KR20180046400A - Autonomous surface robot for floating debris removal - Google Patents

Abstract

The present invention relates to an autonomous surface robot capable of automatically collecting floating debris scattered on a water surface. The autonomous surface robot includes: a main body (200) moved by a driving unit (700); a photographing unit (800) provided in the main body (200), a control unit for generating a moving route of the body (200) based on information photographed by the photographing unit (800); and a foreign matter collecting unit (500) provided in the main body (200) for collecting floating debris located on the moving route of the main body (200). The photographing unit (800) includes a first photographing unit (820) that photographs an object around the main body (200) and a second photographing unit (840) having a photographing length longer than that of the first photographing unit (820). The control unit creates a global movement route based on the information acquired by the second photographing unit (840) and creates a local movement route based on the information acquired by the first photographing unit (820). According to the present invention, the main body moves along the optimal movement route to collect the floating debris, thereby reducing energy consumption and more efficiently collecting the floating debris.

Description

{Autonomous surface robot for floating debris removal}

The present invention relates to an autonomous waterborne robot for collecting suspended solids that can automatically collect floats scattered on a water surface.

The ocean, which accounts for about 70% of the surface of the Earth, has been used as the largest garbage can on the planet and is causing serious social problems around the world.

In particular, the ocean currents carry trash from the rivers of each country across national borders. As a result, trash from Taiwan and southern China flows into the South and East Sea and the West Sea of Korea, Of the west coast.

In addition, in recent years, natural disasters such as typhoons and tsunamis have frequently occurred due to weather changes. As a result, wastes such as various materials and garbage are flowing into the ocean through rivers and lakes.

The wastes flowing into the ocean can be classified into floating wastes that float on the water and immersed wastes that sink into the water. The largest portion of the wastes that pollute the ocean is mainly composed of water such as plastics, styrofoam, wood, The float is floating waste.

On the other hand, floating garbage that has flowed into the ocean is collected using heavy equipment and ships, and a representative vessel to be operated to remove pollutants in the port is the Chungwon Ship, and the Korean Registered Patent No. 10-0944399 A blue line having a water gate, "Korean Patent No. 10-1102359," Blue Line ", and Korean Patent Laid-Open No. 10-2016-0117981," Marine Outflow Oil Recovery Device ".

In general, blue ship is a vessel that can carry out collection and landing work of float, oil spill pollution accident, etc., and it is necessary to use a filter belt to pull float on the water surface to the ship .

The blue line of the structure and function as described above allows passengers to directly identify the floating object and directly control the moving path of the ship to collect the floating object.

That is, in the above-mentioned blue line, the route for picking up the float is determined by the intuition of the passenger. When collecting floating matters distributed in various directions, the passenger experiences difficulty in operating the hull, There is a problem that energy consumption occurs and efficient operation can not be performed.

Meanwhile, the inventor of the present invention has developed a waterborne robot for scum collection, which can be remotely controlled by referring to a blue line having the above-described structure.

In detail, the waterborne robot for collecting scum is equipped with a wireless camera module so that remote control can be performed without a passenger, so that the front of the robot can be photographed and shooting information can be transmitted to the remote control server in real time.

That is, the waterborne robot for collecting scum is capable of checking shooting information collected through a wireless camera module in real time on a remote control server and remotely controlling a moving path of the robot based on the detected shooting information.

However, even in such a case, since the user determines the movement route based on the shooting information, there is still a problem such as unnecessary movement and energy consumption.

KR 10-0944399 B1 KR 10-1102359 B1 KR 10-2016-0117981 A

Kim Hyun Sik and others. "Development of Waterborne Robot for Suspended Collection" Journal of the Korean Institute of Intelligent Systems Vol. 25, No. 4, August 2015, pp. 342-348

An object of the present invention is to provide an autonomous waterborne robot for collecting suspended objects, which can automatically collect floating objects by acquiring multiple information using a plurality of photographing units and generating an optimum travel route based on the obtained information.

