting platform 201 to slide up and down along the guide rail 207, so that the intelligent salvage ship 10 is lifted and lowered, and subsequent operation is facilitated.
Wherein, the vertical one end of the F type structure of link 211 is provided with elevating switch 212, and this elevating switch 212 adopts distance sensor. As shown in fig. 1, when the intelligent salvage ship 10 is parked on the lifting platform 201, the lifting switch 212 is turned on and off by sensing the distance of the intelligent salvage ship 10, so that the lifting platform 201 is controlled to drive the intelligent salvage ship 10 to ascend and descend. Meanwhile, the rotating device 20 further comprises an upper limit switch 213 and a lower limit switch 214 which are respectively fixed at the upper end and the lower end of the guide rail 207, and when the intelligent salvage ship 10 ascends or descends and touches the upper limit switch 213 or the lower limit switch 214, the ascending or descending can be automatically stopped, and the ascending or descending height is prevented from exceeding the length of the guide rail 207.
Referring to fig. 2, the second embodiment of the present invention is:
on the basis of the first embodiment, when the intelligent salvage ship 10 is charged on the shore, as shown in fig. 2, the intelligent salvage ship 10 is rotated to the side far away from the water surface by the rotating device 20. In the present embodiment, the charging device 30 includes a charging emitter 303, a charging switch 302, and a charging lever 301.
Wherein, the pole 301 vertical fixation that charges is in the one side that rotating device 20 kept away from the surface of water, is fixed with a switch 302 that charges in the direction towards the surface of water between the top of pole 301 and the bottom of charging, and switch 302 that charges also adopts distance sensor, and the transmitting terminal 303 that charges is located the pole 301 top of charging, can be connected with the transmitting terminal 303 that charges of intelligent salvage ship 10 electricity, and this electricity is connected including wireless connection or wired connection. As shown in fig. 2, when the intelligent salvage ship 10 is parked on the lifting platform 201 and rotated to a side far from the water surface by the rotating device 20, the charging switch 302 is turned on and off by sensing the distance of the intelligent salvage ship 10, so that the charging device 30 charges the intelligent salvage ship 10.
When the intelligent salvage ship 10 is charged, the storage bin door 106 of the intelligent salvage ship 10 is also opened, the garbage is conveyed by the discharging conveying belt 105 to the garbage stacking area 40 below, and automatic discharging of the garbage is achieved.
Referring to fig. 1 or fig. 2, a third embodiment of the present invention is:
on the basis of any one of the first embodiment or the second embodiment, the rotating device 20 in the intelligent water surface garbage disposal system of the present embodiment further includes an inclined bracket 215.
As shown in fig. 1, in the present embodiment, two ends of the inclined bracket 215 are respectively fixed on the top of the guide rail 207 and one side of the rotating base 206 far away from the guide rail 207, and the inclined bracket 215, the guide rail 207 and the rotating base 206 form a triangular structure, which enhances the strength of the rotating device 20.
Referring to fig. 1 or fig. 2, a fourth embodiment of the present invention is:
on the basis of the third embodiment, the intelligent salvage ship 10 in the intelligent system for clearing garbage on water surface of the embodiment further comprises a camera, an ultrasonic sensor and a driving device which are not marked on the figure.
The camera and the ultrasonic sensor are arranged outside the hull 101 of the intelligent salvage ship 10, the driving device is arranged in the hull 101 of the intelligent salvage ship 10 and is electrically connected with the camera, the ultrasonic sensor, the salvage transmission belt 104, the discharge transmission belt 105 and the charging receiving end 102. The recognition of rubbish on the water surface is realized through the camera, the ultrasonic wave and the driving module, the obstacle avoidance during the operation on the water is realized, and the like, so that the unmanned and intelligent rubbish fishing is further realized.
Referring to fig. 3, a fifth embodiment of the present invention is:
on the basis of the fourth embodiment, the intelligent water surface garbage cleaning system of the present embodiment further includes a central control room 50, and the central control room 50 is in communication connection with the intelligent salvage ship 10, the rotating device 20 and the charging device 30 respectively. That is, in the present embodiment, the central control room 50 controls the intelligent salvage ship 10, the rotating device 20, and the charging device 30 to perform operations, thereby realizing intelligent and unmanned management.
Referring to fig. 1 to 5, a sixth embodiment of the present invention is:
on the basis of the fifth embodiment, the embodiment provides a concrete implementation step of garbage fishing for the intelligent water surface garbage cleaning system.
In the present embodiment, it is assumed that garbage on the water surface of a lake needs to be cleaned, wherein, due to the large area of the lake, a plurality of intelligent salvage ships 10 are adopted and a plurality of docks are divided at the bank to arrange a plurality of rotating devices 20, charging devices 30 and garbage dumping areas 40.
Firstly, a central control room 50 is established, a map of the lake is imported into a computer of the central control room 50, a coordinate system is established, and the origin of coordinates is marked. Dividing the map into a plurality of blocks in a grid mode, numbering an area 1, an area 2, an area 3 … … and the like as shown in FIG. 4; establishing a plurality of wharfs on the shore of the lake, wherein the number of the wharfs is determined according to specific conditions, numbering the wharfs 1 and 2 … …, and the like, and marking corresponding coordinates on a map; and selecting certain intelligent salvage ships 10 according to the number of the areas, numbering as salvage ships 1, salvage ships 2 … … and the like. One salvage ship can correspond to one area, and one salvage ship can correspond to a plurality of areas.
