CN117429565A - Water surface garbage cleaning ship - Google Patents
Water surface garbage cleaning ship Download PDFInfo
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- CN117429565A CN117429565A CN202311619697.6A CN202311619697A CN117429565A CN 117429565 A CN117429565 A CN 117429565A CN 202311619697 A CN202311619697 A CN 202311619697A CN 117429565 A CN117429565 A CN 117429565A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 69
- 238000004140 cleaning Methods 0.000 title claims abstract description 45
- 230000033001 locomotion Effects 0.000 claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims description 20
- 210000000078 claw Anatomy 0.000 claims description 19
- 238000003860 storage Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 description 11
- 238000001514 detection method Methods 0.000 description 9
- 238000005286 illumination Methods 0.000 description 7
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- 235000011034 Rubus glaucus Nutrition 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
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- 238000010276 construction Methods 0.000 description 3
- 238000013135 deep learning Methods 0.000 description 3
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- 238000012545 processing Methods 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000003643 water by type Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H5/00—Arrangements on vessels of propulsion elements directly acting on water
- B63H5/02—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels
- B63H5/03—Arrangements on vessels of propulsion elements directly acting on water of paddle wheels, e.g. of stern wheels movably mounted with respect to the hull, e.g. having means to reposition paddle wheel assembly, or to retract paddle or to change paddle attitude
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application relates to a water surface garbage cleaning ship, which belongs to the technical field of water surface cleaning and comprises a ship body, a garbage collection device, four driving devices, a control device and a power supply device, wherein a containing cavity for containing garbage is concavely formed on the top surface of the ship body; the garbage collection device is arranged at the end part of the ship body and is used for collecting garbage on the water surface into the accommodating cavity; the four driving devices are respectively arranged at four corners of the ship body and are used for driving the ship body to do linear motion or turning motion; the control device is electrically connected with the garbage collection device and the driving device; the power supply device is electrically connected with the garbage collection device, the driving device and the control device. The water surface garbage cleaning ship provided by the application is high in stability, high in maneuverability, small in turning radius and lower in turning difficulty, and can simply and flexibly turn even in a narrow water area.
Description
Technical Field
The application relates to the technical field of water surface cleaning, in particular to a water surface garbage cleaning ship.
Background
The problem of water surface garbage pollution is increasingly serious at present, water areas in various places are affected by a large amount of floating garbage, and especially garbage is easier to gather in inland river channels and narrow water areas which are more closely related to human life, and huge threats are brought to an ecological system and human health, so that the unmanned garbage cleaning ship has important application value in the aspect of executing dangerous and time-consuming water garbage cleaning tasks.
In the prior art, a water surface garbage cleaning ship is driven by using a double open wheel, on one hand, the double open wheel driving ship has the defects of unbalanced support, poor stability, easy inclination and the like in a complex water surface environment, and has low fault tolerance, and if a certain open wheel is damaged, the ship can lose the mobility; on the other hand, the double-paddle wheel driving ship has poor maneuverability, and often requires a large water area space when turning, and the double-paddle wheel driving ship is difficult or even impossible to turn in a small narrow water area.
Disclosure of Invention
Based on the above, it is necessary to provide a water surface garbage cleaning ship, so as to solve the technical problems of unstable support and poor turning maneuverability of the water surface garbage cleaning ship driven by a double paddle wheel in the prior art.
To achieve the above object, the present application provides a water surface garbage cleaning ship, comprising:
the top surface of the ship body is concavely provided with a containing cavity for containing garbage;
the garbage collection device is arranged at the end part of the ship body and is used for collecting garbage on the water surface into the accommodating cavity;
the four driving devices are respectively arranged at four corners of the ship body and are used for driving the ship body to do linear motion or turning motion;
the control device is electrically connected with the garbage collection device and the driving device; and
the power supply device is electrically connected with the garbage collection device, the driving device and the control device.
Optionally, the driving device includes:
the paddle wheel is arranged at the corner of the ship body; and
the first driving motor is used for driving the paddle wheel to rotate.
Optionally, the top surface of the hull has a center point and a central axis passing through the center point and pointing to the garbage collection device, the four paddle wheels are distributed in a central symmetry manner about the center point, and the driving direction of any paddle wheel is set at an included angle with the central axis.
Optionally, the driving direction of any paddle wheel forms an included angle of 45 degrees with the central axis.
