CN209921570U - Water surface robot for cleaning and classifying water surface garbage - Google Patents

Abstract

The utility model discloses a water surface robot for cleaning and classifying water surface garbage, which comprises a hull of an electric boat, a garbage bin is arranged inside the hull, and a sorting trash can is detachably installed in the garbage bin; There is a garbage collection and transmission device, one end of the garbage collection and transmission device is located in the garbage bin and corresponds to the position of the sorting trash can, and the other end extends out of the outside of the hull; the garbage collection and transmission device includes a support frame rotatably connected to the hull. A conveyor belt is laid on the surface of the support frame, and the surface of the conveyor belt is provided with grids; the support frame is connected with a lifting device to drive one end of the support frame to move up and down, and the conveyor belt is connected with a rotating device to make it rotate; the support frame located outside the hull Fixed baffles are respectively fixed on both sides of the end; and movable baffles are arranged on the top surface of the conveyor belt. The water surface garbage is salvaged through the conveyor belt, and dumped into the corresponding classification trash cans, which can reduce the later garbage classification work.

Description

A water surface robot for cleaning and sorting water surface garbage

technical field

The utility model relates to the field of water surface garbage cleaning, in particular to a water surface robot used for cleaning and classifying water surface garbage.

Background technique

In recent years, people have paid attention to economic benefits while ignoring environmental benefits. For example, all kinds of garbage floating on the water surface are often used to manually clean up the floating objects on the water surface, which has low efficiency and high labor costs; and in some dangerous waters, manual operations cannot be performed. This requires robots to replace manual cleaning to reduce operational risks.

At present, there are robots or electric boats for cleaning water surface garbage. For example, CN106585904, CN105129063A, CN105564603A, etc. all disclose a water surface robot, which mostly includes a hull, a control system for all decision-making processing of the water surface cleaning robot, and a water surface cleaning robot. Motion power drive, navigation system for providing the route the hull travels, as well as obstacle avoidance radar, power module, wireless communication module, etc. However, since the directly salvaged garbage is piled together without being classified, some recyclable garbage needs to be manually classified, which increases the workload. In addition, even if manual sorting is used, since most people currently lack comprehensive knowledge of garbage sorting, they cannot accurately remember and judge what type of complex and numerous garbage belongs to, thus causing great pressure on the urban environment and garbage disposal.

According to the unified standards formulated by the state, domestic waste is now widely divided into four categories, namely recyclables, kitchen waste, hazardous waste and other wastes. Recyclables refer to garbage suitable for recycling and recycling, mainly including five categories of waste paper, plastic, glass, metal and cloth, which can be collected in recyclable garbage containers for recycling through comprehensive treatment.

According to the characteristics of surface garbage distribution, most of them are light garbage with floating ability. Through intelligent garbage classification management and automatic cleaning of the garbage salvaged from the water, maximizing the utilization of garbage resources, reducing the amount of garbage disposal, and improving the quality of the living environment are currently one of the urgent issues of common concern to all countries in the world.

Utility model content

The purpose of the present invention is to provide a water surface robot for cleaning and classifying water surface garbage, so as to solve the problems raised in the above background technology.

To achieve the above object, the utility model provides the following technical solutions:

A water surface robot for cleaning and classifying water surface garbage, including a hull of an electric boat, a garbage bin is arranged inside the hull, and a sorting trash can is detachably installed in the garbage bin; the bottom of one end of the hull is installed with a garbage collection and transmission device, one end of the garbage collection and transmission device is located in the garbage bin and corresponds to the position of the sorting trash can, and the other end of the garbage collection and transmission device protrudes from the outside of the hull;

The garbage collection and transmission device includes a support frame that is rotatably connected to the hull, the surface of the support frame is covered with a circle of conveyor belts, and the surface of the conveyor belt is provided with grids; the support frame is connected with a lifting device to drive one end of the support frame to move up and down. The conveyor belt is connected with a rotating device to make it rotate; fixed baffles are respectively fixed on both sides of the end of the support frame outside the hull; and movable baffles are arranged on the top surface of the conveyor belt.

