CN209142346U - A kind of automatic pick-up boat of garbage on water - Google Patents
A kind of automatic pick-up boat of garbage on water Download PDFInfo
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- CN209142346U CN209142346U CN201821577242.7U CN201821577242U CN209142346U CN 209142346 U CN209142346 U CN 209142346U CN 201821577242 U CN201821577242 U CN 201821577242U CN 209142346 U CN209142346 U CN 209142346U
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Abstract
The utility model discloses a kind of automatic pick-up boats of garbage on water, including hull and dynamical system, control system, collection system, salvaging transportation system；The control system is by single-chip microcontroller, guide needle control, acceleration detection sensor, relay, actuator composition, actuator mainly includes ultrasonic sensor, servo-driver, shaft, barn door and bottom plate, ultrasonic sensor and servo-driver communication connection, servo-driver includes servo motor, signal is passed to servo-driver by ultrasonic sensor, the rotation of servo-driver control servo motor, when servo motor rotation, shaft drives bottom plate and acceleration detection sensor to rotate together, but guide needle control is directed toward constant at this time, to which the acceleration detection sensor changes with the hull relative position；The utility model is salvaged and unmanned using intelligence, is solved tradition and is salvaged large labor intensity, the drawbacks such as working environment is severe, cleaning efficiency is low.
Description
Technical field
The utility model belongs to field of intelligent control technology, is related to a kind of automatic pick-up boat of garbage on water.
Background technique
With the rapid development of social economy, people's lives are all haveed a qualitative leap, especially since the industrial revolution, by
Excessively pay attention to industry and expanding economy in people, often ignores the protection to environment, this allows for World Water in recent years
Resource quality constantly declines, and water environment is continuous worsening.Pollution caused by water shortage and accident constantly occur, not only make factory
It stops production, the agriculture underproduction even total crop failure, and causes undesirable social influence and biggish economic loss, seriously threatened society
The sustainable development of meeting, has threatened the existence of the mankind.With 19 big " accelerating conservation culture system reform, build beautiful China "
The pollution problem of the proposition of target, water environment has been to be concerned by more and more people.There are many water sources, such as river in real life
Stream, man-made lake, shallow water face, bathing beach etc., all adrift polybag, mineral water bottle, foam, excessive algae, tree on the water surface
Many rubbish such as leaf drastically influence the beauty of people's health life and environment.Now existing large-scale pick-up boat is by combustion
Oil driving, the problems such as there is only air pollution, noise pollution and oil pollutions, and it is bulky, operating cost is high, energy consumption
Greatly, professional person is needed to operate, so that the garbage collection operations of city river and scenic spot waters cannot be widely used in,
It is difficult to popularize.
To solve the problems, such as collecting refuse from open water, at present many areas or using manually salvaging by the way of based on, use
Half cabin formula or deck automatic barge hold string bag station by sanitationman and directly rubbish fishing are come up above deck.It is this traditional
Refloatation method large labor intensity, working environment are severe, and personal safety is not guaranteed, clear up rubbish low efficiency；Traditional water surface rubbish
Rubbish is cleared up ship and is salvaged using the track of linear reciprocal motion, since rubbish has certain drift relative to the water surface, salvages effect
Bad, operator needs ceaselessly to manipulate back and forth the case where being unevenly distributed according to rubbish, time-consuming and laborious, and damages to machine
It is larger, moreover, general mechanization marine salvage equipment work surface is small, beach, the work of narrow river bank cannot be reached, can not be thoroughly removed
Rubbish.The utility model has made improvement on the basis of existing technology, improves the efficiency for salvaging rubbish, overcomes well
Drawbacks described above.
Utility model content
Technical problem to be solved in the utility model is status in view of the above technology, and it is automatic to provide a kind of garbage on water
Pick-up boat can independently pursue the track of rubbish；Using the principle of eccentric wheel, using special collection device, by the floating in front
Rubbish, which is led through, to be come, and collection is placed in dedicated dustbin.
