CN106347594A - Wireless charging automatic water surface cleaning robot system - Google Patents
Wireless charging automatic water surface cleaning robot system Download PDFInfo
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- CN106347594A CN106347594A CN201610920165.XA CN201610920165A CN106347594A CN 106347594 A CN106347594 A CN 106347594A CN 201610920165 A CN201610920165 A CN 201610920165A CN 106347594 A CN106347594 A CN 106347594A
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- robot
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- floating thing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Public Health (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Ocean & Marine Engineering (AREA)
- Health & Medical Sciences (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wireless charging automatic water surface cleaning robot system, which comprises a robot and a base station, wherein the robot comprises a waterproof circuit part, as well as a propeller, a photographic module, a floating object capturing module, a WiFi (wireless fidelity) module and a GPS (global positioning system) module, which are all connected with the waterproof circuit part; the base station comprises a bracket, a platform arranged at the front end of the bracket, a rotating shaft arranged on the bracket, a rotating rod fixedly connected with the rotating shaft in the perpendicular direction, an electromagnet arranged at the front end of the rotating rod and a target arranged above the rotating rod; a second coil and a second magnet array are arranged on the platform. The system has an autonomous floating object capturing capability and an autonomous returning and charging capability, can autonomously and continuously work completely without an operator, and is very suitable for floating object cleaning of a natural water surface such as a river channel, a lake and an ocean and an artificial water surface such as a reservoir and a swimming pool. In addition, the robot also has an automatic floating object dumping capability, and collected floating objects are concentrated at a floating object storage site on the base station on the bank to actually realize unmanned operation.
Description
Technical field
The invention belongs to robot field, automatically clear up water surface robot system particularly to a kind of wireless charging.
Background technology
In recent years, the floating thing pollution problem of China waters is increasingly serious.The floating drift of the waters such as river course, coastal waters, lake, reservoir
Float is seen everywhere.Floating floating thing has become as the important sources of water pollution, not only have impact on ocean rivers and lakes ecological
System, jeopardizes residents ' health, and also ecoscape is caused with serious infringement.The manner of cleaning up of waters floating thing is main at present
There are mechanical chipping and two kinds of labor cleaning.Mechanical chipping mainly adopt ship for colleting garbage floated on water, this manner of cleaning up efficiency high,
Cleaning amount big it is adaptable to the cleaning of floating thing concentrated area.But for scattered floating thing, using the property of floater cleaning boat
Valency, than obviously very low with cleaning efficiency, adopts labor cleaning's mode at present.But, labor cleaning is also required to expend very high people
Power, material resources, and there is potential safety hazard.Also there is some automatic floats cleaning ship can be in water surface autonomous cruise, to floating on the way
Thing is cleared up.But these floater cleaning boats are not actively searched for, the ability of capture floating thing, and all do not account for floating
The final discharge of thing and the continuous operation ability of cleaning ship, far apart apart from useful application.
Content of the invention
In view of this, it is an object of the invention to provide a kind of wireless charging clears up water surface robot system automatically, adopt
Automatically control and wireless charging technology, to realize motor control to automatic cleaning machine device people, the identification of floating thing, follow the trail of and catch
Obtain, make a return voyage charging and floating thing capture, without human intervention, practical.
For reaching above-mentioned purpose, the invention provides a kind of wireless charging clears up water surface robot system automatically, including machine
Device people and base station, wherein,
Described robot includes waterproof circuit portion, propeller, photographing module, floating thing trapping module, wifi module and gps
Module, described propeller, photographing module, floating thing trapping module, wifi module and gps module are all connected with waterproof circuit portion,
Wherein,
Described waterproof circuit portion includes waterproof circuit case, first coil and the first magnet array, first coil and the first magnetic
Ferrum array is each attached to below waterproof circuit case；
Described propeller is arranged on waterproof circuit case both sides, for realizing advance, retrogressing and the turning of described robot；
Described photographing module includes photographic head and the steer motor being connected with photographic head, and photographic head is 360 ° of Plane Rotations
Formula, steer motor is 360 ° of Plane Rotation formulas；
Described floating thing trapping module include moving collection plate, flashboard, rope, floating thing collect basket, rotary shaft, motor,
Support frame and dead electricity type electric magnet, moving collection plate, floating thing are collected basket, rotary shaft and motor and are all connected with support frame；
Flashboard is connected with rotary shaft by rope；Rope is also connected with moving collection plate；Motor is connected with rotary shaft, controls it positive and negative
Turn；Floating thing is collected basket and is passed through dead electricity type electromagnetic actuation above waterproof circuit case；
Described wifi module is fixing on the support frame, for communicating with remote terminal；
Described gps module is fixing on the support frame, for obtaining the real time position of robot；
Described base station includes support, the platform being arranged on support front end, the rotating shaft being arranged on support and rotating shaft Vertical Square
The electric magnet being fixedly connected with bull stick front end to the bull stick being fixedly connected and the target being fixedly connected with bull stick top are described flat
Second coil and the second magnet array are arranged on platform.