Optionally, the garbage collection device comprises:
a drum rotatably installed at an end of the hull;
the second driving motor is used for driving the roller to rotate;
a plurality of rows of claws which are uniformly distributed along the circumferential direction of the roller and rotate along with the roller, wherein the claws of each row are sequentially distributed at intervals along the axial direction of the roller, and the claws hook garbage on the water surface in the rotating process of the claws; and
the guide rods are sequentially distributed on the ship body at intervals along the axial direction of the roller, the guide rods are distributed with the hooks of any row in a staggered mode, and after the hooks are staggered with the guide rods, garbage on the hooks is transferred to the guide rods and slides from the guide rods to the accommodating cavity.
Optionally, the power supply device includes:
the storage battery is arranged on the ship body; and
and the solar panel is arranged on the ship body and is electrically connected with the storage battery.
Optionally, the power supply device further comprises a steering mechanism arranged between the solar panel and the hull, and the steering mechanism is used for adjusting the orientation of the solar panel.
Optionally, the water surface garbage cleaning ship further comprises a first image collecting device, wherein the first image collecting device is installed on the ship body and is electrically connected with the control device and the power supply device, and the first image collecting device is used for providing image information for garbage collection of the garbage collecting device.
Optionally, the water surface garbage cleaning ship further comprises a gripper device, and the gripper device comprises:
the mechanical claw is arranged on the ship body and is electrically connected with the control device and the power supply device; and
and the second image collecting device is arranged on the mechanical claw and is electrically connected with the control device and the power supply device, and the second image collecting device is used for providing image information for the mechanical claw to grasp garbage.
Optionally, the surface garbage cleaning ship further comprises a pontoon arranged on the hull, wherein the pontoon is used for stabilizing the hull.
The beneficial effect that this application provided surface of water rubbish clearance ship lies in: compared with the prior art, the water surface garbage cleaning ship comprises a ship body, a garbage collection device, four driving devices, a control device and a power supply device, wherein the four driving devices are respectively arranged at four corners of the ship body and can improve the stability of the ship body, compared with a double-paddle wheel driving ship, the four driving devices are used for driving the ship body to conduct linear motion or turning motion, the maneuverability of the ship body is higher, the turning radius can be smaller, and the turning difficulty is lower, so that the water surface garbage cleaning ship can simply and flexibly turn even in a narrow water area, the water surface area which can be reached by the water surface garbage cleaning ship is increased, and the cleaning degree of garbage in a narrow water area is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of a water surface garbage disposal ship according to an embodiment of the present application;
fig. 2 is a schematic perspective view of a driving device of a water surface garbage cleaning ship according to an embodiment of the present application;
fig. 3 is a schematic side view structure of a water surface garbage cleaning ship according to an embodiment of the present application;
fig. 4 is a schematic diagram of driving directions of each driving mechanism when the surface garbage cleaning ship provided in the embodiment of the present application moves forward;
fig. 5 is a schematic diagram of driving directions of driving mechanisms when the surface garbage cleaning ship provided in the embodiment of the present application moves right;
fig. 6 is a schematic diagram of driving directions of each driving mechanism when the surface garbage cleaning ship provided in the embodiment of the present application rotates clockwise;
fig. 7 is a schematic diagram of driving directions of driving mechanisms when the surface garbage cleaning ship provided by the embodiment of the application moves right forwards.
Reference numerals illustrate:
1. a hull; 110. a receiving chamber; 120. a bracket; 121. a plate body; 122. a support leg;
2. a garbage collection device; 210. a roller; 220. a second driving motor; 230. a claw; 240. a guide rod;
3. a driving device; 310. a first driving motor; 320. open wheel; 330. a belt drive mechanism; 331. a first pulley; 332. a rotating shaft; 333. a second pulley; 334. a belt; 340. a protective cover;
4. a control device;
5. a power supply device; 510. a storage battery; 520. a solar panel; 530. a steering mechanism; 531. a first mounting plate; 532. a first rotating electric machine; 533. a second mounting plate; 5331. a first split plate; 5332. a second division plate; 534. a second rotating electric machine;
6. a first image collection device;
7. a gripper device; 710. a mechanical claw; 720. a second image collection device;
8. a pontoon;
9. an illumination device.