In a further scheme, the lifting device is installed inside the hull on both outer sides of the support frame; the lifting device is a lifting motor, the output end of which is connected to the end of the support frame through a screw assembly, and the rotation of the lifting motor is converted into a support through the screw assembly. The up and down movement of the rack. That is, one end of the screw rod in the screw rod assembly is connected with the output end of the lifting motor, and the other end is sleeved with a nut, and the outer end of the nut is fixedly connected with the support frame. .

In a further solution, the bottom end of the support frame is movably sleeved on the rotating shaft, and both ends of the rotating shaft are mounted on the base fixed on the hull.

In a further scheme, the two ends of the support frame are provided with drive rollers for supporting the conveyor belt; the rotating device is a motor, which is symmetrically installed inside the hull on both outer sides of the support frame; the output end of the rotating device is connected to one of the transmissions. The end connections of the rollers drive the conveyor belt to rotate.

In a further scheme, the end of the movable baffle located at one end of the hull is fixed on the support shaft, and the end of the movable baffle is fixed with a magnetic buckle that engages with the side wall of the support frame; A drive on the hull is attached to drive the end of the flapper to swing left and right along the conveyor belt surface.

In a further solution, the driving device is a forward and reverse rotation motor; the support shaft is located on the central axis of the conveyor belt.

In a further scheme, the movable baffle divides the outlet end of the conveyor belt into two classification ports, and a classification trash can is correspondingly arranged at the position of the classification port; A sensor for the amount of garbage.

In a further scheme, a mounting frame is set up on the top of the hull, and a high-definition camera, an infrared camera and an infrared sensor are respectively installed on the mounting frame, and the output ends of the high-definition camera, the infrared camera and the infrared sensor are all connected with the main control board, so the The output ends of the main control board are respectively connected with the lifting device, the rotating device, the movable baffle and the driver.

Preferably, a motor compartment and a control compartment are also arranged inside the hull, a lithium battery and a generator are arranged in the motor compartment, and a main control board, a communication module and a driver are installed in the control compartment; A solar panel is laid on the top surface, and the current output end of the solar panel is connected with a lithium battery, and the lithium battery is interactively connected with a generator through a UPS power supply, and the lithium battery and the generator provide power for the hull.

The generator power generation and solar panel power generation are both existing devices on the existing surface robots. On the one hand, they are used for the hull to work, and the excess power can also be stored in lithium batteries. In addition, existing surface robots are equipped with GPS antennas, remote control antennas, lidars, speakers, etc.

The main control board, the communication module and the driver are all existing devices on the existing water surface robot, and the present invention does not involve any improvement on them, but only continues to apply them. The main control board uses the CAN bus to connect with the driver through CAN protocol communication. The driver is used to directly control and drive the walking of the hull. In addition, the driver is also connected to the remote control through the remote control antenna. The motion of the water surface cleaning robot is controlled. The main control board is connected to the mobile terminal or PC terminal through the remote server through the communication module, and various behaviors of the water surface cleaning robot can be controlled through the mobile terminal or PC terminal, such as setting autonomous cruise, automatic garbage search, automatic salvage, etc. A lidar is installed on the top of the hull, which can identify shores, bridges, obstacles, etc. for automatic obstacle avoidance.

The infrared camera is used to scan the water surface and identify the location of the garbage target; the infrared recognition sensor is used for infrared identification of the garbage material, so as to identify and classify the garbage material; the high-definition camera is used to transmit high-definition real-time video images, The real-time image code captured is transmitted to the client, and the environment around the robot can be viewed through the client, and the camera has a pan-tilt function, which can be adjusted up, down, left, and right.

The above components are all in the prior art, and the specific working principle will not be described in detail here.

