CN221091176U - Water surface garbage cleaning robot based on ultrasonic wave and visual recognition - Google Patents
Water surface garbage cleaning robot based on ultrasonic wave and visual recognition Download PDFInfo
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- CN221091176U CN221091176U CN202322905616.0U CN202322905616U CN221091176U CN 221091176 U CN221091176 U CN 221091176U CN 202322905616 U CN202322905616 U CN 202322905616U CN 221091176 U CN221091176 U CN 221091176U
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 51
- 238000004140 cleaning Methods 0.000 title claims abstract description 28
- 230000000007 visual effect Effects 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 48
- 238000010248 power generation Methods 0.000 claims description 11
- 208000034699 Vitreous floaters Diseases 0.000 description 4
- 238000003062 neural network model Methods 0.000 description 4
- 230000000295 complement effect Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Abstract
The utility model discloses a water surface garbage cleaning robot based on ultrasonic and visual identification, which comprises a machine ship, wherein a garbage collection bin is arranged on one side of the interior of the machine ship, an impeller is rotatably connected to the interior of the machine ship on one side of the garbage collection bin, a driving wheel assembly is rotatably connected to the interior of the machine ship above the impeller, driving belts are wound on the outer walls of two ends of the driving wheel assembly, and one end of the driving wheel assembly is provided with the driving belt. The utility model not only improves the application range of the cleaning robot, but also can improve the cleaning efficiency of garbage in small water areas, ensure the life safety of salvage personnel, and can drive the robot ship to move to the garbage position to clean the garbage by the control center, and ensure that the robot can cope with different weather environments, the endurance is more durable, the surrounding garbage is closely transferred onto the conveying belt and then is transferred into the garbage collection bin, and the negative pressure water flow impacts the impeller to rotate to drive the conveying belt to work, thereby achieving the purpose of saving energy.
Description
Technical Field
The utility model relates to the technical field of water surface garbage cleaning, in particular to a water surface garbage cleaning robot based on ultrasonic waves and visual recognition.
Background
Along with the rapid development of social economy in China, environmental problems are more and more paid attention to, at present, a large amount of garbage floats on a plurality of water areas, the water area landscape and the water quality are influenced, the water area garbage is soaked in water for a long time, a large amount of harmful substances are generated, the water quality is seriously polluted, the biological diversity of the water body is destroyed, the ecological balance is disturbed, meanwhile, water resources are necessary resources for human life, the living environment and the quality of surrounding residents are influenced by the deterioration of the water quality, the water surface landscape is seriously destroyed by the garbage in the landscape water area, the travel industry is influenced, and the development of local economy is hindered.
The existing water garbage cleaning equipment in the market is a large water garbage salvage ship driven by manpower, has huge size, complex structure and high price, is not suitable for working in small water areas such as artificial lakes and landscape water areas, and is used for improving the garbage cleaning efficiency in the small water areas and guaranteeing the life safety of salvage personnel, so that the water garbage cleaning robot with simple structure, automatic cleaning, environmental protection and high working efficiency is required to be designed.
Disclosure of utility model
The utility model aims to provide a water surface garbage cleaning robot based on ultrasonic and visual recognition, which aims to solve the problems that the existing water surface garbage cleaning equipment is a large water surface garbage salvage ship, is driven manually, has huge size, complex structure and high price, and is not suitable for working in small water areas such as artificial lakes, landscape water areas and the like.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a surface of water rubbish clearance robot based on ultrasonic wave and visual identification, includes the machine ship, one side of machine ship inside is equipped with the garbage collection storehouse, the inside rotation of machine ship of garbage collection storehouse one side is connected with the impeller, the inside rotation of machine ship of impeller top is connected with the drive wheel subassembly, all twine the drive belt on the outer wall at drive wheel subassembly both ends, the inner wall that drive wheel subassembly one end was kept away from to the drive belt touches with the outer wall at impeller both ends, the one end of drive wheel subassembly is equipped with the conveyer belt, the one end that drive wheel subassembly was kept away from to the conveyer belt extends to the outside of machine ship, the machine ship internally mounted of conveyer belt below has the negative pressure suction pump, the central point department at machine ship top is equipped with control center, the arm is installed on the machine ship top of control center one side, the one end that the machine ship was kept away from to the arm is equipped with leading screw mechanism.
Preferably, the corner positions of the bottom end of the machine ship are provided with screw driving devices, and the screw driving devices are arranged at the bottom end of the machine ship so as to drive the machine ship to move forwards, backwards and turn.
