CN207257916U - Anti-pollution vessel waterborne - Google Patents
Anti-pollution vessel waterborne Download PDFInfo
- Publication number
- CN207257916U CN207257916U CN201721371773.6U CN201721371773U CN207257916U CN 207257916 U CN207257916 U CN 207257916U CN 201721371773 U CN201721371773 U CN 201721371773U CN 207257916 U CN207257916 U CN 207257916U
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- deck
- buoyant device
- module
- wing plate
- control
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Abstract
The utility model discloses anti-pollution vessel waterborne, relates generally to refuse on water surface technical field.Including hull, control system, the hull includes buoyant device, the middle part at the top of the buoyant device is equipped with deck, and wing plate is arranged with the top of one end of the buoyant device, and side of the top away from deck of the wing plate is equipped with motor, the motor is equipped with propeller, the bottom of the buoyant device is equipped with groove, is equipped with the string bag in the groove, the one end on the deck is equipped with stent, stent is equipped with wireless camera, and the top on the deck is equipped with solar panel, control cabinet.The beneficial effects of the utility model are：It is capable of collecting for remote control progress rubbish, and automatic identification rubbish and it can recycle, utilize pneumatic control, it is not easy to be snarled by water plant, it can ensure power, the work load of staff can be reduced, improve cleaning efficiency, have the characteristics that simple in structure, small, low cost, cruising ability are strong.
Description
Technical field
Refuse on water surface technical field is the utility model is related to, is specifically anti-pollution vessel waterborne.
Background technology
Small lakes in scenic spot, park and often floating has refuse bag, mineral water bottle etc. on the water surface in narrow river
Garbage floating on water surface, excessive rubbish float on the water surface, not only influence ornamental value, also polluted ecological environment, garbage on water
Cleaning problem annoying the manager in scenic spot, park always.At present, the small lakes in scenic spot, park and narrow river
When the garbage floating on water surface in road is cleared up, manually salvaged by staff more, the floating refuse on bank is directly dragged for using the string bag
Take, for the floating refuse in lake or narrow river, canoe is driven by staff and is fished for, manually fishes for time-consuming expense
Power, cleaning efficiency are low, and some existing lake surface garbage cleaning devices not only clear up floater, also at the same time to water
Lower rubbish is cleared up, its volume is larger, cost is high, and the water surface in the small lakes and narrow river in scenic spot, park
Floating refuse is mostly the small-sized rubbish such as refuse bag, mineral water bottle, by existing lake surface garbage cleaning device directly apply to scenic spot,
When in the small lakes and narrow river in park, waste one's talent on a petty job, cause the wasting of resources, and existing lake surface garbage cleaning device
Dynamical system under water, the water plant that underwater engine system is easily overgrowed snarls, so as to run out of steam, recycling is very numb
Tired, also slightly deficiency, it is necessary to staff is manipulated, can not also accomplish automatic identification rubbish and recycle its cruising ability.
Utility model content
The purpose of this utility model is to provide a kind of refuse on water surface that disclosure satisfy that small lakes and narrow river
The anti-pollution vessel waterborne of work, it, which is capable of remote control and carries out rubbish, collects, and automatic identification rubbish and can recycle, profit
With pneumatic control, it is not easy to be snarled by water plant, can ensures power, the work load of staff can be reduced, improved clearly
Efficiency is managed, has the characteristics that simple in structure, small, low cost, cruising ability are strong.