The utility model is provided with grids on the surface of the conveyor belt, which is convenient for the transportation of garbage on the water surface; fixed baffles are arranged on both sides of the front end of the conveyor belt, and a movable baffle is arranged in the middle. Move sideways to divide the exit end of the conveyor belt into two sorting ports, so that the garbage can only enter one side (left or right) of the conveyor belt separated by the movable baffle, and pour the corresponding sorted garbage from one of the sorting ports In the bucket, so as to achieve the purpose of garbage classification.

There is a sensor on the inner wall of the sorting trash can, which can identify whether the sorting trash can is full. After it is full, the sensor sends the signal to the mobile terminal or PC terminal through the main control board and the remote server, and then manually controls the surface robot to return in time. , and clean up the trash.

The water surface robot of the utility model scans the water surface through an infrared camera to identify the location of the garbage target on the water surface, and the hull moves to the garbage place; the lifting motor drives the support frame to adjust the position of the conveyor belt, so that the outer end is downwardly located under the water surface and inside The end exit is docked with the sorting trash can; then the infrared recognition sensor conducts infrared identification of the garbage, so as to identify and classify the material of the garbage, and determine whether the garbage is recyclable or non-recyclable; the forward and reverse motor works to drive the movable gear. The plate moves to one side, thereby closing half of the outlet end of the conveyor belt, and the rotating motor drives the conveyor belt to rotate, so that the water surface garbage is transported upward through the grid; it is transported to the outlet, and the garbage is poured into the corresponding sorting trash can. Continue the previous process to deal with the next water surface garbage.

Compared with the prior art, the beneficial effects of the present utility model are:

1. The utility model realizes the automatic search of water surface garbage through infrared cameras and infrared identification sensors, and can classify and dump the salvaged garbage into the classified garbage can, reduce the workload of secondary sorting of garbage, and reduce the amount of garbage in the water environment sanitation workers. workload during classification;

2. In the utility model, a movable baffle is arranged in the middle of the upper end face of the transmission belt, and is driven to move to both sides by the forward and reversed motor, and the classification port of the conveyor belt is closed according to the type of garbage, so that the garbage collected from the same place enters the corresponding in recyclable or non-recyclable bins;

3. The utility model realizes the classification of water surface garbage through the combination of material recognition and image recognition by infrared recognition sensors, which makes up for the defects and deficiencies of a single method, and makes the automatic classification of water surface garbage more reliable and comprehensive;

4. The utility model adopts the multi-level power supply of solar energy and generator for mutual backup, which makes up for the shortage of single power, effectively ensures the endurance of the surface robot, and is suitable for the automatic search of small floating garbage on artificial lakes, rivers, pools, scenic spots and other small water surfaces. , automatic cleaning and automatic classification.

Description of drawings

Fig. 1 is the structural representation of the utility model,

Fig. 2 is the first state plan view of the utility model,

Fig. 3 is the second state top view of the utility model,

4 is a schematic diagram of the connection between the garbage collection and transmission device and the lifting device in the utility model,

FIG. 5 is a schematic diagram of the assembly of the movable baffle and the conveyor belt in the utility model.

In the picture: 1-hull, 11-motor compartment, 12-control compartment, 13-garbage compartment; 2-mounting frame, 21-HD camera, 22-infrared camera, 23-infrared identification sensor, 3-solar panel, 4 - Garbage collection and transmission device, 41-rotating shaft, 42-lifting device, 43-rotating device, 44-conveyor belt, 45-grid, 46-transmission roller, 47-support frame, 48-screw assembly, 49-base; 5 - Movable baffle, 51-support shaft, 52-drive device, 53-magnetic buckle; 6-fixed baffle, 7-sorting trash can, 71-sensor.

Detailed ways

The technical solution of the present patent will be described in further detail below in conjunction with specific embodiments.

