自主导航水面清洁机器人Autonomous navigation surface cleaning robot
本发明涉及一种清洁船，尤其涉及一种自主导航水面清洁机器人。The invention relates to a cleaning ship, in particular to an autonomous navigation water surface cleaning robot.
景区内的人工湖泊或者是水坝等水面区域需要定时进行水面垃圾清理，以免垃圾的堆积进而造成水体污染。目前，大多数时候都是采用人工打捞。但这既加大了工作人员的劳动强度，又使得工作人员处于危险之中。清洁人员跌落水体的事件也时有见诸报端。另外，也有相关企业设计出水面清洁船，如公开号为203005707U的实用新型专利公开了一种水面清洁船，该清洁船包括通过连接桥相连的左船和右船，左船和右船之间连接有拖网，利用该拖网进行水面垃圾收集，进而达到水面垃圾清理的目的。又如公开号为103466049A的发明专利申请公开了一种水上清洁船，该清洁船包含有船身，船身尾部设有推动装置，船身端部设置有清洁舱门，清洁舱门与船身之间采用旋转连接，船身内部设有无线控制装置、清洁电机与清障电机，船身内部设有离心式风机，其与清洁电机相连接，离心式风机风口设有过滤网，船身内部设有多个储物仓，储物仓与清洁舱门相互通透，船身顶端设有红外摄像头与太阳能电源装置，船身前端设有机械手，清洁电机、清洁电机、机械手与无线控制装置之间电性连接。由上述两个方案可知，现有的水面清洁船大多体积较大，制作成本大，且灵活度不够，浅水区域特别是水面边缘的位置船只难以达到，而由于水流和水波推动的原因，水面边缘往往会聚集大量的垃圾。Artificial lakes in the scenic area or water surface areas such as dams need to be regularly cleaned by surface water to prevent the accumulation of garbage and cause water pollution. At present, manual salvage is used most of the time. But this not only increases the labor intensity of the staff, but also puts the staff at risk. The incident of cleaning personnel falling into the water body is also seen in the newspapers. In addition, there are also related companies that have designed surface cleaning vessels. For example, the utility model patent published as No. 203005707U discloses a surface cleaning vessel comprising a left and right ship connected by a connecting bridge, between the left and right ships. The trawl net is connected, and the trawl net is used for garbage collection on the surface to achieve the purpose of cleaning the surface garbage. In addition, the invention patent application with the publication No. 103466049A discloses a water cleaning vessel including a hull, a pushing device at the tail of the hull, a cleaning door at the end of the hull, and a cleaning door and a hull. Rotating connection is adopted. The inside of the hull is equipped with a wireless control device, a cleaning motor and a tamper motor. The inside of the hull is provided with a centrifugal fan, which is connected with the cleaning motor. The centrifugal fan has a filter net and a hull interior. There are multiple storage bins, the storage bin and the clean hatch are transparent to each other. The top of the hull is equipped with an infrared camera and a solar power device. The front end of the hull is equipped with a robot, cleaning motor, cleaning motor, robot and wireless control device. Inter-electrical connection. It can be seen from the above two schemes that the existing surface cleaning vessels are mostly large in size, large in production cost, and insufficient in flexibility. The shallow water region, especially the water surface edge, is difficult to reach, and the water surface edge is promoted due to water flow and water wave pushing. It tends to collect a lot of garbage.
鉴于此，需要设计一种清洁效率高、安全性好、灵活性好，能清洁水面边缘的垃圾且能实现远程控制的水面垃圾清洁船。In view of this, it is necessary to design a surface garbage cleaning ship which has high cleaning efficiency, good safety, good flexibility, can clean the garbage at the edge of the water surface, and can realize remote control.
发明内容Summary of the invention
本发明所要解决的技术问题是克服现有技术的不足，提供一种能够实现自动导航到达设置地点、自动化作业、清洁效率高、成本低且能有效清理水面任意区域的垃圾的自主导航水面清洁机器人。The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art, and provide an autonomous navigation surface cleaning robot capable of realizing automatic navigation to a set location, automatic operation, high cleaning efficiency, low cost, and effective cleaning of garbage in any area of the water surface. .
