CN114537603A

CN114537603A - Water body garbage cleaning ship

Info

Publication number: CN114537603A
Application number: CN202210271171.2A
Authority: CN
Inventors: 余杨晚晴; 吕海宁; 倪未希; 万懿; 施超; 沈显星; 孙鹏飞
Original assignee: Shanghai Jiaotong University
Current assignee: Shanghai Jiaotong University
Priority date: 2022-03-18
Filing date: 2022-03-18
Publication date: 2022-05-27

Abstract

The invention discloses a water body garbage cleaning ship, which comprises: the ship body is internally provided with a garbage storage bin; a deck disposed on the hull; at least one lifting device arranged at a side of the deck; at least one underwater cleaning robot provided at the hoist and configured to be lowered into the water by the hoist; the water surface garbage cleaning device is arranged at the front end of the ship body and is communicated with the garbage storage bin; the water surface garbage cleaning device is configured to be capable of collecting garbage on the water surface into the cleaning ship when the cleaning ship advances. The water surface garbage and underwater garbage collecting and sorting device can collect water surface garbage and underwater garbage, prevent the water surface garbage from escaping, automatically sort and crush the underwater garbage, and has the characteristics of high cleaning efficiency and wide cleaning range.

Description

Water body garbage cleaning ship

Technical Field

The invention relates to the field of mechanical engineering, in particular to a water body garbage cleaning ship.

Background

A large amount of plastic garbage exists in the coastal zone for a long time, and the plastic garbage is not degradable and harms the marine ecological environment. A part of the marine garbage floats on the surface of the water body, and a large amount of the marine garbage settles on the seabed. The existing water area cleaning boat only aims at floating garbage on the water surface, but cannot consider both the garbage in water and the garbage at the seabed. A multifunctional cleaning ship capable of completing garbage on water surface, water and seabed is still to be further developed.

The cleaning ship in the prior art can effectively collect water surface garbage, but is limited by the floating water surface of the ship, and no effective measures for underwater and seabed garbage exist. Some clean the ship through seting up the rubbish gathering device in hull prelude, can make the passive collection of rubbish on the surface of water to gathering the groove, nevertheless collect mouthful lack and shelter from the device, rubbish spills over easily, and efficiency is lower. Some cleaning devices adopt a mode of collecting garbage by a transmission crawler belt, and the garbage is transported to a ship from the water surface, and the garbage is only aimed at the water surface garbage even though the collection mode is more active and the garbage is not easy to escape. Some devices are respectively provided with two cleaning devices, namely a floating isolation belt and a bucket, at two sides of a cleaning ship, underwater garbage and floaters can be cleaned, but the underwater collection range is limited to the depth near the ship, and the garbage in a deeper water area or settled water bottom can not be cleaned far away.

Therefore, technical personnel in the field are dedicated to develop a water body garbage cleaning ship, which can collect water surface garbage and water bottom garbage, prevent the water surface garbage from escaping, automatically sort and break the water bottom garbage, and has the characteristics of high cleaning efficiency and wide cleaning range.

Disclosure of Invention

In order to achieve the above object, the present invention provides a water body garbage cleaning ship, comprising:

the ship body is internally provided with a garbage storage bin;

a deck disposed on the hull;

at least one lifting device arranged at a side of the deck;

at least one underwater cleaning robot provided at the hoist and configured to be lowered into the water by the hoist;

the water surface garbage cleaning device is arranged at the front end of the ship body and is communicated with the garbage storage bin; the water surface garbage cleaning device is configured to be capable of collecting garbage on the water surface into the cleaning ship when the cleaning ship advances.

Further, the ship body comprises a first ship body and a second ship body which are arranged in parallel, and the garbage storage bin is formed between the first ship body and the second ship body.

Further, the surface garbage cleaning device comprises:

the collection cabin is formed by extending the end part of the garbage storage bin outwards;

the net plate is arranged at the opening of the collecting cabin and is connected to the side wall of the collecting cabin in a pivoting mode.

