CN114408107A - Multifunctional integrated intelligent lake surface cleaning robot and use method thereof - Google Patents
Multifunctional integrated intelligent lake surface cleaning robot and use method thereof Download PDFInfo
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- CN114408107A CN114408107A CN202210181468.XA CN202210181468A CN114408107A CN 114408107 A CN114408107 A CN 114408107A CN 202210181468 A CN202210181468 A CN 202210181468A CN 114408107 A CN114408107 A CN 114408107A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 43
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000000295 complement effect Effects 0.000 claims abstract description 17
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 28
- 238000005286 illumination Methods 0.000 claims description 26
- 241000195493 Cryptophyta Species 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims 1
- 230000004888 barrier function Effects 0.000 description 6
- 238000001914 filtration Methods 0.000 description 4
- 150000003839 salts Chemical class 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 235000020681 well water Nutrition 0.000 description 1
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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
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
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Abstract
The invention provides a multifunctional integrated intelligent lake surface cleaning robot and a use method thereof, the robot comprises an M-shaped hull, a mechanical arm, a bottom sensor and a depth camera are arranged in front of the M-shaped hull, a fishing net is arranged on the mechanical arm, a fishing pool is arranged on the M-shaped hull, a weight sensor is arranged at the bottom of the fishing pool, a filter screen is arranged above the fishing pool, the robot also comprises a main control machine, a wind-light complementary controller, a solar tracker, a wind driven generator and a storage battery, the main control machine and the wind-light complementary controller are respectively connected with the storage battery, the wind driven generator and the solar tracker are respectively connected with the storage battery, the robot also comprises a screw blade, a screw propeller and a driving motor, the screw blade is arranged on the screw propeller, the screw propeller is connected with the driving motor, and the screw propeller is arranged behind the M-shaped hull, the robot can realize intelligent automatic lake surface cleaning, not only the difficulty of lake surface cleaning is reduced, but also the cleaning efficiency is increased through the robot hull cleaning.
Description
Technical Field
The invention relates to the field of intelligent robots, in particular to a multifunctional integrated intelligent lake surface cleaning robot and a using method thereof.
Background
The land below the normal water level shore line of a naturally formed ponding area, China is a multi-lake country, more than 2800 lakes with the area of more than 1 square kilometer, more than 124 lakes with the area of more than 100 square kilometers and 13 great lakes with the area of more than 1000 square kilometers can be divided into outflow lakes (accounting for 45 percent of the total area of the water surface of the lake) and inland lakes (accounting for 55 percent) according to the circulation form of lake runoff, and the outflow lakes are mainly fresh water lakes and salt water lakes according to the difference of salt content of water bodies of the lakes, the inland lakes are mainly salt water lakes, and the lakes play an important role in the balance of the nature.
Because can cause very serious destruction to lake water's ecological balance when there is more rubbish on the lake surface, but current processing mode is mostly through artifical manual handling, has so both increased the cost of work and has increased the degree of difficulty of work again, is unfavorable for using for a long time.
Disclosure of Invention
In order to solve the technical problems, the invention provides a multifunctional integrated intelligent lake surface cleaning robot and a use method thereof, which can realize intelligent automatic cleaning of the lake surface, not only reduce the difficulty of lake surface cleaning, but also increase the cleaning efficiency through robot hull cleaning.
In order to achieve the purpose, the invention adopts the technical scheme that:
multi-functional integrated intelligence lake surface cleaning robot, its characterized in that: the fishing net is mounted on the mechanical arm, a fishing pool is arranged on the M-shaped hull, a weight sensor is mounted at the bottom of the fishing pool, a filter screen is mounted above the fishing pool, the fishing net further comprises a main control machine, a wind-light complementary controller, a solar tracker, a wind driven generator and a storage battery, a mounting plate is mounted above the fishing pool, the main control machine, the wind-light complementary controller, the solar tracker, the wind driven generator and the storage battery are respectively mounted on the mounting plate, the main control machine and the wind-light complementary controller are respectively connected with the storage battery, the wind-light complementary controller and the solar tracker are respectively connected with the main control machine, the wind driven generator and the solar tracker are respectively connected with the storage battery to convert electric energy into the storage battery, still including propeller blade, screw and driving motor, propeller blade installs on the screw, driving motor is connected to the screw, driving motor fixes on M type hull, the rear at M type hull is installed to the screw, the battery is connected respectively to arm and degree of depth camera.