单元和通讯模块，所述驱动装置、所述视频采集装置、所述导航装置和所述通讯模块均与所述中央处理单元连接，在所述船体上还设置有垃圾采集装置，所述垃圾采集装置包括设置于所述船体下部的垃圾收集框架，所述垃圾收集框架的收集口位于所述船体的前进方向上，设置于地面的基站通过无线方式与所述中央处理单元进行通讯，所述中央处理单元将所述视频采集装置采集到的视频信息发送至基站，操作人员通过所述基站向所述中央处理单元发送控制信号，所述中央处理单元控制所述驱动装置驱动所述船体可根据预先设定的路线进行自主导航并完成水面清洁任务。The technical solution adopted by the present invention is that the present invention includes a hull, and the hull is provided with a control device and a driving device, and the control device includes a video collecting device, a navigation device, and a central processing
a unit and a communication module, wherein the driving device, the video capturing device, the navigation device and the communication module are all connected to the central processing unit, and a garbage collection device is further disposed on the hull, and the garbage collection device The apparatus includes a garbage collection frame disposed at a lower portion of the hull, a collection opening of the garbage collection frame is located in a forward direction of the hull, and a base station disposed on the ground wirelessly communicates with the central processing unit, the central The processing unit sends the video information collected by the video collection device to the base station, and the operator sends a control signal to the central processing unit through the base station, where the central processing unit controls the driving device to drive the hull according to the advance Set the route for autonomous navigation and complete the surface cleaning task.
进一步地，所述视频采集装置采集视频并通过所述中央处理单元对视频图像进行处理，自动识别水面垃圾并控制所述驱动装置驶向目标垃圾完成自动收集。Further, the video capture device collects video and processes the video image through the central processing unit, automatically identifies the surface garbage, and controls the driving device to drive to the target garbage to complete automatic collection.
进一步地，所述垃圾采集装置还包括两把清洁扫把，两把所述清洁扫把分别设置于所述收集口的两侧并向所述船体的外侧设置，所述清洁扫把的设置方向与所述船体的前进方向之间的夹角为锐角。Further, the garbage collection device further includes two cleaning brooms, and the two cleaning brooms are respectively disposed at two sides of the collection opening and are disposed to the outside of the hull, and the cleaning broom is disposed in the direction and the The angle between the forward directions of the hull is an acute angle.
进一步地，所述垃圾采集装置还包括清洁喷嘴，在所述船体上设置有水泵，所述水泵的出水口通过管道与所述清洁喷嘴连接，所述水泵与所述中央处理单元电连接。Further, the garbage collection device further includes a cleaning nozzle, and a water pump is disposed on the hull, and a water outlet of the water pump is connected to the cleaning nozzle through a pipeline, and the water pump is electrically connected to the central processing unit.
进一步地，所述垃圾采集装置还包括收放门，所述收放门与所述收集口相配合，所述收放门由舵机驱动运动，所述舵机与所述中央处理单元电连接。Further, the garbage collection device further includes a retracting door, the retracting door is matched with the collecting port, the retracting door is driven by a steering gear, and the steering gear is electrically connected to the central processing unit .
进一步地，所述驱动装置包括分别设置于所述船体底部两侧的推进器，两个所述与所述中央处理单元连接，所述中央处理单元与所述推进器连接并实现差分控制。Further, the driving device comprises propellers respectively disposed on two sides of the bottom of the hull, two of which are connected to the central processing unit, and the central processing unit is connected with the propeller and realizes differential control.
进一步地，所述视频采集装置包括设置于所述船体上的云台和设置在所述云台上的摄像头，所述摄像头与所述中央处理单元连接。Further, the video capture device includes a pan/tilt head disposed on the hull and a camera disposed on the pan/tilt, the camera being coupled to the central processing unit.
进一步地，所述导航装置包括GPS卫星定位传感器、电子罗盘和惯性测量模块，所述GPS卫星定位传感器、所述电子罗盘和所述惯性测量模块均与所述中央处理模块电连接。Further, the navigation device comprises a GPS satellite positioning sensor, an electronic compass and an inertial measurement module, and the GPS satellite positioning sensor, the electronic compass and the inertial measurement module are all electrically connected to the central processing module.
雷达和/或激光测距传感器，所述避障装置与所述中央处理单元连接。Further, an obstacle avoidance device is further disposed on the hull, and the obstacle avoidance device includes an ultrasonic wave,
A radar and/or laser ranging sensor, the obstacle avoidance device being coupled to the central processing unit.