Another object of the present invention is to create a global movement route with information acquired by an aerial photographing unit including an aerial photographing unit and generate a local movement route using an image taking unit provided in the main body The present invention provides a self-watering robot for collecting suspended solids, which can generate a more efficient travel route and automatically collect the float according to the generated travel route.

It is a further object of the present invention to provide a self-sustaining water collection system for a floating body, which allows the collected floating body to be discharged in the form of a package in the form of a foreign object having the collection member, A robot is provided.

The present invention provides a portable information terminal, comprising: a main body that is moved by a driving unit; a photographing unit provided in the main body; a control unit that generates a moving path of the main body based on information photographed by the photographing unit; Wherein the photographing unit includes a first photographing unit photographing a close range of the main body relatively and a second photographing unit photographing a far distance from the first photographing unit, The control unit generates a global movement route based on the information obtained by the second photographing unit and generates a local movement route based on the information obtained by the first photographing unit do.

The control unit moves along a global movement path generated when the floating object information is confirmed through the second shooting unit and moves through the global moving path to check floating object information through the first shooting unit And is moved along a logical movement path.

According to another aspect of the present invention, there is provided an information processing apparatus including a main body that is moved by a driving unit, a photographing unit provided on the main body, a control unit that generates a movement path of the main body based on information photographed by the photographing unit, And a foreign matter collecting unit for collecting floating matters located on a moving path of the main body, wherein the photographing unit comprises a first photographing unit photographing a close range of the main body relatively, a second photographing unit photographing a distance longer than the first photographing unit, And a third photographing unit for photographing a long distance from the second photographing unit. The control unit generates a global movement route based on the information obtained by the third photographing unit, and the second photographing unit 840 Generates an intermediate movement route based on the information obtained by the first photographing unit, and generates a local movement route based on the information obtained by the first photographing unit And that is characterized.

And the third photographing unit is a means capable of aerial photographing.

The main body is further provided with a foreign matter rejection unit for storing the floating matters collected through the foreign matter collecting unit in a predetermined amount.

Wherein the collecting frame comprises a collection frame for providing a space in which the suspended matter collected through the collection unit is dropped and accommodated by its own weight, a collection member provided in the collection frame to receive the suspension, A weight measuring device provided at one side of the collection frame for measuring the weight of the suspended matter received in the collection member, and a weight measuring device And a packing means for moving the loading port in accordance with the weight of the suspended matter so that the upper side of the collection member is shielded.

Wherein the control unit performs an image processing process of recognizing a plurality of different suspended objects as one object by dividing the suspended objects of various colors acquired by the photographing unit into a predetermined single color, The outermost points are extracted,

And calculates a center value Xc of the object through the following equation to form a movement path of the main body.

Xc [i] = (Xl [i] + Xr [i]) / 2. .... (Equation)

(Where Xc is the center value of the object and Xl and Xr are the left and right values of the outermost point X axis of the object)

The controller divides the image information obtained by the photographing unit 8 into three vertical division regions and determines the movement path of the main body according to the distribution (density) of the calculated central values Xc in the divided regions .

The foreign matter collecting unit includes a conveying member that picks up the suspended matter while rotating at least a part thereof by the collecting motor in a state where it is positioned in the water phase and a conveying member that is connected to one end of the conveying member through the connecting member, And adjusting means are included.

 Wherein the position adjusting means positions the transferring member in the atmosphere when the main body moves along a globe moving path.

Wherein the position adjusting means positions one end of the transferring member in the water when the main body moves along a local movement path.

And the control unit receives the return path through the server when the suspended matter collected in the rejection of the foreign object reaches the collection capacity.

According to the present invention, the plurality of photographing units acquire photographing information of different distance ranges, and generate an optimal travel route through a global route algorithm and a local route algorithm based on the acquired photographing information. In addition, the main body of the main body collects the suspended matters while operating the self-operated operation along the optimal traveling path thus generated, thereby reducing the energy consumption and collecting the suspended matters more efficiently.