As shown in Figures 1-5, a water surface robot for cleaning and classifying water surface garbage includes a hull 1 of an electric boat. The hull 1 is provided with a garbage bin 13 inside, and the garbage bin 13 is detachably installed with a A garbage collection and transmission device 4 is installed at the bottom of one end of the hull 1, and one end of the garbage collection and transmission device 4 is located in the garbage bin 13 and corresponds to the position of the classification garbage can 7. The other end of the collection transfer device 4 protrudes from the outside of the hull 1;

The garbage collection and transmission device 4 includes a support frame 47 that is rotatably connected to the hull 1 , the surface of the support frame 47 is covered with a circle of conveyor belts 44 , and the surface of the conveyor belt 44 is provided with a grid 45 ; the support frame 47 is connected A lifting device 42 drives one end to move up and down, and the conveyor belt 44 is connected with a rotating device 43 to make it rotate; a fixed baffle 6 is respectively fixed on both sides of the end of the support frame 47 outside the hull 1; the top surface of the conveyor belt 44 A movable baffle 5 is provided.

In a further scheme, the lifting device 42 is installed inside the hull 1 on the two outer sides of the support frame 47; the lifting device 42 is a lifting motor, the output end of which is connected to the end of the support frame 47 through the screw assembly 48, and the lifting motor rotates through The screw assembly 48 translates into the up and down movement of the support frame 47 (as shown in FIG. 4 ).

In a further solution, the bottom end of the support frame 47 is movably sleeved on the rotating shaft 41 , and both ends of the rotating shaft 41 are mounted on the base 49 fixed on the hull 1 (as shown in FIG. 5 ).

In a further scheme, the two ends of the support frame 47 are provided with drive rollers 46 for supporting the conveyor belt 44; the rotating device 43 is a motor, which is symmetrically installed inside the hull 1 located on the two outer sides of the support frame; The output end is connected to the end of one of the drive rollers 46 to drive the conveyor belt 44 to rotate.

In a further scheme, the end of the movable baffle 5 located at one end of the hull 1 is fixed on the support shaft 51, and the end of the movable baffle 5 is fixed with a magnetic buckle 53 that engages with the side wall of the support frame 47; the support One end of the shaft 51 is connected with the driving device 52 fixed on the hull 1 to drive the end of the movable baffle 5 to swing left and right along the surface of the conveyor belt 44 .

In a further solution, the driving device 52 is a forward and reverse rotation motor; the support shaft 51 is located on the central axis of the conveyor belt 44 .

When the driving device 52 is not working, the movable baffle 5 is located on the central axis of the conveyor belt 44. When the driving device 52 rotates in one direction, the movable baffle 5 is driven to rotate in the same direction by the support shaft 51, so that the end of the movable baffle 5 is rotated. Move to one side of the support frame 47, and the magnetic buckle 53 is attracted and fixed with the side wall of the support frame 47 (as shown in Figures 2 and 3), thereby closing the outlet end of the conveyor belt 44 in half.

In a further scheme, the movable baffle 5 divides the outlet end of the conveyor belt 44 into two classification ports, and a classification trash can 7 is correspondingly set at the position of the classification port; A sensor 71 for detecting the amount of garbage loaded.

In a further scheme, the top of the hull 1 is provided with a mounting frame 2, and a high-definition camera 21, an infrared camera 22, and an infrared sensor 23 are respectively installed on the mounting frame 2. The output of the high-definition camera 21, the infrared camera 22, and the infrared sensor 23 is The terminals are all connected with the main control board, and the output ends of the main control board are respectively connected with the lifting device 42, the rotating device 43, the movable baffle 5 and the driver.

The interior of the hull 1 is also provided with a motor compartment 11 and a control compartment 12, the motor compartment 11 is provided with a lithium battery and a generator, and the control compartment 12 is installed with a main control board, a communication module and a driver; the A solar panel 3 is laid on the top surface of the hull 1, and the current output end of the solar panel 3 is connected to a lithium battery, and the lithium battery is interactively connected to a generator through a UPS power supply, and the lithium battery and the generator are the hull of the ship. 1 Provide power.