Preferably, one side at the top end of the control center is provided with an image recognition mechanism through a bracket, the top parts of the control centers at two ends of the image recognition mechanism are all provided with piezoelectric ultrasonic detectors, ultrasonic waves are continuously emitted outwards through the piezoelectric ultrasonic detectors to detect surrounding floaters to generate a depth image, the image recognition mechanism shoots a picture after position information is obtained, a neural network model is operated to judge whether picture features are matched with model objects, if matching is successful, the position information of garbage is packed and transmitted to the control center, and therefore the control center drives a machine ship to go to the garbage position to clean the garbage.
Preferably, the top that image recognition mechanism one end was kept away from to control center is equipped with two sets of wind power generation module, the control center top of wind power generation module one side all is equipped with two sets of solar module, forms the complementary mechanism of solar energy wind energy through two sets of wind power generation module and four sets of solar module and guarantees this clearance robot's energy supply, and the energy supply system of robot is selected according to the information that control center conveyed when facing different weather comes from, guarantees that the robot can cope with different weather environment, and the continuation of journey is more durable.
Preferably, front baffle screw mechanisms are arranged on the outer walls of the machine boats at two sides of the conveyor belt, the front baffle screw mechanisms are symmetrical about the central line of the machine boat, and the front baffle screw mechanisms rotate to operate so as to collect garbage.
Preferably, the mechanical arm is connected with an electric push rod in a rotating way on the outer wall close to one end of the robot boat, one end, close to the front-end screw mechanism, of the electric push rod is connected with the outer wall, close to one end of the front-end screw mechanism, of the mechanical arm in a rotating way, and the angle between the front-end arm and the rear-end arm of the mechanical arm can be changed through the expansion and contraction of the electric push rod, so that the angle of the front-end screw mechanism can be adjusted as required.
Compared with the prior art, the utility model has the beneficial effects that: the water surface garbage cleaning robot based on ultrasonic waves and visual recognition not only improves the application range of the cleaning robot, but also can improve the cleaning efficiency of garbage in a small water area, ensure the life safety of salvage personnel, and can drive a machine ship to move to a garbage position to clean garbage by a control center, and ensure that the robot can cope with different weather environments, the endurance is more durable, the surrounding garbage is close to a conveyor belt and then conveyed into a garbage collection bin, and the conveyor belt is driven to work by the rotation of a negative pressure water flow impact impeller, so that the aim of saving energy can be achieved;
(1) The robot is driven by four screw driving devices positioned at the bottom of the robot, the screw driving devices are mainly driven by high-power motors, and then the screw driving devices are controlled by a control center, so that the screw driving devices on the two sides of the robot can rotate at constant speed, the forward and backward movement of the robot can be realized, the screw speed on the two sides is controlled to realize the steering of the robot, and compared with the traditional large-scale salvage ship driven by manpower, the cleaning robot can be suitable for working in small-scale water areas such as artificial lakes and landscape water areas, so that the application range of the cleaning robot is improved, the cleaning efficiency of garbage in the small-scale water areas can be improved, and the life safety of salvage personnel is ensured;
(2) The method comprises the steps that ultrasonic waves are continuously emitted outwards through a piezoelectric ultrasonic detector to detect surrounding floaters to generate depth images, an image recognition mechanism shoots pictures after position information is obtained, a neural network model is operated to judge whether picture features are matched with model objects, if matching is successful, position information of garbage is packed and transmitted to a control center, and the control center drives a machine ship to go to the garbage position to clean the garbage;
(3) Two groups of wind power generation modules and four groups of solar modules are arranged at the top end of the control center to form a solar energy and wind energy complementary mechanism so as to ensure energy supply of the cleaning robot, and the energy supply system of the robot is selected according to information transmitted by the control center when facing different weather, so that the robot can cope with different weather environments, and the cruising duration is longer;
(4) Through the cooperation of leading screw mechanism and negative pressure suction pump production negative pressure principle, probably cause the phenomenon that rubbish dispersed when the robot goes to rubbish region, consequently in order to avoid rubbish to float everywhere, adopt leading screw mechanism and negative pressure suction pump production negative pressure's principle, when the robot detects rubbish and is located certain distance, leading screw mechanism begins to rotate, negative pressure suction pump begins to draw water and produces negative pressure to make rubbish on the periphery be close to, transfer to the conveyer belt, then in the garbage collection storehouse, and the negative pressure rivers impact impeller rotation drives the conveyer belt and work.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present utility model;
FIG. 2 is a schematic diagram of the front view of the present utility model;
FIG. 3 is a schematic top view of the present utility model;
Fig. 4 is a schematic cross-sectional elevation view of the present utility model.