In the above structure: the invention provides a multifunctional integrated intelligent lake surface cleaning robot, which comprises an M-shaped hull, wherein a mechanical arm, a bottom sensor and a depth camera are arranged in front of the M-shaped hull, a salvage net is arranged on the mechanical arm, a salvage pool is arranged on the M-shaped hull, a weight sensor is arranged in the salvage pool, a filter screen is arranged above the salvage pool, the multifunctional integrated intelligent lake surface cleaning robot also comprises a main control machine, a wind-light complementary controller, a solar tracking machine, a wind driven generator and a storage battery, the whole robot hull is the M-shaped hull, the mechanical arm and the salvage net are arranged at the front end of the M-shaped hull, and the multifunctional integrated intelligent lake surface cleaning robot can be accurately controlled through the bottom sensor. The during operation is catched through two arm swing control salvage nets, and when bottom sensor did not detect rubbish, the arm lifting returns original angle, and salvage net lifting simultaneously lets the salvage net normal water flow out, does not let unnecessary water influence the load of clearance robot. Still be equipped with ultrasonic sensor, can avoid the barrier automatically, be equipped with the degree of depth camera, the update is gone forward in order to correct M type hull direction in real time to the information of obtaining, and ultrasonic sensor will carry out information feedback simultaneously, avoids M type hull to hit other barriers. In the aspect of energy power, new energy such as solar energy, wind power and the like is utilized, and a wind-solar hybrid system is adopted and is controlled by a wind-solar hybrid controller. The electric energy generated by the wind driven generator and the solar tracker is stored by the storage battery and is controlled by the main control machine. The propeller and the driving motor thereof are arranged behind the ship body, and the propeller blades advance in water. The filtering net is arranged on the ship body, so that the garbage and algae can be placed into the salvage pool to play a role in buffering, water attached to the garbage can be discharged through the salvage net before the garbage is placed into the salvage pool in the salvage process, unnecessary weight is not increased, and the load of the M-shaped ship body is used for containing the garbage as much as possible. In addition, even if the ship exceeds the specified weight, the weight sensor in the salvage pool can transmit data to the upper computer, warning can be given out in time, an operator receives the information, the M-shaped ship body is remotely controlled to return to the shore, garbage is poured out, and then the M-shaped ship body is reused to clean the garbage on the lake surface.
As a further improvement of the invention: the mounting panel includes first mounting panel and second mounting panel, main control machine, scene complementary control ware and battery are installed on first mounting panel, solar energy tracker and wind-driven generator install on the second mounting panel.
In the above structure: the mounting plate comprises a first mounting plate and a second mounting plate which are respectively used for mounting and fixing the main control machine, the wind-solar complementary controller, the storage battery, the solar tracker and the wind driven generator.
As a further improvement of the invention: the solar tracking machine comprises a solar cell panel, a Y-axis illumination adjusting steering engine, an X-axis illumination adjusting steering engine and a support, the support is fixed on the second mounting plate, the X-axis illumination adjusting steering engine is perpendicularly mounted on the support, the Y-axis illumination adjusting steering engine is mounted on the X-axis illumination adjusting steering engine, and the solar cell panel is fixed on the Y-axis illumination adjusting steering engine.
In the above structure: solar energy tracker top is solar cell panel, can carry out the angle modulation through Y axle illumination regulation steering wheel, and the below is a X axle illumination regulation steering wheel in addition can carry out altitude mixture control, and whole device is fixed on the support, can the sun direction of autotracking for solar panel keeps the biggest illumination area, and solar panel turns into the electric energy with light energy and stores in the battery.
As a further improvement of the invention: the wind driven generator comprises a supporting rod and blades, one end of the supporting rod is fixed on the second mounting plate, and the blades are mounted at the other end of the supporting rod.