To realize the above-mentioned technical purpose, the technical solution that the utility model is taken are as follows: a kind of automatic pick-up boat of garbage on water,
Including hull, hull includes dynamical system and power-supply system, and the dynamical system mainly includes driving motor and propeller, described
Driving motor is connected with propeller drive；The power-supply system is located in hull and is electrically connected with dynamical system, is dynamical system
System provides electric energy, it is characterised in that: further includes control system, collection system salvages transportation system；The control system is mainly wrapped
Single-chip microcontroller, acceleration detection sensor, guide needle control and actuator, single-chip microcontroller is included to connect with acceleration detection sensor communication,
When the acceleration detection sensor hull relatively is fixed, acceleration detection sensor detects the position of guide needle control transmitting
Confidence number after single-chip microcontroller receives the signal of transmitting, controls driving motor movement by PWM wave, driving motor drives propeller complete
At the forward travel of hull；The actuator mainly includes ultrasonic sensor, servo-driver, shaft, barn door and bottom plate,
Bottom plate and acceleration detection sensor are fixedly connected in shaft, and shaft is connected on servo-driver, and guide needle control is fixed
It being connected on barn door, barn door is connected to above bottom plate by pillar, ultrasonic sensor and servo-driver communication connection,
The servo-driver is constant relative to the hull position, and servo-driver includes servo motor, and ultrasonic sensor will be believed
Servo-driver number is passed to, servo-driver controls the rotation of servo motor, when servo motor rotation, since shaft connects
In on servo-driver, shaft drives bottom plate and acceleration detection sensor to rotate together, but guide needle control is directed toward not at this time
Become, so that the acceleration detection sensor changes with the hull relative position, the acceleration detection sensor is detected
The position change of compass controller signals, and then the principal direction for making the hull advance changes, to change the movement of hull
Direction；The collection system is made of collecting wheel and collecting board, and the collecting wheel is the two profiling blade variable eccentric collecting wheels in left and right,
The collecting board is to become wing bias collecting board, the left profiling blade variable eccentric collecting wheel and the right profiling blade variable eccentric collecting wheel
The change wing bias collecting board is driven to be stretched in opposite directions bunched rotary motion respectively, collecting wheel drives collecting board to be turned round
Movement, before rubbish is focused on the salvaging transportation system；The salvaging transportation system is by salvaging plate, delivery board, synchronous transport
Chain, sprocket wheel, synchronous long axis and hinge mount composition, at 50 degree of angles, the salvaging plate passes through hinge for the synchronous conveying chain and horizontal plane
Chain frame is installed on the synchronous long axis；The salvaging plate is rotated with the synchronous conveying chain around the sprocket wheel, next
The synchronous long axis supports the free end of the hinge mount, and the salvaging plate continues as the synchronous conveying chain is around described
Sprocket wheel rotation, and so on, the plate of salvaging with respect to overturning of the conveyor surface completion from negative angle to positive-angle, by rubbish salvage to
On the delivery board.
Preferably, the single-chip microcontroller model STM32F103RBT6 of the control system.
Preferably, model 120W, 12V the minisize dc permanent magnetic speed-adjusting 5D120GN-CC type motor of the driving motor.
Preferably, the model KS103 series of the ultrasonic sensor.
Preferably, the salvaging transportation system use arcuation guide rail, the salvagings plate be it is netted, on the salvaging plate
Equipped with piece is picked, the piece that picks is given also along the arcuation guide rail when carrying out salvaging movement with the salvaging plate
Direction constantly moves up and down, and the rubbish being wrapped on the salvaging plate is rejected completely upwards.
Preferably, the sprocket wheel is two pairs of large and small sprocket wheels (construction).
Preferably, the synchronous conveying chain is that two synchronous conveying chains are parallel, and every certain chain number of spacing is described in one
Synchronous long axis is connected, and the synchronous long axis has the function of realizing the synchronous conveying chain synchronization and the installation salvaging plate.
Preferably, the guide needle control includes the anti-dazzling screen at the top of compass and compass, and the acceleration detection passes
Sensor detects that the position signal of barn door transmitting at the top of the compass passes through PWM wave after single-chip microcontroller receives the signal of transmitting
Driving motor movement is controlled, driving motor drives the forward travel of propeller completion hull.
Preferably, the servo controller has a comparator, and external signal is compared with reference signal, the side of judging
To and size, to generate the turn signal of servo motor.
