CN213168481U - Empty water two drive variant formula unmanned rubbish clearance ship - Google Patents
Empty water two drive variant formula unmanned rubbish clearance ship Download PDFInfo
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- CN213168481U CN213168481U CN202022229188.0U CN202022229188U CN213168481U CN 213168481 U CN213168481 U CN 213168481U CN 202022229188 U CN202022229188 U CN 202022229188U CN 213168481 U CN213168481 U CN 213168481U
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Abstract
An empty-water two-drive variant type unmanned garbage cleaning ship belongs to the technical field of unmanned garbage cleaning ships. Empty water two drive variant unmanned rubbish clearance ship includes left hull, right hull, set up the rubbish guiding device between left hull and right hull, set up in the synchronous telescoping device in both ends at left hull and right hull top and set up in main control unit and the wind-force drive device of the synchronous telescoping device top in both ends, left hull and right hull all are provided with hydraulic drive device, the camera, laser radar and garbage bin, the garbage bin entry is provided with rubbish fishing device, rubbish guiding device includes left water conservancy diversion piece and right water conservancy diversion piece, the synchronous telescoping device in both ends is including linking firmly in the left guide rail of left hull, link firmly in the right guide rail of right hull and respectively with left guide rail and right guide rail sliding connection's middle section fixing device. Empty two driven variant unmanned rubbish clearance ships of water can improve the cleaning efficiency of surface of water rubbish to can easily pass the shoal region.
Description
Technical Field
The utility model relates to an unmanned rubbish clearance ship technical field, in particular to unmanned rubbish clearance ship of empty water two drive variant formula.
Background
The existing unmanned garbage cleaning ship is often driven by a hydraulic mode and mostly adopts a double-hull fixed structure, the unmanned garbage cleaning ship is very easy to be stranded in a shoal area by the driving mode and cannot continue to operate, the unmanned garbage cleaning ship with the fixed structure is single in working mode and not flexible enough, the working efficiency of a wider river channel is lower, and the situation that the unmanned garbage cleaning ship is blocked or cannot pass through the narrow river channel is met.
SUMMERY OF THE UTILITY MODEL
In order to solve the lower and unable technical problem such as current in shoal area of unmanned rubbish clearance ship work efficiency that prior art exists, the utility model provides an unmanned rubbish clearance ship of empty water two drive variants formula can improve the cleaning efficiency of surface of water rubbish to can easily pass the shoal region.
In order to realize the purpose, the technical scheme of the utility model is that:
an empty and water two-drive variant unmanned garbage cleaning ship comprises a left ship body, a right ship body, a garbage guide device arranged between the left ship body and the right ship body, two-end synchronous telescopic devices arranged at the tops of the left ship body and the right ship body, a main controller and a wind power driving device arranged above the two-end synchronous telescopic devices;
the left ship body and the right ship body are symmetrically arranged, a left garbage bin for storing garbage is arranged in the left ship body, a left garbage bin inlet is formed in the rear of the inner side of the left ship body, a left garbage salvaging device is arranged at the left garbage bin inlet, a left branch controller is arranged at the top of the left ship body, a left hydraulic driving device is arranged at the bottom of the left ship body, and a left camera and a left laser radar are arranged in front of the left ship body; a right garbage bin for storing garbage is arranged in the right ship body, a right garbage bin inlet is formed in the rear of the inner side of the right ship body, a right garbage salvaging device is arranged at the right garbage bin inlet, a right branch controller is arranged at the top of the right ship body, a right hydraulic driving device is arranged at the bottom of the right ship body, and a right camera and a right laser radar are arranged in front of the right ship body;
the garbage diversion device comprises a left diversion sheet and a right diversion sheet which are hinged with each other, a left rear rotating rod is arranged at the rear end of the left diversion sheet, a left steering engine fixedly connected with the left ship body is arranged at both ends of the left rear rotating rod, a right rear rotating rod is arranged at the rear end of the right diversion sheet, and a right steering engine fixedly connected with the right ship body is arranged at both ends of the right rear rotating rod;
the two-end synchronous telescopic device comprises a left guide rail fixedly connected to the top of the tail end of the left ship body, a right guide rail fixedly connected to the top of the tail end of the right ship body and a middle-section fixing device which is respectively connected with the left guide rail and the right guide rail in a sliding manner, a left synchronous motor is arranged at the left end of the middle-section fixing device and connected with a left guide wheel, and the left guide wheel is in contact with the left guide rail; the right end of the middle section fixing device is provided with a right synchronous motor, the right synchronous motor is connected with a right guide wheel, and the right guide wheel is in contact with a right guide rail;
the main controller is respectively connected with the left branch controller, the right branch controller, the left laser radar, the right laser radar and the image processor, and the image processor is respectively connected with the left camera and the right camera; the left branch controller is respectively connected with the left steering engine and the left synchronous motor, and the right branch controller is respectively connected with the right steering engine and the right synchronous motor.
Further, a left inclined plate is further arranged at the inlet of the left garbage bin, and the left inclined plate is positioned below the left garbage salvaging device; the right garbage bin inlet is further provided with a right inclined plate, and the right inclined plate is located below the right garbage salvaging device.