That is, the solar panels charge the lithium battery, and both the lithium battery and the generator can power the hull. Lithium battery and generator are backup for each other, and automatically switch through UPS power supply. When both the solar panel and the lithium battery have no electricity, the generator burning gasoline or diesel provides energy for the hull 1 to work, and can also charge the lithium battery. Such multiple power supply methods ensure the battery life, and also prevent the situation of being unable to return by itself due to the failure of a single power supply method.

The infrared camera 22 is used to scan the water surface and identify the location of the garbage target; the infrared recognition sensor 23 is used to perform infrared recognition on the material of the garbage, so as to identify and classify the garbage material; the high-definition camera 21 is used to transmit high-definition real-time Video images, the captured real-time image encoding is transmitted to the client, and the environment around the robot can be viewed through the client.

The water surface robot of the utility model scans the water surface through an infrared camera to identify the location of the garbage target on the water surface, and the hull moves to the garbage place; the lifting motor drives the support frame to adjust the position of the conveyor belt, so that the outer end is downwardly located under the water surface and inside The end exit is docked with the sorting trash can; then the infrared recognition sensor conducts infrared identification of the garbage, so as to identify and classify the material of the garbage, and determine whether the garbage is recyclable or non-recyclable; the forward and reverse motor works to drive the movable gear. The plate moves to one side. After it is in place, the forward and reverse motors stop working, and the magnetic buckle at the end of the movable baffle is attracted and fixed with the side wall of the support frame, thereby closing half of the outlet end of the conveyor belt; at this time, start the rotating motor Work, and drive the conveyor belt to rotate, so that the water surface garbage is transported upward through the grid; transported to the exit, so that the garbage enters the corresponding sorting trash can. Continue the previous process to deal with the next water surface garbage.

This product has two modes:

First, in manual mode, managers can control the water surface cleaning robot to walk through the remote control antenna according to the scene captured by the high-definition camera, and send forward, backward, left turn, right turn commands through the remote control, mobile terminal or PC through the remote control. The server forwards it to the main control board, and the main control board receives the instructions and executes the specific navigation instructions through the driver. In the manual mode, manually open or close the lifting device on the garbage collection and transmission device, the rotating device and the driving device on the movable baffle, control the movable baffle to move to one side, and manually select to recycle the salvaged garbage into one of the classified garbage. in the barrel.

The second is in the automatic mode, the water surface cleaning robot will automatically cruise, automatically search for garbage, automatically salvage garbage and automatically classify garbage, and the PC or mobile terminal sends commands such as autonomous salvage or autonomous navigation. After the main control board receives the command, the intelligent calculation Plan your path and use lidar to avoid obstacles and complete navigation and salvage missions. The main control board receives the signal of the infrared camera to drive the hull to move to the surface of the garbage, and controls the lifting device and the rotating device to control the conveyor belt work, collect the surface garbage on the conveyor belt and move it to the exit end; the main control board receives the infrared recognition sensor The signal and the classification of garbage are identified, and then the movable baffle is driven to move to one side, thereby closing a classification port on the conveyor belt, and then sending it into the corresponding classification trash can.

The utility model helps the staff to improve the water quality and water environment, and at the same time, it can recycle the floating objects on the water surface, so as to realize the reuse of garbage resources, reduce the amount of garbage disposal, improve the quality of living environment, and play a certain degree of alleviation effect on reducing environmental pollution. .

It will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, and that the present invention may be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, the embodiments are to be considered in all respects as exemplary and not restrictive, and the scope of the present invention is defined by the appended claims rather than the foregoing description, and it is therefore intended that the All changes within the meaning and range of the required equivalents are embraced within the present invention. Any reference signs in the claims shall not be construed as limiting the involved claim.

In addition, it should be understood that although this specification is described in terms of embodiments, not each embodiment only includes an independent technical solution, and this description in the specification is only for the sake of clarity, and those skilled in the art should take the specification as a whole , the technical solutions in each embodiment can also be appropriately combined to form other implementations that can be understood by those skilled in the art.