Secondly, as shown in fig. 5, when the garbage cleaning is not required on the lake surface, the intelligent salvage ship 10 is in a standby state. At this time, the intelligent salvage ship 10 is parked on the rotating device 20 of the dock corresponding to each region and is charged by the charging device 30. When the fishing boat starts to work, the fishing boat with different numbers goes to one or a plurality of regions corresponding to the fishing boat and starts to cruise, when the camera detects that garbage exists on the water surface, the central control room 50 sends out an instruction, the fishing boat goes to a specified place to fish the garbage, the garbage is transmitted to the storage bin through the fishing transmission belt 104, then the inspection is continued, the fishing operation is repeated, and when the obstacle is met on the water surface, the ultrasonic device of the fishing boat can also be used for detecting and avoiding in advance.
When the storage bin is full of garbage or the electric quantity of the salvage ship is insufficient, the central control room 50 sends an instruction, the salvage ship is returned to the wharf and stops on the lifting platform 201, the lifting switch 212 senses that the salvage ship reaches a specified distance at the moment, a signal is sent to the central control room 50, the central control room 50 sends an instruction to turn on the lifting switch 212, the lifting platform 201 lifts the salvage ship, and when the sliding block 208 touches the upper limit switch 213, the salvage ship stops lifting. At the moment, the motor works to drive the driving wheel 204 to rotate, so as to drive the driven wheel 205 to rotate, and further drive the salvage ship to rotate. The fishing boat stops rotating after rotating 180 degrees, at the moment, the fishing boat rotates to one side close to the charging device 30, at the moment, the charging switch 302 senses that the fishing boat reaches a specified position, a signal is sent to the central control room 50, the central control room 50 sends an instruction to start the charging switch 302, at the moment, the charging receiving end 102 of the fishing boat is also in contact with the charging transmitting end 303 of the charging device 30, and automatic charging is started. When the salvage ship is automatically charged, the bin door 106 of the storage bin is also automatically opened, the unloading conveying belt 105 is started at the moment, and the garbage is conveyed to the discharge hole of the garbage storage bin 103 by the unloading conveying belt 105 and falls into the garbage stacking area 40 by self gravity.
When the garbage is unloaded and the charging is completed, the rotating device 20 rotates 180 degrees, the lifting switch 212 senses that the salvage ship reaches a specified distance, the lifting switch 212 is turned on, the lifting platform 201 descends because the sliding block 208 is located at the position touching the upper limit switch 213 at the moment, the lifting platform stops descending when the sliding block 208 touches the lower limit switch 214, the salvage ship returns to the water surface again, and the next round of inspection work is continued.
Whole process is carried out by central control room 50 send command, realizes automatic navigation, keeps away the barrier automatically, salvages automatically, automatic uninstallation and automatic charging, has realized unmanned, intelligent surface of water rubbish clearance, has improved cleaning efficiency, and simultaneously, the salvage ship also has manual remote control function, can artifical remote control salvage ship carry out the operation.
In summary, according to the intelligent water surface garbage cleaning system provided by the invention, the salvage transmission belt is arranged in the intelligent salvage ship to automatically salvage the garbage on the water surface into the garbage storage bin, when the garbage in the garbage storage bin is fully piled up, the ship is stopped on the lifting platform of the rotating device on the bank side, the rotating device turns the whole salvage ship to the direction of the charging device and the garbage stacking area which are also arranged on the bank side, the garbage is unloaded into the garbage stacking area through the unloading transmission belt, and meanwhile, the charging device is adopted to charge the salvage ship, so that the salvage ship can carry out continuous water surface garbage cleaning operation, unmanned and intelligent water surface garbage cleaning is realized, and the cleaning efficiency is improved. The intelligent salvage ship is convenient to transport on the ground by adopting a trailer on the lifting platform; the lifting switch is turned on and off by sensing the distance, and the lifting platform is automatically controlled to ascend and descend by combining an upper limit switch and a lower limit switch; the guide rail on the rotating device and the rotating base are fixed by adopting an inclined bracket, so that the strength of the rotating device is further enhanced, and the parking, lifting and rotating of the intelligent salvage ship can be stably carried out; meanwhile, the intelligent salvage ship adopts the functional modules such as the camera, the ultrasonic sensor and the driving module, so that automatic identification of water surface garbage, automatic obstacle avoidance during water operation, movement and the like are realized, and the intelligent level of the intelligent salvage ship is further improved. The whole salvaging process is carried out by sending an instruction through the central control room, automatic navigation, automatic obstacle avoidance, automatic salvaging, automatic unloading and automatic charging are realized, unmanned and intelligent water surface garbage cleaning is realized, and the cleaning efficiency is improved.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent changes made by using the contents of the present specification and the drawings, or applied directly or indirectly to the related technical fields, are included in the scope of the present invention.