In addition, according to the present invention, it is possible to package suspended matters collected during autonomous navigation using a collection member in a predetermined unit, thereby facilitating the processing of floors after completion of autonomous navigation.

In addition, in the present invention, an object identified in multi-angle photographing information obtained through a plurality of photographing units is divided into a specific color by image processing, and a plurality of floats arranged irregularly are recognized as one large lumpy object. Then, by extracting the center value of the recognized object and forming the movement path, the data processing can be performed more quickly and easily.

1 is a view showing an embodiment of an autonomous waterborne robot for collecting scum according to the present invention.
FIG. 2 is a partially exploded perspective view showing the detailed structure of FIG. 1; FIG.
3 is a view showing a coupling structure of a main body which is a main constituent of the present invention.
4 to 6 are views for explaining the detailed structure of a foreign matter collecting part which is a main constituent of the present invention.
7 is a view for explaining an operating structure of rejecting foreign matter which is a main constituent of the present invention.
8 is a view for explaining the detailed structure of a driving part which is a main component of the present invention.
9 is a view showing another embodiment of an autonomous waterborne robot for collecting scum according to the present invention.
10 to 12 are views for explaining a scum collecting process of an autonomous waterborne robot for collecting scum according to the present invention.

Hereinafter, specific embodiments of the present invention will be described with reference to the drawings. It is to be understood, however, that the spirit of the invention is not limited to the embodiments shown and that those skilled in the art, upon reading and understanding the spirit of the invention, may easily suggest other embodiments within the scope of the same concept.

FIG. 1 is a view showing an embodiment of an autonomous waterborne robot for collecting scum according to the present invention. FIG. 2 is a partially exploded perspective view showing the detailed structure of FIG. 1, And FIG. 4 to FIG. 6 are views for explaining the detailed structure of a foreign matter collecting part which is a main constituent of the present invention.

Referring to these drawings, an autonomous waterborne robot 100 for collecting scum according to the present invention includes a main body 200 moved by a driving unit 700, a photographing unit 800 provided in the main body 200, A control unit for generating a movement path of the main body 200 based on the information photographed by the main body 200 and a foreign matter collecting unit 500 for collecting floating matters located on a moving path of the main body 200, .

In detail, the main body 200 is a three-dimensional structure formed by a plurality of plate members. The main body 200 is formed in a shape of a central portion of the front side as shown in FIG.

The foreign matter collecting part 500 is provided on the upper part of the central part of the opened main body 200 to pick up and deliver the suspended body.

In addition, a collecting guide part 400 is provided at both ends of the front half of the main body 200 which surrounds the opened central part of the main body 200 to generate a flow of the fluid to allow the suspended body to flow more smoothly.

That is, the collecting induction part 400 forms a flow of the fluid toward the center part of the opened main body 200 by using the rotation of the turbine 420, thereby allowing the suspended suspended matter to be collected more easily.

A foreign matter removing unit 600 is provided at the rear half of the main body 200 to store suspended matters transported through the foreign matter collecting unit 500 on the same line as the foreign body collecting unit 500.

The deck 300 is further provided on an upper surface of the main body 200 to provide a mounting position of the foreign material collecting unit 500 and a mounting position of the photographing unit 800, And is coupled to the main body 200 so as to shield both the central portion and the region of the main body except for the foreign object rejection 600.

Meanwhile, when the body 200 is manufactured in a small size, the body 200 may be formed of a modular body in which a plurality of structures are combined.

Referring to FIG. 3, the modular body is divided into the collecting guide unit 400 and a plurality of unit modules 210 connected to the collecting guide unit 400, and the deck 300 is coupled in a state where the unit modules 210 are fastened.

To this end, the collecting guide part 400 and the unit module 210 are formed with module coupling grooves 414 and 214, respectively. The unit module 210 is fitted with the module coupling grooves 414 and 214, A module fastening protrusion 212 to be mounted is further formed.

That is, in the present embodiment, as shown in FIG. 3, the module body is coupled from the upper side to the lower side with the module fastening protrusions 212 corresponding to the upper side of the module fastening grooves 414 and 214, So that the deck 300 can be engaged in such a state to maintain a firm coupling relationship.