Preferably, setting control circuit, observation circuit, wireless charging circuit, set of cells and electricity in described waterproof circuit case
Sub- compass, observation circuit, wireless charging circuit, set of cells and electronic compass are all connected with control circuit.
Preferably, described waterproof circuit case also includes watertight line, and described waterproof circuit case is by described watertight line and propulsion
Device, photographing module, floating thing trapping module, wifi module and gps module connect.
Preferably, described first coil and the first magnet array pass through epoxy resin encapsulated, described first coil and first
Magnet array is all fixedly connected with waterproof circuit case.
Preferably, described first coil adopts multiply litz wire coiling.
Preferably, the middle part of described moving collection plate is provided with spring, and the junction of support frame is provided with spring.
Preferably, described moving collection plate opens in eight words.
Preferably, described second coil and the second magnet array pass through epoxy resin encapsulated, described second coil and second
Magnet array is all fixedly connected with platform.
Preferably, described second coil adopts multiply litz wire coiling.
Compared with prior art, robot system disclosed by the invention possesses autonomous floating thing capture ability and independently homeward
Charging ability, can completely disengage from manually autonomous, non-stop run, and can be communicated with remote terminal, can set certainly
Main cruise cleaning route, is especially suitable for the floating drift of the artificial water surface of the nature water surface and reservoir, swimming pool etc. such as river course, lake, ocean
Float is cleared up.Additionally, this robot is also equipped with floating thing Automatic-dumping ability, the floating thing collected can be focused on bank
Floating thing on base station stacks point, and real realization is unmanned to be operated.
Brief description
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below to carry out
Illustrate:
Fig. 1 is the structured flowchart of embodiment of the present invention wireless charging automatic cleaning machine device people's system；
Fig. 2 is robot architecture's schematic diagram of embodiment of the present invention wireless charging automatic cleaning machine device people's system；
Fig. 3 is robot architecture's upward view of embodiment of the present invention wireless charging automatic cleaning machine device people's system；
Fig. 4 is the architecture of base station schematic diagram of embodiment of the present invention wireless charging automatic cleaning machine device people's system；
Fig. 5 is the detailed construction schematic diagram of embodiment of the present invention wireless charging automatic cleaning machine device people's system.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment a part of embodiment that is the present invention, rather than whole embodiments.Based on this
Embodiment in bright, the every other enforcement that those of ordinary skill in the art are obtained under the premise of not making creative work
Example, broadly falls into the scope of protection of the invention.