In the above structure: the wind driven generator comprises a supporting rod and blades, the supporting rod is used for fixing the blades, and the blades rotate to convert wind energy into electric energy to be stored in the storage battery.
As a further improvement of the invention: and an ultrasonic sensor for detecting obstacles is also arranged in front of the M-shaped ship body.
In the above structure: whether the ultrasonic sensor detects the M-shaped ship body has the obstacle or not, the obstacle can be automatically avoided when the M-shaped ship body encounters the obstacle, the obtained information can be uploaded and updated in real time to correct the advancing direction of the M-shaped ship body by matching with the assembled depth camera, the ultrasonic sensor can simultaneously feed back the information, and the M-shaped ship body is prevented from colliding with other obstacles.
As a further improvement of the invention: the main control machine is provided with an intelligent terminal, and the intelligent terminal is provided with a camera interface, an operation interface and an intelligent interface.
In the above structure: in the intelligent terminal, a camera interface is mainly arranged, the position condition of the equipment can be observed in real time, the equipment can be operated through the operation interface, and the intelligent interface can be used for setting some parameters.
As a further improvement of the invention: the mechanical arm is provided with two sets ofly, the one end of mechanical arm is passed through the bolt fastening and is on M type hull, be connected with the pivot on the other end of mechanical arm, install the mount in the pivot, the salvage net is installed on the mount.
As a further improvement of the invention: the fixed frame is provided with four, sets up along the equidistant of pivot circumferencial direction respectively, and the main control machine drive pivot rotates, the pivot drives the fixed frame and the salvages net rotates together.
In the above structure: the arm is provided with two sets ofly, can effectively improve salvage efficiency, is connected with the pivot on the other end of arm, installs the mount in the pivot, and the salvage net is installed on the mount, guarantees that M type hull can be through two arm swing control salvage nets rubbish in the aquatic at the during operation.
The use method of the multifunctional integrated intelligent lake surface cleaning robot is characterized in that: the method comprises the following steps:
step 1: the method comprises the steps that an M-shaped ship body and related equipment are transported to a place needing cleaning through a transport vehicle, whether the electric quantity of a storage battery on the M-shaped ship body is sufficient or not is checked, if the electric quantity is insufficient, the storage battery is charged through a charger until the electric quantity is sufficient, if the electric quantity is sufficient, the M-shaped ship body is directly placed on the lake surface, a switch of the storage battery on the M-shaped ship body is started, and the M-shaped ship body starts to work on the lake surface;
step 2: when the M-shaped ship body works on the lake surface, a propeller and a driving motor thereof are arranged behind the M-shaped ship body, the propeller is pushed by propeller blades to move forwards in water, when the M-shaped ship body moves forwards, an ultrasonic sensor arranged on the M-shaped ship body can automatically avoid obstacles, obtained information can be uploaded and updated in real time by matching with a depth camera so as to correct the advancing direction of the M-shaped ship body, the ultrasonic sensor can simultaneously feed back the information to prevent the M-shaped ship body from colliding with other obstacles, in the advancing process, the salvage net is controlled by swinging of two mechanical arms to salvage the rubbish on the lake surface, when the bottom sensor does not detect the rubbish, the mechanical arms are lifted back to the original angle, the salvage net is lifted simultaneously to allow the water in the salvage net to flow out, the mechanical arms place the salvage rubbish and algae in the salvage pond, and the water attached to the rubbish can be discharged through the salvage net in the salvage process, the unnecessary weight is not increased, the weight sensor arranged in the salvage pool can transmit data to the upper computer in real time, the weight of salvaged garbage in the salvage pool is detected, if the weight exceeds the standard, a warning can be sent out in time, an operator receives information, remotely controls the M-shaped ship body to return to the shore, pours out the garbage, and then reuses the garbage to clean the garbage on the lake surface;
and step 3: after the lake surface garbage is fished clean, an operator remotely controls the M-shaped ship body to return to the shore, the garbage is poured out, the fishing net, the fishing pool and the filter screen are cleaned, the storage battery switch on the M-shaped ship body is closed, the equipment on the M-shaped ship body is packed up, and the M-shaped ship body is transported by the transport vehicle to return.