The deck 300 includes a deck body 310 providing a flat surface for installing the foreign matter collecting unit 500 and the photographing unit 800 and a lower body 310 extending downward from an edge of the deck body 310, And a fastening rib 340 coupled to a side surface of the body 200.

A coupling hole 320 for guiding the coupling position is further formed on the upper surface of the deck body 310 and a guide projection 320 corresponding to the coupling hole 320 is formed on the upper end of the main body 200 So that the coupling between the deck 300 and the main body 200 can be facilitated.

The turbine 400 provided in the collecting guide portion 400 may be detachably coupled to the turbine receiving portion 412 provided in the guiding portion housing 410.

The turbine 420 includes a turbine housing 424 having a shape corresponding to the turbine housing portion 412 and a blade 422 accommodated in the turbine housing 424 and a blade 422, And the turbine housing 424 is fitted to the turbine housing portion 412 in a corresponding manner.

The foreign matter collecting unit 500 includes a conveying member 540 for picking up and conveying the suspended matters while being rotated by a collecting motor 520 fixed to the deck body 310 and a control unit 540 for controlling the position of the conveying member 540 And position adjusting means (510)

In detail, a conveyor belt having a predetermined length along the longitudinal direction may be applied to the conveying member 540, and a rear end thereof is rotatably fixed to the collecting motor 520.

The front end of the conveying member 540 includes a position adjusting means 510 and a connecting member 560 provided on the first mount 822 for providing an installation space at a predetermined height upward from the deck body 310, Lt; / RTI >

In this embodiment, the position adjusting means 510 is a motor capable of normal / reverse rotation, and the connecting member 560 is a wire having a predetermined length, and the connecting member 560 is wound around the motor shaft 512, The position of the front end of the conveying member 540 is changed up and down.

A horizontal holding member 562 having a flat plate shape corresponding to the width of the conveying member 540 is provided between the conveying member 540 and the motor shaft 5812 so that the balance can be maintained when the conveying member 540 moves up and down. And the connecting member 560 may be installed to connect the motor shaft 512 with the horizontal holding member 562 and the horizontal holding member 562 and the connecting member 560 .

As described above, the foreign matter removing unit 600 is provided at the rear side of the conveying member 540, which is vertically displaced as described above, to collect and collect the suspended matter that is collected and conveyed through the conveying member 540.

The foreign matter rejection unit 600 includes a collection member 620 that receives a suspended matter in the collection frame 610 to provide a space in which the suspended matter is received and measures the weight of the suspended matter contained in the collection member 620 If the weight is more than the set weight, the collection member 620 is packed and stored so that the suspension is no longer accommodated.

For this purpose, the foreign matter rejection unit 600 includes a loading port 660 for fixing the upper side of the collection member 620 from the side of the collection frame 610 so as to maintain the opened shape, and the loading port 660 And a weight measuring device (not shown) for measuring the load are further provided.

FIG. 7 is a view for explaining an operation structure of a foreign object rejection constituting the essential part of the present invention, and FIG. 8 is a view for explaining the detailed structure of a driving part constituting a main part of the present invention.

Referring to these figures, in the present embodiment, the collection member 620 may be configured to have an elastic member along the upper edge thereof, and the accommodation hole 660 may be formed in a manner that the collection member 620 And can be formed in a hook shape.

7 (a), the upper portion of the collection member 620 is engaged with the upper portion of the collection member 620, so that the elastic member 620, which is provided at the upper end of the collection member 620, The upper opening of the collection member 620 is fixed to expand.

For this purpose, the elevating openings 660 are arranged to face each other in pairs, and the pair of elevating openings 660 are provided so as to maintain a position spaced apart by a predetermined distance from the frame. The frame is connected to the packaging means 640 and is rotatable. When the receiving port 660 is rotated in accordance with the rotating direction, the receiving member 620 is released from the holding of the receiving member 620, So that the upper side of the collection member 620 is shielded.