Detailed Description
In order to make the above objects, features and advantages of the present application more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. This application is, however, susceptible of embodiment in many other forms than those described herein and similar modifications can be made by those skilled in the art without departing from the spirit of the application, and therefore the application is not to be limited to the specific embodiments disclosed below.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" is at least two, such as two, three, etc., unless explicitly defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the terms in this application will be understood by those of ordinary skill in the art as the case may be.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
It will be understood that when an element is referred to as being "fixed" or "disposed" on another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
According to one aspect of the present application, referring to fig. 1 to 7 together, an embodiment of the present application provides a water surface garbage cleaning ship, which includes a hull 1, a garbage collection device 2, four driving devices 3, a control device 4 and a power supply device 5, wherein a receiving cavity 110 for receiving garbage is concavely formed on the top surface of the hull 1; the garbage collection device 2 is arranged at the end part of the ship body 1, and the garbage collection device 2 is used for collecting garbage on the water surface into the accommodating cavity 110; four driving devices 3 are respectively arranged at four corners of the ship body 1, and the driving devices 3 are used for driving the ship body 1 to do linear motion or turning motion; the control device 4 is electrically connected with the garbage collection device 2 and the driving device 3; the power supply device 5 is electrically connected to the garbage collection device 2, the driving device 3 and the control device 4.
In this application embodiment, this surface of water rubbish clearance ship includes hull 1, garbage collection device 2, four drive arrangement 3, controlling means 4 and power supply unit 5, four drive arrangement 3 are installed respectively in the four corners department of hull 1 can improve the stationarity of hull 1, compare with the double open wheel 320 drive ship, four drive arrangement 3 drive hull 1 do rectilinear motion or turning motion, the mobility of hull 1 is higher, turning radius can be littleer, the turning degree of difficulty is lower, make the surface of water rubbish clearance ship of this application even also can simply, nimble turn in narrow aquatic, and then increase the surface of water region that surface of water rubbish clearance ship can reach, the clearance of rubbish in the narrow waters is improved.
On the other hand, the four driving devices 3 are respectively and independently controlled by the control device 4, and the four driving devices 3 provide different driving forces, so that the diversified movement, particularly the rotational diversification of the ship body 1 is realized.
In one embodiment, hull 1 comprises steel construction and basin body, and the steel construction middle part is provided with the vacancy, and its one end is provided with the breach that communicates the vacancy, and basin body forms and holds chamber 110, and the basin body can be dismantled or can install in annular steel construction's vacancy with the pull, after the garbage collection ship of this application is full of rubbish, only need take out the disk body and can empty rubbish, need not to overturn whole surface of water garbage collection ship.
In one embodiment, referring to fig. 1 and 2 together, the driving device 3 includes a paddle wheel 320 and a first driving motor 310, and the paddle wheel 320 is disposed at a corner of the hull 1; the first driving motor 310 is used for driving the paddle wheel 320 to rotate.
Specifically, paddle wheel 320 is a partially submersible propeller shaped like a wheel with its horizontal axis above the waterline and the periphery of the wheel is fitted with a fin (or paddle). When the paddle 320 is operated, the paddle dials water backwards, and the paddle is subjected to the reaction force of water flow, and the reaction force is transmitted to the ship body 1 through the wheel shaft, so that the ship is pushed to advance.
Illustratively, the first drive motor 310 employs a CHR-GM37-520 DC carbon brush gear motor for accommodating various specific installation environments.
Further, the paddle wheel 320 adopts a mode of combining fuzzy control and a traditional PID control algorithm to realize accurate control of angular velocity and dynamic adjustment of rotation direction, so that the water surface garbage cleaning ship has the capability of automatically adjusting PID parameters in automatic navigation, the paddle wheel 320 can adapt to complex water surface conditions and navigation requirements, the maneuverability and operability of the ship are enhanced, omnidirectional movement is realized, and the movement accuracy and anti-interference capability of the ship are obviously improved.
Further, the driving device 3 further includes a protecting cover 340 disposed on top of the paddle wheel 320, and the protecting cover 340 is fixed on the hull 1 through a supporting frame, and is mainly used for preventing the paddle wheel 320 from rotating and splashing.
In other embodiments, the paddle wheel 320 of the driving device 3 may be replaced by a propeller with stronger power and more flexible control according to actual requirements, which is not limited only herein.
Optionally, belt transmission, gear transmission or chain transmission is adopted between the first driving motor 310 and the paddle wheel 320.
Preferably, referring to fig. 1 and 2 together, a belt transmission mechanism 330 is adopted between the first driving motor 310 and the paddle 320 for transmission.