Compared with the prior art, the invention has the beneficial effects that:
the invention can realize intelligent automatic lake surface cleaning, the precise sensing is realized through the bottom sensor, the two mechanical arms swing to control the salvage net to carry out the fishing, when the bottom sensor does not detect the garbage, the mechanical arms lift back to the original angle, the salvage net simultaneously lifts, the water in the salvage net flows out, the load of the cleaning robot is not influenced by unnecessary water, the invention is also provided with the ultrasonic sensor which can automatically avoid obstacles, the ultrasonic sensor is provided with the depth camera, the obtained information can be uploaded and updated in real time to correct the advancing direction of the robot, the ultrasonic module can simultaneously carry out the information feedback to avoid the robot from colliding other obstacles, the filter screen is arranged on the ship body, the garbage and algae can be placed in the salvage pool, the water attached to the garbage can be discharged through the filter screen in the process of the fishing, the unnecessary weight is not increased, and the load of the ship can be used on the garbage as much as possible, still through being provided with weighing sensor, can transmit data and give the host computer, can in time send out the warning, the operator receives information, and lake cleaning robot returns the bank, pours rubbish, then uses once more, clearance lake surface rubbish.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic left-side view of the present invention;
FIG. 3 is a schematic view of the propeller and motor mounting of the present invention;
FIG. 4 is a schematic view of the solar tracker of the present invention;
FIG. 5 is a schematic diagram of the main control machine according to the present invention;
fig. 6 is a schematic view of the installation of the weight sensor of the present invention.
List of reference numerals:
1. a salvage net; 2. a bottom layer sensor; 3. a mechanical arm; 4. a main control machine; 5. a wind-solar hybrid controller; 6. a propeller blade; 7. a solar tracker; 8. a wind power generator; 9. a storage battery; 10. a filter screen; 11. an M-shaped hull; 12. an ultrasonic sensor; 13. a depth camera; 14. a propeller; 15. a drive motor; 16. a solar panel; 17. a Y-axis illumination adjusting steering engine; 18. the steering engine is adjusted by X-axis illumination; 19. a support; 20. a camera interface; 21. an operation interface; 22. an intelligent interface; 23. an intelligent terminal; 24. a weight sensor; 25. a first mounting plate; 26. a second mounting plate.
Detailed Description
The invention is described in further detail below with reference to the following detailed description and accompanying drawings:
as shown in fig. 1-6, the invention provides a multifunctional integrated intelligent lake surface cleaning robot, which comprises an M-shaped hull 11, wherein a mechanical arm 3, a bottom sensor 2 and a depth camera 13 are arranged in front of the M-shaped hull 11, a salvage net 1 is arranged on the mechanical arm 3, a salvage pool is arranged on the M-shaped hull 11, a weight sensor 24 is arranged at the bottom of the salvage pool, a filter screen 10 is arranged above the salvage pool, the multifunctional integrated intelligent lake surface cleaning robot also comprises a main control machine 4, a wind and light complementary controller 5, a solar tracker 7, a wind driven generator 8 and a storage battery 9, a mounting plate is arranged above the salvage pool, the main control machine 4, the wind and light complementary controller 5, the solar tracker 7, the wind driven generator 8 and the storage battery 9 are respectively arranged on the mounting plate, the main control machine 4 and the wind and light complementary controller 5 are respectively connected with the storage battery 9, the wind-solar hybrid controller 5 and the solar tracker 7 are respectively connected with the main control machine 4, the wind-power generator 8 and the solar tracker 7 are respectively connected with the storage battery 9, the storage battery 9 converts electric energy, the wind-power generator further comprises 14 propeller blades, 14 propeller blades and a driving motor 15, the 14 propeller blades are installed on the propeller 14, the propeller 14 is connected with the driving motor 15, the driving motor 15 is fixed on the M-shaped ship body 11, the propeller 14 is installed at the rear of the M-shaped ship body 11, and the mechanical arm 3 and the depth camera 13 are respectively connected with the storage battery 9.