In the present embodiment, the photographing unit 800 includes a first photographing unit 820 that photographs a close range of the main body 200 relatively, a second photographing unit 820 that photographs a long distance from the first photographing unit 820, 840 < / RTI >

In detail, the first photographing unit 820 is installed at a central portion of the first mount 822 and has a predetermined inclination toward the front lower side of the main body 200.

The second photographing unit 840 is installed in a second mount 824 for providing a space for installation at a position higher than the first mount 822 on the rear side of the first mount 822, (820), and photographs a remote area ahead of the main body (200).

Although not shown, the main body 200 includes the first and second photographing units 820 and 840, the foreign matter collecting unit 500 and the collecting guide unit 400, and the main body 200, And a control unit for controlling the driving unit 700 for movement of the driving unit 700.

The control unit generates a global movement route based on the information obtained by the second photographing unit 840 and performs local movement based on the information acquired by the first photographing unit 820. [ Create a path.

The control unit controls the driving unit 700 to move the main body 200 to the vicinity of the float. The control unit moves the collecting guide unit 400 and the foreign matter collecting unit 500 while approaching the float, So that the operation of automatically collecting suspended matters is performed.

The driving unit 700 includes a forward and reverse motor 740 positioned at a rear end of the lower surface of the main body 200 to generate propulsive force for forward and backward movement of the main body 200 and forward and backward propellers 720 coupled thereto, And a direction switching motor pump 760 positioned on the lower side of the main body 200 to generate a driving force for moving the main body 200 in the left and right directions.

Accordingly, the control unit controls the forward / reverse motor 740 and the direction switching motor pump 760 to easily move the main body 200 along the moving path for the float collecting operation.

On the other hand, the operation of collecting floating matters as described above will be described in detail below with reference to another embodiment of the present invention.

9 is a view showing another embodiment of an autonomous waterborne robot for collecting scum according to the present invention.

Referring to the drawings, in the present embodiment, a third photographing unit 860 is further provided in the same structure as the above-described embodiment.

 In the present embodiment, the third photographing unit 860 expands the range of automatic collection by allowing a photographing of a wider area by applying means capable of taking an aerial photograph like a drone.

In detail, the third photographing unit 860 may be seated on the deck body 310 and may be located above the main body 200 to photograph the front of the main body 200.

Therefore, it is possible to identify floating objects located at a greater distance, and a moving path of the main body 200 is generated based on the confirmed information.

Although not shown, the control unit and the third photographing unit 860 may be equipped with a GPS (Global Positioning System) to share location information while communicating with each other. The third photographing unit 860 860 can acquire photographing information of a wider area at various positions and return to the deck body 310. [

Hereinafter, a process of generating a movement route of the main body 200 using information photographed in the above-described embodiments, and collecting the scum based on the generated movement route will be described.

10 to 12 are views for explaining a scum collection process of the waterborne robot for collecting scum according to the present invention.

Referring to these figures, in the embodiment where only the first photographing unit 820 and the second photographing unit 840 are provided, the photographing information of the second photographing unit 840, which is relatively long distance photographing, 200 to the float 10 in the direction of the arrow.

In detail, the image information photographed through the second photographing unit 840 transmits the photographing screen 520 as shown in FIG. 11 (a) to the control unit.

On the other hand, in the actual field, most of the objects to be collected 10 have various colors and sizes, as shown in the figure. When a moving path is to be recognized by recognizing such a float 10, There are difficulties in deciding.

Accordingly, in the present invention, the control unit performs an image processing process for recognizing a plurality of suspended objects as one object by dividing the suspended objects 10 of various colors included in the photographing screen 520 into a single designated color do.

That is, as shown in FIG. 11 (b), the floating objects 10 'subjected to image processing through the control unit are unified into one color as shown in the conversion screen 540, Extracts the outermost points, and calculates the center value Xc of the recognized object through the following equation.