In the figure: 1. a machine boat; 2. a screw drive; 3. a garbage collection bin; 4. a wind power generation module; 5. a solar module; 6. an image recognition mechanism; 7. a front screw mechanism; 8. a front baffle screw mechanism; 9. a piezoelectric ultrasonic detector; 10. a control center; 11. a conveyor belt; 12. negative pressure water pump; 13. an impeller; 14. a transmission belt; 15. a drive wheel assembly; 16. a mechanical arm; 17. an electric push rod.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-4, an embodiment of the present utility model is provided: the water surface garbage cleaning robot based on ultrasonic and visual recognition comprises a machine ship 1, wherein screw driving devices 2 are arranged at corner positions of the bottom end of the machine ship 1;
When in use, the screw driving device 2 is arranged at the bottom end of the machine ship 1 so as to drive the machine ship 1 to advance, retreat and turn;
A garbage collection bin 3 is arranged on one side of the interior of the machine ship 1, an impeller 13 is rotatably connected in the machine ship 1 on one side of the garbage collection bin 3, a driving wheel assembly 15 is rotatably connected in the machine ship 1 above the impeller 13, driving belts 14 are wound on the outer walls of the two ends of the driving wheel assembly 15, and the inner wall of one end, far away from the driving wheel assembly 15, of the driving belt 14 is contacted with the outer walls of the two ends of the impeller 13;
One end of the driving wheel assembly 15 is provided with a conveying belt 11, one end of the conveying belt 11, which is far away from the driving wheel assembly 15, extends to the outside of the machine ship 1, front baffle screw mechanisms 8 are arranged on the outer walls of the machine ship 1 at two sides of the conveying belt 11, and the front baffle screw mechanisms 8 are symmetrical with respect to the center line of the machine ship 1;
when in use, the front baffle screw mechanism 8 rotates to collect garbage;
A negative pressure water suction pump 12 is arranged in the machine ship 1 below the conveyor belt 11, a control center 10 is arranged at the center position of the top end of the machine ship 1, an image recognition mechanism 6 is arranged on one side of the top end of the control center 10 through a bracket, and piezoelectric ultrasonic detectors 9 are arranged at the tops of the control centers 10 at the two ends of the image recognition mechanism 6;
When the garbage position detection device is used, ultrasonic waves are continuously emitted outwards through the piezoelectric ultrasonic detector 9 to detect surrounding floaters to generate a depth image, an image recognition mechanism 6 shoots a picture after position information is obtained, a neural network model is operated to judge whether the picture features are matched with a model object, if the picture features are matched successfully, the position information of garbage is packed and transmitted to a control center 10, and the control center 10 drives a machine ship 1 to go to the garbage position to clean the garbage;
two groups of wind power generation modules 4 are arranged at the top of one end, far away from the image recognition mechanism 6, of the control center 10, and two groups of solar modules 5 are arranged at the top of the control center 10 at one side of each wind power generation module 4;
When the robot is used, the two groups of wind power generation modules 4 and the four groups of solar modules 5 form a solar energy and wind energy complementary mechanism to ensure the energy supply of the cleaning robot, and when facing different weather, the robot can deal with different weather environments and can continuously travel according to the information transmitted by the control center 10 by selecting the energy supply system of the robot;
The top end of the machine ship 1 at one side of the control center 10 is provided with a mechanical arm 16, an electric push rod 17 is rotatably connected to the outer wall of one end of the mechanical arm 16 close to the machine ship 1, and one end of the electric push rod 17 close to the front screw mechanism 7 is rotatably connected with the outer wall of one end of the mechanical arm 16 close to the front screw mechanism 7;
When the front screw mechanism is used, the angle between the front end arm and the rear end arm of the mechanical arm 16 can be changed by stretching and contracting the electric push rod 17, so that the angle of the front screw mechanism 7 can be adjusted as required;
The end of the mechanical arm 16 remote from the machine ship 1 is provided with a pre-screw mechanism 7.