The invention provides a multifunctional integrated intelligent lake surface cleaning robot which comprises an M-shaped hull 11, wherein a mechanical arm 3, a bottom sensor 2 and a depth camera 13 are arranged in front of the M-shaped hull 11, a salvage net 1 is arranged on the mechanical arm 3, a salvage pool is arranged on the M-shaped hull 11, a weight sensor 24 is arranged in the salvage pool, a filter screen 10 is arranged above the salvage pool, the multifunctional integrated intelligent lake surface cleaning robot also comprises a main control machine 4, a wind-light complementary controller 5, a solar tracking machine 7, a wind driven generator 8 and a storage battery 9, the whole robot hull is the M-shaped hull 11, the mechanical arm 3 and the salvage net 1 are arranged at the front end of the M-shaped hull 11, and the multifunctional integrated intelligent lake surface cleaning robot can be accurately controlled through the bottom sensor 2. The during operation is catched through two 3 swing control salvage nets 1 of arm, and when bottom sensor 2 did not detect rubbish, the original angle was returned in the 3 lifting of arm, and 1 lifting simultaneously of salvage net lets 1 well water outflow of salvage net, does not let unnecessary water influence the load of cleaning robot. The ultrasonic sensor 12 is further assembled, the obstacle can be automatically avoided, the depth camera 13 is assembled, the obtained information can be uploaded and updated in real time to correct the advancing direction of the M-shaped ship body 11, the ultrasonic sensor 12 can feed back the information at the same time, and the M-shaped ship body 11 is prevented from colliding other obstacles. In terms of energy power, new energy such as solar energy and wind power is utilized, and a wind-solar hybrid system is adopted and is controlled by a wind-solar hybrid controller 5. The electric energy generated by the wind power generator 8 and the solar tracker 7 is stored by the storage battery 9 and is controlled by the main control machine 4. A propeller 14 and a driving motor 15 thereof are installed behind the hull, and advance in water is performed through propeller blades 6. The filtering net 10 is arranged on the ship body, so that garbage and algae can be placed into the salvage pool to play a role in buffering, water attached to the garbage can be discharged through the salvage net 1 before the garbage is placed into the salvage pool in the salvage process, unnecessary weight is not increased, and the load of the M-shaped ship body 11 is used for containing the garbage as much as possible. In addition, even if the ship exceeds the specified weight, the weight sensor 24 in the salvage pond transmits data to the upper computer, so that the upper computer can give out a warning in time, and an operator receives the information, remotely controls the M-shaped ship body 11 to return to the shore to dump garbage, and then the M-shaped ship body is reused to clean the garbage on the lake surface.
In this embodiment: the mounting plates comprise a first mounting plate 25 and a second mounting plate 26, the main control machine 4, the wind-solar hybrid controller 5 and the storage battery 9 are mounted on the first mounting plate 25, and the solar tracker 7 and the wind driven generator 8 are mounted on the second mounting plate 26. The mounting plates comprise a first mounting plate 25 and a second mounting plate 26 which are respectively used for mounting and fixing the main control machine 4, the wind-solar hybrid controller 5, the storage battery 9, the solar tracker 7 and the wind driven generator 8.
In this embodiment: solar energy tracker 7 includes that solar cell panel 16, Y axle illumination adjust steering wheel 17, X axle illumination adjust steering wheel 18 and support 19, support 19 is fixed on second mounting panel 26, X axle illumination adjust steering wheel 18 is installed perpendicularly on support 19, Y axle illumination adjust steering wheel 17 is installed on X axle illumination adjust steering wheel 18, solar cell panel 16 is fixed on Y axle illumination adjust steering wheel 17. Solar cell panel 16 is above solar tracking machine 7, can adjust steering wheel 17 through Y axle illumination and carry out angle modulation, and the below is a X axle illumination in addition and is adjusted steering wheel 18 and can carry out the altitude mixture control, and whole device is fixed on support 19, can the sun direction of autotracking for solar panel keeps the biggest illumination area, and solar panel turns into the electric energy with light energy and stores in battery 9.
In this embodiment: the wind power generator 8 comprises a support rod and a blade, one end of the support rod is fixed on the second mounting plate 26, and the blade is mounted on the other end of the support rod. The wind driven generator 8 comprises a supporting rod and blades, the supporting rod is used for fixing, and the blades rotate to convert wind energy into electric energy to be stored in the storage battery 9.