Xc [i] = (Xl [i] + Xr [i]) / 2. .... (Equation)

(Where Xc is the center value of the object and Xl and Xr are the left and right values of the outermost point X axis of the object)

Meanwhile, the center value Xc calculated through the above-described image processing process is continuously calculated while the main body 200 is moved, thereby forming a moving path of the main body 200. The second photographing unit 840, The center distance Xc of the main body 200 through the center distance Xc of the main body 200 generates a global movement path of the main body 200. [

When the main body 200 moves along the global movement path generated as described above, the floating body 10 is exposed to the first photographing part 820 while the main body 200 approaches the floating body 10 The control unit generates a local movement route in the same manner as the global movement route based on the photographing information of the first photographing unit 820 to determine the center value Xc of the float 10, So that the scum 10 can be collected.

That is, in the present invention, when the main body 200 is located at a distance from the float 10, a global movement path is generated to move the main body 200 to the float 10 while controlling the driving unit 700.

When the main body 200 approaches a position adjacent to a substantial portion of the float 10, a movement for collecting the float 10 is generated by generating a local movement path.

When the main body 200 moves along the global movement path, the control unit increases the output of the driving unit 700 for faster movement. When the main body 200 moves along a local movement path, Reduce output to ensure stable collection.

In addition, when the main body 200 moves along a global movement path, the control unit stops operation of the collecting guide unit 400 while keeping the front side of the foreign body collecting unit 500 up, When moving along the local movement path, the collecting guide unit 400 is driven and the front side of the foreign matter collecting unit 500 is moved to be located in the water so that the floating matter 10 is collected.

On the other hand, in the control unit, an orthogonal coordinate system is formed on the conversion screen 540 as shown in FIG. 11B, and the collection radius 542 is set to divide the three vertical areas A, B, and C. FIG.

That is, according to the present invention, in the state where the image-processed suspended matter 10 'is divided into three vertical regions A, B, and C, ) Of the vehicle.

In detail, when the suspended body 10 'is positioned in the A region, the body 200 is moved to the left until the floated body 10' is positioned in the B region.

When the floating body 10 'is positioned in the C region, the main body 200 is moved in the right direction until the floating body 10' is positioned in the B region, The main body 200 is moved toward the suspending member 10 by moving the main body 200 straightly when the suspended body 10 'is positioned.

On the other hand, in the embodiment including the third photographing unit 860, since the third photographing unit 860 can photograph the widest area, Global movement path and generates an intermediate movement route based on the information acquired by the second photographing section 840 and generates an intermediate movement route based on the information acquired by the first photographing section 820 Local Creates a movement path.

That is, according to another embodiment of the present invention, the main body 200 is moved to the floating body 10 at a high speed through a global moving path from a longer distance, and the floating body 10 is moved by the second photographing unit 840 The user may approach the floating body 10 while reducing the output of the main body 200 along the intermediate moving route and move the floating body 10 through the local moving route in a state approaching the near side distance with the floating body 10. [ ).

As described above, the suspended body 10 to be collected collects the suspended body 10 up to the collection capacity accommodated in the particle rejection 600. When it is detected that the collected body 10 has reached the collection capacity through the weighing element, (10) is packed and stored in a unit package (620).

Meanwhile, the autonomous waterborne robot for collecting scum according to the present invention 100 returns to the control server 900 when the scum 10 collected by the scum 600 is received through the control as described above, The path can be provided and moved.

To this end, the control unit 900 controls the driving unit 700 according to the GPS coordinates received from the control server 900 and performs movement for returning.

100 ........ Autonomous waterborne robot 200 for collecting suspended matter ........ Body
300 ........ Deck 400 ......... collection induction portion
500 ........ Foreign matter collecting part 600 ........ Foreign matter rejection
700 driving unit 800 photographing unit
820 First shooting section 840 Second shooting section
860 Third shooting section 900 Control server

Claims (12)

