CN117144871A

CN117144871A - Water surface garbage classification cleaning device based on image recognition and working method thereof

Info

Publication number: CN117144871A
Application number: CN202311075180.5A
Authority: CN
Inventors: 崔新娟; 杜付鑫
Original assignee: Shandong Xinpeng Rui Intelligent Technology Co ltd
Current assignee: Shandong Xinpeng Rui Intelligent Technology Co ltd
Priority date: 2023-08-24
Filing date: 2023-08-24
Publication date: 2023-12-01

Abstract

The invention belongs to the field of water surface garbage classification and collection, and provides a water surface garbage classification and cleaning device based on image recognition and a working method thereof, wherein the water surface garbage classification and cleaning device comprises a ship body, a conveyor belt collecting mechanism is fixed on the ship body, and a garbage classification and storage device fixed on the ship body is arranged below the conveyor belt collecting mechanism; the garbage classification storage device comprises a waste collection box and a floating algae collection box, wherein the floating algae collection box is arranged on an oil and water removing device through a sealing clamping plate, the oil and water removing device is fixed on a ship body, an opening at the top of the floating algae collection box is sealed by a pressing plate, and the waste collection box is arranged on the pressing plate and is provided with an opening at the top; the waste is collected by utilizing the conveyor belt collecting mechanism, the floating algae is collected by utilizing the floating algae collecting box, the waste and the floating algae can be effectively separated by adopting different garbage collecting modes, and the collecting cost of the garbage on the water surface can be reduced through classified storage and corresponding treatment.

Description

Water surface garbage classification cleaning device based on image recognition and working method thereof

Technical Field

The invention belongs to the technical field of water surface garbage classification and collection, and particularly relates to a water surface garbage classification and cleaning device based on image recognition and a working method thereof.

Background

The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.

In river (lake) river basin or water surface of water body such as view water, the pollutant such as artificial abandonment waste product, plant drift thing, plankton algae floats on the surface of water, along with rivers gathering form surface of water rubbish, influence people's sense organ, simultaneously, rubbish accumulation area increases can cause river course jam, water pollution scheduling problem, seriously destroys local aquatic organism's original living environment, makes the usable fresh water resource volume of human reduce, finally threatens human health. Therefore, the water surface garbage needs to be cleaned in time, and the existing main stream cleaning mode is manual salvaging and mechanical cleaning.

The manual salvage has the problems of incomplete cleaning, low efficiency, high labor intensity, limited cleaning area and the like, and needs to consume a large amount of labor force, and has relatively long period, but has poor actual effect. Mechanical cleaning can be divided into two modes of fuel oil driving and manual driving according to power sources. The use of the fuel driving machine can obviously reduce the labor intensity, improve the cleaning efficiency and enlarge the cleaning range, but the equipment has large volume, high running cost and environmental pollution, and is not suitable for water areas with smaller areas and more complex terrains. The manual driving is generally carried out by the related personnel standing on the motor boat and salvaging the garbage by the net bag, and the problems of high labor intensity, low cleaning efficiency, poor actual effect and the like are also existed. The garbage classification work cannot be completed by the above cleaning mode, a large amount of resources are needed to be input for classifying garbage, or a centralized treatment method is adopted, but the garbage resource value and the economic value are low during centralized treatment, the garbage treatment amount and the equipment use amount are large, and the land resource consumption is large. Therefore, the garbage can be classified when the garbage on the water surface is cleaned, the garbage diversion treatment can be promoted, and the environmental benefit and the economic benefit of garbage recovery can be improved.

The existing water surface garbage cleaning device capable of classifying garbage generally adopts a mode of collecting garbage firstly and classifying then, the water surface garbage is salvaged onto the device by utilizing the collecting device, garbage sorting is carried out by utilizing the classifying device, the classifying device generally adopts a baffle plate and a manipulator structure, and the problems that garbage without a fixed shape cannot be processed, the manipulator is difficult to control in movement, the single piece of garbage is low in processing efficiency and the like exist. For example, in the prior art, a water surface garbage collection and classification device which is used by matching a conveyor belt and a baffle plate is adopted, the device conveys water surface garbage to a second-stage conveyor belt which is horizontally arranged through a first-stage conveyor belt, when garbage passes through a classification mechanism, the classification baffle plate changes the moving direction of the garbage to realize the garbage classification function, but the device can only be used for garbage with a fixed shape, such as a plastic bottle and a pop can, and garbage without the fixed shape, such as planktonic algae, cannot be effectively classified, so that the device cannot be applied to a water area enriched by planktonic algae. The inventor finds that the economic benefit and the environmental benefit of garbage recovery can be maximized by the split-flow treatment of the wastes and the floating algae in water, and the floating algae can be prepared into organic fertilizer and aquaculture feed for use, but the existing water surface garbage cleaning device cannot meet the classification requirement of the wastes and the floating algae, and a large amount of resources are required to be added for garbage classification.

Disclosure of Invention

In order to solve the problems, the invention provides a water surface garbage classification cleaning device based on image recognition and a working method thereof.

According to some embodiments, the first scheme of the invention provides a water surface garbage classification cleaning device based on image recognition, which adopts the following technical scheme:

the water surface garbage classification and cleaning device based on image recognition comprises a ship body, wherein a conveyor belt collecting mechanism is fixed on the ship body, and a garbage classification and storage device fixed on the ship body is arranged below the conveyor belt collecting mechanism; the garbage classification storage device comprises a waste collection box and a floating algae collection box, wherein the floating algae collection box is arranged on an oil and water removing device through a sealing clamping plate, the oil and water removing device is fixed on a ship body, an opening at the top of the floating algae collection box is sealed by a pressing plate, and the waste collection box is arranged on the pressing plate and is provided with an opening at the top;

the inner side surface of the floating algae collecting box is parallel to the top edge near the top opening, and a sealing strip mounting groove is arranged in the sealing strip mounting groove and matched with the pressing plate to seal the floating algae collecting box; the bottom of the floating algae collecting box and the sealing clamping plates are provided with perforated plates, water inlets are formed in the side plates of the floating algae collecting box, and the water inlets are in sealing connection with the collecting openings through water pipes.