Claims (9)

1. A surface of water robot for surface garbage cleaning and classification, includes hull (1) of electric ship, its characterized in that: a garbage bin (13) is arranged inside the ship body (1), and a classification garbage can (7) is detachably mounted in the garbage bin (13); the bottom of one end of the ship body (1) is provided with a garbage collecting and conveying device (4), one end of the garbage collecting and conveying device (4) is positioned in the garbage bin (13) and corresponds to the position of the classification garbage can (7), and the other end of the garbage collecting and conveying device (4) extends out of the ship body (1);

the garbage collecting and conveying device (4) comprises a supporting frame (47) which is rotatably connected to the ship body (1), a circle of conveying belt (44) is laid on the surface of the supporting frame (47), and grids (45) are arranged on the surface of the conveying belt (44); the supporting frame (47) is connected with a lifting device (42) to drive one end of the supporting frame to move up and down, and the conveying belt (44) is connected with a rotating device (43) to rotate; two sides of the end part of the supporting frame (47) positioned outside the ship body (1) are respectively and fixedly provided with a fixed baffle (6); the top end face of the conveyor belt (44) is provided with a movable baffle (5).

2. A water surface robot as claimed in claim 1, wherein: the lifting device (42) is arranged in the ship body (1) positioned at two outer sides of the supporting frame (47); the lifting device (42) is a lifting motor, the output end of the lifting device is connected with the end part of the support frame (47) through a screw rod assembly (48), and the rotation of the lifting motor is converted into the up-and-down movement of the support frame (47) through the screw rod assembly (48).

3. A water surface robot as claimed in claim 1, wherein: the bottom end of the support frame (47) is movably sleeved on the rotating shaft (41), and two ends of the rotating shaft (41) are arranged on a base (49) fixedly arranged on the ship body (1).

4. A water surface robot as claimed in claim 1, wherein: driving rollers (46) for supporting the conveyor belt (44) are erected at two ends of the supporting frame (47); the rotating devices (43) are motors and are symmetrically arranged in the ship body (1) positioned at two outer sides of the supporting frame; the output end of the rotating device (43) is connected with the end part of one of the driving rollers (46) to drive the conveyor belt (44) to rotate.

5. A water surface robot as claimed in claim 1, wherein: the end part of a movable baffle (5) positioned at one end of the ship body (1) is fixed on the support shaft (51), and the tail end of the movable baffle (5) is fixedly provided with a magnetic buckle (53) which is attracted with the side wall of the support frame (47); one end of the supporting shaft (51) is connected with a driving device (52) fixedly arranged on the ship body (1) to drive the tail end of the movable baffle (5) to swing left and right along the surface of the conveying belt (44).

6. The water surface robot of claim 5, wherein: the driving device (52) is a positive and negative rotation motor; support shaft (51) the support shaft (51) is located on the central axis of the conveyor belt (44).

7. A water surface robot as claimed in claim 1, wherein: the movable baffle (5) divides the outlet end of the conveyor belt (44) into two classification openings, and the classification garbage cans (7) are correspondingly arranged at the positions of the classification openings respectively; and a sensor (71) for detecting the amount of the loaded garbage is arranged in the classification garbage can (7).

8. A water surface robot as claimed in claim 1, wherein: mounting bracket (2) have been erect on hull (1) top, install high definition digtal camera (21), infrared camera (22), infrared sensor (23) on mounting bracket (2) respectively, the output of high definition digtal camera (21), infrared camera (22) and infrared sensor (23) all is connected with the main control board, the output of main control board is connected with elevating gear (42), rotating device (43), adjustable fender (5) and driver respectively.

9. The water surface robot of claim 8, wherein: a motor cabin (11) and a control cabin (12) are further arranged inside the ship body (1), a lithium battery and a generator are arranged in the motor cabin (11), and a main control board, a communication module and a driver are arranged in the control cabin (12); solar cell panel (3) have been laid on the top surface of hull (1), the current output end and the lithium cell of solar cell panel (3) are connected, the lithium cell passes through UPS power and generator interactive connection, lithium cell and generator provide the power for hull (1).

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