Further, the end of the mesh plate is provided with a roller, and the roller is configured to rotate together with the mesh plate.

Further, the collecting cabin also comprises a bottom wall, and the side wall and the bottom wall are both provided with hollow structures.

Further, the bottom of the garbage storage bin is a horizontal grid plate, and a tail grid plate is arranged at the tail part of the garbage storage bin, which is opposite to the water surface garbage cleaning device.

Further, the hoisting device is a winch.

Further, the underwater cleaning robot includes:

a base;

the walking devices are arranged on two opposite sides of the base so as to drive the robot to move;

the first garbage recycling device and the second garbage recycling device are detachably arranged on the base and arranged in parallel; the first and second waste recovery devices each have a waste suction pipe and are configured to be able to suck waste, break the waste and store the waste through the waste suction pipe;

the garbage identification device is arranged on the base and is configured to identify the garbage type;

the control device is connected with the garbage recognition device, the first garbage recovery device and the second garbage recovery device and is configured to be capable of respectively starting the corresponding garbage recovery devices according to the types of the garbage and automatically planning the walking path of the robot;

the garbage suction pipeline of the first garbage recycling device and the garbage suction pipeline of the second garbage recycling device are arranged in parallel and are abutted together, and a horn-shaped opening is formed in the opening of the garbage suction pipeline.

Further, each of the first waste recovery device and the second waste recovery device further comprises:

the box body is arranged on the base, and a material storage area and a crushing area are arranged in the box body;

the crushing assembly is arranged in the crushing area, and one end of the garbage suction pipeline is communicated with the crushing assembly;

the electric bin is arranged at one end of the box body, which is opposite to the garbage suction pipeline;

a centrifugal pump disposed within the electrical bin, the centrifugal pump configured such that, in operation, a negative pressure can be generated at an opening of the waste suction pipe;

the motor is arranged in the electric bin, and the output end of the motor is connected to the crushing assembly to drive the crushing assembly to work.

Further, the running gear includes a pair of track assemblies respectively disposed at the opposite sides of the base, and a pair of rocker-arm type tracks each having one end pivotally connected to the corresponding track assembly.

The water body garbage cleaning ship provided by the invention has the following beneficial technical effects:

1. the underwater cleaning robot capable of sinking into the water bottom and the water surface garbage cleaning device are integrated on the ship body, so that the water surface garbage and the water bottom garbage can be cleaned simultaneously, and the cleaning effect on the water area is more thorough and comprehensive;

2. the space between the two ship bodies is used as a water surface floating garbage storage cabin, the space formed by the two ship bodies of the catamaran is effectively utilized, and the storage space is maximized;

3. the water surface garbage cleaning device turns the flowing garbage into the collection cabin through the rollers of the continuously rotating screen plate, so that the cleaning is more active and efficient, the floating garbage is prevented from escaping, and the cleaning efficiency is improved;

4. the underwater cleaning robot collects garbage by using a pump suction hydraulic garbage collection mode with a horn-shaped opening, the range of sucking the garbage is expanded, the garbage can be collected to a pump suction port under the action of a centrifugal pump, the garbage cleaning efficiency is improved, and the cleaning capacity is stronger;

5. the underwater cleaning robot adopts the crushing assembly to crush and store the garbage, so that the space occupied by single garbage is effectively reduced, meanwhile, the influence of factors such as the size and the shape of the garbage on the garbage collection efficiency can be ignored, and the garbage storage efficiency is improved;

6. cleaning the robot under water and carrying out classified storage according to rubbish recognition result through setting up two rubbish recovery unit, accomplish the letter sorting of rubbish when collecting rubbish, reduce follow-up manual sorting's work load.

7. The underwater cleaning robot intelligently adjusts the suction force of the pump, saves energy, protects environment and is more accurate in sorting;

8. the underwater cleaning robot reduces the operation process of manual positioning and control by setting an autonomous planning function, reduces the dependence on manual work, has high intelligent degree, can carry out cluster cleaning under the control of a host, and has large-scale cleaning capability.