Further, the ship body comprises a bottom plate, wherein first pre-tightening supports are respectively fixed on two sides of one end of the bottom plate, which is close to the collecting port, and first pre-tightening rods are fixed in the first pre-tightening supports; two sides of the other end of the bottom plate, which is far away from the collecting port, are respectively fixed with a second pre-tightening support, and a second pre-tightening rod is fixed in the second pre-tightening support;

the two first pre-tightening rods and the two second pre-tightening rods penetrate through the pressing plate to fix the floating algae collecting box between the pressing plate and the sealing clamping plate; floating plates are symmetrically fixed on two sides of the pressing plate, and conveyor belt collecting mechanisms are fixed on the two floating plates;

and each second pre-tightening rod is fixedly provided with a limiting check ring, the control box bottom plate penetrates through the second pre-tightening rods and is arranged on the limiting check ring, and the control box bottom plate is parallel to the bottom plate by adjusting the positions of the two limiting check rings.

Further, the conveyor belt collecting mechanism comprises a conveyor belt lifting assembly, the conveyor belt lifting assembly comprises a first bearing seat and a second bearing seat, each floating plate is provided with a first bearing seat and a second bearing seat, and the axes of the first bearing seat and the second bearing seat are parallel to each other;

the first bearing seat is connected with one end of a first supporting rod through a first supporting shaft, and the other end of the first supporting rod is hinged with a non-end part of the conveyor belt supporting frame; the first bearing seat is also connected with a first synchronous belt pulley through a first supporting shaft, and the first synchronous belt pulley is fixed on the first supporting shaft and rotates synchronously with the first supporting shaft; the first synchronous belt wheel is fixedly connected with an output shaft of a first driving motor through a first supporting shaft, and the first driving motor is fixed on the floating plate through a motor fixing frame;

The second bearing is connected with one end of a second supporting rod through a second supporting shaft, and the other end of the second supporting rod is hinged with the linear bearing seat; the second bearing is also connected with a second synchronous pulley through a second supporting shaft, and the second synchronous pulley is fixed on the second supporting shaft and synchronously rotates with the second supporting shaft.

Further, the linear bearing seat is sleeved on the guide shaft and can move along the guide shaft, and two end parts of the guide shaft are respectively fixed on the conveyor belt supporting frame through a first connecting bracket and a second connecting bracket; the first support rod and the second support rod support the conveyor belt support frame together.

Further, the first synchronous belt pulley and the second synchronous belt pulley are connected through a synchronous belt to transmit power;

a second rolling linear guide rail pair is arranged on the surface of each second support rod, and a sliding block on the second rolling linear guide rail pair is hinged with one end of the right-angle connecting bracket;

the surface of each floating plate is provided with a first rolling linear guide rail pair, a sliding block on the first rolling linear guide rail pair is fixedly connected with the other end of the right-angle connecting bracket, and the right-angle connecting bracket moves back and forth along the first rolling linear guide rail pair under the traction of the sliding block of the second rolling linear guide rail pair;

The two ends of the push rod are respectively fixed on the right-angle connecting brackets at the two sides and are close to one side of the first rolling linear guide rail pair.

Further, the conveyor belt collecting mechanism further comprises a conveyor belt collecting assembly, the conveyor belt collecting assembly comprises conveyor belt supporting frames, two conveyor belt supporting frames are symmetrically arranged, and a third bearing seat and a fourth bearing seat are respectively fixed at two ends of each conveyor belt supporting frame; the first roller passes through two third bearing seats to be rotationally connected with the conveyor belt support frame, the second roller passes through two fourth bearing seats to be rotationally connected with the conveyor belt support frame, the first roller and the second roller are arranged in parallel, the conveyor belt is sleeved on the first roller and the second roller, tensioning and supporting are carried out through the two rollers, and the conveyor belt is provided with a convex baffle;

the second roller is fixedly connected with an output shaft of a second driving motor, the second driving motor is fixed on the conveyor belt supporting frame through a motor fixing bracket, and the second driving motor drives the second roller to rotate so as to drive the conveyor belt to run.

Further, a control box upper cover is fixed on the control box bottom plate, the control box upper cover is a box body with an opening at the lower end, and threading holes are formed in two sides of the box body; a camera bracket is fixed on the top of the upper cover of the control box, the camera is fixed on the camera bracket, and the camera is communicated with the upper computer;

A third driving motor is fixed at one end of the floating plate, which is far away from the collecting port, an output shaft of the third driving motor faces to the direction far away from the collecting port, and a propeller is fixed on the output shaft;

the controller is fixed in the control box and is connected with the first driving motor, the second driving motor and the third driving motor.

Further, the oil and water removing and purifying device is connected with the bottom plate through a right angle code, a reticular plate is arranged in the oil and water removing and purifying device to divide the box body into a front box body close to the collecting port and a rear box body far away from the collecting port, a plurality of layers of oil absorption felts are arranged in the front box body, the top of the rear box body is provided with a baffle seal, so that water flows enter the oil and water removing and purifying device from the top of the front box body;

the oil and water removing and purifying device is characterized in that a water outlet is formed in the surface of one side, far away from the collecting port, of the oil and water removing and purifying device, the water outlet is connected with a water inlet of a water pump, the water outlet of the water pump is connected with a pressing plate through a water pipe, and the pressing plate is arranged in a hollow mode.