The utility model to achieve the above object, is achieved through the following technical solutions：
Anti-pollution vessel waterborne, including hull, control system, the control system include Digiplex, are arranged at ship
The wireless control module being adapted on body with Digiplex, the Digiplex are equipped with display screen, and the hull includes
Buoyant device, the middle part at the top of the buoyant device are equipped with deck, and the length of the buoyant device is more than the length on deck, institute
State and wing plate is arranged with the top of one end of buoyant device, side of the top away from deck of the wing plate is equipped with motor, described
Motor is equipped with propeller, and the bottom of the buoyant device is equipped with groove, is equipped with the string bag in the groove, the buoyant device is remote
One end from wing plate is equipped with network interface supporting rack, and the openend of the string bag is fixedly connected with network interface supporting rack, is set in the groove
There are several fixing devices being adapted with the string bag, one end away from wing plate is equipped with stent on the deck, is set on the stent
There is wireless camera, the top on the deck is equipped with solar panel, control cabinet, storage battery, institute are equipped with the control cabinet
State solar panel to be electrically connected with storage battery, the storage battery is equipped with electric power detection module, the wireless control module bag
Include the microcontroller being arranged in control cabinet, radio receiving transmitting module, machine vision module, the motor, electric power detection module, nothing
Line transceiver module, machine vision module are connected with microcontroller signal.
The buoyant device includes two pvc pipes, and connecting tube, the both ends of the pvc pipe are equipped between two pvc pipes
Sealing-plug is equipped with, the deck is acrylic board.
Foam is equipped with the pvc pipe.
The motor is brushless electric machine.
The fixing device is Fastener for climbing mountain.
The both ends of the network interface supporting rack are equipped with connecting plate, and waist-shaped hole, the buoyancy are equipped with vertically on the connecting plate
Device is equipped with the lock screw being adapted with waist-shaped hole.
GPS module is equipped with the control cabinet.
The one end of the buoyant device away from wing plate is equipped with ultrasonic distance sensor.
The prior art is contrasted, the beneficial effects of the utility model are：
1st, the mobile of the utility model uses pneumatic control, and propeller is located at the top of the water surface, is not easy to be twined by water plant
Firmly, power can be ensured, wireless camera is used for filming surface scene, and the water surface scene photographed is sent to wireless remote control
Device, observes in the scene that wireless camera photographs whether have rubbish by the display screen on Digiplex, utilizes the sun
Energy solar panel power supply, cruising ability is strong, and electric power detection module is used for the electricity for monitoring storage battery in real time, passes through Digiplex control
The rotating speed of two motors is made, to control the movement of the utility model and steering, when the utility model is moved at rubbish, is utilized
The string bag fishes for rubbish, is capable of collecting for remote control progress rubbish, being capable of automatic identification garbage on water by machine vision module
And recycle, the work load of staff can be reduced, improve cleaning efficiency, there is simple in structure, small, low cost, continue
The characteristics of boat ability is strong.
2nd, the buoyant device of the utility model includes two pvc pipes, and connecting tube is equipped between two pvc pipes, described
The both ends of pvc pipe are equipped with sealing-plug, and the deck is acrylic board, can further reduce being fabricated to for the utility model
This, can economize on resources.
3rd, it is equipped with foam in the pvc pipe of the utility model, it is possible to increase the buoyancy of pvc pipe, it is possible to increase the utility model
Load-carrying.
4th, the motor of the utility model is brushless electric machine, and autocontrol is run, long lifespan, and maintenance cost is low.
5th, the fixing device of the utility model is Fastener for climbing mountain, can be easy to the dismounting of the string bag.
6th, the both ends of the network interface supporting rack of the utility model are equipped with connecting plate, and waist type is equipped with vertically on the connecting plate
Hole, the buoyant device are equipped with the lock screw that is adapted with waist-shaped hole, height that can be according to draft amount to network interface supporting rack
Degree is adjusted, and can ensure that garbage on water smoothly enters in the string bag.
7th, GPS module is equipped with the control cabinet of the utility model, it is fixed in real time that the utility model is carried out by GPS module
Position, can avoid the utility model from losing.
8th, the one end of the buoyant device of the utility model away from wing plate is equipped with ultrasonic distance sensor, by ultrasonic wave away from
The distance between hull and barrier are detected from sensor, ultrasonic distance sensor coordinates with wireless camera, Neng Gouwei
The safe operation of the utility model provides double-deck ensure.
Brief description of the drawings
Attached drawing 1 is the structure diagram of the utility model；
Attached drawing 2 is the left view of attached drawing 1；
Attached drawing 3 is the structure diagram of hull in embodiment；
Attached drawing 4 is the structure diagram of pvc pipe；
Attached drawing 5 is the control principle drawing of the utility model；
Attached drawing 6 is remote control mode schematic diagram；
Attached drawing 7 is automatic mode schematic diagram.