A main body 200 moved by the driving unit 700;
A photographing unit 800 provided in the main body 200;
A control unit for generating a movement path of the main body 200 based on the information photographed by the photographing unit 800;
And a foreign matter collecting part (500) provided in the main body (200) and collecting floating matters located on a moving path of the main body,
The photographing unit 800 includes a first photographing unit 820 for relatively photographing a close range of the main body 200 and a second photographing unit 840 for photographing a region farther from the first photographing unit 820 and,
In the control unit,
A global movement route is generated based on the information acquired by the second photographing unit 840 and a local movement route is generated based on the information acquired by the first photographing unit 820 Wherein the robot is a self-watering robot for collecting suspended solids.
2. The image processing apparatus according to claim 1,
The first photographing unit 820 moves along the global movement path generated when the float information is confirmed through the second photographing unit 840 and moves along the global movement path, And when the float information is confirmed through the route, the robot moves along a route of movement.
A main body 200 moved by the driving unit 700;
A photographing unit 800 provided in the main body 200;
A control unit for generating a movement path of the main body 200 based on the information photographed by the photographing unit 800;
And a foreign matter collecting part (500) provided in the main body (200) and collecting floating matters located on a moving path of the main body,
The photographing unit 800 includes a first photographing unit 820 for relatively photographing a close range of the main body 200, a second photographing unit 840 for photographing a farther area than the first photographing unit 820; And a third photographing unit (860) photographing a distance from the second photographing unit (840)
In the control unit,
A global movement route is generated based on the information obtained by the third photographing unit 860 and an intermediate movement route is generated based on the information acquired by the second photographing unit 840 And generates a local movement route based on the information obtained by the first photographing unit (820).
The method of claim 3,
Wherein the third photographing unit (860) is a means capable of aerial photographing.
The method according to claim 1 or 3,
Wherein the main body (200) is further provided with a foreign matter rejection unit (600) for unitarily packing suspended matters collected through the foreign matter collecting unit (500) in a predetermined amount.
The method according to claim 5, wherein the foreign substance rejection (600)
A collection frame 610 for providing a space in which the suspended body collected through the foreign body collecting part 500 is dropped and accommodated by its own weight,
A collection member 620 provided in the collection frame 610 to receive suspended matters,
(660) provided at one side of the collection frame (610) to fix the upper side of the collection member (620) so as to hold the opened shape,
A weighing device disposed at one side of the collection frame 610 to measure the weight of the suspended matter contained in the collection member 620; And
And a packaging means (640) for blocking the upper side of the collection member (620) by moving the accommodation hole (660) according to the weight of the suspended matter sensed by the weighing element. robot.
4. The apparatus according to claim 1 or 3,
The image processing unit performs an image processing process of recognizing a plurality of different suspended objects as one object by dividing the suspended objects of various colors acquired by the photographing unit 800 into a predetermined single color, The outermost points are extracted,
And calculates a center value Xc of the object through the following equation to form a movement path of the main body 200. The autonomous water-
Xc [i] = (Xl [i] + Xr [i]) / 2. .... (Equation)
(Where Xc is the center value of the object and Xl and Xr are the left and right values of the outermost point X axis of the object)
8. The apparatus of claim 7,
The image information obtained by the photographing unit 800 is divided into three vertical division regions and the movement path of the main body 200 is determined according to the distribution (density) of the center value Xc calculated in the divided region Wherein the robot is a self-watering robot for collecting suspended solids.
4. The apparatus according to claim 1 or 3, wherein the foreign matter collecting unit (500)
A conveying member 540 for picking up and conveying the suspended matter while rotating by the collecting motor 520 in a state where at least a part thereof is located in the water phase,
And a position adjusting means (510) connected to one end of the feeding member (540) through a connecting member (560) to vary the position of the feeding member (540).
10. The apparatus of claim 9, wherein the position adjustment means (510)
Wherein the transferring member (540) is positioned in the atmosphere when the main body (200) moves along a global movement path.
10. The apparatus of claim 9, wherein the position adjustment means (510)
Wherein one end of the transfer member (540) is located in the water when the main body (200) moves along a local movement path.
The method according to claim 1 or 3,
Wherein the control unit receives the return path through the server when the suspended matter collected in the foreign matter rejection 600 reaches the collection capacity.

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