Further, a gear box is fixed at the front end of the pressing plate, which is close to the collecting opening, and a gear box upper cover is fixed on the gear box shell;

the first transmission shaft and the second transmission shaft penetrate through the upper cover of the gear box, are vertically fixed on the inner bottom surface of the gear box shell and can rotate around respective axes, and are parallel; an impeller is arranged at the shaft body position of the first transmission shaft;

A driving gear is fixed at the top end of the first transmission shaft, a driven gear is fixed at the top end of the second transmission shaft, the driving gear and the driven gear are meshed with each other, and the end surfaces of the driving gear and the driven gear are perpendicular to the axes of the two transmission shafts; a swinging shaft is fixed on the outer sides of the end faces of the driving gear and the driven gear, each swinging shaft is rotationally connected with one end of a swinging connecting rod, the other end of the swinging connecting rod is hinged with one end of a collecting plate, the other end of the collecting plate is rotationally connected with a floating plate through a bracket, and the collecting plate is perpendicular to a bottom plate;

the end of the swing shaft, which extends out of the swing connecting rod, is also fixed with a gear limiting sleeve which rotates along with the gear, and the gear limiting sleeve and the push rod are positioned on the same horizontal plane.

According to some embodiments, the second scheme of the invention provides a working method of a water surface garbage classification cleaning device based on image recognition, which adopts the following technical scheme:

the working method of the water surface garbage classification cleaning device based on image recognition comprises the following steps:

the camera detects that wastes and floating algae exist in the visual field, acquires image information and transmits the image information to the upper computer, the upper computer receives and processes the image, the identification and positioning of the wastes and the planning of the running track are completed, and an instruction is sent to the controller;

The controller receives the instruction to control the two third driving motors to act, so that the device runs to a target water area; when the waste is identified, the device preferentially collects the waste, the first driving motor drives the supporting rod of the conveyor belt collecting mechanism to rotate, so that the head end of the conveyor belt enters below the water surface, the second driving motor drives the second roller to rotate, the conveyor belt conveys the waste into the waste collecting box, meanwhile, the push rod extends forwards to enable the collecting plate to keep an open state, and after the waste is collected, the first driving motor drives the conveyor belt collecting mechanism to lift, the push rod retreats, and the collecting plate recovers;

when the floating algae are identified, the water pump absorbs water to absorb the water together with the floating algae into the floating algae collecting box through the collecting opening, the floating algae are blocked in the floating algae collecting box, and the water enters the oil and water removing and purifying device through the perforated plate arranged on the bottom plate of the floating algae collecting box and is discharged after purification treatment; when no garbage is detected, the water pump can continuously work to purify the water body.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, classification objects of water garbage are set as waste and planktonic algae, the characteristics of the garbage can be extracted through the camera, collected information is transmitted into the controller, the controller can select different collection modes according to specific objects to clean the garbage, the waste is collected by utilizing the conveyor belt collection mechanism, the front part of the box body of the planktonic algae collection box is provided with the water inlet, the collection inlet is in sealed connection with the water inlet, water mixed with the planktonic algae can enter from the collection inlet, the water enters the oil and water removing device through the perforated plate and the sealing clamping plate at the bottom of the planktonic algae collection box, the algae cannot be limited in the planktonic algae collection box through the perforated plate, the planktonic algae can be collected, the waste and the planktonic algae can be effectively separated by adopting different garbage collection modes, and the collection cost of the garbage on the water surface can be reduced through classification storage and corresponding treatment, and the environmental benefit and economic benefit of garbage treatment are improved.

According to the invention, by arranging the oil stain treatment device, the inner part of the oil removal water purification device is provided with the reticular plate to divide the box body into the front box body and the rear box body, the front box body is provided with the multi-layer oil absorption felt in the direction perpendicular to the water flow, the top of the rear box body is provided with the baffle plate for sealing, so that water flow can only enter the oil removal water purification device from the top of the front box body, water for filtering floating algae passes through the multi-layer oil absorption felt, oil stains in the water can be removed, the water enters the rear box body of the oil removal water purification device, and is fully mixed with a medicament for treating the water environment and then is discharged to a polluted water area, and the device has the water ecosystem restoration function.

According to the invention, the water extruded by the water pump is used for impacting the impeller to enable the transmission shaft to rotate, the collecting plate can swing back and forth through the driving gear, the driven gear and the swinging connecting rod for transmission, so that the effective collecting area of floating algae can be increased, the collecting efficiency is improved, the use frequency of a driving motor for pushing the device to operate is reduced, the secondary utilization of energy is realized, the overall power consumption of the device is reduced, certain environmental protection benefits are realized, the collecting plate has quick return characteristics, and quick gathering and slow opening can be realized.

The invention can make the controller of the water surface garbage collection device connected with the remote upper computer by utilizing the internet of things technology, the video transmitted back by the camera module can be transmitted to the upper computer for display, and the staff can control the device to act by operating the upper computer; the device can also adopt an autonomous navigation mode to autonomously carry out track planning and action control through machine learning. The device can realize automatic and intelligent operation, fully reduce the labor intensity of staff, and promote the collection efficiency of surface of water rubbish.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.