The utility model is possessed compared with prior art the utility model has the advantages that the utility model is salvaged using intelligence and nobody
It drives, solves in traditional salvaging mode that large labor intensity, working environment are severe, personal safety does not ensure, cleaning efficiency is low
Under, generation environment pollution and the drawbacks such as noise pollution, work surface be small.Using spiral forward travel, solves traditional line formula
Operation caused by back and forth movement is time-consuming and laborious, and larger drawback is damaged to machine, can be travelled along rubbish region, makes to beat
It is more preferable to fish out effect；Collecting wheel design becomes wing eccentric moving mechanism using profiling, and collecting board is driven to carry out the bunched rotary motion that stretches,
The effective breadth for increasing operation, improves work efficiency and operation quality；Salvaging mechanism uses arcuation guide rail, netted to beat
It is cased on fishing plate and picks piece, piece is picked while carrying out salvaging movement with fishing bar, also along the given direction of arcuation guide rail
It constantly moves up and down, the rubbish salvaged on plate will be wrapped in and rejected upwards completely, prevent polybag etc. to be wrapped in and salvage on plate, guarantor
Demonstrate,proving whole system can be with reliably working.
Detailed description of the invention
Fig. 1 is control system partial structure diagram；
Fig. 2 is to salvage transportation system structural schematic diagram；
Fig. 3 is synchronous conveying chain structural schematic diagram；
Fig. 4 is device for cleaning water surface rubbish schematic side view；
Fig. 5 is the utility model overall schematic.
1, acceleration detection sensor；2, guide needle control；3, decelerating motor；4, shaft；5, barn door；6, bottom plate；7,
Collecting wheel；8, plate is salvaged；9, delivery board；10, synchronous conveying chain；11, sprocket wheel；12, synchronous long axis 13, hinge mount；A, hull；B,
Collection system；C, transportation system is salvaged.
Specific embodiment
Specific embodiment of the present utility model is described in further detail below.
A kind of automatic pick-up boat of garbage on water of the utility model, including hull A, the hull A include dynamical system and
Power-supply system, the dynamical system mainly include driving motor and propeller, and the driving motor is connected with propeller drive, are driven
Model 120W, 12V the minisize dc permanent magnetic speed-adjusting 5D120GN-CC type motor of dynamic motor；The power-supply system is located at hull A
It is interior and be electrically connected with dynamical system, electric energy is provided for dynamical system, further includes control system, collection system B, salvaging delivery system
Unite C；The control system mainly includes single-chip microcontroller, acceleration detection sensor 1, guide needle control 2 and actuator, monolithic type
It number is STM32F103RBT6, single-chip microcontroller and 1 communication connection of acceleration detection sensor, the guide needle control 2 includes guide
Anti-dazzling screen at the top of needle and compass, when the acceleration detection sensor 1 hull A relatively is fixed, the acceleration detection is passed
The position signal that sensor 1 detects that barn door 5 transmits at the top of the compass passes through PWM after single-chip microcontroller receives the signal of transmitting
Wave controls driving motor movement, and driving motor drives the forward travel of propeller completion hull A；The actuator mainly includes surpassing
Sonic sensor, servo-driver, shaft 4, barn door 5 and bottom plate 6, bottom plate 6 are fixedly connected on acceleration detection sensor 1
In shaft 4, shaft 4 is connected on servo-driver, and guide needle control 2 is fixedly connected on barn door 5, and barn door 5 passes through
Pillar is connected to 6 top of bottom plate, and the model KS103 series of ultrasonic sensor, ultrasonic sensor and servo-driver are logical
News connection, the servo-driver is constant relative to the hull location A, and servo-driver includes servo motor 3, and ultrasonic wave passes
Signal is passed to servo-driver by sensor, and servo-driver controls the rotation of servo motor 3, when servo motor 3 rotates, by
It is connected on servo-driver in shaft 4, shaft 4 drives bottom plate 6 and acceleration detection sensor 1 to rotate together, but guide at this time
Needle control 2 be directed toward it is constant, so that the acceleration detection sensor 1 changes with the relative position the hull A, the acceleration
Detection sensor 1 detects the position change of 2 signal of guide needle control, and then the principal direction for making the hull A advance changes,
To change the direction of motion of hull A, there is a reference circuit inside servo-driver, the generation period is 20MS, width 1.5MS
Reference signal, the servo controller has a comparator, external signal compared with reference signal, judge direction and
Size, to generate the turn signal of servo motor 3；
The collection system B is made of collecting wheel 7 and collecting board 71, and the collecting wheel 7 is that the profiling change wing of left and right two is inclined