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Referring to the structured flowchart of the wireless charging automatic cleaning machine device people's system shown in Fig. 1-5, being the embodiment of the present invention, machine
Device people's structural representation, the detailed construction schematic diagram of upward view, architecture of base station schematic diagram and system, the system includes robot 1
With base station 2, wherein,
Described robot 1 includes waterproof circuit portion 11, propeller 12, photographing module 13, floating thing trapping module 14, wifi
Module 15 and gps module 16, described propeller 12, photographing module 13, floating thing trapping module 14, wifi module 15 and gps mould
Block 16 is all connected with waterproof circuit portion 11, wherein,
Waterproof circuit portion 11 includes waterproof circuit case 111, first coil 112 and the first magnet array 113, first coil
112 and first magnet array 113 be each attached to below waterproof circuit case 111；
Propeller 12 is arranged on waterproof circuit case 111 both sides, for realizing advance, retrogressing and the turning of robot 1；
Photographing module 13 includes photographic head and the steer motor being connected with photographic head, and photographic head is 360 ° of Plane Rotation formulas,
Steer motor is 360 ° of Plane Rotation formulas；
Floating thing trapping module 14 includes moving collection plate 141, flashboard 142, rope 143, floating thing collection basket 144, rotation
Rotating shaft 145, motor 146, support frame 147 and dead electricity type electric magnet, moving collection plate 141, floating thing collect basket 144, rotation
Axle 145 and motor 146 are all connected with support frame 147；Flashboard 142 is connected with rotary shaft 145 by rope 143；Rope 143 is also
It is connected with moving collection plate 141；Motor 146 is connected with rotary shaft 145, controls its rotating；Floating thing is collected basket 144 and is passed through to lose
Electric type electromagnetic actuation is above waterproof circuit case；
Wifi module 15 is fixed in support frame 147, for communicating with remote terminal；
Gps module 16 is fixed in support frame 147, for obtaining the real time position of robot 1；
Base station 2 includes support 21, the platform 22 being arranged on support 21 front end, arranges rotating shaft 23 on the stent 21 and turn
Electric magnet 25 that the bull stick 24 that axle 23 vertical direction is fixedly connected is fixedly connected with bull stick 24 front end and fixing with bull stick 24 top
The target 26 connecting, platform 22 arranges the second coil 221 and the second magnet array 222.
Using being set as above, waterproof circuit portion 11 and propeller 12 are completely under water, moving collection plate 141, flashboard 142
Half is under water in normal state to collect basket 144 with floating thing.
1st, robot 1 realizes making an inspection tour function.
The propulsion of robot 1 is realized by two symmetrical propellers 12, and by controlling the positive and negative of two propellers 12
Turn and realize moving forward and backward of robot 1, control the different rotating speeds of two propellers 12 to realize the turning of robot 1.Robot 1
Terminal (mobile phone or panel computer) remote control and autonomous cruise both of which can be set.In terminal remote control pattern, terminal passes through wifi
Wifi module 15 with robot 1 communicates, and controls advance, retrogressing and the turning of robot 1 it is possible to pass through photographing module
13 see the real-time pictures that photographic head is passed back, furthermore, it is possible to set cruise, make a return voyage, capturing etc. to robot 1 by terminal appoint
Business.In autonomous cruise pattern, robot 1 carries out floater cleaning according to the path point setting, when robot 1 reaches set point
Afterwards, photographing module 13 carries out 360 ° of rotation sweeps in horizontally and vertically direction, such as finds floating thing, is then cleared up, cleared up
Cheng Hou, goes to next set point.
2nd, robot 1 realizes floating thing identification, follows the trail of and capturing function.
In the cruise and search procedure of robot 1, floater identification is carried out using machine vision algorithm, and obtains
Coordinate in the plane of delineation for the floater；Then with the coordinate information of floating thing as feedback quantity, robot 1 is controlled to follow the trail of drift
Float is advanced, until robot is sailed in floating thing region.
When robot 1 passes through floater position, floating thing is directed to two pieces of activities due to relative motion
Region between collecting board 141, is rotated axle 145 by motor 146 and axially rotates clockwise, two that rotary shaft 145 is wound around
Strand rope 143 is tightened, and one rope 143 drives flashboard 142 to move upwards, and another strand rope 143 drives moving collection plate 141
Inwardly close up, now, robot 1 moves forward, floating thing slips into floating thing with current and collects in basket 144；Through suitable
When time delay, motor 146 inverts, and axle 145 is rotated and axially rotates counterclockwise, moving collection plate 141 returns to acquiescence and opens position
Put, meanwhile, flashboard 142 falls after rise under gravity, floating thing is blocked in floating thing and collects in basket 144, complete to float
Float captures.
3rd, robot system completes to make a return voyage charging and floating thing topples over function.