FIG. 1 is a schematic diagram I of a water surface garbage classification cleaning device based on image recognition in an embodiment of the invention;

FIG. 2 is a schematic diagram II of a water surface garbage classification cleaning device based on image recognition in an embodiment of the invention;

FIG. 3 is a schematic view of a gathering mechanism in accordance with an embodiment of the present invention;

FIG. 4 is a schematic view of a negative pressure collection mechanism and a garbage classification storage device in an embodiment of the invention;

FIG. 5 is a schematic view of a pressure plate in an embodiment of the invention;

FIG. 6 is a schematic diagram of a planktonic algae collection tank in an embodiment of the invention;

FIG. 7 is a schematic view of an oil and water removal device in an embodiment of the invention;

FIG. 8 is a schematic view of a gearbox housing in an embodiment of the invention;

in the figure: the mutual spacing or size is reduced for displaying the positions of all parts, and the schematic diagram is only schematic;

wherein: 1. a floor, 2, a first pre-tightening rod support, 3, a first pre-tightening rod, 4, a floating plate, 5, a first driving motor, 6, a first bearing seat, 7, a first synchronous pulley, 8, a first pre-tightening nut, 9, a first supporting rod, 10, a synchronous belt, 11, a second synchronous pulley, 12, a second bearing seat, 13, a right angle connection support, 14, a pressing plate, 15, a second rolling linear guide pair, 16, a second supporting rod, 17, a linear bearing seat, 18, a guiding shaft, 19, a second connection support, 20, a camera head, 21, a camera head fixing support, 22, a second driving motor, 23, a motor fixing support, 24, a conveyor belt support, 25, a first connection support, 26, a swinging connecting rod, 27, a collecting plate, 28, a collecting port, 29, a third driving motor, 30, a second pre-tightening rod support, 31, a second pre-tightening nut, 32, a water pump, 33, a second pre-tightening rod, 34, a limiting stop, 35, a control box bottom plate, 36, a control box upper cover, 37, a second bearing seat, 38, a fourth gear box, 39, a driving gear box, 40, a driving gear box, 45, a driving gear box, 48, a bearing seat, 45, a water inlet, a driving gear box, 48, a driving gear box, 45, a water box, a sealing sleeve, a driving gear box, a gear box, and a driving gear box, 45, a water-collecting box, and a water-collecting box.

Detailed Description

The invention will be further described with reference to the drawings and examples.

It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

Embodiments of the invention and features of the embodiments may be combined with each other without conflict.

Example 1

As shown in fig. 1, the embodiment provides a water surface garbage classification cleaning device based on image recognition, which comprises a ship body, wherein a conveyor belt collecting mechanism is fixed on the ship body, and a garbage classification storage device fixed on the ship body is arranged below the conveyor belt collecting mechanism; the garbage classification storage device comprises a waste collection box and a floating algae collection box, wherein the floating algae collection box is arranged on an oil and water removing device through a sealing clamping plate, the oil and water removing device is fixed on a ship body, an opening at the top of the floating algae collection box is sealed by a pressing plate, and the waste collection box is arranged on the pressing plate and is provided with an opening at the top;

As described in the background art, the existing water surface garbage collection device in the prior art cannot meet the requirements of collecting and classifying wastes and floating algae, and in order to solve the technical problems, the invention provides a sortable internet of things water surface garbage cleaning device based on image recognition.

In a typical implementation mode of the invention, the water surface garbage classification cleaning device based on image recognition comprises a ship body, a conveyor belt collecting mechanism, a negative pressure collecting mechanism, a gathering mechanism, an oil removal water purifying device and a garbage classification storage device, wherein the conveyor belt collecting mechanism is driven by a motor, the negative pressure collecting mechanism and the gathering mechanism are driven by a water pump, the whole advancing and turning of the device is realized by driving a propeller to rotate by a third driving motor, and all parts are matched to realize large-scale classification collection of water surface wastes and floating algae.

The ship body comprises a bottom plate, a pre-tightening rod, a pressing plate, a control box and floating plates, wherein the pre-tightening rod is perpendicular to the bottom plate and fixed, the pressing plate and the control box respectively penetrate through the pre-tightening rod, the plane positions of the pressing plate and the control box are restrained by the pre-tightening rod, and the two floating plates are fixed on two sides of the pressing plate in a mirror image mode relative to a reference plane; the bottom plate 1 is a flat plate and supports the whole device, the first pre-tightening rod support 2 and the second pre-tightening rod support 30 are fixed above the bottom plate 1 through bolts, the first pre-tightening rod support 2 and the second pre-tightening rod support 30 are both provided with two, the middle point of the connecting line of the two first pre-tightening rod supports 2 and the middle point of the connecting line of the two second pre-tightening rod supports 30 are connected to form a datum line of the device, and the datum plane of the device comprises the datum line and is perpendicular to the bottom plate 1. The pre-tightening rod is vertically fixed with the bottom plate through a pre-tightening rod support, a flange seat is selected as the pre-tightening rod support, one end of the pre-tightening rod extends into a central hole of the flange seat, the flange seat is connected with the bottom plate through an outer hole, the front pre-tightening rod and the rear pre-tightening rod respectively comprise two pre-tightening rods and are respectively arranged relative to a reference plane mirror image, threads are arranged on the pre-tightening rod at the same height section, and the pre-tightening rod can be screwed into a nut to be matched.

The pretensioning lever comprises two first pretensioning levers 3 symmetrical about the reference plane and two second pretensioning levers 33 symmetrical about the reference plane, the first pretensioning levers 3 and the second pretensioning levers 33 being inserted into the first pretensioning lever holder 2 and the second pretensioning lever holder 30, respectively, and fixed perpendicularly to the base plate 1. An oil removal water purification device 52 is fixed above the bottom plate 1, a groove is formed above the oil removal water purification device 52 and is in sealing connection with a floating algae collecting box 55 through a sealing clamping plate 53, the pressing plate 14 passes through four pre-tightening rods to be matched with the floating algae collecting box 55, and the first pre-tightening nut 8 and the second pre-tightening nut 31 are respectively matched with threaded sections of the first pre-tightening rod 3 and the second pre-tightening rod 33 to press the pressing plate 14 downwards so as to improve the overall tightness of the device. A waste collection bin 46 is placed over the platen 14 and cooperates with the platen 14. The floating plate comprises two floating plates 4 which are arranged in a mirror image manner relative to a reference plane, the two floating plates 4 are fixed on two sides of the pressing plate 14, a conveyor belt collecting mechanism is arranged on the floating plates 4, and the conveyor belt collecting mechanism comprises a push rod 44 which can move back and forth along with the extension and retraction of the conveyor belt. The gathering mechanism is fixed in front of the pressing plate 14 and comprises a gear limiting sleeve 49, and the push rod 44 can be matched with the gear limiting sleeve 49 to limit the movement of the gathering mechanism. The negative pressure collecting mechanism is arranged below the gathering mechanism, the negative pressure collecting mechanism comprises a water pump 32, and the water pump 32 provides power for the operation of the negative pressure collecting mechanism and the gathering mechanism.