In this embodiment: an ultrasonic sensor 12 for detecting an obstacle is further installed in front of the M-shaped hull 11. Whether ultrasonic sensor 12 detects M type hull 11 has the barrier, can avoid the barrier automatically when meetting the barrier, cooperation assembly's degree of depth camera 13, and the information that obtains can upload in real time and update in order to correct the direction that M type hull 11 gos forward, and ultrasonic sensor 12 will carry out information feedback simultaneously, avoids M type hull 11 to hit other barriers.
In this embodiment: the main control machine 4 is provided with an intelligent terminal 23, and the intelligent terminal 23 is provided with a camera interface 20, an operation interface 21 and an intelligent interface 22. In the intelligent terminal 23, there is mainly a camera interface 20, which can observe the position of the device in real time, and can operate the device through an operation interface 21, and an intelligent interface 22 can perform some parameter settings.
In this embodiment: the mechanical arm 3 is provided with two sets ofly, the one end of mechanical arm 3 is passed through the bolt fastening on M type hull 11, be connected with the pivot on the other end of mechanical arm 3, install the mount in the pivot, salvage net 1 installs on the mount.
In this embodiment: the fixed frame is provided with four, sets up along the equidistant of pivot circumferencial direction respectively, and main control machine 4 drive pivot rotates, the pivot drives the fixed frame and fishing net 1 rotates together.
Arm 3 is provided with two sets ofly, can effectively improve salvage efficiency, is connected with the pivot on the other end of arm 3, installs the mount in the pivot, and salvage net 1 installs on the mount, guarantees that M type hull 11 can catch the rubbish in the aquatic through two 3 swing control salvage nets 1 of arm at the during operation.
The use method of the multifunctional integrated intelligent lake surface cleaning robot comprises the following steps:
step 1: the method comprises the steps that an M-shaped ship body 11 and related equipment are transported to a place needing cleaning through a transport vehicle, whether the electric quantity of a storage battery 9 on the M-shaped ship body 11 is sufficient is checked, if the electric quantity is insufficient, the storage battery 9 is charged through a charger until the electric quantity is sufficient, if the electric quantity is sufficient, the M-shaped ship body 11 is directly thrown into the lake surface, a switch of the storage battery 9 on the M-shaped ship body 11 is started, and the M-shaped ship body 11 starts to work on the lake surface;
step 2: when the M-shaped hull 11 works on the lake surface, a propeller 14 and a driving motor 15 thereof are arranged behind the M-shaped hull 11, the propeller is pushed by propeller blades 6 to move forward in water, when the M-shaped hull 11 moves forward, an ultrasonic sensor 12 arranged on the M-shaped hull 11 can automatically avoid obstacles, obtained information can be uploaded and updated in real time by matching with a depth camera 13 to correct the moving direction of the M-shaped hull 11, the ultrasonic sensor 12 can simultaneously feed back information to prevent the M-shaped hull 11 from colliding with other obstacles, in the moving process, the salvage net 1 is controlled by swinging of two mechanical arms 3 to salvage rubbish on the lake surface, when the bottom sensor 2 does not detect the rubbish, the mechanical arms 3 return to the original angle, the salvage net 1 is lifted at the same time, water in the salvage net 1 flows out, the rubbish and algae in the salvage net 1 are placed into a salvage pool by the mechanical arms 3, and the rubbish attached with water in the salvage process can be discharged through the salvage net 1 before being placed into the salvage pool, the weight sensor 24 arranged in the salvage pool can transmit data to an upper computer in real time without increasing unnecessary weight, the weight of salvaged garbage in the salvage pool is detected, if the weight exceeds the standard, a warning can be sent out in time, an operator receives information, remotely controls the M-shaped ship body 11 to return to the shore to dump the garbage, and then the garbage is reused to clean the garbage on the lake surface;
and step 3: after the lake surface garbage is fished clean, an operator remotely controls the M-shaped ship body 11 to return to the shore, the garbage is poured out, the fishing net 1, the fishing pool and the filter screen 10 are cleaned, the storage battery 9 switch on the M-shaped ship body 11 is closed, the equipment on the M-shaped ship body 11 is packed up, and the M-shaped ship body 11 is transported by the transport vehicle to return.