Furthermore, the left garbage fishing device comprises an upper left synchronous motor and a lower left synchronous motor which are fixedly connected with the left ship body respectively, the upper left synchronous motor is connected with the upper left rotating shaft, the lower left synchronous motor is connected with the lower left rotating shaft, a left conveying belt is sleeved outside the upper left rotating shaft and the lower left rotating shaft, and a plurality of deformable memory plastic needles are distributed on the left conveying belt at intervals; the right garbage fishing device comprises an upper right synchronous motor and a lower right synchronous motor which are fixedly connected with the right ship body respectively, the upper right synchronous motor is connected with an upper right rotating shaft, the lower right synchronous motor is connected with a lower right rotating shaft, a right conveying belt is sleeved outside the upper right rotating shaft and the lower right rotating shaft, and a plurality of deformable memory plastic needles are distributed on the right conveying belt at intervals; the upper left synchronous motor and the lower left synchronous motor are both connected with the left branch controller; and the upper right synchronous motor and the lower right synchronous motor are both connected with the right branch controller.
Furthermore, two the left rudder machine sets up in the rear side of left garbage bin entry, two the right side steering wheel sets up in the rear side of right garbage bin entry, and, the position that left side water conservancy diversion piece is located the rear side of waterline below and left garbage bin entry all is provided with the water hole, the position that right side water conservancy diversion piece is located the rear side of waterline below and right garbage bin entry all is provided with the water hole, the lateral surface of left side water conservancy diversion piece and right water conservancy diversion piece all scribbles the lubricant coating.
Furthermore, the wind power driving device comprises a base, a wind power driving steering engine, a wind power driving rotary rod, a wind power driving motor and a wind power driving propeller which are sequentially connected, and the wind power driving steering engine and the wind power driving motor are both connected with the main controller.
Furthermore, left side water conservancy drive arrangement includes left water conservancy driving motor and left water conservancy driving screw, right side water conservancy driving arrangement includes right water conservancy driving motor and right water conservancy driving screw, left side water conservancy driving motor is connected with left branch controller, right side water conservancy driving motor is connected with right branch controller, the outside below of left side water conservancy driving screw and right water conservancy driving screw all is provided with the fretwork spacer frame.
Further, the left hull is also provided with a left hull anti-collision device, the left hull anti-collision device comprises a left arc-shaped rod, a left front guide wheel, a left middle guide wheel and a left rear guide wheel, the left arc-shaped rod is connected with the outer side of the left hull, the left front guide wheel is connected with the front end of the left arc-shaped rod, the left middle guide wheel is connected with the middle part of the left arc-shaped rod, and the left rear guide wheel is connected with the end part of the left guide rail; the right ship body is further provided with a right ship body anti-collision device, the right ship body anti-collision device comprises a right arc-shaped rod, a right front guide wheel, a right middle guide wheel and a right rear guide wheel, the right arc-shaped rod is connected with the outer side of the right ship body, the right front guide wheel is connected with the front end of the right arc-shaped rod, the right middle guide wheel is connected with the middle part of the right arc-shaped rod, and the right rear guide wheel is connected with the end part of the right guide rail.
Furthermore, the tops of the left ship body and the right ship body are detachable decks.
The utility model has the advantages that:
1) the utility model discloses a rubbish guiding device cooperation rubbish fishing device can improve the cleaning efficiency of surface of water rubbish, and the synchronous telescoping device in both ends of rubbish guiding device cooperation hull deck afterbody can change the working area of hull, and the hull that expandes completely at the surface of water of river course broad can possess high work efficiency, and the hull also can normally work after the narrower surface of water shrink in river course. In the shoal area, the left and right ship bodies are completely combined into one ship body, and the ship body can easily pass through the shoal area by matching with a wind power driving device;
2) this use is novel to be equipped with camera and laser radar respectively about the hull head, the camera shoots the surface of water image and sends for image processor, can real time monitoring surface of water rubbish situation and shoal region, and distance signal can be gathered in real time to laser radar, and main control unit is according to image processor and laser radar's information, and the expansion degree that changes the hull improves garbage collection's efficiency, can also discern shoal region, makes the hull merge and cooperate wind-force drive arrangement to stride across the shoal.
Additional features and advantages of the invention will be set forth in part in the detailed description which follows.
Drawings
Fig. 1 is a schematic view of an overall structure of an empty-water two-drive variant unmanned garbage cleaning ship according to an embodiment of the present invention;
fig. 2 is a schematic view of an overall structure of an empty-water two-drive variant unmanned garbage disposal ship according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of the left hull when the left hull and the right hull are separated according to the embodiment of the invention;
fig. 4 is a schematic structural diagram of the left hull and the right hull completely combined into the combined hull according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of the left hull when the left hull and the right hull are completely combined into the combined hull according to the embodiment of the invention;
fig. 6 is a schematic view of an overall structure of an empty-water two-drive variant unmanned garbage disposal ship according to an embodiment of the present invention, which is expanded to a maximum working area;
fig. 7 is a schematic structural view of the left garbage salvaging device provided by the embodiment of the present invention;
fig. 8 is a schematic structural view of a left garbage bin inlet provided in an embodiment of the present invention;
fig. 9 is a schematic structural view of a garbage diversion device provided in an embodiment of the present invention;
fig. 10 is a schematic view illustrating a connection between a middle fixing device and a right guide rail according to an embodiment of the present invention;
fig. 11 is a schematic structural diagram of a wind power driving device according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a left hydraulic driving device provided by an embodiment of the present invention;
fig. 13 is a schematic structural view of a hollow-out bulkhead according to an embodiment of the present invention.