Attached figure label：1st, buoyant device；2nd, deck；3rd, wing plate；4th, motor；5th, propeller；6th, lock screw；7th, it is recessed
Groove；8th, the string bag；9th, network interface supporting rack；10th, stent；11st, wireless camera；12nd, solar panel；13rd, control cabinet；14、PVC
Pipe；15th, connecting tube；16th, sealing-plug；17th, connecting plate；18th, waist-shaped hole.
Embodiment
With reference to specific embodiment, the utility model is expanded on further.It is to be understood that these embodiments are merely to illustrate this
Utility model rather than limitation the scope of the utility model.In addition, it should also be understood that, reading the content of the utility model instruction
Afterwards, those skilled in the art can make various changes or modifications the utility model, and such equivalent forms equally fall within this Shen
Please limited range.
Described in the utility model is anti-pollution vessel waterborne, including hull, control system, and the control system includes wireless
Remote controler, be arranged at the wireless control module being adapted on hull with Digiplex, and Digiplex is used for the utility model
Wireless control.The Digiplex is equipped with display screen, and the hull includes buoyant device 1, the top of the buoyant device 1
The middle part in portion is equipped with deck 2.The length of the buoyant device 1 is more than the length on deck 2, the top of one end of the buoyant device 1
Portion is arranged with wing plate 3, and the side of the top of wing plate 3 away from deck 2 is equipped with motor 4, and the motor 4 is equipped with propeller
5, motor 4, which starts, drives propeller 5 to rotate, and the mobile of the utility model uses pneumatic control, and propeller 5 is located at the upper of the water surface
Side, is not easy to be snarled by water plant, can ensure power, by controlling the rotating speed of two motors 4 to control the movement of hull,
When the rotating speed of two motors 4 is identical, hull straight trip；When a motor 4 rotating speed be more than another motor 4 rotating speed, one
Rotate, another is not rotated, or during one reversion of a rotating forward, hull is turned.The bottom of the buoyant device 1 is equipped with recessed
Groove 7, the groove 7 is interior to be equipped with the string bag 8, and garbage floating on water surface is taken by 8 net of the string bag, when hull crosses garbage on water, the water surface
On openend of the rubbish through the string bag 8 enter the string bag 8 in.The described one end of buoyant device 1 away from wing plate 3 is equipped with network interface supporting rack
9, the openend of the string bag 8 is fixedly connected with network interface supporting rack 9, and network interface supporting rack 9 struts the openend of the string bag 8, network interface
The latter half of supporting rack 9 is located at below the water surface, and top half is located at more than the water surface.Several and net are equipped with the groove 7
The string bag 8, is installed in groove 7 by the adaptable fixing device of pocket 8 by fixing device.The one of remote wing plate 3 on the deck 2
End is equipped with stent 10, and the stent 10 is equipped with wireless camera 11, and wireless camera 11 is used for filming surface scene, and will clap
The water surface scene taken the photograph is sent to Digiplex, is shot by the display screen on Digiplex to observe wireless camera 11
To scene in whether have rubbish.The top on the deck 2 is equipped with solar panel 12, control cabinet 13, the control cabinet 13
Interior to be equipped with storage battery, the solar panel 12 is electrically connected with storage battery, is powered using solar panel 12, cruising ability
By force.The storage battery is equipped with electric power detection module, and electric power detection module is used for the electricity for monitoring storage battery in real time, to ensure ship
Body can make a return voyage.Microcontroller, radio receiving transmitting module, the machine that the wireless control module includes being arranged in control cabinet 13 regard
Feel module, the motor 4, electric power detection module, radio receiving transmitting module, machine vision module are connected with microcontroller signal,
Microcontroller transmits information by radio receiving transmitting module and Digiplex, passes through two motors 4 of Digiplex remote control
Rotating speed, to control the movement of the utility model and steering, when the utility model is moved at rubbish, fished for using the string bag 8
Rubbish, is capable of remote control and carries out rubbish and collect, and automatic identification garbage on water and can be recycled, energy by machine vision module
Enough reduce the work load of staff, improve cleaning efficiency, strong with simple in structure, small, low cost, cruising ability
Feature.