进一步地，在所述船体的船舷边还设置有防撞轮。Further, an anti-collision wheel is further disposed on the side of the ship's hull.
本发明的有益效果是：在本发明中，通过在小型船体上设置控制装置、驱动装置和垃圾采集装置，其中的控制装置包括视频采集装置、导航装置、中央处理单元和通讯模块，利用所述视频采集装置获取水面现场的情况，通过地面基站与船体上的中央处理单元进行无线通讯，视频采集装置获取到的图像信息发送至地面基站，地面基站向中央处理单元发出控制信号，中央处理单元驱动导航装置和驱动装置发生动作并使船体向存在有垃圾的水域运动，船体上的垃圾采集装置有效采集水面上的垃圾，所述视频采集装置采集视频并通过所述中央处理单元对视频图像进行处理，自动识别水面垃圾并控制所述驱动装置驶向目标垃圾完成自动收集，从而实现自动采集；本发明采用远程控制，无需工作人员达到水域进行作业，大大地降低了工作人员的劳动强度，保证了工作人员的人身安全，也减少了人员的投入，减低了人工成本；此外，通过中央处理单元对双推进器实现差分控制，且利用该小型船体可控制船体达到精准水域位置，实现对任意水域上的垃圾进行清洁。The beneficial effects of the present invention are: in the present invention, by providing a control device, a driving device and a garbage collection device on a small hull, wherein the control device comprises a video capture device, a navigation device, a central processing unit and a communication module, The video acquisition device acquires the situation on the surface of the water surface, and wirelessly communicates with the central processing unit on the hull through the ground base station, and the image information acquired by the video collection device is sent to the ground base station, and the ground base station sends a control signal to the central processing unit, and the central processing unit drives The navigation device and the driving device act and move the hull to the water area where the garbage exists, the garbage collecting device on the hull effectively collects the garbage on the water surface, the video collecting device collects the video and processes the video image through the central processing unit Automatically identifying the surface garbage and controlling the driving device to drive to the target garbage to complete automatic collection, thereby realizing automatic collection; the invention adopts remote control, and does not require the staff to reach the water area for operation, thereby greatly reducing the labor intensity of the staff and ensuring The personal safety of the staff also reduces the personnel input and reduces the labor cost. In addition, the dual-propeller is differentially controlled by the central processing unit, and the small hull can be used to control the hull to reach the precise water position and realize the operation on any water area. The garbage is cleaned.
此外，在所述垃圾收集框架的收集口两侧设置清洁扫把，并使所述清洁扫把向所述船体的外侧设置，所述清洁扫把的设置方向与所述船体的前进方向之间的夹角为锐角，所以，清洁扫把的设置能够扩大垃圾收集面积并提高靠近岸边的垃圾收集效率；而利用水泵将水面下的水抽起并通过所述清洁喷嘴对水面上的垃圾进行喷射，能够将水面死角位置的垃圾引导至易于清理的位置；再者，收放门可以通过远程遥控控制其开关，也可在船体向后倒退时自动关闭，前进时自动打开，保证船体前进进行垃圾收集，后退时收集好的垃圾被保留在垃圾收集框架内，避免二次污染；最后避障装置和防撞轮的设置，能够有效避免船体在运行过程中发生触礁或遭受到外力撞击的情况，使船体得到保护。Further, a cleaning broom is disposed on both sides of the collection opening of the garbage collection frame, and the cleaning broom is disposed to the outside of the hull, and an angle between the setting direction of the cleaning broom and the advancing direction of the hull It is an acute angle, so the cleaning broom setting can enlarge the garbage collection area and improve the garbage collection efficiency near the shore; and the water pump can pump the water under the water surface and spray the garbage on the water surface through the cleaning nozzle. The garbage at the dead end of the water surface is guided to a position that is easy to clean; in addition, the door can be controlled by remote control, or automatically turned off when the hull is backwards, and automatically opened when moving forward, ensuring that the hull advances for garbage collection, and back. The collected garbage is retained in the garbage collection frame to avoid secondary pollution. Finally, the obstacle avoidance device and the anti-collision wheel can effectively prevent the hull from hitting the rock during the operation or being subjected to external impact, so that the hull can be obtained. protection.