Specifically, referring to fig. 2, the belt transmission mechanism 330 includes a first pulley 331, a rotating shaft 332, a second pulley 333, and a belt 334, the first driving motor 310 is disposed on the top surface of the hull 1, the first pulley 331 is mounted on the output shaft of the first driving motor 310, the rotating shaft 332 is disposed at the bottom of the mounting plate of the hull 1, one end of the rotating shaft 332 is connected with the paddle 320, the second pulley 333 is mounted at the other end of the rotating shaft 332, the first pulley 331 is disposed directly above the second pulley 333, a avoidance hole is formed in the hull 1 between the first pulley 331 and the second pulley 333, and the belt 334 passes through the avoidance hole and connects the first pulley 331 and the second pulley 333.
It will be appreciated that the four wheels 320 are mounted at the four corners of the hull 1 to drive the hull 1, which improves the flexibility of movement of the hull 1, but this also provides a challenge for the angle of mounting the wheels 320. If the paddle wheel 320 is driven in a direction toward the front of the hull 1 (in this case, the end to which the garbage collection device 2 is attached is the front), although the hull 1 can be driven with a large power, it is difficult to turn the hull 1; if the paddle wheel 320 is driven in a direction obliquely forward of the hull 1, the full speed forward speed of the hull 1 is reduced although turning of the hull 1 can be facilitated.
In other embodiments, the driving device 3 further includes a rotating mechanism (not shown) for controlling the direction of the paddle wheel 320, the rotating mechanism includes a rotating motor and a rotating frame, the rotating motor is fixed on the top surface of the mounting plate of the hull 1, and the output shaft of the rotating motor penetrates through the bottom of the mounting plate of the hull 1, the rotating frame is located at the bottom of the mounting plate of the hull 1, one end of the rotating frame is rotatably mounted on the output shaft of the rotating motor, the paddle wheel 320 is mounted on the other end of the rotating frame, and universal adjustment of the driving direction of the paddle wheel 320 can be achieved by controlling the rotation of the rotating motor.
Further, the rotating shaft 332 of the belt transmission mechanism 330 includes a first shaft and a second shaft, which are connected together by a universal coupling, the center of which coincides with the center of the output shaft of the rotating electric machine.
Through the arrangement, the driving directions of the four paddle wheels 320 can be flexibly adjusted through the rotating mechanism, when the ship body 1 needs higher flexibility, the rotating mechanism flexibly adjusts the driving directions of the paddle wheels 320 according to the movement requirement, and then the driving force of each paddle wheel 320 is independently controlled to enable the ship body 1 to obtain diversified movements (particularly turning); when the hull 1 needs a high moving speed, the rotation mechanism adjusts the driving directions of all paddle wheels 320 to be directed to the right front of the hull 1, so that the hull 1 can obtain the maximum moving speed.
In a specific embodiment, referring to fig. 4 to 7 together, the top surface of the hull 1 has a center point and a central axis passing through the center point and pointing to the garbage collection device 2, the center point is shown as O-point in fig. 4 to 7, the central axis is shown as a straight line L in fig. 4 to 7, four paddle wheels 320 are symmetrically distributed about the center point, and the driving direction of any paddle wheel 320 is set at an angle to the central axis.
In this way, the driving direction and the driving force of each paddle wheel 320 are flexibly controlled according to the movement requirement, so that the hull 1 can be moved in various forms. In the present application, the paddle wheel 320 makes the hull 1 have a forward movement tendency, and the driving direction is forward driving; the paddle wheel 320 has a tendency to move the hull 1 backward, and its driving direction is reverse driving.
In a more specific embodiment, referring to fig. 4-7, the driving direction of any paddle wheel 320 is at an angle of 45 ° to the central axis.
The principle of the driving device 3 for controlling the diversified movements of the hull 1 will be explained below by taking the forward movement, the right movement, the clockwise rotation and the right-front movement of the hull 1 as an example:
the four paddle wheels 320 are distributed in a central symmetry manner about a central point O, and the driving direction of any paddle wheel 320 forms an included angle of 45 ° with the central axis L.
