CN211113553U - Amphibious garbage collection device - Google Patents

Abstract

The utility model provides an amphibious garbage collection device, includes the box, and the box is inside to be storage space, and the place ahead of box operation is provided with adjustable fender, and the rear is provided with the filter screen, is located the box top and installs the high definition digital camera that is used for detecting the position of rubbish and topography, and main control unit is connected to high definition digital camera output, and main control unit is used for handling data, is provided with amphibious wheel around the box below both sides respectively, and main control unit is used for controlling amphibious wheel. The utility model is used for garbage collection on the surface of water and the coast increases the work efficiency of collecting rubbish.

Description

An amphibious garbage collection device

technical field

The utility model relates to the technical field of water surface cleaning, in particular to an amphibious garbage collection device.

Background technique

At present, the water pollution of rivers, lakes, ports and other waters is relatively serious, which has brought a great impact on people's lives and living environment. For the garbage cleaning on the water surface, the method of manual salvage is basically used at present, which consumes a lot of manpower, material and financial resources, but the effect is very small. Some salvage robots are used, but the robots used are not intelligent, and the control and functions are relatively low-level. , so it cannot meet the growing scientific and technological power. In addition, the current charging equipment of outdoor robots uses wired charging. Long-term use will lead to line aging and line damage, which is prone to safety accidents. Moreover, wired charging has high construction costs and low energy utilization.

SUMMARY OF THE INVENTION

In order to overcome the above-mentioned deficiencies of the prior art, the purpose of the present utility model is to provide an amphibious garbage collection device, which is used for garbage collection on the water surface and on the coast to increase the work efficiency of garbage collection.

In order to achieve the above purpose, the technical scheme adopted by the present utility model is:

An amphibious garbage collection device, comprising a box body 1, the inside of the box body 1 is a storage space, a movable baffle is arranged in front of the box body 1, and a filter screen is arranged at the rear, which is located at the top of the box body 1 A high-definition digital camera 8 for detecting the location and terrain of the garbage is installed, and the output end of the high-definition digital camera 8 is connected to the main controller 6, and the main controller 6 is used for processing data. For the amphibious wheel 2 , the main controller 6 is used to control the amphibious wheel 2 .

The two sides of the box body 1 are provided with a mechanical arm 3, and the mechanical arm 3 is powered by a stepping motor, and a motor is provided on the stepping motor. The LoRa module 7 , the high-definition digital camera 8 , the stepping motor of the robotic arm 3 , the motor of the amphibious wheel 2 , the GPRS module 9 , and the distance sensor module 10 are connected.

The distance sensor module 10 is installed around the box body 1 .

The box body 1 has compartments and undergoes waterproof treatment, the storage space is 1 m2, and the shape is a ship hull structure.

Described amphibious wheel 2 is divided into rubber tire and propeller, and rubber tire and propeller are connected with main controller 6 respectively, and described rubber tire and propeller are controlled by main controller 6 to carry out 360 ° free rotation respectively. The amphibious wheel 2 is controlled by two motors. One stepping motor is located above to control the direction of the other motor and the amphibious wheel 2 , thereby controlling the driving direction of the robot. The other motor provides power to the amphibious wheel 2 .

The movable baffle is axially connected to the box body 1 , and the moving direction is to move toward the inner side of the box body 1 .

The beneficial effects of the present utility model:

The utility model is a collection robot with dual use of water and water, which increases the working efficiency of collecting garbage. When on the water surface, the garbage is entered into the box body from the front baffle plate through the thrust force of the robot walking and the suction force generated by the motor inside the box body. When on land, the specific orientation of the garbage is detected by a high-definition digital camera, the robot is driven to move to the vicinity of the garbage, and the robot arm is used to grab the garbage. It has the characteristics of convenience, practicality and simple structure.

Description of drawings

FIG. 1 is a schematic diagram of a module of the present invention.

Figure 2 is a schematic structural diagram of the utility model.

Detailed ways

The present utility model will be described in further detail below in conjunction with the accompanying drawings.

The utility model includes a box body 1, an amphibious wheel 2, a mechanical arm 3, a solar power generation panel 4, a wireless charging device 5, a main controller 6, a LoRa module 7, a high-definition digital camera 8, a GPRS module 9, a distance sensor module 10 and Lead-acid battery 11.

As shown in Figure 1 Figure 2: the motor of the amphibious wheel 2 is connected with the main controller 6 output, the control motor of the robotic arm 3 is connected with the main controller 6 output, the solar power panel 4 output It is connected with the input end of the lead-acid battery 11, the output end of the wireless charging device 5 is connected with the input end of the lead-acid battery 11, the control end of the wireless charging device 5 is connected with the output end of the main controller 6, and the LoRa module 7 Connected with the main controller 6, can transmit signals in two directions, the output end of the high-definition digital camera 8 is connected with the input end of the main controller 6, the GPRS module 9 is connected with the main controller 6, and can transmit signals in both directions, the distance sensor The output end of the module 10 is connected to the input end of the main controller 6. The main controller 6 controls the coordination and operation of various components of the entire machine. The lead-acid battery 11 obtains electrical energy from the solar power generation panel 4 and the wireless charging device 5. The acid battery 11 provides electrical energy to all parts of the amphibious robot.

The high-definition digital camera 8 collects the external environment, and then sends the information of the external environment to the main controller 6, and the main controller 6 processes the data and performs corresponding control processing. The high-definition digital camera 8 determines whether the environment where the robot is located is land or water, and controls the amphibious wheel 2 through the main controller 6 to flexibly walk between land and water.

The box 1 is the main body of the robot. The large space of the box 1 is used to temporarily store garbage. The interlayer of the box 1 contains the wiring of the entire robot to prevent interference from the external environment and increase the durability of the robot. Mechanical arms 3 are installed on both sides of the box body 1 to collect garbage into the box body 1 on land. There is a square opening in front of the box body 1. The garbage fell out halfway.

The amphibious wheel 2 can be freely switched between land and water, and the rubber tires are used for walking on land. The wider tread can ensure smooth walking on some beaches, and baffles are added near the tires. , to ensure the service life of the tires, and the tires can rotate freely 360° on the horizontal plane, and can easily pass through in some special cases; when in the water, the robot is attached to the water surface by buoyancy, and the rubber tires are switched to propellers, in the water Walk freely, and the propeller can also rotate freely 360° in the horizontal plane, so the garbage on the water surface can be accurately and carefully collected.

The power supply method adopts wireless charging 5, which has the advantages of high conversion efficiency, reducing the problem of line aging, no harm to the human body, and high flexibility. Since the robot works outdoors, it needs to overcome many inconveniences. Determining factors, the use of wireless charging 5 without leakage of the charging cable improves the practicability of the robot and overcomes a series of problems of leakage of the charging cable. When the robot detects that the power is insufficient, the robot plans to return to the charging pile path by itself. When returning to the charging pile, there is no need to insert the plug into the socket like wired charging. The robot only needs to move to the designated position to perform wireless charging. The reliability of the robot in charging. In order to increase the sustainability of the use of the robot and the efficiency of its work, a solar power generation panel 4 is added above the box body 1. When the sunlight intensity is sufficient, the solar power generation panel 4 can provide a sufficient amount of electric energy, reducing the return of the robot. The number of times the charging pile is charged can not only improve the overall work efficiency of the robot, but also save non-renewable resources and improve the utilization rate of energy.

The described main controller 6 uses STM32F429IG as the core chip, the main controller 6 and the wireless charging device 5, the LoRa module 7, the high-definition digital camera 8, the stepping motor of the robotic arm 3, the motor of the amphibious wheel 2, and the GPRS module 9 , and the distance sensor module 10 is connected.

The wireless charging module 5 uses NXP's MWPR1516CAL as the receiver and MWCT1013AVLH as the transmitter. The module has the advantages of high performance and reliability.

The LoRa module 7 adopts the LoRa wireless communication protocol, which has the advantages of long distance and low power consumption, and can also form a star network to provide a good communication environment for intelligent robots in the block area, so that they can be well adjusted Improve work efficiency in an orderly manner.

The distance sensor module 10 adopts the TF02 laser radar of Beisake Company, which has a range of 22m and reliable stability. The shell is made of high-strength anti-corrosion materials, which is better adapted to the harsh outdoor environment. Install a TF02 lidar around the robot, on the left and right sides, to better adapt the robot to the outdoor environment.

Described GPRS module 9, the robot informs the staff of the internal running status of the machine through the GPRS module 9, if there is a major fault in the machine, the staff is reminded to carry out maintenance in time to ensure that the arrival of an amphibious garbage collection device robot does not occur. affect the marine environment.

The working principle of the present utility model:

Since the utility model increases the work efficiency of collecting garbage, the volume is relatively large. The box body 1 is the main body of the utility model, which is shaped like a ship, and has a storage space of about 1 m2 inside, which has a partition and is waterproofed for placing the internal circuit. A baffle that opens inward is installed in front of the box body 1. When on the water surface, through the thrust of the robot walking and the suction generated by the motor inside the box body 1, the garbage will enter the box body 1 from the front baffle, and the garbage will enter the box body 1 from the front baffle. There is a filter at the back of 1, which can flow out the internal water from the filter, cut off the garbage, and leave the garbage in the box 1. The high-definition digital camera 8 is located above the box body 1, and is used to detect environmental information, determine the specific orientation of the garbage, and determine whether the environment where the robot is located is on the water surface, so that the robot can change its action mode. A distance sensor module 10 is installed around the box body 1, which can be used to detect the distance between the surrounding obstacles and the robot, so as to prevent the robot from colliding by mistake, thereby ensuring the durability of the robot. The amphibious wheel 2 can switch forms freely, and the high-definition digital camera 8 detects whether the environment where the robot is located is water or land, so as to change the shape of the amphibious wheel to adapt to the normal walking of the robot. When on land, the specific orientation of the garbage is detected by the high-definition digital camera 8, the robot is driven to move to the vicinity of the garbage, and the robot arm 3 is used to grab the garbage.

The current relatively advanced wireless charging technology 5 is used in the power supply of an amphibious garbage collection device. The utility model uses NXP's MWPR1516CAL as the receiver and MWCT1013AVLH as the transmitter. The module has the advantages of high performance and reliability. A solar power generation panel 4 is installed on the top of the box 1, which greatly increases the endurance of the robot. In addition, the utility model is equipped with a LoRa module 7, which realizes the mutual communication of all robots in an area, ensures that the robots in an area cooperate with each other, and completes the required functions with the characteristics of high efficiency and long working cycle. In order to save costs and increase the utilization rate of energy, only 1 to 2 wireless charging piles need to be installed in an area to ensure the charging of all robots. The main controller 6 of the robot uses STM32F429IG as the core chip, which increases the robot's ability to handle work and improves the robot's collaboration ability. The material of the robot adopts high-strength anti-corrosion material, which increases the durability of the product and better adapts to the harsh outdoor environment. The TF02 lidar 10 is installed around the robot to better adapt the robot to the outdoor environment and prevent the robot from being damaged by accidental collisions outdoors.

Claims (6)

1. An amphibious garbage collection device, characterized in that it comprises a box body (1), the interior of the box body (1) is a storage space, and the front of the box body (1) running is provided with a movable baffle plate , a filter screen is arranged at the rear, and a high-definition digital camera (8) for detecting the position and terrain of the garbage is installed on the top of the box (1). The output of the high-definition digital camera (8) is connected to the main controller (6). The main controller (6) For processing data, amphibious wheels (2) are respectively arranged on both sides of the lower part of the box (1), front and rear, and the main controller (6) is used to control the amphibious wheels (2). 2. An amphibious garbage collection device according to claim 1, characterized in that a mechanical arm (3) is provided on both sides of the box body (1), and the mechanical arm (3) is powered by a stepping motor , the stepping motor is provided with a motor, and the main controller (6) is respectively connected with the wireless charging device (5), LoRa module (7), high-definition digital camera (8), and mechanical arm (3) installed on the box (1). ), the motor of the amphibious wheel (2), the GPRS module (9), and the distance sensor module (10) are connected. 3. An amphibious garbage collection device according to claim 2, characterized in that, the distance sensor module (10) is installed around the box body (1). 4. An amphibious garbage collection device according to claim 1, characterized in that the box body (1) has a partition layer and undergoes waterproof treatment, the storage space is 1 m2, and the shape is a ship hull structure. 5. a kind of amphibious garbage collection device according to claim 1 is characterized in that, described amphibious wheel (2) is divided into rubber tire and propeller, and rubber tire and propeller are respectively connected with main controller (6) , the rubber tire and the propeller are controlled by the main controller (6) to freely rotate 360°. 6 . The amphibious garbage collection device according to claim 1 , wherein the movable baffle is connected to the box body ( 1 ) by an axis, and the movement direction is to move toward the inside of the box body ( 1 ). 7 .

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