In order to economize on resources, the buoyant device 1 includes two pvc pipes 14, and connection is equipped between two pvc pipes 14
Pipe 15, the both ends of the pvc pipe 14 are equipped with sealing-plug 16, and the deck 2 is acrylic board, can further reduce this practicality
New cost of manufacture, can economize on resources.
In order to improve the load-carrying of the utility model, foam is equipped with the pvc pipe 14, it is possible to increase the buoyancy of pvc pipe 14,
The load-carrying of the utility model can be improved.
In order to reduce maintenance cost, the motor 4 is brushless electric machine, and autocontrol is run, long lifespan, and maintenance cost is low.
For the ease of the dismounting of the string bag, the fixing device is Fastener for climbing mountain, convenient for disassembly and assembly, can be easy to the dismounting of the string bag.
In order to ensure that garbage on water smoothly enters in the string bag, the both ends of the network interface supporting rack 9 are equipped with connecting plate 17,
Vertical on the connecting plate 17 to be equipped with waist-shaped hole 18, the buoyant device 1 is equipped with the lock screw being adapted with waist-shaped hole 18
6, the height of network interface supporting rack 9 can be adjusted according to vessel draft amount, can ensure garbage on water smoothly into networking
In pocket.
In order to avoid the utility model is lost, GPS module is equipped with the control cabinet 13, by GPS module to this practicality
It is new to be positioned in real time, the utility model can be avoided to lose.
In order to ensure the safe operation of the utility model, the described one end of buoyant device 1 away from wing plate 3 be equipped with ultrasonic wave away from
From sensor, ultrasonic distance sensor coordinates with wireless camera, can provide bilayer for the safe operation of the utility model
Ensure.
Embodiment：Described in the utility model is anti-pollution vessel waterborne, including hull, control system, the control system
Including Digiplex, the wireless control module being adapted on hull with Digiplex is arranged at, Digiplex is used for this
The wireless control of utility model.The Digiplex is equipped with display screen, and the hull includes buoyant device 1, the buoyancy
The middle part at the top of device 1 is equipped with deck 2, and hull can also use aircushion vehicle.The buoyant device 1 includes two pvc pipes 14, and two
Connecting tube 15 is equipped between pvc pipe 14 described in root, is connected between pvc pipe 14 and connecting tube 15 by threeway, deck 2 passes through screw
It is connected with pvc pipe 14, connecting tube 15 is located at one end of pvc pipe 14, and the both ends of the pvc pipe 14 are equipped with sealing-plug 16, sealing
Plug 16 is threadedly coupled with pvc pipe 14, and the deck 2 is acrylic board, can further reduce the cost of manufacture of the utility model,
It can economize on resources.Foam is equipped with the pvc pipe 14, it is possible to increase the buoyancy of pvc pipe 14, it is possible to increase the utility model
Load-carrying.The length of buoyant device 1 is more than the length on deck 2, and wing plate 3, the wing are arranged with the top of one end of the buoyant device 1
Plate 3 is screwed on buoyant device 1.The side of the top of wing plate 3 away from deck 2 is provided with motor 4, motor 4
Preferably brushless electric machine, autocontrol operation, long lifespan, maintenance cost are low.The output shaft of the motor 4 is equipped with propeller 5, spiral shell
Revolve paddle 5 and use positive and negative paddle, motor 4, which starts, drives propeller 5 to rotate, and the mobile of hull uses pneumatic control, and propeller 5 is located at water
The top in face, is not easy to be snarled by water plant, can ensure power, and the rotating speed by controlling two motors 4 can control hull
Movement, when the rotating speed of two motors 4 is identical, hull straight trip；When the rotating speed of a motor 4 is more than turning for another motor 4
Speed, a rotation, another is not rotated, or during one reversion of a rotating forward, hull is turned, and utilizes the differential of two motors 4
Control turns to, mobile in the relatively low lake of flow velocity to be relatively easy to.The described one end of buoyant device 1 away from wing plate 3 is equipped with ultrasonic wave
Range sensor, ultrasonic distance sensor coordinate with wireless camera 11, and double-deck guarantor can be provided for the safe operation of hull
Barrier.Gap between two pvc pipes 14 forms groove 7, and the string bag 8 is equipped with the groove 7, and the string bag 8 is used as a garbage collection