Referring to fig. 4, four paddle wheels 320 in fig. 4 are respectively installed at the left front corner, the right front corner, the left rear corner and the right rear corner of the hull 1, and the driving force of the paddle wheel 320 at the left front corner is F 1 ，F 1 Toward the right front of the hull 1, F 1 Can be decomposed into F pointing to right 1 ' sum F pointing straight ahead 1 "C"; the driving force of the paddle wheel 320 at the front right corner is F 2 ，F 2 Toward the left front of the hull 1, F 2 Can be decomposed into F pointing to the right and left 2 ' sum F pointing straight ahead 2 "C"; the driving force of the paddle wheel 320 at the rear left corner is F 3 ，F 3 Toward the left front of the hull 1, F 3 Can be decomposed into F pointing to the right and left 3 ' sum F pointing straight ahead 3 "C"; the driving force of the paddle wheel 320 at the rear right corner is F 4 ，F 4 Toward the right front of the hull 1, F 4 Can be decomposed into F pointing to the right and left 4 ' sum F pointing straight ahead 4 ″。F 1 、F 2 、F 3 And F 4 And thus F is uniform in size 1 ' and F 2 ' cancel each other out, F 3 ' and F 4 'cancel each other out' the hull 1 at F 1 ″、F 2 ″、F 3 "and F 4 "to move forward under the combined action of the two.
Referring to fig. 5, four paddle wheels 320 in fig. 5 are respectively installed at the left front corner, the right front corner, the left rear corner and the right rear corner of the hull 1, and the driving force of the paddle wheel 320 at the left front corner is F 1 ，F 1 Directed to the hull 1Front right, F 1 Can be decomposed into F pointing to right 1 ' sum F pointing straight ahead 1 "C"; the driving force of the paddle wheel 320 at the front right corner is F 2 ，F 2 To the right rear of the hull 1, F 2 Can be decomposed into F pointing to right 2 ' sum F directed to the right rear 2 "C"; the driving force of the paddle wheel 320 at the rear left corner is F 3 ，F 3 To the right rear of the hull 1, F 3 Can be decomposed into F pointing to right 3 ' sum F directed to the right rear 3 "C"; the driving force of the paddle wheel 320 at the rear right corner is F 4 ，F 4 Toward the right front of the hull 1, F 4 Can be decomposed into F pointing to right 4 ' sum F pointing straight ahead 4 ″。F 1 、F 2 、F 3 And F 4 And thus F is uniform in size 1 "and F 3 "cancel each other out, F 2 "and F 4 "cancel each other out" the hull 1 at F 1 ′、F 2 ′、F 3 ' and F 4 The' combined action moves right and left.
Referring to fig. 6, four paddle wheels 320 in fig. 6 are respectively installed at the left front corner, the right front corner, the left rear corner and the right rear corner of the hull 1, and the driving force of the paddle wheels 320 at the left front corner is F 1 ，F 1 Toward the right front of the hull 1, F 1 Can be decomposed into F pointing to right 1 ' sum F pointing straight ahead 1 "C"; the driving force of the paddle wheel 320 at the front right corner is F 2 ，F 2 To the right rear of the hull 1, F 2 Can be decomposed into F pointing to right 2 ' sum F directed to the right rear 2 "C"; the driving force of the paddle wheel 320 at the rear left corner is F 3 ，F 3 Toward the left front of the hull 1, F 3 Can be decomposed into F pointing to the right and left 3 ' sum F pointing straight ahead 3 "C"; the driving force of the paddle wheel 320 at the rear right corner is F 4 ，F 4 To the left rear of the hull 1, F 4 Can be decomposed into F pointing to the right and left 4 ' sum F directed to the right rear 4 ″。F 1 、F 2 、F 3 And F 4 Is provided with a plurality of grooves of different sizes,thus F at the front end of the hull 1 1 "and F 2 "offset each other, the front end of the hull 1 is at F 1 ' and F 2 ' deflect rightwards under the combined action of F at the rear end of the ship body 1 3 "and F 4 "offset each other" the aft end of the hull 1 at F 3 ' and F 4 The combined action of' deflects to the left. Thus, the hull 1 is at F 1 ′、F 2 ′、F 3 ' and F 4 The 'co-action' rotates clockwise.
Referring to fig. 7, four paddle wheels 320 in fig. 7 are respectively installed at the left front corner, the right front corner, the left rear corner and the right rear corner of the hull 1, and the driving force of the paddle wheel 320 at the left front corner is F 1 ，F 1 Toward the right front of the hull 1, F 1 Can be decomposed into F pointing to right 1 ' sum F pointing straight ahead 1 "C"; the paddle wheel 320 at the front right corner is not driven; the paddle wheel 320 at the rear left corner is not driven; the driving force of the paddle wheel 320 at the rear right corner is F 4 ，F 4 Toward the right front of the hull 1, F 4 Can be decomposed into F pointing to the right and left 4 ' sum F pointing straight ahead 4 ″。F 1 、F 2 、F 3 And F 4 Is uniform in size, the hull 1 is at F 1 ' and F 4 The hull 1 moves to the right under the action of' and F 4 "move forward under the influence of" the force of the spring. Thus, the hull 1 is at F 1 ′、F 1 ″、F 4 ' and F 4 "to move forward right under the combined action of the two.