When the embodiment of the application is used, firstly, the machine ship 1 is driven by four screw driving devices 2 positioned at the bottom of the machine ship, the screw driving devices 2 are mainly driven by high-power motors, then, the control center 10 controls the screw driving devices 2 to enable the screw driving devices 2 on two sides of the machine ship 1 to rotate at constant speed, so that the forward and backward movement of the machine ship 1 can be realized, the screw speed on two sides is controlled to realize the steering of the machine ship 1, then, the piezoelectric ultrasonic detector 9 continuously and externally emits ultrasonic waves to detect surrounding floaters to generate depth images, the image recognition mechanism 6 shoots pictures after obtaining position information, operates a neural network model to judge whether the picture features are matched with model objects, if the matching is successful, the position information of garbage is packed and transmitted to the control center 10, the control center 10 drives the machine ship 1 to move to the garbage position to clean garbage, then the cooperation of the negative pressure principle is generated by the front screw mechanism 7 and the negative pressure water suction pump 12, and the phenomenon of scattering of the garbage can be possibly caused when the robot moves to the garbage area, so that in order to avoid the phenomenon that the garbage floats everywhere, the principle that the front screw mechanism 7 and the negative pressure water suction pump 12 generate negative pressure is adopted, when the robot detects that the garbage is positioned at a certain distance, the front screw mechanism 7 starts to rotate, the negative pressure water suction pump 12 starts to pump water to generate negative pressure, so that the surrounding garbage is closely conveyed onto the conveyor belt 11 and then conveyed into the garbage collection bin 3, the conveyor belt 11 is driven to work by the rotation of the negative pressure water flow impact impeller 13, and finally, two groups of wind power generation modules 4 and four groups of solar modules 5 are arranged at the top end of the control center 10, the energy supply system of the robot is selected according to the information transmitted by the control center 10 when facing different weather, so that the robot can deal with different weather environments, the continuous voyage is more durable, the front screw mechanism 7 and the front baffle screw mechanism 8 are driven by motors to drive screw blades and are connected to the robot ship 1 through brackets, the mechanical arm 16 is arranged as a front end arm and a rear end arm, and when the electric push rod 17 stretches, the angle between the front end arm and the rear end arm of the mechanical arm 16 can be changed, so that the angle of the front screw mechanism 7 can be adjusted as required, and the cleaning robot is used.
Claims (6)
1. The utility model provides a surface of water rubbish clearance robot based on ultrasonic wave and visual identification, its characterized in that, including machine ship (1), one side of machine ship (1) inside is equipped with garbage collection storehouse (3), the inside rotation of machine ship (1) of garbage collection storehouse (3) one side is connected with impeller (13), the inside rotation of machine ship (1) of impeller (13) top is connected with drive wheel subassembly (15), all twine on the outer wall at drive wheel subassembly (15) both ends has drive belt (14), the inner wall that drive wheel subassembly (15) one end was kept away from to drive belt (14) touches with the outer wall at impeller (13) both ends mutually, the one end of drive wheel subassembly (15) is equipped with conveyer belt (11), the one end that drive wheel subassembly (15) was kept away from to conveyer belt (11) extends to the outside of machine ship (1), the inside mounting of machine ship (1) below has negative pressure suction pump (12), the central point department in machine ship (1) top is equipped with control center (10), mechanical arm (16) are installed on machine ship (1) top at control center (10) one side, mechanical arm (16) are kept away from machine ship (1) one end and are equipped with screw mechanism (7).
2. The ultrasonic and visual recognition-based water surface garbage cleaning robot of claim 1, wherein: screw driving devices (2) are arranged at the corner positions of the bottom end of the machine ship (1).
3. The ultrasonic and visual recognition-based water surface garbage cleaning robot of claim 1, wherein: one side at the top end of the control center (10) is provided with an image recognition mechanism (6) through a bracket, and the tops of the control centers (10) at two ends of the image recognition mechanism (6) are both provided with piezoelectric ultrasonic detectors (9).
4. The ultrasonic and visual recognition-based water surface garbage cleaning robot as claimed in claim 3, wherein: the top that control center (10) kept away from image recognition mechanism (6) one end is equipped with two sets of wind power generation module (4), control center (10) top of wind power generation module (4) one side all is equipped with two sets of solar module (5).
5. The ultrasonic and visual recognition-based water surface garbage cleaning robot of claim 1, wherein: front baffle screw mechanisms (8) are arranged on the outer walls of the machine boats (1) on two sides of the conveyor belt (11), and the front baffle screw mechanisms (8) are symmetrical with respect to the center line of the machine boat (1).
6. The ultrasonic and visual recognition-based water surface garbage cleaning robot of claim 1, wherein: the outer wall of the mechanical arm (16) close to one end of the machine ship (1) is rotationally connected with an electric push rod (17), and one end of the electric push rod (17) close to the front-end screw mechanism (7) is rotationally connected with the outer wall of the mechanical arm (16) close to one end of the front-end screw mechanism (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322905616.0U CN221091176U (en) | 2023-10-30 | 2023-10-30 | Water surface garbage cleaning robot based on ultrasonic wave and visual recognition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322905616.0U CN221091176U (en) | 2023-10-30 | 2023-10-30 | Water surface garbage cleaning robot based on ultrasonic wave and visual recognition |
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| CN221091176U true CN221091176U (en) | 2024-06-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202322905616.0U Active CN221091176U (en) | 2023-10-30 | 2023-10-30 | Water surface garbage cleaning robot based on ultrasonic wave and visual recognition |
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| CN (1) | CN221091176U (en) |
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- 2023-10-30 CN CN202322905616.0U patent/CN221091176U/en active Active
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