Reference numerals in the drawings of the specification include:
1-left hull, 11-left electric control box, 12-left hydraulic drive device, 13-left hull bump guard, 131-left front guide wheel, 132-left middle guide wheel, 133-left rear guide wheel, 14-left camera, 15-left laser radar, 16-left garbage bin, 161-left garbage bin entrance, 2-right hull, 21-right electric control box, 22-right hydraulic drive device, 23-right hull bump guard, 231-right front guide wheel, 232-right middle guide wheel, 233-right rear guide wheel, 24-right camera, 25-right laser radar, 26-right garbage bin, 261-right garbage bin entrance, 3-combined hull, 4-left garbage salvage device, 41-left conveyor belt, 42-deformable memory plastic needle, 43-left lower synchronous motor, 44-upper left synchronous motor, 5-garbage diversion device, 51-left diversion piece, 511-left rear rotary rod, 512-left steering engine, 513-left front rotary rod, 52-right diversion piece, 521-right rear rotary rod, 522-right steering engine, 523-right front rotary rod, 6-two-end synchronous telescopic device, 61-left guide rail, 611-left synchronous motor, 62-right guide rail, 621-right synchronous motor, 63-middle section fixing device, 7-main controller, 8-wind power driving device, 81-base, 82-wind power driving steering engine, 83-wind power driving rotary rod, 84-wind power driving motor and 85-wind power driving propeller.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments.
In the description of the present invention, it is to be understood that the left hull 1 and the right hull 2 are of a symmetrical structure, the left hull 1 and the right hull 2 are combined together to form the combined hull 3, the respective components provided to the left hull 1 or connected to the left hull 1 are defined by "left", "left front", "left center", "left rear", "left upper", "left lower", and the like, the respective components provided to the right hull 2 or connected to the right hull 2 are defined by "right", "right front", "right center", "right rear", "right upper", "right lower", and the like, the above-mentioned position or positional relationship is based on the position or positional relationship shown in the drawings, and the above-mentioned definition is only for the convenience of description of the present invention and for simplification of description, and should not be understood as a limitation of the present invention, the structure of the components at the corresponding positions of the left hull 1 and the right hull 2 is substantially the same. In addition, "wind-force drive" to steering wheel, motor, swing arm and screw's restriction, "water drive" to steering wheel, motor, swing arm and screw's restriction, also for the convenience of description the utility model discloses and simplify the description, can not understand as the restriction of the utility model.
In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, or may be connected between two elements through an intermediate medium, or may be directly connected or indirectly connected, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.
In order to solve the problems in the prior art, as shown in fig. 1 to 13, the utility model provides an empty and water two-drive variant type unmanned garbage cleaning ship, which comprises a left ship body 1, a right ship body 2, a garbage diversion device 5 arranged between the left ship body 1 and the right ship body 2, two-end synchronous telescopic devices 6 arranged at the tops of the left ship body 1 and the right ship body 2, a main controller 7 arranged above the two-end synchronous telescopic devices 6 and a wind power driving device 8;
the left ship body 1 and the right ship body 2 are symmetrically arranged, a left garbage bin 16 for storing garbage is arranged in the left ship body 1, a left garbage bin inlet 161 is arranged at the rear part of the inner side of the left ship body 1, a left garbage salvaging device 4 is arranged at the left garbage bin inlet 161, a left branch controller is arranged at the top of the left ship body 1, a left hydraulic driving device 12 is arranged at the bottom of the left ship body 1, and a left camera 14 and a left laser radar 15 are arranged in front of the left ship body 1; a right garbage bin 26 for storing garbage is arranged inside the right ship body 2, a right garbage bin inlet 261 is arranged behind the inner side of the right ship body 2, a right garbage salvaging device is arranged at the right garbage bin inlet 261, a right branch controller is arranged at the top of the right ship body 2, a right hydraulic drive device 22 is arranged at the bottom of the right ship body 2, and a right camera 24 and a right laser radar 25 are arranged in front of the right ship body 2;
the garbage diversion device 5 comprises a left diversion sheet 51 and a right diversion sheet 52 which are hinged with each other, the rear end of the left diversion sheet 51 is provided with a left rear rotating rod 511, both ends of the left rear rotating rod 511 are provided with a left steering engine 512 fixedly connected with the left ship body 1, the rear end of the right diversion sheet 52 is provided with a right rear rotating rod 521, and both ends of the right rear rotating rod 521 are provided with right steering engines 522 fixedly connected with the right ship body 2;
the two-end synchronous telescopic device 6 comprises a left guide rail 61 fixedly connected to the top of the tail end of the left ship body 1, a right guide rail 62 fixedly connected to the top of the tail end of the right ship body 2 and a middle-section fixing device 63 respectively connected with the left guide rail 61 and the right guide rail 62 in a sliding manner, a left synchronous motor 611 is arranged at the left end of the middle-section fixing device 63, the left synchronous motor 611 is connected with a left guide wheel, and the left guide wheel is in contact with the left guide rail 61; a right synchronous motor 621 is arranged at the right end of the middle section fixing device 63, the right synchronous motor 621 is connected with a right guide wheel, and the right guide wheel is in contact with the right guide rail 62;
the main controller 7 is respectively connected with the left branch controller, the right branch controller, the left laser radar 15, the right laser radar 25 and the image processor, and the image processor is respectively connected with the left camera 14 and the right camera 24; the left branch controller is respectively connected with the left rudder machine 512 and the left synchronous motor 611, and the right branch controller is respectively connected with the right steering machine 522 and the right synchronous motor 621.