It will be appreciated that the driving direction and the driving force of each paddle wheel 320 are reasonably controlled according to the actual movement requirement, so that the hull 1 can perform the required movement, such as forward and backward movement, forward and left movement, backward and right movement, or counterclockwise rotation, etc., which are not limited only herein.
In other embodiments, the hull 1 is provided with the bracket 120, the bracket 120 includes a plate 121 disposed directly above the hull 1 and a leg 122 disposed between the plate 121 and the hull 1, and the control device 4 and the power supply device 5 are disposed on the plate 121, so that the control device 4 and the power supply device 5 are far away from the water surface, and the possibility of liquid splashing on the control device 4 and the power supply device 5 is reduced.
In another embodiment, referring to fig. 1 and 3, the garbage collection device 2 includes a drum 210, a second driving motor 220, a plurality of rows of fingers 230, and a plurality of guide rods 240, the drum 210 being rotatably installed at an end of the hull 1; the second driving motor 220 is used for driving the roller 210 to rotate; the plurality of rows of claws 230 are uniformly distributed along the circumferential direction of the drum 210 and rotate together with the drum 210, the plurality of claws 230 of each row are sequentially distributed at intervals along the axial direction of the drum 210, and the claws 230 hook garbage on the water surface in the rotating process of the claws 230; the plurality of guide rods 240 are sequentially distributed on the hull 1 at intervals along the axial direction of the drum 210, the plurality of guide rods 240 are staggered with the plurality of fingers 230 of any row, and after the fingers 230 are staggered with the guide rods 240, the garbage on the fingers 230 is transferred to the guide rods 240 and slides from the guide rods 240 into the accommodating cavity 110.
The guiding rod 240 is disposed obliquely downward toward the accommodating cavity 110, so that the garbage on the guiding rod 240 can automatically slide down into the accommodating cavity 110.
Further, the second driving motor 220 is disposed on the plate 121, so that the second driving motor 220 is far away from the water surface, and the possibility of liquid splashing onto the second driving motor 220 is reduced.
Alternatively, a belt drive, gear drive or chain drive is employed between the second drive motor 220 and the drum 210.
Preferably, a belt transmission is used between the second driving motor 220 and the drum 210.
In another embodiment, referring to fig. 3, the power supply device 5 includes a storage battery 510 and a solar panel 520, and the storage battery 510 is mounted on the hull 1; solar panel 520 installs on hull 1 and electrically connected in battery 510, and solar panel 520 can convert light energy into electric energy to store in the battery 510 with the electric energy transmission of conversion, improve the duration of the surface of water rubbish clearance ship of this application.
In a specific embodiment, referring to fig. 3, the power supply device 5 further includes a steering mechanism 530 disposed between the solar panel 520 and the hull 1, and the steering mechanism 530 is used to adjust the orientation of the solar panel 520, so as to improve the charging efficiency.
Specifically, the steering mechanism 530 includes a first mounting plate 531, a first rotating electric machine 532, a second mounting plate 533, a first sub plate 5331, a second sub plate 5332, and a second rotating electric machine 534, the first mounting plate 531 is vertically disposed and mounted on the plate body 121, the first rotating electric machine 532 is mounted on the first mounting plate 531, and an output shaft of the first rotating electric machine 532 extends in a first horizontal direction, the second mounting plate 533 includes a first sub plate 5331 and a second sub plate 5332, the first sub plate 5331 is perpendicular to the first horizontal direction, the second sub plate 5332 is parallel to the second horizontal direction and vertically disposed, the first sub plate 5331 is mounted on the output shaft of the first rotating electric machine 532, the second rotating electric machine 534 is mounted on the second sub plate 5332, and the output shaft of the second rotating electric machine 534 extends in a second horizontal direction perpendicular to the first horizontal direction, and the solar panel 520 is mounted on the output shaft of the second rotating electric machine 534.
By the above arrangement, the first rotating electric machine 532 can control the solar panel 520 to rotate along the plane perpendicular to the first horizontal direction, and the second rotating electric machine 534 can control the solar panel 520 to rotate along the plane perpendicular to the second horizontal direction. So that a worker can adjust the orientation of the solar panel 520 according to the actual illumination direction of the natural environment, so that the solar panel 520 receives as much illumination as possible.