As shown in fig. 5, the pressing plate 14 includes a first plate portion, a second plate portion and a third plate portion, where the first plate portion and the third plate portion are respectively fixed on two sides of the second plate portion, the pressing plate is placed above the floating algae collecting box, the first plate portion is matched with the top of the floating algae collecting box, and by setting a sealing joint of the sealing strip, water outside the water surface garbage cleaning device is prevented from entering the box body through the joint, the pre-tightening rod passes through the second plate portion to be set, and nuts are screwed into the pressing plate on the four supporting rods to further improve the tightness of the floating algae collecting box and the oil and water removing and purifying device.

As shown in fig. 1 and 2, the conveyor belt collecting mechanism comprises a push rod, and the push rod can cooperate with the conveyor belt to realize forward and backward movement in the descending and ascending processes of the conveyor belt; the conveyor belt collection mechanism includes a conveyor belt collection assembly and a conveyor belt lifting assembly.

The conveyor belt collecting assembly comprises conveyor belt supporting frames, the conveyor belt supporting frames are made of aluminum profiles, a third bearing seat and a fourth bearing seat are fixed on the conveyor belt supporting frames, the third bearing seat 40 and the fourth bearing seat 38 are fixed on each conveyor belt supporting frame 24 through bolts, the conveyor belt collecting assembly is arranged in a mirror image mode relative to a reference plane, two end portions of a first roller 41 and a second roller 37 respectively penetrate through the two third bearing seats 40 and the fourth bearing seat 38 to be arranged in parallel, the conveyor belt collecting assembly is connected with the two conveyor belt supporting frames 24 in a rotating mode, and a conveyor belt 39 is sleeved on the first roller 41 and the second roller 37 and is tensioned and supported through the two rollers. To facilitate the collection of waste, raised baffles may be provided on the conveyor 39 to block the waste from sliding down. The conveyor belt support frame, the third bearing seat and the fourth bearing seat all comprise two conveyor belt support frames, and are arranged in a mirror image mode relative to the reference plane, and the two conveyor belt support frames are fixed in parallel. The conveyor belt collecting assembly further comprises a second driving motor 22, the second driving motor 22 is fixed on the conveyor belt supporting frame 24 through a motor fixing bracket 23, an output shaft of the motor is fixed with a second roller 37, and the second roller 37 is driven to rotate through the motor to drive a conveyor belt 39 to run.

The conveyor belt lifting assembly comprises a first supporting rod, a first synchronous belt pulley, a second supporting rod, a second synchronous belt pulley, a linear bearing seat and a guide shaft, wherein the guide shaft is fixed on the conveyor belt supporting frames through a first connecting bracket and a second connecting bracket and is arranged on the outer sides of the two conveyor belt supporting frames far away from the conveyor belt, and the linear bearing seat passes through the guide shaft and can move along the guide shaft; the conveyor belt 39 is arranged inside two conveyor belt support frames, the first bearing seat 6 and the second bearing seat 12 are fixed on the floating plate 4 at one side of the device, and the axes of the two bearing seats are parallel to each other.

One end of the first supporting rod 9 is fixed with a first supporting shaft, the first supporting shaft penetrates through the first bearing seat 6 to be arranged, under the action of external force, the first supporting rod 9 rotates relatively to the first bearing seat 6, the first synchronous belt wheel 7 is arranged on the other side of the first bearing seat 6 and is fixed on the first supporting shaft to rotate synchronously with the first supporting shaft, the first driving motor 5 is fixed on the floating plate 4 through a motor fixing frame, the first supporting shaft is fixedly connected with an output shaft of the first driving motor 5, and the first supporting shaft is driven to rotate through the first driving motor 5, so that the first synchronous belt wheel 7 and the first supporting rod 9 are driven to rotate. The other end of the first support bar 9 is hinged to the belt support frame 24 at a non-end position, and the first support bar 9 is rotatable around the belt support frame 24.

Also, one end of the second support bar 16 is fixed with a second support shaft, the second support shaft is disposed through the second bearing seat 12, the second synchronous pulley 11 is disposed at the other side of the second bearing seat 12 through the second support shaft, and is fixed with the second support shaft, and the second support bar 16 and the second synchronous pulley 11 relatively rotate with respect to the second bearing seat 12. The other end of the second support rod 16 is hinged with a linear bearing seat 17, the linear bearing seat 17 passes through a guide shaft 18 and can move along the guide shaft 18, two end parts of the guide shaft 18 are respectively fixed on a conveyor belt support frame 24 through a first connecting bracket 25 and a second connecting bracket 19, and the first support rod 9 and the second support rod 16 jointly support the conveyor belt support frame 24. The floating plate 4, the first bearing seat 6, the first supporting rod 9, the first synchronous pulley 7, the second bearing seat 12, the second supporting rod 16, the second synchronous pulley 11, the linear bearing seat 17, the guide shaft 18 and the conveyor belt supporting frame 24 all comprise two and are arranged in a mirror image mode relative to a reference plane of the device. The two conveyor fixing brackets 24 are arranged in parallel. The position of the linear bearing seat can be changed by rotating the second support rod, so that the conveying belt can extend into the water at a proper angle, garbage can be conveniently conveyed upwards, interference between devices is avoided, the sliding block can conveniently move along the guide shaft through the arrangement of the guide shaft, and the conveying belt can conveniently support the conveying belt collecting assembly through the guide shaft.