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

Drawings

FIG. 1 is a schematic structural view of a water body garbage cleaning ship according to a preferred embodiment of the present invention;

FIG. 2 is a schematic view of the structure of FIG. 1 from a bottom perspective;

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

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

FIG. 5 is a front view of FIG. 1;

FIG. 6 is an enlarged view of a portion of FIG. 1;

FIG. 7 is a schematic view of the underwater cleaning robot;

fig. 8 is a cross-sectional view of fig. 7.

Wherein, 100-ship body, 110-first ship body, 120-second ship body, 130-garbage storage bin, 131-grid plate, 132-horizontal grid plate, 200-deck, 210-hoisting device, 300-water surface garbage cleaning device, 310-screen plate, 320 collecting cabin, 330-roller, 321-side wall, 322-bottom wall, 400-underwater cleaning robot, 10-base, 20-walking device, 21-crawler belt component, 22-rocker arm type crawler belt, 30-first garbage recovery device, 31-box body, 32-garbage suction pipeline, 33-centrifugal pump, 34-motor, 35-crushing component, 36-storage area, 37-crushing area, 38-electric cabin, 40-second garbage recovery device, 50-trumpet shaped opening.

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 2, the invention provides a water body garbage cleaning ship, which comprises a ship body 100, a deck 200, a water surface garbage cleaning device 300, a hoisting device 210 and an underwater cleaning robot 400. The hull 100 is used to provide buoyancy so that the cleaning ship can float on the water surface, and a garbage storage bin 130 is provided therein. In some embodiments, as shown in fig. 2, the hull 100 is a double hull structure, i.e., includes a first hull 110 and a second hull 120 arranged in parallel. Wherein, the area between the first hull 110 and the second hull 120 is provided as the garbage storage bin 130, which can increase the garbage storage space. The water surface garbage cleaning device 300 is arranged at the front end of the ship body. When the cleaning ship moves on the water surface, the water surface garbage cleaning device 300 is started to collect the garbage into the garbage storage bin 130. The lifting device 210 is disposed on the deck 200, preferably adjacent to at least one side of the deck 200. The underwater cleaning robot 400 is arranged at the hanging device 210, and when underwater garbage needs to be cleaned, the underwater cleaning robot 400 can be hung in water through the hanging device 210. Through combining together surface of water rubbish cleaning device 300 and cleaning machine people 400 under water, can accomplish the surface of water and submarine rubbish clearance simultaneously, it is more thorough comprehensive to the clean effect in waters.

In some embodiments, as shown in fig. 5 and 6, the surface garbage sweeping device 300 includes a mesh plate 310 and a collecting chamber 320, the collecting chamber 320 is formed by extending the end of the garbage storage bin 130, and preferably, the side wall 321 and the bottom wall 322 of the collecting chamber 320 are hollow to facilitate the filtering of seawater and silt. For example, the side wall 321 and the bottom wall 322 of the collecting chamber 320 may be provided with through holes or may be in the shape of a fence. The collecting chamber 320 is open at one end thereof, and the mesh plate 310 is disposed at the opening to cover the opening, and at the same time, the mesh plate 310 is pivotably connected to the collecting chamber 320. The end of the mesh plate 310 is provided with a roller 330, when the cleaning boat travels on the water surface, the mesh plate 310 can rotate, the roller 330 continuously turns the garbage flowing on the water surface into the collection chamber 320, and the garbage cannot escape due to the obstruction of the roller 330.

Referring to fig. 2, a garbage storage bin 130 is disposed between the first hull 110 and the second hull 120 to serve as a storage bin for floating garbage on the water surface. In some embodiments, as shown in fig. 2, the aft mesh plate 131 intercepts the garbage, the horizontal mesh plate 132 is arranged at a certain depth under the water surface, i.e. at the bottom of the garbage storage bin 130, and the horizontal mesh plate 132 is connected with the aft mesh plate 131 and the bottom wall 322 of the collection compartment 320, so as to form the garbage storage bin 130. The structure effectively utilizes the space formed by the double hulls.