图1是本发明的第一视角结构示意图；1 is a schematic view showing the structure of a first perspective of the present invention;
2 is a schematic view of a second perspective structure of the present invention:
图3是本发明的第三视角结构示意图。Fig. 3 is a schematic view showing the structure of a third perspective of the present invention.
如图1至3所示，在本实施例中，本发明包括船体1，在所述船体1上设置有控制装置和驱动装置。所述控制装置包括视频采集装置、导航装置、中央处理单元和通讯模块，所述驱动装置、所述视频采集装置、所述导航装置和所述通讯模块均与所述中央处理单元连接，在所述船体1上还设置有垃圾采集装置，所述垃圾采集装置包括设置于所述船体1下部的垃圾收集框架2，所述垃圾收集框架2的收集口3位于所述船体1的前进方向上，设置于地面的基站通过无线方式与所述中央处理单元进行通讯，所述中央处理单元将所述视频采集装置采集到的视频信息发送至基站，操作人员通过所述基站向所述中央处理单元发送控制信号，所述中央处理单元控制所述驱动装置驱动所述船体1可根据预先设定的路线进行自主导航并完成水面清洁任务。在本实施例中，所述通讯模块包含了设置于船体上的天线13。通过所述天线13，实现与基站的视频或数据传输。As shown in FIGS. 1 to 3, in the present embodiment, the present invention includes a hull 1 on which a control device and a driving device are disposed. The control device includes a video capture device, a navigation device, a central processing unit, and a communication module, and the drive device, the video capture device, the navigation device, and the communication module are all connected to the central processing unit. The hull 1 is further provided with a garbage collection device, and the garbage collection device includes a garbage collection frame 2 disposed at a lower portion of the hull 1, and the collection opening 3 of the garbage collection frame 2 is located in a forward direction of the hull 1, The base station disposed on the ground communicates with the central processing unit by using a wireless manner, and the central processing unit sends the video information collected by the video collection device to the base station, and the operator sends the information to the central processing unit through the base station. A control signal, the central processing unit controls the driving device to drive the hull 1 to perform autonomous navigation according to a preset route and complete a surface cleaning task. In this embodiment, the communication module includes an antenna 13 disposed on the hull. Video or data transmission with the base station is achieved by the antenna 13.
进一步地，所述垃圾采集装置还包括两把清洁扫把4，两把所述清洁扫把4分别设置于所述收集口3的两侧并向所述船体1的外侧设置，所述清洁扫把4的设置方向与所述船体1的前进方向之间的夹角为锐角。所述垃圾采集装置还包括清洁喷嘴5，在所述船体1上设置有水泵6，所述水泵6的出水口通过管道12与所述清洁喷嘴5连接，所述水泵6与所述中央处理单元电连接。所述垃圾采集装置还包括收放门7，所述收放门7与所述收集口3相配合，所述收放门7由舵机驱动运动，所述舵机与所述中央处理单元电连接。所述垃圾收集框架2为设置在船体1底部的金属框架用于收集盛放垃圾。清洁扫把4安装在船体1前部，其功能为扩大垃圾收集面积并提高靠近岸边的垃圾收集效率。收放门7可以通过远程遥控控制其开关，也会在船体1向后倒退的时候自动关闭，前进时自动打开。清洁喷嘴5通过向前方水面喷出由水泵6抽上来的水将水面死角位置的垃圾引导至易于清理的位置。Further, the garbage collection device further includes two cleaning brooms 4, which are respectively disposed on both sides of the collection opening 3 and disposed to the outside of the hull 1, the cleaning broom 4 The angle between the setting direction and the advancing direction of the hull 1 is an acute angle. The garbage collection device further comprises a cleaning nozzle 5, on which the water pump 6 is arranged, the water outlet of the water pump 6 is connected to the cleaning nozzle 5 via a pipe 12, the water pump 6 and the central processing unit Electrical connection. The garbage collection device further includes a retracting door 7 that cooperates with the collection port 3, the retracting door 7 is driven by a steering gear, and the steering gear and the central processing unit are electrically connection. The garbage collection frame 2 is a metal frame provided at the bottom of the hull 1 for collecting and containing garbage. The cleaning broom 4 is mounted on the front of the hull 1 and functions to expand the garbage collection area and improve the garbage collection efficiency near the shore. The retracting door 7 can be controlled by a remote control, and will automatically close when the hull 1 is reversed backward, and automatically open when moving forward. The cleaning nozzle 5 guides the garbage at the dead side of the water surface to a position where it is easy to clean by ejecting the water pumped by the water pump 6 to the front water surface.