The invention can realize the intelligent automatic cleaning of the lake surface, the precise sensing is realized through the bottom sensor 2, the two mechanical arms 3 swing to control the fishing net 1 to catch, when the bottom sensor 2 does not detect the garbage, the mechanical arms 3 lift back to the original angle, the fishing net 1 simultaneously lifts, the water in the fishing net 1 flows out, the unnecessary water does not influence the load of the cleaning robot, the ultrasonic sensor 12 is also arranged and can automatically avoid the obstacle, the depth camera 13 is arranged, the obtained information can be uploaded and updated in real time to correct the advancing direction of the robot, the ultrasonic module can simultaneously feed back the information to avoid the robot from colliding other obstacles, the filtering net 10 is arranged on the hull and can put the garbage and algae into the fishing pool, and the water attached to the garbage can be discharged through the filtering net 10 in the process of fishing without increasing the unnecessary weight, let the heavy burden of ship be used in rubbish as far as possible and hold, still through being provided with weight sensor 24, can transmit data and give the host computer, can in time send out the warning, the operator receives information, and lake cleaning robot returns the bank, pours rubbish, then uses once more, clears up lake surface rubbish.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, but any modifications or equivalent variations made according to the technical spirit of the present invention are within the scope of the present invention as claimed.
Claims (9)
1. Multi-functional integrated intelligence lake surface cleaning robot, its characterized in that: the fishing device comprises an M-shaped hull (11), a mechanical arm (3), a bottom sensor (2) and a depth camera (13) are installed in the front of the M-shaped hull (11), a fishing net (1) is installed on the mechanical arm (3), a fishing pool is arranged on the M-shaped hull (11), a weight sensor (24) is installed at the bottom of the fishing pool, a filter screen (10) is installed above the fishing pool, the fishing device further comprises a main controller (4), a wind-solar complementary controller (5), a solar tracker (7), a wind driven generator (8) and a storage battery (9), a mounting plate is installed above the fishing pool, the main controller (4), the wind-solar complementary controller (5), the solar tracker (7), the wind driven generator (8) and the storage battery (9) are respectively installed on the mounting plate, the main controller (4) and the wind-light complementary controller (5) are respectively connected with the storage battery (9), main control machine (4) is connected respectively to scene complementary control ware (5) and solar energy tracker (7), battery (9) are connected respectively in aerogenerator (8) and solar energy tracker (7), for battery (9) conversion electric energy, still including propeller blade (6), screw (14) and driving motor (15), install on screw (14) propeller blade (6), driving motor (15) are connected in screw (14), driving motor (15) are fixed on M type hull (11), the rear at M type hull (11) is installed in screw (14), battery (9) are connected respectively to arm (3) and degree of depth camera (13).
2. The multifunctional integrated intelligent lake surface cleaning robot as claimed in claim 1, wherein: the mounting plates comprise a first mounting plate (25) and a second mounting plate (26), the main control machine (4), the wind-solar hybrid controller (5) and the storage battery (9) are mounted on the first mounting plate (25), and the solar tracker (7) and the wind driven generator (8) are mounted on the second mounting plate (26).
3. The multifunctional integrated intelligent lake surface cleaning robot as claimed in claim 2, wherein: solar energy tracker (7) include solar cell panel (16), Y axle illumination regulation steering wheel (17), X axle illumination regulation steering wheel (18) and support (19), support (19) are fixed on second mounting panel (26), X axle illumination regulation steering wheel (18) are installed perpendicularly on support (19), Y axle illumination regulation steering wheel (17) are installed on X axle illumination regulation steering wheel (18), solar cell panel (16) are fixed on Y axle illumination regulation steering wheel (17).
4. The multifunctional integrated intelligent lake surface cleaning robot as claimed in claim 2, wherein: the wind driven generator (8) comprises a support rod and blades, one end of the support rod is fixed on the second mounting plate (26), and the blades are mounted at the other end of the support rod.