In this embodiment, the main controller 7 is arranged in the main electric control box above the middle part of the synchronous telescoping devices 6 at the two ends, the left sub-controller is arranged in the left electric control box 11 at the top of the left hull 1, and the right sub-controller is arranged in the right electric control box 21 at the top of the right hull 2, that is, the left electric control box 11 and the right electric control box 21 are both arranged on the hull deck; all be provided with the steering wheel driver between left branch controller and two left steering wheel 512, left branch controller drives two left steering wheel 512 work through two steering wheel drivers, right branch controller and two right steering wheel 522 all are provided with the steering wheel driver, right branch controller drives two right steering wheel 522 work through two steering wheel drivers, left branch controller and right branch controller control two left steering wheel 512 and two right steering wheel 522 simultaneous workings, two left steering wheel 512 and two right steering wheel 522 drive left back swing arm 511 and right back swing arm 521 simultaneously and rotate, and then drive the left water conservancy diversion piece 51 that links firmly with left back swing arm 511 and the right water conservancy diversion piece 52 that links firmly with right back swing arm 521 separately or merge. In the embodiment, the main controller 7 adopts an STM32F407 control board, the left branch controller and the right branch controller both adopt STM32F103 control boards, and the models of the left camera 14 and the right camera 24 are respectively Hai Shi Kangwei DS-IPC-B12V 2-I; the model of the left laser radar 15 and the model of the right laser radar 25 are Silan RPLIDAR A2-12m, the motor drivers adopt L293D motor drivers, the steering engine drivers adopt SRC-04A steering engine drivers, the image processor adopts an Nvidia Jetson Nano development board, and the image processor is arranged in a main electric control box.
As shown in fig. 1 to 6, the middle fixing device 63 of the two-end synchronous telescoping device 6 is connected to the left guide rail 61 and the right guide rail 62 to fix, increase or decrease the distance between the left hull 1 and the right hull 2, the middle fixing device 63 is of an elongated structure and is provided with a sliding groove along the length direction, the left synchronous motor 611 and the left guide wheel are both located at the left end of the sliding groove, the right synchronous motor 621 and the right guide wheel are both located at the right end of the sliding groove, the left guide rail 61 and the right guide rail 62 are both of an elongated structure, the left guide rail 61 and the right guide rail 62 are both provided with protrusions corresponding to the sliding groove, the protrusion of the left guide rail 61 extends into the sliding groove to contact with the top of the left guide wheel, the protrusion of the right guide rail 62 extends into the sliding groove to contact with the top of the right guide wheel, the left sub-controller drives the left synchronous motor 611 to operate through the motor driver, the right sub-controller drives the right synchronous motor 621 to operate through the motor driver The rails 62 simultaneously slide into or out of the sliding grooves of the middle section fixing device 63, and are combined or separated by matching with the garbage diversion device 5, so that the left ship body 1 and the right ship body 2 are combined and separated together. The left ship body 1 and the right ship body 2 are connected at the tail part of a ship deck through the two-end synchronous telescopic devices 6, the left ship body 1 and the right ship body 2 are connected at the inner side of the ship body through the garbage guide device 5, a garbage bin for storing garbage is arranged inside the ship body, slope type garbage bin inlets are respectively arranged at the tail parts of the inner sides of the left ship body 1 and the right ship body 2, water surface garbage is quickly salvaged to the garbage bin through water flow and the garbage guide device 5 and matched with a garbage salvage device, the garbage guide device 5 is matched with the two-end synchronous telescopic devices 6 to enable the left ship body and the right ship body 2 to be combined into one ship body, the wind power driving device 8 is additionally provided with a hydraulic driving device to provide two powerful driving force outputs for the ship body, and.
As shown in fig. 7 and 8, the left garbage bin inlet 161 is further provided with a left sloping plate, and the left sloping plate is positioned below the left garbage salvaging device 4; the right garbage bin inlet 261 is further provided with a right sloping plate, and the right sloping plate is located below the right garbage salvaging device. The left garbage fishing device 4 comprises an upper left synchronous motor 44 and a lower left synchronous motor 43 which are fixedly connected with the left ship body 1 respectively, the upper left synchronous motor 44 is connected with an upper left rotating shaft, the lower left synchronous motor 43 is connected with a lower left rotating shaft, a left conveying belt 41 is sleeved outside the upper left rotating shaft and the lower left rotating shaft, and a plurality of deformable memory plastic needles 42 are distributed on the left conveying belt 41 at intervals; the right garbage salvaging device comprises an upper right synchronous motor and a lower right synchronous motor which are fixedly connected with the right ship body 2 respectively, the upper right synchronous motor is connected with an upper right rotating shaft, the lower right synchronous motor is connected with a lower right rotating shaft, a right conveying belt is sleeved outside the upper right rotating shaft and the lower right rotating shaft, and a plurality of deformable memory plastic needles 42 are distributed on the right conveying belt at intervals; the upper left synchronous motor 44 and the lower left synchronous motor 43 are both connected with the left branch controller; and the upper right synchronous motor and the lower right synchronous motor are both connected with the right branch controller.
In this embodiment, left rubbish fishing device 4 is the same with right rubbish fishing device's structure, and left rubbish fishing device 4 sets up in the top of the left swash plate of left garbage bin entry 161, and left swash plate is parallel with left conveyer belt 41, and right rubbish fishing device sets up in the top of the right swash plate of right garbage bin entry 261, and right swash plate is parallel with right conveyer belt, and the garbage bin entry sets up the swash plate in order to prevent that the rubbish in the hull from falling out. The deformable memory plastic needles 42 adopt the prior art, can be bent and deformed when being subjected to strong pressure, and are in a state of being vertical to a conveying belt when no pressure or weak pressure exists, the working process of the garbage salvaging device is illustrated by taking the left garbage salvaging device 4 as an example, a left branch controller respectively drives a left upper synchronous motor 44 and a left lower synchronous motor 43 to work simultaneously through motor drivers, a left conveying belt 41 is driven to operate through a left upper rotating shaft and a left lower rotating shaft, a plurality of deformable memory plastic needles 42 on the left conveying belt 41 clamp garbage to move upwards, when the left conveying belt moves to the top of a left inclined plate, the left conveying belt 41 drives the deformable memory plastic needles 42 to move downwards circularly, the deformable memory plastic needles 42 are bent and deformed due to the blocking of the left inclined plate, the garbage is released and enters a garbage bin of a left ship body 1, and when the left conveying belt 41 drives the deformable memory plastic needles 42 to rotate to, the deformable memory plastic needle 42 is restored to be vertical to the left conveying belt 41, and the garbage continues to be salvaged, so that the garbage floating on the water surface is salvaged into the garbage bin of the left ship body 1. The working process of the right garbage salvaging device is the same as that of the left garbage salvaging device 4.