In order to ensure a better lifting effect, the first support rod and the second support rod need to be kept parallel in the rotating process, the parallelogram linkage mechanism can be arranged to restrict the front support rod and the rear support rod to realize parallel rotation, and in the embodiment, the first synchronous belt wheel and the second synchronous belt wheel with the same model are respectively fixed on the shafts of the first support rod, the second support rod and the bearing seat in a rotating connection mode, and the first support rod and the second support rod are restrained in parallel rotation through the synchronous belt. In order to restrain the first support rod 9 and the second support rod 16 to keep parallel when rotating, power is transmitted between the first synchronous belt pulley 7 and the second synchronous belt pulley 11 through the synchronous belt 10, the first support rod 9 and the second support rod 16 are guaranteed to move cooperatively, the synchronous belt 10 comprises two synchronous belts, mirror images are arranged relative to a reference plane, and the conveyor belt is prevented from being askew in the lifting process.

Optionally, the lifting assembly of the conveyor belt further comprises a right angle connecting bracket, a push rod, a first rolling linear guide rail pair and a second rolling linear guide rail pair, wherein the surface of the second support rod 16 is provided with a second rolling linear guide rail pair 15, a sliding block on the guide rail pair is hinged with one end of the right angle connecting bracket 13, the second rolling linear guide rail pair 15 is fixed on the outer side, far away from the garbage classification storage device, of the second support rod 16, the guide rail is parallel to the central line of the second support rod 16, and the sliding block can drive the right angle connecting bracket to move when the second support rod rotates; that is, the second rolling linear guide pair 15 is disposed against the outer sides of the second support bars 16, and the garbage classification storage device is disposed at the inner side of the two second support bars 16; correspondingly, the surface of the floating plate 4 is provided with a first rolling linear guide rail pair 45, the guide rail of the first rolling linear guide rail pair 45 is parallel to the central line, a slide block on the guide rail pair is fixed at the other end of the right-angle connecting bracket 13, the right-angle connecting bracket has a guiding function on the forward and backward movement of the right-angle connecting bracket, and the right-angle connecting bracket 13 can move forward and backward along the first rolling linear guide rail pair 45 under the traction of the slide block of the second rolling linear guide rail pair 15. The first rolling linear guide pair 45, the second rolling linear guide pair 15 and the right-angle connecting bracket 13 are arranged in a mirror image mode relative to a reference plane. The two ends of the push rod 44 are respectively fixed on the right-angle connecting brackets 13 at two sides. Through the setting of right angle linking bridge and rolling linear guide pair, when the second bracing piece rotates, the push rod can follow the second bracing piece back-and-forth movement.

As shown in fig. 2 and 3, the gathering mechanism comprises a gear box shell, a gear box upper cover, a first transmission shaft, a driving gear, a second transmission shaft, a driven gear and a gear limiting sleeve, wherein the gear limiting sleeve is fixed at the position of the gear end face, which is close to the gear teeth, rotates along with the gear, is matched with a push rod, and can restrict the gear to rotate by limiting the gear limiting sleeve through the push rod;

the gear case housing 43 is fixed to the pressing plate 14 by screws, specifically to the front upper surface of the pressing plate second plate portion. The upper cover 42 of the gear box is provided with a mounting hole, the upper cover 42 of the gear box and the gear box shell 43 can be fixedly connected through a screw, and the upper cover is in sealing connection, so that water can be prevented from entering from the outside; the first transmission shaft 48 and the second transmission shaft 51 penetrate through the gear box shell 43 and the gear box upper cover 42 to be vertical to the bottom surface of the gear box shell, and the two transmission shafts are arranged in parallel and can rotate around respective axes, wherein an impeller is arranged at the shaft body position of the first transmission shaft 48, the impeller is sealed in the gear box body after the gear box upper cover 42 is installed, and only the gear box water inlet 57 and teeth are reservedThe wheel box water outlet 56 forms a water circulation path,and the gearbox water inlet 57 is truncated towards the blade Maximum area position The water may be converted to mechanical energy that rotates the first drive shaft 48. The gear case water inlet 57 and the gear case water outlet 56 are respectively provided on the rear side wall of the gear case housing 43 near the platen 14 as shown in fig. 8; the gearbox is tightly sealed by an upper cover of the gearbox except the water inlet and the water outlet; the first transmission shaft 48 is vertically arranged, the blade on the shaft is positioned below, the driving gear 47 is arranged at the step above the blade, and the upper cover 42 of the gear box is arranged between the blade and the driving gear 47 after being arranged, that is, the driving gear 47 and the driven gear 50 are both arranged on the upper cover 42 of the gear box.

The driving gear 47 and the driven gear 50 are respectively fixed at the upper end parts of the first transmission shaft 48 and the second transmission shaft 51 and are positioned above the upper cover 42 of the gear box, the two gears are arranged in parallel and meshed with each other, the end face is perpendicular to the axis of the transmission shaft, and the first transmission shaft 48 can rotate to drive the driving gear 47 to rotate, so that the driven gear 50 can rotate. The outer sides of the end faces of the two gears are fixed with a swinging shaft near the gear teeth, one end of a swinging connecting rod 26 penetrates through the swinging shaft and can rotate relatively around the swinging shaft, the other end of the swinging connecting rod 26 is hinged with one end of a collecting plate 27, the other end of the collecting plate 27 is connected with the floating plate 4 in a rotating mode through a support, and the collecting plate 27 is perpendicular to the bottom plate 1. The swinging links 26, the gathering plate 27 each comprise two and are arranged mirror-image with respect to a reference plane. The rotation of the gears drives the connecting rod to move, so that the collecting plate 27 can swing back and forth by taking the bracket as a rotation axis to collect garbage. The gear limiting sleeve 49 is fixed on the swinging shaft of the gear and can rotate along with the gear, when the conveyor belt collecting mechanism descends to enable the push rod 44 to extend, the push rod pushes the gear limiting sleeve to forcedly enable the gear to rotate to a certain angle and then limit the gear to rotate, and the gear limiting sleeve 49 is matched with the push rod 44 to limit the gear to rotate, so that the collecting plates 27 on the two sides in front keep an open state.