Heart collecting wheel, the collecting board are to become wing bias collecting board, and the left profiling blade variable eccentric collecting wheel and the right profiling become the wing
Eccentric collecting wheel drives the change wing bias collecting board to be stretched in opposite directions bunched rotary motion respectively, and collecting wheel 7, which drives, to be received
Collect plate 71 and carry out rotary motion, before rubbish is focused on the salvaging transportation system；
The salvaging transportation system C is by salvaging plate 8, delivery board 9, synchronous conveying chain 10, sprocket wheel 11, synchronous long axis 12 and hinge
Chain frame 13 forms, the synchronous conveying chain 10 and horizontal plane at 50 degree angles, the synchronous conveying chain for two synchronous conveying chains simultaneously
Row, every certain chain number of spacing are connected with a synchronous long axis, and the synchronous long axis, which has, realizes the synchronous conveying chain
Effect that is synchronous and installing the salvaging plate 8, the salvaging plate 8 are installed on 13 on the synchronous long axis by hinge mount 13；Institute
It states and salvages plate 8 as the synchronous conveying chain 10 rotate around the sprocket wheel 11, described in next synchronous long axis supports
The free end of hinge mount 13, the salvaging plate 8 continue to rotate with the synchronous conveying chain 10 around the sprocket wheel 11, the chain
Wheel 11 is two pairs of large and small sprocket builds, and and so on, the plate 8 of salvaging is completed from negative angle to positive-angle with respect to conveyor surface
Overturning, rubbish is salvaged to the delivery board 9, is salvaged transportation system and is used arcuation guide rail, the salvaging plate 8 is net
Shape, the salvaging plate 8, which is equipped with, picks piece, and the piece that picks with the salvaging plate 8 when carrying out salvaging movement, also along the arcuation
The given direction of guide rail constantly moves up and down, and the rubbish being wrapped on the salvaging plate 8 is rejected completely upwards；
Concrete operations are as follows: when water surface cleaning unmanned boat work, the left profiling blade variable eccentric collecting wheel and the right side
Profiling blade variable eccentric collecting wheel drives the change wing bias collecting board to be stretched in opposite directions bunched rotary motion respectively, by the water surface
Before floating refuse cleaning focuses on the salvaging transportation system between left hull and right hull, the salvaging transportation system is by rubbish
Elevator to rubbish stores and transports in storehouse after rubbish carries out drainage；It is described to beat before garbage floating on water surface is collected into the salvaging transportation system
The leading portion of fishing transportation system is immersed in the water, and the synchronous conveying chain 10 and horizontal plane are at 50 °, and the netted salvaging plate 8 is with flat
The capable synchronous conveying chain 10 is rotated around sprocket wheel 11, and the synchronous long axis next at this time supports oneself of the hinge mount 13
By holding, as the parallel synchronous conveying chain 10 remains in operation, the opposite conveyor surface completion of netted the salvagings plate 8 from negative angle to
The overturning of positive-angle.Therefore, floating refuse is salvaged by netted salvaging plate 8 to the netted delivery board 9, when rubbish is transported to rubbish
When rubbish case position, since the netted salvaging plate 8 turns over certain angle, rubbish reduces its normal pressure, 13 bullet of hinge mount
Property restore, rubbish is sprung into dustbin thereafter, at this time salvage process complete；The salvaging plate 8 uses reticular structure, is used for
Filter the tiny floating materials such as algae；In order to guarantee that the salvaging transportation system can reliably work, the salvaging transportation system
It using arcuation guide rail, is cased on the salvaging plate 8 and picks piece, the piece that picks carries out salvaging movement with the salvaging plate 8
Meanwhile constantly moving up and down also along the given direction of arcuation guide rail, the rubbish on the salvaging plate 8 will be wrapped in
Rubbish is rejected completely upwards, and polybag etc. is prevented to be wrapped on the salvaging plate 8, guarantee whole system can with reliably working (
This function is realized with water flow or high pressure gas).The synchronous conveying chain 10 and two pairs of large and small sprocket wheels, for driving
It states and salvages transportation system operation, realize that floating refuse is collected, and be transported to dustbin, the synchronous conveying chain 10 is by two
Synchronous conveying chain is parallel, and every certain chain number of spacing is connected with a synchronous long axis, and the synchronous long axis, which has, to be realized together
It walks carrier chain 10 and synchronizes and install the effect for salvaging plate 8；Usually, rubbish being unevenly distributed on the water surface, if
It is salvaged using the track of linear reciprocal motion, since rubbish has certain drift relative to the water surface, salvaging effect is bad, manipulation
Personnel need the case where being unevenly distributed according to rubbish ceaselessly to manipulate back and forth, time-consuming and laborious, and larger, ultrasound is damaged to machine