As shown in fig. 9, two left steering engines 512 are disposed at the rear side of the left garbage bin inlet 161, two right steering engines 522 are disposed at the rear side of the right garbage bin inlet 261, and the positions of the left deflector 51 below the waterline and the rear side of the left garbage bin inlet 161 are provided with water holes, the positions of the right deflector 52 below the waterline and the rear side of the right garbage bin inlet 261 are provided with water holes for reducing the water flow resistance of the garbage disposal ship during operation, the outer side surfaces (the side close to the garbage bin inlet) of the left deflector 51 and the right deflector 52 are coated with a lubricating coating, so as to guide the garbage on the water surface conveniently, the garbage on the water surface slides backwards to the left and right garbage bin inlets 261 under the action of water flow along the garbage deflector 5, and is fished into the garbage bin of the ship body by the left and right garbage fishing devices respectively at the left and right garbage bin inlets 261.
In this embodiment, the inner sides of the left hull 1 and the right hull 2 are correspondingly provided with grooves, the left garbage bin inlet 161, the left rear rotating rod 511 and the two left steering engines 512 are all arranged in the grooves of the left hull 1, and the left rear rotating rod 511 and the two left steering engines 512 are tightly installed at the rear side of the left garbage bin inlet 161; the right garbage bin inlet 261, the right rear rotary rod 521 and the two right steering engines 522 are all arranged in a groove of the right ship body 2, and the right rear rotary rod 521 and the two right steering engines 522 are tightly installed on the rear side of the right garbage bin inlet 261; the front end of the left flow deflector 51 is provided with a left front rotating rod 513, the front end of the right flow deflector 52 is provided with a right front rotating rod 523, the left front rotating rod 513 and the right front rotating rod 523 are hinged, and when the left ship body 1 and the right ship body 2 are combined into the combined ship body 3, the left flow deflector 51 and the right flow deflector 52 are arranged in grooves of the left ship body 1 and the right ship body 2 after being folded.
As shown in fig. 11, the wind power driving device 8 includes a base 81, a wind power driving steering engine 82, a wind power driving rotary rod 83, a wind power driving motor 84 and a wind power driving propeller 85, which are connected in sequence, and both the wind power driving steering engine 82 and the wind power driving motor 84 are connected with the main controller 7.
In this embodiment, base 81 is connected with the steering wheel for the wind-force drive, the output of the steering wheel for the wind-force drive is connected with the bottom of the swing arm for the wind-force drive, main control unit 7 drives the work of wind-force drive steering wheel 82 through the steering wheel driver, the swing arm for the wind-force drive is driven to rotate by the steering wheel for the wind-force drive, wind-force drive motor 84 has been set firmly at the top of the swing arm for the wind-force drive, wind-force drive motor 84 output links firmly with wind-force drive screw 85, main control unit 7 drives the work of wind-force drive motor 84 through the motor driver, wind-force drive motor 84 drives wind-force drive screw 85 rotatory, wind-force drive device 8 is not only opened when the hull merges the back and moves on the shoal, just.
As shown in fig. 12 and 13, the left hydraulic drive device 12 includes a left hydraulic drive motor and a left hydraulic drive propeller, the right hydraulic drive device 22 includes a right hydraulic drive motor and a right hydraulic drive propeller, the left hydraulic drive motor is connected to the left sub-controller, the right hydraulic drive motor is connected to the right sub-controller, and hollow partition frames are disposed below the outer portions of the left hydraulic drive propeller and the right hydraulic drive propeller.
In the embodiment, a motor driver is arranged between the left hydraulic drive motor and the left branch controller, the left branch controller drives the left hydraulic drive motor to work through the motor driver, the left hydraulic drive motor is connected with the left hydraulic drive propeller, and the left hydraulic drive motor rotates to drive the left hydraulic drive propeller to rotate; a motor driver is arranged between the right hydraulic drive motor and the right branch controller, the right branch controller drives the right hydraulic drive motor to work through the motor driver, the right hydraulic drive motor is connected with the right hydraulic drive propeller, and the right hydraulic drive motor drives the right hydraulic drive propeller to rotate; if the ship body needs to turn or turn around, the left hydraulic drive motor and the right hydraulic drive motor are controlled to rotate at different rotating speeds, so that the turning or turning around is realized. The top of left water conservancy drive screw and right water conservancy drive screw is the hull, and the below is the fretwork bulkhead, and this partly buries formula structure and is used for preventing pasture and water winding screw.
The left hull 1 is also provided with a left hull anti-collision device 13, the left hull anti-collision device 13 comprises a left arc-shaped rod, a left front guide wheel 131, a left middle guide wheel 132 and a left rear guide wheel 133, the left arc-shaped rod is connected with the outer side of the left hull 1, the left front guide wheel 131 is connected with the front end of the left arc-shaped rod, the left middle guide wheel 132 is connected with the middle part of the left arc-shaped rod, and the left rear guide wheel 133 is connected with the end part of the left guide rail 61; the right hull 2 is further provided with a right hull anti-collision device 23, the right hull anti-collision device 23 comprises a right arc-shaped rod, a right front guide wheel 231, a right middle guide wheel 232 and a right rear guide wheel 233, the right arc-shaped rod is connected with the outer side of the right hull 2, the right front guide wheel 231 is connected with the front end of the right arc-shaped rod, the right middle guide wheel 232 is connected with the middle part of the right arc-shaped rod, and the right rear guide wheel 233 is connected with the end part of the right guide rail 62.