Storehouse, filtered water stream collects floating material at the same time while advancing, and when hull crosses garbage on water, the rubbish on the water surface is through the string bag
8 openend enters in the string bag 8.The described one end of buoyant device 1 away from wing plate 3 is equipped with network interface supporting rack 9, network interface supporting rack 9
For rectangular plastic frame, the latter half of network interface supporting rack 9 is located at below the water surface, and top half is located at more than the water surface, network interface support
Frame 9 struts the openend of the string bag 8, and the latter half of the openend of the string bag 8 is located at below the water surface.The network interface supporting rack 9
Both ends are equipped with connecting plate 17, are an integral structure between connecting plate 17 and network interface supporting rack 9, are set vertically on the connecting plate 17
There is waist-shaped hole 18, the buoyant device 1 is equipped with the lock screw 6 being adapted with waist-shaped hole 18, can be according to vessel draft amount
The height of network interface supporting rack 9 is adjusted, can ensure that garbage on water smoothly enters in the string bag.It is equipped with the groove 7
Several fixing devices being adapted with the string bag 8, fixing device is preferably Fastener for climbing mountain, convenient for disassembly and assembly, by fixing device by net
Pocket 8 is installed in groove 7.One end away from wing plate 3 is equipped with stent 10 on the deck 2, and the stent 10 is equipped with and wirelessly takes the photograph
As first 11, wireless camera 11 is used for filming surface scene, and the water surface scene photographed is sent to Digiplex, passes through
Display screen on Digiplex observes in the scene that wireless camera 11 photographs whether have rubbish.The top on the deck 2
Portion is equipped with solar panel 12, control cabinet 13, is equipped with storage battery, GPS module in the control cabinet 13, passes through GPS module pair
The utility model is positioned in real time, hull can be avoided to lose.The solar panel 12 is electrically connected with storage battery, is utilized
Solar panel 12 persistently provides electric energy, and cruising ability is strong.The storage battery is equipped with electric power detection module, electric power detection mould
Block is used for the electricity for monitoring storage battery in real time, to ensure that hull can make a return voyage.The wireless control module includes being arranged at control
Microcontroller, radio receiving transmitting module in case 13, machine vision module, microcontroller choose the STM32F103C8T6 of ST companies,
Line transceiver module chooses NEF24L01, and machine vision module uses openmv3, integrates ARM Cortex M7 processors, controls core
Piece STM32F7467, carries wireless camera 11, there is remote control and automatic both of which.It is wireless by NEF24L01 under remote control mode
Control, the image passed back using wireless camera 11 are found rubbish and judge the position of rubbish, and control hull completes the receipts of rubbish
Collection；Cruised under automatic mode with certain track, image procossing is carried out to lake surface, identified rubbish and collect automatically.Use openmv3
Image procossing can be carried out to lake surface, identify the place of rubbish.The motor 4, electric power detection module, radio receiving transmitting module, machine
Device vision module, ultrasonic distance sensor are connected with microcontroller signal, and microcontroller passes through radio receiving transmitting module and nothing
Line remote controler transmits information, by the rotating speed of two motors 4 of Digiplex remote control, to control the movement of the utility model
With steering, when the utility model is moved at rubbish, rubbish is fished for using the string bag 8, is capable of the receipts of remote control progress rubbish
Take, automatic identification garbage on water and can be recycled by machine vision module, the work load of staff can be reduced, improved
Cleaning efficiency, has the characteristics that simple in structure, small, low cost, cruising ability are strong.The use of the utility model is divided into remote control
Pattern and automatic mode, communication module selects NRF24L01 wireless receiving and dispatching communication modules under remote control mode, high-speed, in atmosphere
Transmission time is very short, and maximum distance can be controlled it up to 3000m with remote distance video transfer image and with remote controler, be added
Upper wireless camera, the video image on Digiplex in front of display, can allow operating personnel more accurately to control works