Have and charge and topple over the base station 2 of floating thing function and build bank in, its structural representation is referring to Fig. 4.Base station 2
Rotating shaft 23 is provided with frame 21, bull stick 24 is vertical with rotating shaft 23 to be fixedly connected, and bull stick 24 is provided with target 26, for vectoring aircraft
Device people 1 is maked a return voyage.The first step of charging of making a return voyage is to drive to the position in base station 2 front according to path point cruise.Photographic head rotates
180 ° of rears just to robot 1, are identified to the target 26 on base station 2；Then robot 1 is made using vision guide technology
It is retracted into base station 2 from front；After robot enters base station, the front end of bull stick 24, equipped with electric magnet 25, holds the ferromagnetism of robot 1
Floating thing collects basket 144, is rotarily driven bull stick 24 and floating thing is collected basket 144 and lifted by rotating shaft 23 and topple over.Floating thing is collected
Basket 144 passes through dead electricity type electromagnetic actuation above waterproof circuit case 111, when needing to unload floating thing, to dead electricity type electric magnet
Energising, suction disappears, and floating thing is collected basket 144 and just can be removed.
In concrete application example, waterproof circuit case adopts nonmetallic organic material to make, and can provide enough for robot
Buoyancy.
It is located under water for the platform 22 that robot 1 stops, sealing in it or thereon has the second coil 222 and the second magnet array
221, when robot 1 smoothly homeward to base station 2, the second magnet array 221 on platform 22 is with robot 1 waterproof circuit case 111
First magnet array 113 of bottom attracts each other, and realizes the fixation of robot 1.Now, the second coil 222 on platform 22 with
The first coil 112 of robot 1 waterproof circuit case 111 bottom is just aligned, and can carry out wireless charging, stops the machine completing
People 1 and base station 2 location status are shown in Figure 5.If robot 1 will start new task, only propeller 12 need to be controlled to start
To desired speed, the propulsive force of generation can make robot 1 shake off the suction of Magnet and advance.
Waterproof circuit case 111 also includes watertight line, and waterproof circuit case 111 passes through watertight line and propeller 12, photographing module
13rd, floating thing trapping module 14, wifi module 15 and gps module 16 connect.
First coil 112 and the first magnet array 113 pass through epoxy resin encapsulated, first coil 112 and the first Magnet battle array
Row 113 are all fixedly connected with waterproof circuit case 111, and first coil 112 adopts multiply litz wire coiling.
The middle part of moving collection plate 141 is provided with spring, and the junction of support frame 147 is provided with spring, and activity is received
Collection plate 141 opens in eight words.
Second coil 221 and the second magnet array 222 pass through epoxy resin encapsulated, the second coil 221 and the second Magnet battle array
Row 222 are all fixedly connected with platform 22, and the second coil 221 adopts multiply litz wire coiling.
Further, setting control circuit, observation circuit, wireless charging circuit, set of cells and electricity in waterproof circuit case 111
Sub- compass, observation circuit, wireless charging circuit, set of cells and electronic compass are all connected with control circuit.Observation circuit is supervised at any time
Survey the data such as electricity, the floating thing capture number of times of set of cells, when monitor value reaches threshold value, open homeward charging tasks, robot 1
Real time position obtained by gps module 16.Waterproof circuit case 111 also includes watertight line, and waterproof circuit case 111 passes through watertight line
It is connected with propeller 12, photographing module 13, floating thing trapping module 14, wifi module 15 and gps module 16.
First coil 112 and the first magnet array 113 pass through epoxy resin encapsulated, first coil 112 and the first Magnet battle array
Row 113 are fixedly connected with waterproof circuit case 111.First coil 112 adopts multiply litz wire coiling.Second coil 221 and second
Magnet array 222 passes through epoxy resin encapsulated, and the second coil 221 is fixedly connected with platform 22 with the second magnet array 222.Second
Coil 221 adopts multiply litz wire coiling.
Open in eight words under moving collection plate 141 default conditions, be provided with the middle part of it and with the junction of support frame 147
Spring, makes the opening and closing of moving collection plate 141 more flexible.
It should be appreciated that exemplary embodiment as herein described is illustrative and be not restrictive.Although retouching in conjunction with accompanying drawing
State one or more embodiments of the invention, it should be understood by one skilled in the art that without departing from appended right
In the case of requiring limited the spirit and scope of the present invention, the change of various forms and details can be made.