The mutual cooperation of wave sensor and servo-driver be it is more satisfactory, this motion profile can to greatest extent receive rubbish
Collection gets up；When water surface cleaning unmanned boat advances, the hull A is turned to but the direction of the compass is constant, the acceleration inspection
The relatively described hull A of sensor 1 is surveyed to fix, at a certain determining position, the acceleration detection sensor 1 is able to detect that signal,
Single-chip microcontroller and 1 communication connection of acceleration detection sensor, the guide needle control 2 include the shading at the top of compass and compass
Piece, when the acceleration detection sensor 1 hull A relatively is fixed, the acceleration detection sensor 1 detects the compass
The position signal that top barn door 5 transmits after single-chip microcontroller receives the signal of transmitting, controls driving motor movement by PWM wave, drives
Dynamic motor drives the forward travel of propeller completion hull A；The direction of the compass meaning is constant, when hull A rotary motion
When, the acceleration detection sensor 1 is rotated together with hull A, and whenever hull A is run to the right when driving, acceleration detection is sensed
Device 1 can detect the anti-dazzling screen 5 of guide needle section, and then the acceleration detection sensor 1 outputs signal to single-chip microcontroller, monolithic
Machine controls the driving motor operating；Change the relative position of the acceleration detection sensor 1 and hull A, so that it may change
Becoming the general direction that the hull A advances, the servo 3 is fixed relative to the hull A, when the servo motor 3 rotation, institute
Stating shaft 4 drives the bottom plate 6 and the acceleration detection sensor 1 to rotate together, but the compass and the barn door 5 refer to
To constant, the relative position of the acceleration detection sensor 1 and hull A is thus changed, to change the acceleration
Detection sensor 1 detects the position of the compass output acceleration signals, i.e., the described hull A is in the side faced when accelerating
To difference, effect is exactly the principal direction for changing the hull A and being threadingly advanced.
Operation instruction: the ultrasonic sensor of the utility model can detecte the rubbish around hull A, if hull A is attached
There is no rubbish closely, then hull A advances by the direction of script, if detecting rubbish, can change under the action of servo-driver
Direction, to make hull A along the direction running of rubbish；The collecting wheel design of salvaging system becomes wing eccentric motion machine using profiling
Structure drives collecting board to carry out the bunched rotary motion that stretches.
Above are merely preferred embodiments of the utility model, the protection scope of the utility model is not limited merely to above-mentioned
Embodiment, technical solution belonging to the idea of the present invention belong to the protection scope of the utility model.It should be pointed out that pair
For those skilled in the art, several improvements and modifications without departing from the principle of the utility model,
It should be regarded as the protection scope of the utility model.
Claims (9)
1. a kind of automatic pick-up boat of garbage on water, including hull A, the hull A include dynamical system and power-supply system, described dynamic
Force system mainly includes driving motor and propeller, and the driving motor is connected with propeller drive；The power-supply system is located at
It is electrically connected in hull A and with dynamical system, provides electric energy for dynamical system, it is characterised in that: further included control system, collect
System B, transportation system C is salvaged；The control system mainly includes single-chip microcontroller, acceleration detection sensor (1), guide needle control
(2) and actuator, single-chip microcontroller and acceleration detection sensor (1) communication connection, the relatively described ship of acceleration detection sensor (1)
When body A is fixed, acceleration detection sensor (1) detects that the position signal of guide needle control (2) transmitting, single-chip microcontroller receive transmitting
Signal after, pass through PWM wave control driving motor movement, driving motor drive propeller complete hull A forward travel；It is described
Actuator mainly includes ultrasonic sensor, servo-driver, shaft (4), barn door (5) and bottom plate (6), bottom plate (6) with plus
Fast detection sensor (1) is fixedly connected on shaft (4), and shaft (4) is connected on servo-driver, guide needle control (2)
It is fixedly connected on barn door (5), barn door (5) is connected to above bottom plate (6) by pillar, and ultrasonic sensor and servo are driven
Dynamic device communication connection, the servo-driver is constant relative to the hull location A, and servo-driver includes servo motor (3),
Signal is passed to servo-driver by ultrasonic sensor, and servo-driver controls the rotation of servo motor (3), works as servo motor
(3) when rotating, since shaft (4) is connected on servo-driver, shaft (4) can drive bottom plate (6) and acceleration detection sensor
(1) it rotates together, but guide needle control (2) direction is constant at this time, thus the acceleration detection sensor (1) and the hull