Advance, carry out the collection of rubbish.Image procossing is carried out to lake surface under automatic mode, the position of rubbish is identified and controls cleaning ship
Automatic to collect, we use openmv3 to image procossing, and OpenMV is just as a super powerful Arduino, wherein there is a use
The camera of Python programmings, easily can run machine vision algorithm, so as to several when OpenMV sees
Color, detection face etc. are tracked in second, then controls the I/O pins in real world.Display screen uses 0.96 cun
TFTLED, shows operation conditions, convenient debugging.Program is overall using STM32F103C8T6 microcontrollers as microcontroller, at image
Reason, image transmitting, water surface control technology, wireless communication protocol and location technology are integrated, and intert each layer order and feedback,
And then control the operation of whole program.Under remote control mode, the image passed back by the image transmitting camera of carrying operates cleaning
Ship carries out the collection of rubbish, is cruised under automatic mode using image processing function in the water surface, collects rubbish, while have low electricity to return
The functions such as boat, collision avoidance, positioning.After system operation, remote control mode or automatic mode are selected, under remote control mode, by wirelessly taking the photograph
As head, video information is transmitted on the display screen of Digiplex by NRF24L01 modules, is operated by people, finds the position of rubbish
Put, control cleaning ship to take in rubbish in storehouse using remote sensing.When solar energy is inadequate, then need to use battery powered, when rubbish fills
Full or battery capacity is less than regulation electricity, and remote controler can receive the report for police service, and at this moment control hull to make a return voyage by operating personnel.Automatic mold
Under formula, hull cruises by pre-determined route (as littoral), carries out image procossing to the water surface with openmv3, identifies the rubbish of the water surface
Rubbish, recognizes rubbish and just sails towards rubbish position, so that rubbish is taken in cabin, in the process of running, once run into
There is the situation of the barriers such as wall in front, and ultrasonic distance sensor detects jointly with wireless camera, and hull will be controlled to turn
To progress avoidance.When battery capacity is too low, own coordinate is uploaded in real time, and make a return voyage to designated position.
Claims (8)
1. anti-pollution vessel waterborne, including hull, control system, the control system includes Digiplex, is arranged at hull
The wireless control module that upper and Digiplex is adapted, the Digiplex are equipped with display screen, and the hull includes floating
Power apparatus (1), the middle part at the top of the buoyant device (1) are equipped with deck (2), it is characterized in that：The length of the buoyant device (1)
Degree is more than the length of deck (2), and wing plate (3) is arranged with the top of one end of the buoyant device (1), the wing plate (3)
Side of the top away from deck (2) is equipped with motor (4), and the motor (4) is equipped with propeller (5), the buoyant device (1)
Bottom is equipped with groove (7), and the string bag (8) is equipped with the groove (7), and the one end of the buoyant device (1) away from wing plate (3) is equipped with
Network interface supporting rack (9), the openend of the string bag (8) are fixedly connected with network interface supporting rack (9), and the groove (7) is if interior be equipped with
A fixing device being adapted with the string bag (8) is done, one end away from wing plate (3) is equipped with stent (10) on the deck (2), described
Stent (10) is equipped with wireless camera (11), and the top of the deck (2) is equipped with solar panel (12), control cabinet
(13), storage battery is equipped with the control cabinet (13), the solar panel (12) is electrically connected with storage battery, the storage battery
Electric power detection module is equipped with, the wireless control module includes microcontroller, the wireless receiving and dispatching being arranged in control cabinet (13)
Module, machine vision module, the motor (4), electric power detection module, radio receiving transmitting module, machine vision module are and micro-control
Device signal connection processed.
2. anti-pollution vessel waterborne according to claim 1, it is characterized in that：The buoyant device (1) includes two pvc pipes
(14), connecting tube (15) being equipped between two pvc pipes (14), the both ends of the pvc pipe (14) are equipped with sealing-plug (16),
The deck (2) is acrylic board.