接并实现差分控制。The driving device includes propellers 8 respectively disposed at two sides of the bottom of the hull 1, two of the propellers 8 being connected to the central processing unit, and the central processing unit is connected to the propeller 8
Connect and implement differential control.
所述视频采集装置采集视频并通过所述中央处理单元对视频图像进行处理，自动识别水面垃圾并控制所述驱动装置驶向目标垃圾完成自动收集。所述视频采集装置包括设置于所述船体1上的云台9和设置在所述云台9上的摄像头10，所述摄像头10与所述中央处理单元连接。所述摄像头10获取到的视频图像通过无线传输至地面基站并通过控制软件显示，操作人员可以根据实时图像在基站对机器人进行操纵。所述云台9可以360度水平旋转并调整俯仰视角从而多角度观察机器人的周围情况。所述基站接收水面机器人传回的视频信息及船体位置姿态等状态信息并实时显示，操作人员可以通过地面基站同时监视一台或多台水面机器人的工作状态并在需要时对其进行人工操控。The video capture device collects video and processes the video image through the central processing unit, automatically identifies the surface garbage and controls the driving device to sail toward the target garbage to complete automatic collection. The video capture device includes a pan/tilt head 9 disposed on the hull 1 and a camera 10 disposed on the pan-tilt head 9, the camera 10 being coupled to the central processing unit. The video image acquired by the camera 10 is wirelessly transmitted to the ground base station and displayed by the control software, and the operator can manipulate the robot at the base station according to the real-time image. The pan/tilt head 9 can be horizontally rotated 360 degrees and adjust the pitch angle of view to observe the surroundings of the robot from multiple angles. The base station receives the video information returned by the surface robot and the position information of the hull position and the like, and displays the status information in real time. The operator can simultaneously monitor the working state of one or more surface robots through the ground base station and manually manipulate them when needed.
所述导航装置包括GPS卫星定位传感器、电子罗盘和惯性测量模块，所述GPS卫星定位传感器、所述电子罗盘和所述惯性测量模块均与所述中央处理模块电连接。The navigation device includes a GPS satellite positioning sensor, an electronic compass, and an inertial measurement module, and the GPS satellite positioning sensor, the electronic compass, and the inertial measurement module are all electrically connected to the central processing module.
具体地，所述基站为手持式控制器和/或设置于室内的控制台。在所述船体1上还设置有避障装置，所述避障装置包括超声波、雷达和/或激光测距传感器，所述避障装置与所述中央处理单元连接。在所述船体1的船舷边还设置有防撞轮11。在本实施例中，在两边船舷上分别设置有四个所述防撞轮11。Specifically, the base station is a handheld controller and/or a console disposed indoors. An obstacle avoidance device is further provided on the hull 1, the obstacle avoidance device comprising an ultrasonic wave, a radar and/or a laser ranging sensor, the obstacle avoidance device being connected to the central processing unit. An anti-collision wheel 11 is also provided on the side of the ship of the hull 1. In the present embodiment, four of the anti-collision wheels 11 are respectively disposed on the sides of the ship.
本发明可以全自动地根据设定路线对水面垃圾进行清理，从而节省大量人力和船只运行成本，并且安全高效美观，为水面清洁提供一种新的自动化、远程化、智能化的解决方案。The invention can fully clean the water surface garbage according to the set route, thereby saving a lot of manpower and ship running cost, and is safe, efficient and beautiful, and provides a new automatic, remote and intelligent solution for water surface cleaning.
本发明可应用于水面清洁设备领域。The invention can be applied to the field of surface cleaning equipment.
It is to be noted that the above description of the present invention has been made only by the preferred embodiments, and the scope of the present invention is not limited thereto, and therefore, the contents of the specification and the drawings of the present invention are applied without departing from the inventive concept. Equivalent changes made are intended to be included within the scope of the appended claims.