5. The multifunctional integrated intelligent lake surface cleaning robot as claimed in claim 1, wherein: an ultrasonic sensor (12) for detecting obstacles is also mounted in front of the M-shaped hull (11).
6. The multifunctional integrated intelligent lake surface cleaning robot as claimed in claim 1, wherein: the main control machine (4) is provided with an intelligent terminal (23), and the intelligent terminal (23) is provided with a camera interface (20), an operation interface (21) and an intelligent interface (22).
7. The multifunctional integrated intelligent lake surface cleaning robot as claimed in claim 1, wherein: the mechanical arm (3) is provided with two sets of, the one end of mechanical arm (3) is passed through the bolt fastening on M type hull (11), be connected with the pivot on the other end of mechanical arm (3), install the mount in the pivot, salvage net (1) and install on the mount.
8. The multifunctional integrated intelligent lake surface cleaning robot as claimed in claim 7, wherein: the fixed frame is provided with four, sets up along the equidistant of pivot circumferencial direction respectively, and main control machine (4) drive pivot rotates, the pivot drives the fixed frame and rotates together with salvage net (1).
9. Use method of the multifunctional integrated intelligent lake surface cleaning robot according to any one of claims 1 to 8, characterized in that: the method comprises the following steps:
step 1: the method comprises the steps that an M-shaped ship body (11) and related equipment are transported to a place needing cleaning through a transport vehicle, whether the electric quantity of a storage battery (9) on the M-shaped ship body (11) is sufficient is checked, if the electric quantity is insufficient, the storage battery (9) is charged through a charger until the electric quantity is sufficient, if the electric quantity is sufficient, the M-shaped ship body (11) is directly thrown into the lake surface, a switch of the storage battery (9) on the M-shaped ship body (11) is started, and the M-shaped ship body (11) starts to work on the lake surface;
step 2: when the M-shaped ship body (11) works on the lake surface, a propeller (14) and a driving motor (15) thereof are arranged behind the M-shaped ship body (11), the M-shaped ship body is pushed to advance in water through a propeller blade (6), when the M-shaped ship body advances, an ultrasonic sensor (12) assembled on the M-shaped ship body (11) can automatically avoid obstacles, obtained information can be uploaded and updated in real time through matching with a depth camera (13) to correct the advancing direction of the M-shaped ship body (11), the ultrasonic sensor (12) can simultaneously feed back the information to prevent the M-shaped ship body (11) from colliding other obstacles, in the advancing process, the salvage net (1) is swung and controlled by two mechanical arms (3) to salvage the rubbish on the lake surface, when the bottom sensor (2) does not detect the rubbish, the mechanical arms (3) are lifted back to the original angle, the salvage net (1) is lifted at the same time, and the water in the salvage net (1) is enabled to flow out, the mechanical arm (3) puts the garbage and algae in the salvage net (1) into the salvage pool, water attached to the garbage is discharged through the salvage net (1) before the garbage is put into the salvage pool in the salvage process, unnecessary weight is not increased, a weight sensor (24) installed in the salvage pool can transmit data to an upper computer in real time, the weight of the salvaged garbage in the salvage pool is detected, if the weight exceeds the standard, a warning can be sent out in time, an operator receives information, remotely controls the M-shaped ship body (11) to return to the shore to pour the garbage out, and then the garbage is reused to clean the garbage on the lake surface;
and step 3: after the lake surface garbage is fished up completely, an operator remotely controls the M-shaped ship body (11) to return to the shore, the garbage is poured out, the fishing net (1), the fishing pool and the filter screen (10) are cleaned, the switch of the storage battery (9) on the M-shaped ship body (11) is closed, the equipment on the M-shaped ship body (11) is packed up, and the M-shaped ship body (11) is transported by the transport vehicle to return.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210181468.XA CN114408107A (en) | 2022-02-25 | 2022-02-25 | Multifunctional integrated intelligent lake surface cleaning robot and use method thereof |
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| CN202210181468.XA CN114408107A (en) | 2022-02-25 | 2022-02-25 | Multifunctional integrated intelligent lake surface cleaning robot and use method thereof |
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Application publication date: 20220429 |