Further, an illumination sensor is disposed on the solar panel 520, and the illumination sensor is electrically connected to the control device 4, and the control device 4 automatically determines the illumination direction according to the detection data of the illumination sensor, and automatically adjusts the orientation of the solar panel 520.
In another embodiment, referring to fig. 1 and 2 together, the water surface garbage cleaning ship further includes a first image collecting device 6, where the first image collecting device 6 is mounted on the hull 1 and electrically connected to the control device 4 and the power supply device 5, and the first image collecting device 6 is used to provide image information for garbage collected by the garbage collecting device 2.
In other embodiments, the first image collecting device 6 is further provided with a lighting device 9, and the lighting device 9 is electrically connected to the control device 4 and the power supply device 5, so that the water surface garbage cleaning ship can work normally at night.
In another embodiment, referring to fig. 1 and 2 together, the water surface garbage cleaning ship further includes a gripper device 7, where the gripper device 7 includes a gripper 710 and a second image collecting device 720, and the gripper 710 is mounted on the hull 1 and electrically connected to the control device 4 and the power supply device 5; and a second image collection device 720, which is mounted on the gripper 710 and is electrically connected to the control device 4 and the power supply device 5, wherein the second image collection device 720 is used for providing image information for the gripper 710 to grasp garbage.
Through setting up as above, through the real-time location rubbish position of second image collection device 720, gripper 710 has five degrees of freedom can accurately snatch rubbish, can place the rubbish in holding chamber 110, and the reliable work in complicated waters of this application surface of water rubbish clearance ship has been realized in the joining of gripper 710.
Illustratively, two gripper devices 7 are provided, the two gripper devices 7 being provided on opposite sides of the hull 1, respectively.
In another embodiment, referring to fig. 1 and 2 together, the surface garbage cleaning ship further comprises a pontoon 8 provided on the hull 1, wherein the pontoon 8 is used for stabilizing the hull 1.
Illustratively, there are two pontoons 8, with two pontoons 8 being provided on opposite sides of the hull 1, respectively.
The control device 4 comprises a main control board, a deep learning computer vision recognition system, a track planning system, a return navigation detection system and a TDS water quality detection module. The main control board comprises a raspberry group and a singlechip; the computer vision recognition system for deep learning mainly comprises a USB camera, an OpenMV, a raspberry group and a wireless life module, and is used for realizing recognition and positioning of garbage so as to accurately collect the garbage on the water surface; the track planning system mainly comprises a high-precision differential Beidou, a USB camera and a power module, and is used for accurately acquiring ship position information and planning a navigation path; the TDS water quality detection module is used for detecting water quality.
The raspberry pie has the functions of image acquisition and preprocessing, garbage identification, serial port communication data transmission and the like, and the singlechip adopts Arduino mega 2560 and is responsible for lower computer control, and mainly comprises the functions of motor transmission control, steering engine control, full load detection, serial port communication and the like.
The first image capturing device 6 and the second image capturing device 720 are illustratively the above-mentioned USB cameras, which are used for simply processing the picture information of the garbage, and are handed to the raspberry group for further processing.
Further, the sensor module of the return detection system comprises an electric quantity detection module, a pressure sensor and a laser ranging module, wherein the electric quantity detection module is used for detecting whether the water surface garbage cleaning ship should return, the pressure sensor is used for detecting the weight of collected garbage, the laser ranging module is used for judging whether the space in the accommodating cavity 110 is filled, and the TDS water quality detection module comprises a sensor and a signal processing circuit and is used for acquiring the pollution degree information of the water body.
In summary, on the one hand, the water surface garbage cleaning ship of the present application installs four paddle wheels 320 along the diagonally symmetrical distribution, and each paddle wheel 320 is controlled by a separate motor to rotate direction and speed. By controlling different rotation speeds and steering of different paddle wheels 320, the effect similar to a Mecanum wheel is achieved, so that the ship can move in all directions such as transverse, longitudinal and oblique directions under the condition that the heading angle is kept unchanged; even if the ship is required to move to the point in the direction of the non-heading angle, the shortest range between the points can be moved under the condition that the heading angle is unchanged and the turning radius is not available, so that the maneuverability and garbage cleaning efficiency of the unmanned ship are improved.