3. anti-pollution vessel waterborne according to claim 2, it is characterized in that：Foam is equipped with the pvc pipe (14).
4. anti-pollution vessel waterborne according to claim 1, it is characterized in that：The motor (4) is brushless electric machine.
5. anti-pollution vessel waterborne according to claim 1, it is characterized in that：The fixing device is Fastener for climbing mountain.
6. anti-pollution vessel waterborne according to claim 1, it is characterized in that：The both ends of the network interface supporting rack (9) are all provided with
There is connecting plate (17), be equipped with waist-shaped hole (18) vertically on the connecting plate (17), the buoyant device (1) is equipped with and waist-shaped hole
(18) adaptable lock screw (6).
7. anti-pollution vessel waterborne according to claim 1, it is characterized in that：GPS module is equipped with the control cabinet (13).
8. anti-pollution vessel waterborne according to claim 1, it is characterized in that：The remote wing plate (3) of the buoyant device (1)
One end is equipped with ultrasonic distance sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721371773.6U CN207257916U (en) | 2017-10-17 | 2017-10-17 | Anti-pollution vessel waterborne |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721371773.6U CN207257916U (en) | 2017-10-17 | 2017-10-17 | Anti-pollution vessel waterborne |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207257916U true CN207257916U (en) | 2018-04-20 |
Family
ID=61915779
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721371773.6U Expired - Fee Related CN207257916U (en) | 2017-10-17 | 2017-10-17 | Anti-pollution vessel waterborne |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108661029A (en) * | 2018-06-27 | 2018-10-16 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of river surface cleaning robot |
| CN108860489A (en) * | 2018-04-28 | 2018-11-23 | 六安荣耀创新智能科技有限公司 | A kind of river drifting substances cleaning plant |
| CN109229286A (en) * | 2018-11-19 | 2019-01-18 | 山东交通职业学院 | A kind of unmanned water surface patrol device and control system |
| CN111560928A (en) * | 2020-04-10 | 2020-08-21 | 天津大学 | Near-shore water pumping and filtering system driven by light energy |
| CN114291217A (en) * | 2021-12-30 | 2022-04-08 | 合肥工业大学 | Garbage cleaning ship based on visual identification technology and control system thereof |
| CN115288104A (en) * | 2022-10-10 | 2022-11-04 | 日照市海洋与渔业研究院(日照市海域使用动态监视监测中心、日照市水生野生动物救护站) | Floating type water cleaning device |
| CN116104066A (en) * | 2023-04-13 | 2023-05-12 | 山东科技大学 | Sea surface oil stain cleaning intelligent device and sea surface oil stain cleaning method |
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2017
- 2017-10-17 CN CN201721371773.6U patent/CN207257916U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108860489A (en) * | 2018-04-28 | 2018-11-23 | 六安荣耀创新智能科技有限公司 | A kind of river drifting substances cleaning plant |
| CN108661029A (en) * | 2018-06-27 | 2018-10-16 | 芜湖易泽中小企业公共服务股份有限公司 | A kind of river surface cleaning robot |
| CN109229286A (en) * | 2018-11-19 | 2019-01-18 | 山东交通职业学院 | A kind of unmanned water surface patrol device and control system |
| CN111560928A (en) * | 2020-04-10 | 2020-08-21 | 天津大学 | Near-shore water pumping and filtering system driven by light energy |
| CN114291217A (en) * | 2021-12-30 | 2022-04-08 | 合肥工业大学 | Garbage cleaning ship based on visual identification technology and control system thereof |
| CN115288104A (en) * | 2022-10-10 | 2022-11-04 | 日照市海洋与渔业研究院(日照市海域使用动态监视监测中心、日照市水生野生动物救护站) | Floating type water cleaning device |
| CN116104066A (en) * | 2023-04-13 | 2023-05-12 | 山东科技大学 | Sea surface oil stain cleaning intelligent device and sea surface oil stain cleaning method |
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