The relative position A changes, and the acceleration detection sensor (1) detects the position change of guide needle control (2) signal, into
And the principal direction for making the hull A advance changes, to change the direction of motion of hull A；
The collection system B is made of collecting wheel (7) and collecting board (71), and the collecting wheel (7) is that the profiling of left and right two becomes the wing
Eccentric collecting wheel, the collecting board are to become wing bias collecting board, and the left profiling blade variable eccentric collecting wheel and the right profiling become
Wing bias collecting wheel drives the change wing bias collecting board to be stretched in opposite directions bunched rotary motion respectively, collecting wheel (7) band
Dynamic collecting board (71) carry out rotary motion, before rubbish is focused on the salvaging transportation system；
The salvaging transportation system C is by salvaging plate (8), delivery board (9), synchronous conveying chain (10), sprocket wheel (11), synchronous long axis
(12) it is formed with hinge mount (13), at 50 degree of angles, the salvaging plate (8) passes through hinge for the synchronous conveying chain (10) and horizontal plane
Frame (13) is installed on the synchronous long axis；The salvaging plate (8) is as the synchronous conveying chain (10) is around the sprocket wheel
(11) rotate, next synchronous long axis supports the free end of the hinge mount (13), salvagings plate (8) continuation with
The synchronous conveying chain (10) around the sprocket wheel (11) rotate, and so on, the salvagings plate (8) with respect to conveyor surface completion from
Negative angle salvages rubbish on the delivery board (9) to the overturning of positive-angle.
2. the automatic pick-up boat of a kind of garbage on water according to claim 1, it is characterised in that: the monolithic of the control system
Machine model STM32F103RBT6.
3. the automatic pick-up boat of a kind of garbage on water according to claim 2, it is characterised in that: the model of the driving motor
For 120W, 12V minisize dc permanent magnetic speed-adjusting 5D120GN-CC type motor.
4. the automatic pick-up boat of a kind of garbage on water according to claim 3, it is characterised in that: the ultrasonic sensor
Model KS103 series.
5. the automatic pick-up boat of a kind of garbage on water according to claim 4, it is characterised in that: the salvaging transportation system C
Using arcuation guide rail, the salvaging plate (8) be it is netted, the salvagings plate (8) is equipped with picking piece, and the piece that picks is with described
When salvaging plate (8) carries out salvaging movement, constantly moves up and down, will wind also along the given direction of arcuation guide rail
Rubbish on salvaging plate (8) is rejected completely upwards.
6. the automatic pick-up boat of a kind of garbage on water according to claim 5, it is characterised in that: the sprocket wheel (11) is two pairs
Large and small sprocket build.
7. the automatic pick-up boat of a kind of garbage on water according to claim 6, it is characterised in that: the synchronous conveying chain is two
Synchronous conveying chain is parallel, and every certain chain number of spacing is connected with a synchronous long axis, and the synchronous long axis, which has, to be realized
The synchronous conveying chain is synchronous and installs the effect for salvaging plate (8).
8. the automatic pick-up boat of a kind of garbage on water according to claim 7, it is characterised in that: the guide needle control
It (2) include anti-dazzling screen at the top of compass and compass, the acceleration detection sensor (1) detects and hides at the top of the compass
The position signal of tabula rasa (5) transmitting after single-chip microcontroller receives the signal of transmitting, controls driving motor movement, driving electricity by PWM wave
Machine drives the forward travel of propeller completion hull A.
9. the automatic pick-up boat of a kind of garbage on water according to claim 8, it is characterised in that: the servo controller has one
External signal is compared with reference signal, judges direction and size by a comparator, to generate turning for servo motor (3)
Dynamic signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821577242.7U CN209142346U (en) | 2018-09-27 | 2018-09-27 | A kind of automatic pick-up boat of garbage on water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821577242.7U CN209142346U (en) | 2018-09-27 | 2018-09-27 | A kind of automatic pick-up boat of garbage on water |
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| Publication Number | Publication Date |
|---|---|
| CN209142346U true CN209142346U (en) | 2019-07-23 |
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| CN201821577242.7U Expired - Fee Related CN209142346U (en) | 2018-09-27 | 2018-09-27 | A kind of automatic pick-up boat of garbage on water |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229290A (en) * | 2018-09-27 | 2019-01-18 | 南京信息工程大学 | A kind of automatic pick-up boat of garbage on water |
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2018
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109229290A (en) * | 2018-09-27 | 2019-01-18 | 南京信息工程大学 | A kind of automatic pick-up boat of garbage on water |
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