The tops of the left hull 1 and the right hull 2 are both detachable decks. Specifically, the deck can be dismantled to the whole top of left hull 1 and right hull 2, after accomplishing rubbish salvage work, can dismantle the deck with the whole at left hull 1 and the 2 tops of right hull and open, clear up the surface of water floating garbage in the left hull 1 and the 2 garbage bins of right hull.
The utility model discloses a working process of empty two drive variant formula unmanned rubbish clearance ships:
planning a working path of the empty-water two-drive variant unmanned garbage cleaning ship, wherein the path passes through a common river channel with the width of more than or equal to 6 meters, a narrow river channel with the width of less than 6 meters and a shoal area;
the initial state of the empty-water two-drive variant type unmanned garbage cleaning ship is a combined state, when the work starts, the left laser radar 15 and the right laser radar 25 both start to collect distance signals from two sides of a river channel to a ship body and transmit the distance signals from the two sides of the river channel to the ship body to the main controller 7, and the main controller can obtain river channel width information through calculation; meanwhile, the left camera 14 and the right camera 24 start to shoot the water surface image and transmit the water surface image information to the image processor, the image processor (Nvidia Jetson Nano development board) can obtain whether the image has rubbish and whether the image is a shoal, and transmit the obtained information to the main controller 7, and the main controller 7(STM32F407 control board) makes the following behavior decisions:
when rubbish occurs in a river channel in front of a planned path and the width of the river channel is greater than or equal to 6 meters, the main controller 7 sends a behavior decision signal to the left branch controller and the right branch controller, the left branch controller and the right branch controller work synchronously, concretely, the left branch controller STM32F103 control board controls the SRC-04A steering engine driver to drive the two left steering engines 512 to rotate, the two left steering engines 512 rotate to drive the left guide vane 51 to rotate, meanwhile, the left branch controller STM32F103 control board controls the L293D motor driver to drive the left synchronous motor 611 to rotate, the left synchronous motor 611 drives the left guide wheel to rotate, and the left guide wheel drives the left guide rail 61 to slide; the control panel of the right branch controller STM32F103 controls an SRC-04A steering engine driver to drive two right steering engines 522 to rotate, the two right steering engines 522 rotate to drive the right guide vane 52 to rotate, meanwhile, the control panel of the right branch controller STM32F103 controls an L293D motor driver to drive a right synchronous motor 621 to rotate, the right synchronous motor 621 drives a right guide wheel to rotate, and the right guide wheel drives a right guide rail 62 to slide, so that the left ship body 1 and the right ship body 2 are in a completely opened state; meanwhile, the left branch controller sends a control signal to the L293D motor driver to drive the left hydraulic drive motor to drive the left hydraulic drive propeller to rotate, and the right branch controller sends a control signal to the L293D motor driver to drive the right hydraulic drive motor to drive the right hydraulic drive propeller to rotate, so that underwater power is provided for the ship body;
when the left ship body 1 and the right ship body 2 are opened, the left branch controller STM32F103 controls the L293D motor driver to drive the upper left synchronous motor 44 and the lower left synchronous motor 43 to rotate and drive the upper left rotating shaft and the lower left rotating shaft to rotate, and the upper left rotating shaft and the lower left rotating shaft drive the left conveyor belt 41 to salvage water surface garbage; meanwhile, the control board of the right branch controller STM32F103 controls an L293D motor driver to drive a right upper synchronous motor and a right lower synchronous motor to rotate and drive a right upper rotating shaft and a right lower rotating shaft to rotate, and the right upper rotating shaft and the right lower rotating shaft drive a right conveyor belt to salvage the water surface garbage; when the left ship body 1 and the right ship body 2 are completely closed, the left garbage salvaging device 4 and the right garbage salvaging device stop working, and when the left ship body 1 and the right ship body 2 are opened again, the left ship body 1 and the right ship body 2 resume working;
when the ship body wants to turn, the main controller 7 sends a behavior decision signal to the left branch controller and the right branch controller, the left branch controller sends a control signal to the L293D motor driver to change the rotating speed of the left hydraulic drive motor, the right branch controller sends a control signal to the L293D motor driver to change the rotating speed of the right hydraulic drive motor, and the course of the ship body is changed by utilizing the speed difference of the left motor and the right motor;
when the empty and water two-drive variant type unmanned garbage cleaning ship performs garbage cleaning work on a planned path, the main controller 7 obtains a narrow river channel in front of the path and changes into a narrow river channel smaller than 6 m according to distance signals sent by the left laser radar 15 and the right laser radar 25, the main controller 7 sends behavior decision signals to the left branch controller and the right branch controller, the left branch controller and the right branch controller work synchronously, specifically, the left branch controller STM32F103 control board controls the SRC-04A steering engine driver to drive the two left steering engines 512 to rotate, the two left steering engines 512 rotate to drive the left flow deflector 51 to rotate, meanwhile, the left branch controller STM32F103 control board controls the L293D motor driver to drive the left synchronous motor 611 to rotate, the left synchronous motor 611 drives the left guide wheel to rotate, and the left guide wheel drives the left guide rail 61 to slide; the left branch controller STM32F103 controls an SRC-04A steering engine driver to drive two right steering engines 522 to rotate, the two right steering engines 522 rotate to drive a right guide vane 52 to rotate, meanwhile, the right branch controller STM32F103 controls an L293D motor driver to drive a right synchronous motor 621 to rotate, the right synchronous motor 621 drives a right guide wheel to rotate, the right guide wheel drives a right guide rail 62 to slide, the left ship body 1 and the right ship body 2 are contracted to a narrow river channel working state, the working distance of the left ship body 1 and the right ship body 2 is changed in real time according to front river channel width information detected by a left laser radar 15 and a right laser radar 25, the air-water two-drive variant unmanned garbage cleaning ship is used for enabling the air-water two-drive variant unmanned garbage cleaning ship to be always in a safe working state, and for example, the width of the air-water two-drive variant unmanned garbage cleaning ship is always ensured to be;