In some embodiments, as shown in fig. 1, 3 and 4, the number of the lifting devices 210 may be multiple, and preferably, the lifting devices are arranged at intervals side by side on one side of the ship, so that a plurality of underwater cleaning robots 400 can be lifted at the same time. A plurality of the hoist devices 210 may be disposed at both sides of the ship. The hoisting device 210 may be a winch, an a-frame or the like, and may hoist and retrieve the underwater cleaning robot 400. The underwater cleaning robot 400 collects the garbage and then retrieves the garbage to the ship, and the garbage can be discharged and then can be distributed into the water again.

The underwater cleaning robot may be any of those known in the art. In some embodiments, as shown in fig. 7 and 8, the underwater cleaning robot includes a base 10, a traveling device 20, a first garbage collection device 30, a second garbage collection device 40, a garbage recognition device (not shown), and a control device (not shown). The traveling devices 20 are disposed at opposite sides of the base 10 for driving the robot to travel on the water bottom. The first garbage recycling device 30 and the second garbage recycling device 40 are arranged on the base 10 in parallel and used for absorbing garbage, crushing the garbage and storing the garbage. Both waste recovery devices can be removed from the base 10 to facilitate dumping and cleaning of the waste. The garbage recognition device is arranged at the front end of the robot, and can recognize the front picture of the robot and classify recognized garbage, for example, the garbage is recognized as plastic garbage or non-plastic garbage. The control device can respectively control the first garbage collection device 30 and the second garbage collection device 40 to work, and according to the garbage identification result, different types of garbage are absorbed into different garbage collection devices, for example, plastic garbage is absorbed into the first garbage collection device 30, and non-plastic garbage is absorbed into the second garbage collection device. Meanwhile, the control device can also adjust the suction force of the garbage recovery device according to the garbage identification result so as to reduce energy consumption. In some embodiments, the garbage recognition device may be integrated with a controller, the controller runs a recognition algorithm, the recognition result is transmitted to the control device, and the control device starts the corresponding garbage recycling device according to the type of the garbage. In some embodiments, the control device may serve as a general control core, is connected to the garbage recognition device, receives the signal collected by the garbage recognition device, obtains a recognition result of the garbage type by using a recognition algorithm, and further starts different garbage recycling devices according to the garbage recognition result.

The first waste recovery device 30 and the second waste recovery device 40 have the same structure. The first garbage collection device 30 will be described as an example. As shown in fig. 7 and 8, the garbage collection apparatus includes a tank 31, a garbage suction pipe 32, a crushing assembly 35, a centrifugal pump 33, and a motor 34. The garbage suction duct 32 is provided outside the housing 31 and communicates to the inside of the housing 31 for absorbing garbage. The interior of the box body 31 is divided into a crushing area 37 and a storage area 36, the crushing assembly 35 is arranged in the crushing area 37 and communicated to the garbage suction pipeline 32, garbage enters the crushing assembly 35 through the garbage suction pipeline 32 and is crushed, and the crushed garbage is discharged into the storage area 36 to be stored. Broken subassembly 35 can adopt the broken structure of rotation type, including broken storehouse and broken knife tackle, broken knife tackle can be with rubbish breakage at broken storehouse internal rotation. An electric bin 38 is arranged at one end of the box body 31 opposite to the garbage suction pipeline 32, the motor 34 is arranged in the electric bin 38, and an output shaft of the motor 34 is connected with the crushing assembly 35 and can drive the crushing assembly 35 to rotate. A centrifugal pump 33 may be provided in the electric bin 38, and when the centrifugal pump 33 is activated, a negative pressure is formed in the tank 31, and suction is generated at an inlet of the garbage suction pipe 32 by the negative pressure to collect the garbage. The electrical bin 38 can be of a non-oil-filled bin structure, and has good sealing performance, so that water is prevented from entering the electrical bin 38.