On the other hand, the water surface garbage cleaning ship is an unmanned ship with automatic control, and the combination of fuzzy control and a traditional PID algorithm controls the angular speed and the rotation direction of the paddle wheel 320, so that the ship is the basis for realizing accurate omnidirectional movement; the garbage variety can be automatically identified by improving the Yolo v5 deep learning algorithm, and the accuracy of garbage identification is improved.
On the other hand, the water surface garbage cleaning ship combines the technologies of omnidirectional mobile paddle wheel driving technology, unmanned operation, sensor monitoring and the like, so that the ship has excellent control performance, maneuvering performance and cleaning efficiency in a narrow water area. Through functions such as autonomous navigation, automatic recognition and garbage recovery, unmanned garbage cleaning ships can more efficiently clean floating garbage in water and provide valuable data support.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples only represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the claims. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (10)
1. A water surface garbage disposal ship, comprising:
the top surface of the ship body is concavely provided with a containing cavity for containing garbage;
the garbage collection device is arranged at the end part of the ship body and is used for collecting garbage on the water surface into the accommodating cavity;
the four driving devices are respectively arranged at four corners of the ship body and are used for driving the ship body to do linear motion or turning motion;
the control device is electrically connected with the garbage collection device and the driving device; and
and the power supply device is electrically connected with the garbage collection device, the driving device and the control device.
2. The surface garbage cleaning vessel according to claim 1, wherein the driving means comprises:
the paddle wheel is arranged at the corner of the ship body; and
and the first driving motor is used for driving the paddle wheel to rotate.
3. The water surface garbage cleaning ship according to claim 2, wherein the top surface of the ship body is provided with a center point and a central axis passing through the center point and pointing to the garbage collection device, the four paddle wheels are distributed in a central symmetry manner about the center point, and the driving direction of any paddle wheel is set at an included angle with the central axis.
4. A surface refuse disposal vessel according to claim 3, wherein the drive direction of any one of the paddle wheels is at an angle of 45 ° to the central axis.
5. The surface garbage disposal ship according to claim 1, wherein the garbage collection device comprises:
a drum rotatably installed at an end of the hull;
the second driving motor is used for driving the roller to rotate;
the multiple rows of claws are uniformly distributed along the circumferential direction of the roller and rotate along with the roller, the multiple claws in each row are sequentially distributed at intervals along the axial direction of the roller, and the claws hook garbage on the water surface in the rotating process of the claws; and
the guide rods are distributed on the ship body at intervals in sequence along the axial direction of the roller, the guide rods and the hooks of any row are distributed in a staggered mode, and after the hooks are staggered with the guide rods, garbage on the hooks is transferred to the guide rods and slides from the guide rods to the accommodating cavity.
6. The surface garbage disposal ship according to claim 1, wherein the power supply device includes:
a storage battery mounted on the hull; and
and the solar panel is arranged on the ship body and is electrically connected with the storage battery.
7. The surface garbage cleaning vessel of claim 6, wherein the power supply further comprises a steering mechanism disposed between the solar panel and the hull for adjusting the orientation of the solar panel.
8. The surface garbage cleaning vessel of claim 1, further comprising a first image collection device mounted on the hull and electrically connected to the control device and the power supply device, the first image collection device for providing image information for the garbage collection device to collect garbage.
9. The surface garbage cleaning vessel of claim 1, further comprising a gripper device, the gripper device comprising:
a gripper mounted on the hull and electrically connected to the control device and the power supply device; and
and the second image collecting device is arranged on the mechanical claw and is electrically connected with the control device and the power supply device, and the second image collecting device is used for providing image information for the mechanical claw to grasp garbage.
10. The surface garbage cleaning vessel of claim 1, further comprising a pontoon disposed on the hull, the pontoon for stabilizing the hull.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311619697.6A CN117429565A (en) | 2023-11-30 | 2023-11-30 | Water surface garbage cleaning ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311619697.6A CN117429565A (en) | 2023-11-30 | 2023-11-30 | Water surface garbage cleaning ship |
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| Publication Number | Publication Date |
|---|---|
| CN117429565A true CN117429565A (en) | 2024-01-23 |
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ID=89549989
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311619697.6A Pending CN117429565A (en) | 2023-11-30 | 2023-11-30 | Water surface garbage cleaning ship |
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| Country | Link |
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| CN (1) | CN117429565A (en) |
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2023
- 2023-11-30 CN CN202311619697.6A patent/CN117429565A/en active Pending
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