As shown in fig. 4, 5, 6 and 7, the negative pressure collecting mechanism comprises a water pump and a collecting port, wherein the water pump is fixed on a bottom plate at the tail part of the device, and negative pressure is formed at the collecting port through water absorption of the water pump, so that garbage can be sucked; the collection port 28 at the front part of the device operation is in sealing connection with the planktonic algae collection tank 55 through a water pipe, a perforated plate is arranged at the bottom of the planktonic algae collection tank 55, the planktonic algae collection tank is matched with the perforated sealing clamping plate 53 to be placed on the oil and water purifying device 52, a multi-layer oil-absorbing felt is arranged on the front box body of the oil and water purifying device 52, a medicine dripping device can be selectively arranged on the rear box body, a water outlet is arranged on the rear side surface of the box body and is connected with a water inlet of the water pump 32, the water outlet of the water pump 32 passes through the pressing plate 14 through the water pipe and is connected with a water inlet of a gear box, and the water outlet of the gear box passes through the pressing plate 14 through the water pipe and is led to the rear part of the device. After the water is purified by the oil and water removing and purifying device 52, the water is pressed into the gear box by the water pump 32 to drive the gathering mechanism to operate, and the water is discharged from the rear part of the device.

As shown in fig. 5, 6 and 7, the oil and water removing and purifying device is fixed on the bottom plate, and the tail part of the device is provided with a water outlet which is connected with the inlet of the water pump in a sealing way; the oil and water removing and purifying device 52 is connected with the bottom plate 1 through a right angle code, a waterproof bolt with a gasket is selected as a connecting piece penetrating through the box body, a water outlet and a medicine throwing port are arranged on the surface of the rear side of the box body, a medicine dripping device is arranged on a medicine bottle placing rack and is connected with the medicine throwing port at the rear part of the oil and water removing and purifying device, and medicines are dripped into the oil and water removing and purifying device. The medicine delivery port is arranged beside the water outlet; the delivery port and the water inlet sealing connection of water pump 32, medicine drop in mouthful connection medicine dropwise add device, the inside net board that sets up of deoiling purifier 52 separates the box into anterior box and rear portion box, and anterior box sets up multilayer oil absorption felt in perpendicular to rivers direction, can filter the greasy dirt in the aquatic, and the top of rear portion box sets up the baffle seal, makes rivers only get into deoiling purifier from anterior box top, gets into rear portion box and medicine through net board after the greasy dirt is filtered, and discharge the box through the delivery port.

The garbage classification storage device comprises a waste collection box and a floating algae collection box, wherein the floating algae collection box is placed on the oil and water removal device through a sealing clamping plate, the pressing plate is placed on the floating algae collection box and is subjected to sealing treatment, and the waste collection box is placed on the pressing plate.

As shown in fig. 6, the floating algae collecting box is placed on the oil and water removing and purifying device through a sealing clamping plate, sealing strips are arranged at the edges of the sealing clamping plate, the sealing performance of the interface can be improved, water outside the water surface garbage cleaning device is prevented from entering the box body through the interface, the sealing clamping plate comprises a first plate portion, a second plate portion and a third plate portion, meshes are formed in each plate portion to enable water to pass through, and the first plate portion and the third plate portion are respectively fixed to two sides of the second plate portion and are respectively matched with the top of the oil and water removing and purifying device and the bottom of the floating algae collecting box.

The top of the floating algae collecting box is open, the side surface is parallel to the top edge near the open position, the bottom is provided with a perforated plate, the front part of the box body is provided with a water inlet, the collecting opening is in sealing connection with the water inlet, water mixed with floating algae can enter from the collecting opening, and the water enters the oil and water removing and purifying device through the perforated plate and the sealing clamping plate at the bottom of the floating algae collecting box.

The top of the waste collection box is provided with an opening, garbage can fall into the collection box from the upper part, the bottom surface of the box body is inclined to the rear of the device to avoid garbage accumulation, meanwhile, the rear surface of the box body is provided with a water outlet close to the bottom to prevent water from accumulating in the collection box, the box body is placed on the pressing plate, and the bottom is matched with the third plate part of the pressing plate.

As shown in fig. 2, the control box includes control box upper cover, control box bottom plate and spacing retaining ring, and the control box upper cover passes through right angle sign indicating number to be fixed on the control box bottom plate, and control box upper cover side sets up the through wires hole, conveniently sets up in the inside controller of control box and is connected with outside power, driving motor, sensor, and control box bottom plate, spacing retaining ring pass two back pretension pole settings, and control box bottom plate places on spacing retaining ring, locks and relaxes the pretension pole through adjusting spacing retaining ring opening size, and then adjusts the height of spacing retaining ring and change the height of control box. The control box further comprises a camera support, the camera support is fixed on the top surface of the control box, and the camera module is fixed on the camera support.

Each second pre-tightening rod 33 is provided with a limiting check ring 34, the control box bottom plate 35 is arranged on the limiting check ring 34 through the pre-tightening rods 33, the control box bottom plate 35 is parallel to the bottom plate 1 by adjusting the positions of the two limiting check rings 34, the control box upper cover 36 is fixed on the control box bottom plate through right angle codes, and two sides of the box body are provided with threading Kong Fangbian wires for connection. The third driving motor 29 is fixed at a position below the floating plate 4 and close to the rear, an output shaft of the motor faces to the rear of the running direction of the device and is parallel to the central line, a propeller is fixed on the output shaft, and the motor drives the propeller to rotate so as to control the movement of the water surface garbage collection device. The third drive motors 29 are provided in mirror image arrangement with respect to the reference plane, by adjusting the rotational speeds of the two third drive motors 29 and the direction of advance of the steering controllable device. The medicine bottle placing frame 54 is fixed on the wall of the box body behind the waste collecting box 46, when medicine treatment is needed to be carried out on the water body, the medicine bottle can be placed on the medicine bottle placing frame 54, the medicine dripping device is connected, the medicine liquid is dripped into the box body behind the oil and water removing and purifying device 52 and is mixed with water and then discharged, and the ecological restoration function is realized by dripping medicine into the box body behind the oil and water removing and purifying device.