Claims (9)

1. An intelligent water surface garbage cleaning system is characterized by comprising an intelligent salvage ship, a rotating device, a charging device and a garbage stacking area, wherein the rotating device, the charging device and the garbage stacking area are positioned on a shore;
the rotating device is positioned at the position close to the water surface on the bank side, a lifting platform extending towards the water surface is arranged on the rotating device and can rotate to one side far away from the water surface, and the intelligent salvage ship is detachably connected with the lifting platform;
the charging device and the garbage stacking area are both positioned on one side of the rotating device, which is far away from the water surface;
the intelligent salvage ship comprises a ship body, a charging receiving end, a garbage storage bin, a salvage transmission belt and a discharge transmission belt;
the charging receiving end is positioned at the tail of the ship body and is electrically connected with the charging device when the intelligent salvage ship rotates to one side far away from the water surface;
the salvaging transmission belt, the garbage storage bin and the unloading transmission belt are all positioned in the ship body and are sequentially and correspondingly connected;
the feed inlet of the salvaging conveying belt and the discharge outlet of the discharging conveying belt are both arranged outwards on the ship body, and the discharge outlet of the discharging conveying belt corresponds to the garbage stacking area when the intelligent salvage ship rotates to one side far away from the water surface;
the lifting platform is sequentially provided with a slide rail and a trailer, and the bottom of the trailer is provided with wheels;
the slide rail is fixed on the lifting platform, the wheel is located in the slide rail and the front end and the rear end of the wheel are respectively provided with a bolt, and the bolts are used for fixing the wheel.
2. The intelligent water surface garbage cleaning system as claimed in claim 1, wherein a net bag is arranged at the top of the trailer;
the intelligent salvage ship can stably stop on the lifting platform through the net bag.
3. The intelligent water surface garbage cleaning system according to claim 1, wherein the rotating device comprises a fixed base, a rotating base, a motor, a driving wheel, a driven wheel, a guide rail, a sliding block, a connecting frame, a winch and a lifting rope;
the fixed base is fixed at the position close to the water surface on the bank;
the driving wheel is connected with the motor shaft, the driven wheel is a turntable bearing with a toothed outer ring, the outer ring of the driven wheel is meshed with the driving wheel, the inner ring of the driven wheel is fixed above the fixed base, and the rotating base is fixed above the outer ring of the driven wheel;
the guide rail is vertically fixed above the rotating base;
the winch is positioned at the top of the guide rail;
the connecting frame is of an F-shaped structure, the two transverse ends of the F-shaped structure of the connecting frame extend towards the direction far away from the water surface and are connected to the guide rail in a vertically sliding mode through the sliding block, and the lifting platform is fixed to the bottom of the vertical end of the F-shaped structure of the connecting frame;
the lifting rope is telescopically connected between the winch and the sliding block above the connecting frame.
4. The intelligent water surface garbage cleaning system according to claim 3, wherein the rotating device further comprises a lifting switch, an upper limit switch and a lower limit switch;
the lifting switch is a distance sensor;
the lifting switch is arranged at one vertical end of the F-shaped structure of the connecting frame;
the upper limit switch and the lower limit switch are respectively fixed at the upper end and the lower end of the guide rail.
5. An intelligent water surface garbage cleaning system according to claim 3, wherein the rotating device further comprises an inclined bracket;
the two ends of the inclined bracket are respectively fixed on the top of the guide rail and one side of the rotating base, which is far away from the guide rail, and the inclined bracket, the guide rail and the rotating base form a triangular structure.
6. The intelligent water surface garbage cleaning system according to claim 1, wherein the charging device comprises a charging transmitting terminal, a charging switch and a charging rod;
the charging switch is a distance sensor;
the charging pole is vertically fixed on one side of the rotating device, which is far away from the water surface;
the charging switch is fixed between the top and the bottom of the charging pole;
the charging transmitting terminal is located the top of the charging pole, and the charging receiving terminal is located when the intelligent salvage ship is located at one side far away from the water surface, the charging transmitting terminal is electrically connected with the charging receiving terminal.
7. The intelligent water surface garbage disposal system of claim 1 wherein said garbage storage bin further comprises a storage bin door, said storage bin door being located at an end of said garbage storage bin near the aft portion of said hull;
the salvaging conveying belt is specifically positioned at one end of the garbage storage bin close to the head of the ship body and extends to the outside of the ship body from the front lower part to the outside in an inclined mode;
the unloading conveying belt is specifically located bottom in the garbage storage bin and with storage bin door vertical connection.
8. The intelligent water surface garbage cleaning system of claim 1, wherein the intelligent salvage ship further comprises a camera, an ultrasonic sensor and a driving device;
the camera and the ultrasonic sensor are both arranged outside the hull of the intelligent salvage ship;
the driving device is arranged in the body of the intelligent salvage ship and is electrically connected with the camera, the ultrasonic sensor, the salvage transmission belt, the discharge transmission belt and the charging receiving end.
9. The intelligent water surface garbage cleaning system according to any one of claims 1-8, further comprising a central control room, wherein the central control room is in communication connection with the intelligent salvage ship, the rotating device and the charging device respectively.
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