In some embodiments, as shown in fig. 7, the garbage suction pipes 32 of the first garbage collection device 30 and the garbage suction pipes 32 of the second garbage collection device 40 are arranged in parallel and close together, and at the same time, a trumpet-shaped opening 50 is provided at the inlet of the two garbage suction pipes 32. The flared opening 50 is utilized, a hydraulic garbage collection mode is pumped in combination, the range of garbage suction is enlarged, and the garbage can be collected into a pump suction port under the action of the centrifugal pump 33, so that the garbage cleaning efficiency is improved, and the cleaning capacity is stronger.

The walking device 20 is a driving mechanism of the robot, and is used for driving the robot to walk on the water bottom. In some embodiments, as shown in fig. 7 and 8, the running gear 20 includes a pair of track assemblies 21 disposed on both sides of the base 10, each track assembly 21 having the same structure and may be a crawler-type structure known in the art, for example, including a track, a driving wheel, a driven wheel, and a driving member, the track being wrapped around the driving wheel and the driven wheel, and the driving member driving the driving wheel to rotate. In some embodiments, walker 20 further includes a rocker arm track 22, rocker arm track 22 having one end pivotally connected to the track assembly and the other end being a free end, rocker arm track 22 being wrapped around the track. By providing the rocker arm type crawler 22, the robot has a higher obstacle crossing height and can be applied to more complicated terrains. It should be understood that the traveling device 20 may also be a wheel type structure, a suspension type propeller structure, or the like that can drive the robot to move underwater.

In some embodiments, the garbage recognition device may employ a lighting camera, and can acquire a picture in front of the robot, and process the image data to identify the type of garbage by using an image recognition technology existing in the prior art. And if the garbage is identified as plastic garbage or non-plastic garbage, the centrifugal pumps 33 of the corresponding garbage recovery devices are respectively started, and the garbage is collected by using negative pressure. In addition, the suction of the pump can be intelligently adjusted according to the type of garbage, the suction of the pump is increased if the weight is large, otherwise, the suction is reduced, and the garbage sorting machine is energy-saving, environment-friendly and more accurate in sorting.

In some embodiments, the robot further comprises an underwater camera (not shown in the figure) or realizes a positioning function by a lighting camera, the garbage is positioned by a recognition algorithm, and after the garbage is positioned, the robot automatically navigates to the position where the garbage is located by an autonomous path planning algorithm to perform cleaning work, so that the operation process of manual positioning and control can be reduced, dependence on manpower is reduced, the intelligent degree is improved, and the robot can conveniently perform cluster cleaning under the control of a control device.

In some embodiments, the robot is provided with a buoyant material that may assist in pulling the robot out of the water.

In the present invention, the arrangement of the centrifugal pump 33 can be obtained according to the following procedure:

based on the expression of the effective power, the shaft power and the efficiency of the centrifugal pump 33, the effective power, the shaft power and the efficiency under different powers of the centrifugal pump 33 during operation are calculated according to the data of the lift, the mass flow, the gravitational acceleration and the like of the centrifugal pump 33, and the power interval most suitable for pumping underwater waste in seawater can be obtained.

The basic formula of the motor power and the rotating speed is as follows:

where P is a rated power (KW), T is a rated torque (N.m), and N is a rated rotational speed (min/min).

The motor speed and power curve can be obtained by the formula, and as shown in the figure, the design calculation is carried out according to the curve to configure the motor parameters.

Based on the fluid mechanics theory, an underwater cleaning robot model is established in solid works and is led into ANSYS Fluent software for numerical simulation, a flow field around the underwater cleaning robot during working is obtained, and simulation research shows that the underwater cleaning robot model is smooth near a seawater pump, is high in speed, is low in local pressure, and can effectively suck underwater waste.

Based on a machine learning theory, after training of a large number of data sets, the image recognition algorithm can accurately recognize garbage on a simulation platform, and finally, the garbage is applied to an actual robot.

The invention provides a water body garbage cleaning ship, which comprises the following operation processes:

1. entering water: before the water body garbage cleaning boat enters water, garbage at the bottom of the boat body is cleaned.

2. The operation of the water surface garbage collecting device: the device 300 for cleaning the garbage on the water surface is arranged at the bow of the ship, and the net plate 310 starts to rotate along with the advance of the ship, so that the garbage is collected into the collection cabin 320.

3. The underwater cleaning robot works: the underwater cleaning robot 400 and the hanging device 210 are installed at both sides of the ship, and hang in water to perform the submarine garbage cleaning operation. The robot collects the garbage and then recovers the garbage to the ship, and the garbage can be discharged and then can be distributed for launching again.

The underwater cleaning robot comprises the following working procedures:

1. assembling: the first waste recovery device 30 and the second waste recovery device 40 are cleaned and installed with the base 10 and/or the buoyant material.

2. Entering water for cruising: after the robot enters water and sits at the bottom, garbage recognition, positioning and autonomous path planning are carried out through an intelligent algorithm, and the robot automatically drives to an area with garbage.

3. Garbage sorting: the intelligent garbage sorting is carried out by utilizing an identification algorithm, negative pressure is generated by opening centrifugal pumps 33 of different garbage recovery devices, and the garbage enters a box body 31 of a specific garbage recovery device from a garbage suction pipeline 32 under the action of pressure.

4. Crushing garbage: after the garbage passes through the garbage suction pipe 32, the motor 34 drives the crushing assembly 35 of the crushing area 37 to cut the garbage into garbage fragments.

5. Garbage storage: the garbage is crushed and then is conveyed to the material storage area 36 of the box body 31 for storage, and the storage space is greatly improved.

6. And (3) recovering the robot after the garbage is stored to a certain degree, separating the first garbage recovery device 30 and the second garbage recovery device 40 from the base 10, recovering the garbage fragments collected in the box body 31, and respectively carrying out corresponding treatment on the sorted garbage fragments.

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

Claims

1. A water body garbage cleaning ship is characterized by comprising:

the interior of the ship body is provided with a garbage storage bin;

a deck disposed on the hull;

at least one lifting device arranged at a side of the deck;

2. The water body waste sweeping vessel of claim 1, wherein the hull comprises a first hull and a second hull arranged in parallel, the first hull and the second hull forming the waste storage bin therebetween.

3. The vessel for sweeping water body garbage as claimed in claim 1, wherein said device for sweeping water surface garbage comprises:

4. A vessel for sweeping water body waste as claimed in claim 3, wherein the end of the screen is provided with rollers arranged to rotate with the screen.

5. The vessel for sweeping water body garbage of claim 3, wherein said collecting chamber further comprises a bottom wall, and said side wall and said bottom wall are both provided as a hollow structure.

6. The water body garbage cleaning ship according to claim 1, wherein the bottom of the garbage storage bin is a horizontal grid plate, and a tail grid plate is arranged at the tail part of the garbage storage bin opposite to the water surface garbage cleaning device.

7. The vessel for sweeping water body garbage of claim 1, wherein said hoisting device is a winch.

8. The vessel for sweeping water body garbage of claim 1, wherein the underwater cleaning robot comprises:

a base;

9. The water body waste sweeping vessel of claim 8, wherein each of the first waste recovery device and the second waste recovery device further comprises:

a centrifugal pump disposed within the electrical bin, the centrifugal pump configured such that, in operation, a negative pressure can be generated at the opening of the waste suction pipe;

10. The water body waste cleaning vessel of claim 8, wherein said traveling means includes a pair of track assemblies disposed on said opposite sides of said base, respectively, and a pair of rocker arm tracks each having one end pivotally connected to a corresponding one of said track assemblies.