Example two

The embodiment provides a working method of a water surface garbage classification cleaning device based on image recognition, which comprises the following steps:

The camera module 20 collects image information and transmits the image information to the upper computer, the upper computer receives and processes the image, the identification and positioning of garbage and the planning of running tracks are completed, an instruction is sent to the controller, and the controller controls the two third driving motors 29 to act so that the device runs to a target water area; when recognizing that wastes exist, the device preferentially collects the wastes, the first driving motor 5 drives the supporting rod of the conveyor belt collecting mechanism to rotate, so that the head end of the conveyor belt 39 enters below the water surface, the second driving motor 22 drives the second roller 37 to rotate, the conveyor belt 39 conveys the wastes into the waste collecting box 46, meanwhile, the push rod 44 extends forwards to keep the collecting plate 27 in an open state, after the wastes are collected, the first driving motor 5 drives the conveyor belt collecting mechanism to lift, the push rod 44 retreats, and the collecting mechanism resumes action; when the floating algae are identified, the water pump 32 absorbs water and sucks the water together with the floating algae into the floating algae collecting box 55 through the collecting opening 28, the floating algae are blocked in the floating algae collecting box 55, and the water enters the oil and water purifying device 52 through the holes arranged on the bottom plate and is discharged after being purified; when no garbage is detected, the water pump can continuously work to purify the water body.

While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.

Claims

1. The water surface garbage classification and cleaning device based on image recognition is characterized by comprising a ship body, wherein a conveyor belt collecting mechanism is fixed on the ship body, and a garbage classification and storage device fixed on the ship body is arranged below the conveyor belt collecting mechanism; the garbage classification storage device comprises a waste collection box and a floating algae collection box, wherein the floating algae collection box is arranged on an oil and water removing device through a sealing clamping plate, the oil and water removing device is fixed on a ship body, an opening at the top of the floating algae collection box is sealed by a pressing plate, and the waste collection box is arranged on the pressing plate and is provided with an opening at the top;

2. The image recognition-based water surface garbage classification cleaning device according to claim 1, wherein the ship body comprises a bottom plate, first pre-tightening supports are respectively fixed on two sides of one end of the bottom plate, which is close to the collecting port, and first pre-tightening rods are fixed in the first pre-tightening supports; two sides of the other end of the bottom plate, which is far away from the collecting port, are respectively fixed with a second pre-tightening support, and a second pre-tightening rod is fixed in the second pre-tightening support;

3. The image recognition-based water surface garbage classification cleaning device according to claim 2, wherein the conveyor belt collection mechanism comprises a conveyor belt lifting assembly, the conveyor belt lifting assembly comprises a first bearing seat and a second bearing seat, each floating plate is provided with a first bearing seat and a second bearing seat, and the axes of the first bearing seat and the second bearing seat are parallel to each other;

4. The image recognition-based water surface garbage classification cleaning device according to claim 3, wherein the linear bearing seat is sleeved on a guide shaft and can move along the guide shaft, and two end positions of the guide shaft are respectively fixed on a conveyor belt supporting frame through a first connecting bracket and a second connecting bracket; the first support rod and the second support rod support the conveyor belt support frame together.

5. The image recognition-based water surface garbage classification cleaning device according to claim 3, wherein the first synchronous belt pulley and the second synchronous belt pulley are connected through a synchronous belt to transmit power;

6. The image recognition-based water surface garbage classification cleaning device according to claim 2, wherein the conveyor belt collecting mechanism further comprises a conveyor belt collecting assembly, the conveyor belt collecting assembly comprises conveyor belt supporting frames, two conveyor belt supporting frames are symmetrically arranged, and a third bearing seat and a fourth bearing seat are respectively fixed at two ends of each conveyor belt supporting frame; the first roller passes through two third bearing seats to be rotationally connected with the conveyor belt support frame, the second roller passes through two fourth bearing seats to be rotationally connected with the conveyor belt support frame, the first roller and the second roller are arranged in parallel, the conveyor belt is sleeved on the first roller and the second roller, tensioning and supporting are carried out through the two rollers, and the conveyor belt is provided with a convex baffle;

7. The image recognition-based water surface garbage classification cleaning device according to claim 2, wherein a control box upper cover is fixed on the control box bottom plate, the control box upper cover is a box body with an opening at the lower end, and threading holes are formed in two sides of the box body; a camera bracket is fixed on the top of the upper cover of the control box, the camera is fixed on the camera bracket, and the camera is communicated with the upper computer;

8. The image recognition-based water surface garbage classification cleaning device according to claim 1, wherein the oil and water removal and purification device is connected with a bottom plate through a right angle code, a net plate is arranged in the oil and water removal and purification device to divide a box body into a front box body close to a collection port and a rear box body far away from the collection port, a plurality of layers of oil absorption felts are arranged in the front box body, the top of the rear box body is provided with a baffle seal, and water flows enter the oil and water removal and purification device from the top of the front box body;

9. The image recognition-based water surface garbage classification cleaning device according to claim 1, wherein a gear box is fixed at the front end of the pressing plate, which is close to the collecting port, and a gear box upper cover is fixed on a gear box shell;

10. A method of operating an image recognition based surface refuse classification cleaning apparatus according to any one of claims 1-9, comprising: