CN211494401U

CN211494401U - Autonomous navigation cleaning unmanned ship with garbage bin cabin door device

Info

Publication number: CN211494401U
Application number: CN201922350950.8U
Authority: CN
Inventors: 朱健楠; 程宇威; 高龙华; 池雨豪; 虞梦苓
Original assignee: Shaanxi Orca Electronic Intelligent Technology Co ltd
Current assignee: Shaanxi Orca Electronic Intelligent Technology Co ltd
Priority date: 2019-12-24
Filing date: 2019-12-24
Publication date: 2020-09-15
Anticipated expiration: 2029-12-24

Abstract

The utility model discloses an autonomous navigation cleaning unmanned ship with a cabin door device of a garbage bin, which comprises a ship body, wherein the tail part of the ship body is provided with a propeller for driving the ship to move, the ship body is provided with a holding cabin, the holding cabin is internally provided with a detachable garbage bin, the front end of the garbage bin is an opening, the front end of the ship body is provided with an electric cabin door, the electric cabin door is positioned in front of the opening of the garbage bin, the electric cabin door is opened when the unmanned ship advances by controlling the opening and closing of the electric cabin door, the electric cabin door is closed when the unmanned ship retreats, two telescopic extension arms are arranged on the ship body and are rotated at two ends of the electric cabin door, the size of a garbage collecting area can be controlled by the rotation and the extension of the extension arms, different working water areas can be adapted, the water surface cleaning efficiency is improved, the front ends of the extension arms and the, preventing damage due to collisions.

Description

Autonomous navigation cleaning unmanned ship with garbage bin cabin door device

Technical Field

The utility model belongs to the clean field of the surface of water, concretely relates to take clean unmanned ship of autonomous navigation of garbage bin hatch door device.

Background

Due to the development of industry, the sundries and garbage in rivers and lakes are more, the water quality is easily seriously polluted, the eutrophication of water body aggravates the growth of aquatic plants and the death of fishes and shrimps, great inconvenience is brought to the production and the life of people, and a plurality of water surface cleaning ships are developed for removing and collecting the sundries and garbage in water.

At present, the current clean ship of surface of water is mostly someone ship, and personnel take advantage of the ship to the surface of water has the place of rubbish, uses the string bag to salvage surface of water rubbish to the ship, and operating efficiency is low, and personnel operational environment is abominable, and the safety risk is big. A small number of salvage scenes that adopt unmanned ship, only use unmanned ship to gather rubbish together, then the manual work uses the string bag to salvage, and the function is single, can't realize surface of water rubbish discernment and independently navigate and carry out rubbish clearance, and the essence is little with artifical salvage difference, and it is little to the effect that manpower cost subtracts product and play, and the operation degree of difficulty is great, and degree of automation is not high.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome current technical defect, provide a take clean unmanned ship of autonomous navigation of rubbish storehouse hatch door device, it not only can clear up debris, rubbish on the surface of water automatically, and easily handles collected debris, rubbish, and simple structure easily operates, and degree of automation is high.

In order to solve the technical problem, the utility model provides a take clean unmanned ship of autonomous navigation of garbage bin hatch door device, which comprises a ship body, the afterbody of hull is equipped with the propeller that is used for driving ship motion, be equipped with the upper end on the hull and hold the cabin for the open-ended, it is equipped with the detachable garbage bin to hold the cabin, the top in garbage bin is equipped with the handle, the front end in garbage bin is the opening, the front end of hull is equipped with the electric motor hatch door, the electric motor hatch door is located garbage bin's opening the place ahead is located on the hull the both ends of electric motor hatch door are rotated and are equipped with two telescopic extension arms.

Furthermore, the extension arm includes that two upper and lower levels rotate and set up telescopic link on the hull, be located between two telescopic links the front end of telescopic link is equipped with altitude mixture control frame, stagger each other between two telescopic links and be equipped with two blades.

Further, the both sides of height adjusting frame are equipped with a plurality of screws from top to bottom the interval, be equipped with U type support on the height adjusting frame the both sides of U type support be equipped with the through-hole that the screw corresponds, U type support passes through the bolt fastening the front end of extension arm, be equipped with preceding crashproof wheel on the U type support.

Furthermore, the tail end of the ship body is provided with a height adjusting rod, a plurality of fixing holes are formed in the height adjusting rod from top to bottom at intervals, a fixing frame is fixedly arranged on the height adjusting rod through bolts, and a rear anti-collision wheel is arranged on the fixing frame.

Furthermore, the top of the front part of the ship body is provided with a front cabin cover, and a depth camera, a visual field camera, a GPS module and a radar are sequentially arranged on the front cabin cover from front to back.

Furthermore, a rear hatch cover is arranged at the top end of the rear part of the ship body, and a plurality of antennas and at least one signal indicator lamp are arranged on the ship body at the two ends of the rear hatch cover.

Furthermore, the ship body is further provided with a control module, the control module comprises a central control unit arranged below the rear hatch cover, a vision processing unit electrically connected with the depth camera and the vision camera, and a power driving unit electrically connected with the propeller, and the electric hatch, the GPS module, the laser radar, the antenna, the signal indicator lamp, the vision processing unit and the power driving unit are all electrically connected with the central control unit.

Furthermore, a left hatch cover and a right hatch cover are respectively arranged at the left end and the right end of the garbage bin at the top of the ship body, and batteries electrically connected with the central control unit are arranged below the left hatch cover and the right hatch cover.

Furthermore, a protective net cover is arranged outside the propeller.

Furthermore, both ends all are equipped with hull protection device about the hull bottom.

The utility model discloses following beneficial effect has:

the utility model changes the opening angle between the two extension arms and adjusts the length of the two extension arms by rotating the two extension arms, can control the size of the garbage collection area, is suitable for different working water area environments, improves the water surface cleaning efficiency, greatly saves the manpower, the front and the rear anti-collision wheels with adjustable height are arranged at the front end of the extension arm and the tail part of the ship body, so that the ship can adapt to various complex working water areas, the unmanned ship body is protected to prevent damage caused by collision, and an electric cabin door is arranged in front of the opening of the garbage cabin, when making unmanned ship advance through the switch of control electric hatch door, open the garbage storehouse, the rubbish on the water surface is collected to unmanned ship, and when unmanned ship moves back, closes the garbage storehouse, guarantees that the rubbish of collecting in the garbage storehouse does not spill, and the utility model discloses still have characteristics small, simple structure, convenient operation.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, do not constitute a limitation of the invention, and in which:

FIG. 1 is a schematic diagram of an autonomous navigation cleaning unmanned ship in an embodiment;

FIG. 2 is a schematic diagram of an autonomous navigation cleaning unmanned ship in an embodiment when the unmanned ship is in shore;

FIG. 3 is an enlarged view of portion A of FIG. 2;

FIG. 4 is an enlarged view of portion B of FIG. 2;

FIG. 5 is a control schematic diagram of the autonomous navigation cleaning unmanned ship in the embodiment.

Detailed Description

For a fuller understanding of the technical content of the present invention, the present invention will be further described and illustrated with reference to the accompanying drawings and specific embodiments.

Examples

As shown in fig. 1-5, the autonomous navigation cleaning unmanned ship with a cabin door device of a garbage bin in the embodiment includes a ship body 1, a propeller 4 for driving the unmanned ship to move is respectively disposed at the left side and the right side of the tail of the ship body 1, the propeller 4 can control the unmanned ship to move forward and backward, and can generate different thrust by controlling the two propellers, so as to achieve the purpose of controlling the unmanned ship to turn, a containing cabin is disposed inside the ship body 1, the upper end of the containing cabin is open, a detachable garbage bin 5 is disposed in the containing cabin, an opening is disposed at the front end of the garbage bin 5, a handle 51 is disposed at the top end of the garbage bin 5, an electric cabin door 2 is rotatably disposed at the front end of the ship body 1 through a hinge, the electric cabin door 2 is located in front of the opening of the garbage bin 5, and the opening and closing of the garbage bin 5 can be realized by controlling the, the electric cabin door 2 is opened when the unmanned ship moves forward to collect garbage, and is closed when the unmanned ship moves backward, and two telescopic extension arms 3 are rotatably arranged at two ends of the electric cabin door 2 on the ship body.

Specifically, the extension arm 3 comprises an upper telescopic rod 31 and a lower telescopic rod 31 which are horizontally arranged, a height adjusting frame 32 is arranged between the two telescopic rods 31 and positioned at the front end of each telescopic rod 31, a connecting rod is arranged between the two telescopic rods 31 and positioned at the tail end of each telescopic rod 31, the two telescopic rods 31 are fixed together through the height adjusting frames 32 and the connecting rods, two blades 33 are arranged between the two telescopic rods 31 in a staggered mode, and the connecting rods are movably connected with the ship body 1 through hinges 21; in the structure, two blade 33 stagger each other and set up and to guarantee that telescopic link 31 is when flexible, blade 33 can not butt each other and cause telescopic link 31 to stretch out and draw back, can reach the effect that extension arm 3 extends or shortens through the length of adjusting telescopic link 31, when telescopic link 31 shortens to the shortest position department, two blade 33 coincide completely, can rotate 3 effects that reach the extension arm of adjusting between two extension arms through hinge 21, through the length that changes angle between two extension arms and every extension arm, can adjust the size that unmanned ship during operation collected the rubbish area.

Specifically, all be equipped with a plurality of screw 34 from top to bottom interval on two height adjusting bracket 32, all be equipped with U type support 35 on two height adjusting bracket 32, be equipped with the through-hole that corresponds with screw 34 on the both sides of U type support 35, be used for the registrate to pass screw 34 and through-hole and fix U type support 35 on height adjusting bracket 32 at height adjusting bracket 32's front end both sides and through bolt 36, be equipped with preceding crashproof wheel 37 on U type support 35, can utilize the through-hole and the corresponding relation between the upper and lower screw 34, make U type support 35 fix on the screw 34 of co-altitude not, thereby adjust the height of preceding crashproof wheel 37.

Specifically, height adjusting rods 16 are vertically arranged on two sides of the tail of the ship body 1, two rows of fixing holes 17 are formed in the height adjusting rods 16 at intervals from top to bottom, fixing frames 18 are fixedly arranged on the height adjusting rods 16 through bolts penetrating through the fixing holes 17, rear anti-collision wheels 38 are arranged on the fixing frames 18, the fixing frames 18 can be fixed on the fixing holes 17 with different heights by utilizing the corresponding relation between the fixing frames 18 and the upper and lower fixing holes 17, and therefore the heights of the rear anti-collision wheels 38 can be adjusted; in above-mentioned structure, according to the distance of the surface of water from the bank, through highly adjusting preceding crashproof wheel 37 and back crashproof wheel 38, can make unmanned ship adapt to different waters environment and different bank height, prevent that unmanned ship from touching the foreign matter and touching the bank and causing the damage to the hull at bank in-process hull in the course of the work.

Specifically, a front hatch cover 11 is arranged at the top end of the front part of the ship body 1, handles 12 are arranged at the left end and the right end of the front hatch cover 11, and a depth camera 61, a visual field camera 62, a GPS module 63 and a laser radar 64 are sequentially arranged on the front hatch cover 11 from front to back; the depth camera 61 can detect the distance between rubbish on the water surface in front of the unmanned ship and the unmanned ship, the vision camera 62 is a 360-degree panoramic camera, real-time shooting can be carried out on the water surface around the unmanned ship, rubbish existing on the water surface in each direction can be detected, rubbish, obstacles and the like can be identified, the GPS module 63 can be used for positioning the work of the unmanned ship, and the laser radar 64 can be used for scanning the obstacles or river banks and the like.

Specifically, the top end of the rear portion of the ship body 1 is provided with the rear hatch cover 13, the right end of the rear hatch cover 13 on the ship body 1 is provided with two antennas 65, the left end of the rear hatch cover 13 on the ship body 1 is provided with one antenna 65 and one signal indicating lamp 66, the antenna 65 can send or receive wireless signals, the signal indicating lamp 66 can play a safety warning function in the working process of the unmanned ship, and the two ends of the ship body 1, which are far away from the rear hatch cover 13, of the antenna 65 and the signal indicating lamp 66 are provided with handles 12.

Specifically, the ship body 1 is further provided with a control module, the control module comprises a vision processing unit, a power driving unit and a central control unit (not shown in the figure), the vision processing unit is arranged below the rear hatch cover 13 and is electrically connected with the depth camera 61 and the visual field camera 62, the power driving unit is electrically connected with the propeller 4, the central control unit is electrically connected with the electric hatch door 2, the GPS module 63, the laser radar 64, the antenna 65 and the signal indicator lamp 66, and the vision processing unit and the power driving unit are electrically connected with the central control unit; the vision processing unit is used for processing data shot by the depth camera 61 and the vision camera 62, the power driving unit is used for controlling the operation of the propeller 4, and the central control unit is used for controlling the coordination operation among all parts of the whole unmanned ship.

Specifically, a left hatch cover 14 and a right hatch cover 15 are arranged at the top of the ship body 1 and positioned at the left end and the right end of the garbage bin 5, batteries (not shown in the figure) are arranged below the left hatch cover 14 and the right hatch cover 15 in the ship body 1 and electrically connected with the central control unit to provide energy for the work of the whole unmanned ship, and the signal indicator lamp 66 can play a role in prompting the electric quantity of the batteries in the working process of the unmanned ship; the mounting positions of the batteries below the left hatch cover 14 and the right hatch cover 15 can be adjusted back and forth, and the gravity center of the unmanned ship can be adjusted according to actual conditions by adjusting the back and forth of the mounting positions of the batteries, so that the hull of the unmanned ship is kept in a balanced state.

Wherein, after antenna 65 receives the work instruction signal, transmit the work instruction to the central control unit, the central control unit sends the instruction to each part, realize the autonomous recognition of rubbish through degree of depth camera 61 and field of vision camera 62, take a picture in real time to the surface of water, the real-time data that will shoot conveys the vision processing unit in the control module, the vision processing unit handles the real-time data that will shoot and conveys the central control unit, the central control unit is through analysis and processing, send the instruction to power drive unit and control electronic hatch door 2 to open simultaneously, power drive unit drives unmanned ship and collects rubbish in the aquatic, after unmanned ship collects the rubbish in the aquatic, central control unit sends the instruction to power drive unit and controls electronic hatch door 2 to close simultaneously, power drive unit drives unmanned ship and returns to navigate.

Specifically, the unmanned ship is positioned through a GPS module 63, data are transmitted to a central control unit, the central control unit sends an instruction to a power driving unit after analysis and processing, and the power driving unit controls the unmanned ship to carry out regional cleaning and automatic return voyage; the laser radar 64 can scan obstacles and the shore in the driving process of the unmanned ship and transmit data to the central control unit, the central control unit analyzes and processes the data and sends an instruction to the power driving unit, and the power driving unit controls the unmanned ship to avoid the obstacles independently or realize the function of collecting garbage along the shore.

Specifically, the left end and the right end of the bottom of the ship body 1 are respectively provided with the ship body protection device 19, the ship body protection devices 19 play a role in protecting the ship body 1, and when the ship body 1 accidentally hits obstacles such as submerged reefs and the like during the operation on the water surface, the ship body protection devices 19 can protect the ship body 1 from being damaged due to the impact; the protection net cover 41 is arranged outside the propeller 4, and the protection net cover 41 is arranged around the propeller, so that the situation that sundries are accidentally drawn into the propeller 4 to damage the propeller 4 in the advancing process of the unmanned ship can be prevented.

In this embodiment, after unmanned ship work is accomplished and is leaned on to reach bank 52, be equipped with davit 53 on bank 52, be equipped with height-adjustable's lifting hook 54 on the davit 53, when unmanned ship has collected rubbish and has leaned on the bank, back anticollision wheel 36 hugs closely the bank, unmanned ship is firmly stabilized to artifical accessible handle 12, put down lifting hook 54 by davit 53, make lifting hook 54 hook 51 after, promote lifting hook 54, lift up rubbish storehouse 5 from unmanned ship's hull 1 and carry out, then carry out classification with the rubbish in the rubbish storehouse 5, davit 53 can assist the staff convenient, laborsaving draws out the rubbish storehouse.

The utility model discloses an in other embodiments, antenna 65 is for being used for the 2.4G antenna of transmission and received signal respectively, 4G antenna and 5G antenna, the antenna of different frequency channels can be used to receive the instruction that the remote controller sent or receive the instruction that cell-phone end APP sent, and then convey the central control unit, the work order that sends according to manual remote control through the unmanned ship of central control unit control begins work, or the work order that sends according to cell-phone end APP independently navigates cleaning work, after the work order that cell-phone end APP sent was accomplished to unmanned ship, unmanned ship can return to the starting point automatically.

The technical solutions provided by the embodiments of the present invention are described in detail above, and the principles and embodiments of the present invention are explained herein by using specific examples, and the descriptions of the above embodiments are only applicable to help understand the principles of the embodiments of the present invention; meanwhile, for a person skilled in the art, according to the embodiments of the present invention, there may be variations in the specific implementation manners and application ranges, and in summary, the content of the description should not be construed as a limitation to the present invention.

Claims

1. The utility model provides a take clean unmanned ship of autonomic navigation of garbage bin hatch door device, includes the hull, its characterized in that, the afterbody of hull is equipped with the propeller that is used for driving the ship motion, be equipped with the upper end on the hull and hold the cabin for the open-ended, it is equipped with the detachable garbage bin to hold the under-deck, the top in garbage bin is equipped with the handle, the front end in garbage bin is the opening, the front end of hull is equipped with electronic hatch door, electronic hatch door is located the opening the place ahead in garbage bin lie in on the hull the both ends of electronic hatch door are rotated and are equipped with two telescopic extension arms.

2. The autonomous navigation cleaning unmanned ship with cabin door device of garbage bin according to claim 1, wherein the extension arm comprises two upper and lower telescopic rods horizontally rotatably disposed on the ship body, a height adjusting bracket is disposed between the two telescopic rods at the front end of the telescopic rods, and two blades are disposed between the two telescopic rods in a staggered manner.

3. The autonomous navigation cleaning unmanned ship with a trash bin door apparatus of claim 2, wherein a plurality of screw holes are provided at intervals from top to bottom on both sides of the height adjustment frame, a U-shaped bracket is provided on the height adjustment frame, through holes corresponding to the screw holes are provided on both sides of the U-shaped bracket, the U-shaped bracket is fixed at the front end of the extension arm by bolts, and a front anti-collision wheel is provided on the U-shaped bracket.

4. The autonomous navigation cleaning unmanned ship with cabin door device of garbage bin according to claim 3, characterized in that the end of the ship body is provided with a height adjusting rod, a plurality of fixing holes are arranged on the height adjusting rod from top to bottom at intervals, the height adjusting rod is fixedly provided with a fixing frame through bolts, and the fixing frame is provided with a rear anti-collision wheel.

5. The autonomous navigation cleaning unmanned ship with a trash bin door device according to claim 1, wherein a front hatch is arranged at the top end of the front part of the ship body, and a depth camera, a visual field camera, a GPS module and a radar are sequentially arranged on the front hatch from front to back.

6. The autonomous navigation cleaning unmanned ship with a trash bin door apparatus of claim 5, wherein a rear hatch is provided at the top end of the rear portion of the hull, and a plurality of antennas and at least one signal indicating lamp are provided on the hull at both ends of the rear hatch.

7. The autonomous navigation cleaning unmanned ship with trash can hatch device of claim 6, wherein the hull is further provided with a control module, the control module comprises a central control unit disposed under the rear hatch, a vision processing unit electrically connected with the depth camera and the vision camera, and a power driving unit electrically connected with the propeller, the electric hatch, the GPS module, the laser radar, the antenna, the signal indicator light, the vision processing unit and the power driving unit are all electrically connected with the central control unit.

8. The autonomous navigation cleaning unmanned ship with a trash bin door apparatus of claim 7, wherein a left hatch and a right hatch are respectively provided on the top of the hull at the left and right ends of the trash bin, and a battery electrically connected to the central control unit is provided under each of the left hatch and the right hatch.

9. The autonomous navigation cleaning unmanned ship with trash can hatch device of any of claims 1-8, characterized in that the outside of the propeller is provided with a protective mesh.

10. The autonomous navigation cleaning unmanned ship with trash can hatch device of claim 9, wherein hull protecting devices are provided at both left and right ends of the bottom of the hull.