when the empty and water two-drive variant type unmanned garbage cleaning ship runs close to a shoal area, the main controller 7 sends behavior decision signals to the left branch controller and the right branch controller, the left branch controller and the right branch controller work synchronously, specifically, the control board of the left branch controller STM32F103 controls the SRC-04A steering engine driver to drive the two left steering engines 512 to rotate, and meanwhile, the control board of the left branch controller STM32F103 controls the L293D motor driver to drive the left synchronous motor 611 to rotate; the control panel of the right branch controller STM32F103 controls SRC-04A steering engine drivers to drive two right steering engines 522 to rotate, meanwhile, the control panel of the right branch controller STM32F103 controls an L293D motor driver to drive a right synchronous motor 621 to rotate, so that the left ship body 1 and the right ship body 2 are completely combined into a whole, at the moment, the left branch controller and the right branch controller control the left garbage salvaging device 4 and the right garbage salvaging device to stop working, and the left hydraulic drive motor and the right hydraulic drive motor also stop working; the main controller 7 sends a control signal to the L293D motor driver to drive the wind power driving motor 84 to drive the wind power driving propeller 85 to rotate, so that wind power driving is provided for the ship body, the ship body slides on a shoal, meanwhile, the main controller 7 sends a signal to the SRC-04A steering engine driver to drive the wind power driving steering engine 82 to drive the wind power driving rotary rod 83 to rotate, the wind power driving direction is changed, and the driving direction of the ship body in the shoal area is further changed;
when the ship body reaches the river channel through the shoal, the main controller 7 sends out behavior decision signals to the left branch controller and the right branch controller according to signals collected by the left laser radar 15, the right laser radar 25, the left camera 14 and the right camera 24, the working process is repeated until the whole working path is completed, the detachable decks at the tops of the left ship body 1 and the right ship body 2 are opened, and garbage cleaning is carried out.
The utility model discloses in, main control unit 7STM32F407 control panel has embedded MPU6050 sensor and has been used for measuring the attitude information of ship, has still embedded the GPS module and has been used for measuring hull positional information.
The utility model discloses in, still airtight battery that is provided with in left hull 1 and the right hull 2 for supply power for whole rubbish clearance ship.
The utility model discloses in, all driving motor are brushless motor.
The utility model discloses in, all motors all adopt waterproof motor, and all steering engines all adopt waterproof steering engines.
In the utility model, a motor driver is arranged between the controller and the motor, and the controller drives the motor to work through the motor driver; all be provided with the steering wheel driver between controller and the steering wheel, the controller passes through the work of steering wheel driver drive steering wheel, and controller, motor drive and steering wheel driver all set up in the automatically controlled box that corresponds.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (8)
1. An empty and water two-drive variant unmanned garbage cleaning ship is characterized by comprising a left ship body, a right ship body, a garbage guide device arranged between the left ship body and the right ship body, two-end synchronous telescopic devices arranged at the tops of the left ship body and the right ship body, a main controller and a wind power driving device, wherein the main controller and the wind power driving device are arranged above the two-end synchronous telescopic devices;
the left ship body and the right ship body are symmetrically arranged, a left garbage bin for storing garbage is arranged in the left ship body, a left garbage bin inlet is formed in the rear of the inner side of the left ship body, a left garbage salvaging device is arranged at the left garbage bin inlet, a left branch controller is arranged at the top of the left ship body, a left hydraulic driving device is arranged at the bottom of the left ship body, and a left camera and a left laser radar are arranged in front of the left ship body; a right garbage bin for storing garbage is arranged in the right ship body, a right garbage bin inlet is formed in the rear of the inner side of the right ship body, a right garbage salvaging device is arranged at the right garbage bin inlet, a right branch controller is arranged at the top of the right ship body, a right hydraulic driving device is arranged at the bottom of the right ship body, and a right camera and a right laser radar are arranged in front of the right ship body;
the garbage diversion device comprises a left diversion sheet and a right diversion sheet which are hinged with each other, a left rear rotating rod is arranged at the rear end of the left diversion sheet, a left steering engine fixedly connected with the left ship body is arranged at both ends of the left rear rotating rod, a right rear rotating rod is arranged at the rear end of the right diversion sheet, and a right steering engine fixedly connected with the right ship body is arranged at both ends of the right rear rotating rod;
the two-end synchronous telescopic device comprises a left guide rail fixedly connected to the top of the tail end of the left ship body, a right guide rail fixedly connected to the top of the tail end of the right ship body and a middle-section fixing device which is respectively connected with the left guide rail and the right guide rail in a sliding manner, a left synchronous motor is arranged at the left end of the middle-section fixing device and connected with a left guide wheel, and the left guide wheel is in contact with the left guide rail; the right end of the middle section fixing device is provided with a right synchronous motor, the right synchronous motor is connected with a right guide wheel, and the right guide wheel is in contact with a right guide rail;
the main controller is respectively connected with the left branch controller, the right branch controller, the left laser radar, the right laser radar and the image processor, and the image processor is respectively connected with the left camera and the right camera; the left branch controller is respectively connected with the left steering engine and the left synchronous motor, and the right branch controller is respectively connected with the right steering engine and the right synchronous motor.
2. The air-water driven variant unmanned garbage cleaning ship according to claim 1, wherein the left garbage bin inlet is further provided with a left inclined plate, and the left inclined plate is positioned below the left garbage fishing device; the right garbage bin inlet is further provided with a right inclined plate, and the right inclined plate is located below the right garbage salvaging device.
3. The air-water driven variant unmanned garbage cleaning ship according to claim 1 or 2, wherein the left garbage salvaging device comprises an upper left synchronous motor and a lower left synchronous motor which are fixedly connected with the left ship body respectively, the upper left synchronous motor is connected with an upper left rotating shaft, the lower left synchronous motor is connected with a lower left rotating shaft, a left conveying belt is sleeved outside the upper left rotating shaft and the lower left rotating shaft, and a plurality of deformable memory plastic needles are distributed on the left conveying belt at intervals; the right garbage fishing device comprises an upper right synchronous motor and a lower right synchronous motor which are fixedly connected with the right ship body respectively, the upper right synchronous motor is connected with an upper right rotating shaft, the lower right synchronous motor is connected with a lower right rotating shaft, a right conveying belt is sleeved outside the upper right rotating shaft and the lower right rotating shaft, and a plurality of deformable memory plastic needles are distributed on the right conveying belt at intervals; the upper left synchronous motor and the lower left synchronous motor are both connected with the left branch controller; and the upper right synchronous motor and the lower right synchronous motor are both connected with the right branch controller.
4. The empty water two-drive variant unmanned garbage cleaning ship of claim 1, characterized in that, two left steering engines are arranged at the rear side of the left garbage bin inlet, two right steering engines are arranged at the rear side of the right garbage bin inlet, moreover, the positions of the left flow deflector below the waterline and at the rear side of the left garbage bin inlet are provided with water holes, the positions of the right flow deflector below the waterline and at the rear side of the right garbage bin inlet are provided with water holes, and the outer side surfaces of the left flow deflector and the right flow deflector are coated with lubricating coatings.
5. The air-water two-drive variant unmanned garbage cleaning ship according to claim 1, wherein the wind-driven device comprises a base, a wind-driven steering engine, a wind-driven rotary rod, a wind-driven motor and a wind-driven propeller which are sequentially connected, and the wind-driven steering engine and the wind-driven motor are both connected with a main controller.
6. The air-water two-drive variant unmanned garbage cleaning ship according to claim 1, wherein the left hydraulic drive device comprises a left hydraulic drive motor and a left hydraulic drive propeller, the right hydraulic drive device comprises a right hydraulic drive motor and a right hydraulic drive propeller, the left hydraulic drive motor is connected with the left sub-controller, the right hydraulic drive motor is connected with the right sub-controller, and hollow partition frames are arranged below the outer portions of the left hydraulic drive propeller and the right hydraulic drive propeller.
7. The empty-water two-drive variant unmanned garbage cleaning ship according to claim 1, characterized in that the left ship body is further provided with a left ship body anti-collision device, the left ship body anti-collision device comprises a left arc-shaped rod, a left front guide wheel, a left middle guide wheel and a left rear guide wheel, the left arc-shaped rod is connected with the outer side of the left ship body, the left front guide wheel is connected with the front end of the left arc-shaped rod, the left middle guide wheel is connected with the middle part of the left arc-shaped rod, and the left rear guide wheel is connected with the end part of the left guide rail; the right ship body is further provided with a right ship body anti-collision device, the right ship body anti-collision device comprises a right arc-shaped rod, a right front guide wheel, a right middle guide wheel and a right rear guide wheel, the right arc-shaped rod is connected with the outer side of the right ship body, the right front guide wheel is connected with the front end of the right arc-shaped rod, the right middle guide wheel is connected with the middle part of the right arc-shaped rod, and the right rear guide wheel is connected with the end part of the right guide rail.
8. The air-water driven variant unmanned garbage disposal ship of claim 1, wherein the top of each of the left hull and the right hull is a detachable deck.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113443084A (en) * | 2021-06-23 | 2021-09-28 | 蒋茂光 | Open-close type water surface garbage salvage and collection ship |
| CN113565078A (en) * | 2021-09-07 | 2021-10-29 | 全志君 | Fishing equipment based on maintain ecological environment on water |
| CN114954812A (en) * | 2022-04-02 | 2022-08-30 | 浙江工贸职业技术学院 | Variable remote visual water surface floater cleaning robot |
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2020
- 2020-10-09 CN CN202022229188.0U patent/CN213168481U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113443084A (en) * | 2021-06-23 | 2021-09-28 | 蒋茂光 | Open-close type water surface garbage salvage and collection ship |
| CN113443084B (en) * | 2021-06-23 | 2024-04-02 | 蒋茂光 | Open-close type water surface garbage salvaging and collecting ship |
| CN113565078A (en) * | 2021-09-07 | 2021-10-29 | 全志君 | Fishing equipment based on maintain ecological environment on water |
| CN114954812A (en) * | 2022-04-02 | 2022-08-30 | 浙江工贸职业技术学院 | Variable remote visual water surface floater cleaning robot |
| CN114954812B (en) * | 2022-04-02 | 2024-05-14 | 浙江工贸职业技术学院 | Variable remote visual water surface floater cleaning robot |
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