Claims (9)
1. a kind of wireless charging clears up water surface robot system automatically it is characterised in that including robot (1) and base station (2), its
In,
Described robot (1) includes waterproof circuit portion (11), propeller (12), photographing module (13), floating thing trapping module
(14), wifi module (15) and gps module (16), described propeller (12), photographing module (13), floating thing trapping module
(14), wifi module (15) and gps module (16) are all connected with waterproof circuit portion (11), wherein,
Described waterproof circuit portion (11) includes waterproof circuit case (111), first coil (112) and the first magnet array (113), the
One coil (112) and the first magnet array (113) are each attached to below waterproof circuit case (111)；
Described propeller (12) is arranged on waterproof circuit case (111) both sides, is used for realizing advance, the retrogressing of described robot (1)
And turning；
Described photographing module (13) includes photographic head and the steer motor being connected with photographic head, and photographic head is 360 ° of Plane Rotations
Formula, steer motor is 360 ° of Plane Rotation formulas；
Described floating thing trapping module (14) includes moving collection plate (141), flashboard (142), rope (143), floating thing collection
Basket (144), rotary shaft (145), motor (146), support frame (147) and dead electricity type electric magnet, moving collection plate (141), drift
Float is collected basket (144), rotary shaft (145) and motor (146) and is all connected with support frame (147)；Flashboard (142) passes through rope
(143) it is connected with rotary shaft (145)；Rope (143) is also connected with moving collection plate (141)；Motor (146) and rotary shaft
(145) connect, control its rotating；Floating thing is collected basket (144) and is passed through dead electricity type electromagnetic actuation above waterproof circuit case；
Described wifi module (15) is fixed in support frame (147), for communicating with remote terminal；
Described gps module (16) is fixed in support frame (147), is used for obtaining the real time position of robot (1)；
Described base station (2) includes support (21), the platform (22) being arranged on support (21) front end, is arranged on turning on support (21)
The electric magnet that the bull stick (24) that axle (23) is fixedly connected with rotating shaft (23) vertical direction is fixedly connected with bull stick (24) front end
(25) target (26) and with bull stick (24) top being fixedly connected, described platform (22) is upper to arrange the second coil (221) and second
Magnet array (222).
2. robot system according to claim 1 controls it is characterised in that arranging in described waterproof circuit case (111)
Circuit, observation circuit, wireless charging circuit, set of cells and electronic compass, observation circuit, wireless charging circuit, set of cells and electricity
Sub- compass is all connected with control circuit.
3. robot system according to claim 1 is it is characterised in that described waterproof circuit case (111) also includes watertight
Line, described waterproof circuit case (111) passes through described watertight line and propeller (12), photographing module (13), floating thing trapping module
(14), wifi module (15) and gps module (16) connect.
4. robot system according to claim 1 is it is characterised in that described first coil (112) and the first Magnet battle array
Row (113) pass through epoxy resin encapsulated, described first coil (112) and the first magnet array (113) all with waterproof circuit case
(111) it is fixedly connected.
5. robot system according to claim 1 is it is characterised in that described first coil (112) adopts multiply Ritz
Line coiling.
6. robot system according to claim 1 is it is characterised in that the middle part of described moving collection plate (141) is arranged
There is spring, the junction of support frame (147) is provided with spring.
7. robot system according to claim 1 is it is characterised in that described moving collection plate (141) opens in eight words.
8. robot system according to claim 1 is it is characterised in that described second coil (221) and the second Magnet battle array
Row (222) pass through epoxy resin encapsulated, and described second coil (221) and the second magnet array (222) are all fixing with platform (22)
Connect.
9. robot system according to claim 1 is it is characterised in that described second coil (221) adopts multiply Ritz
Line coiling.
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| CN201610920165.XA CN106347594B (en) | 2016-10-21 | 2016-10-21 | A kind of wireless charging clears up water surface robot system automatically |
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| CN201610920165.XA CN106347594B (en) | 2016-10-21 | 2016-10-21 | A kind of wireless charging clears up water surface robot system automatically |
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| CN107100154A (en) * | 2017-06-21 | 2017-08-29 | 徐帆 | A kind of intelligent robot for being used to clear up river surface rubbish |
| CN107130575A (en) * | 2017-07-11 | 2017-09-05 | 四川东方水利装备工程股份有限公司 | A kind of floater gathers material and fishing device and its method automatically |
| CN107219852A (en) * | 2017-06-27 | 2017-09-29 | 成都阿普奇科技股份有限公司 | A kind of large-sized photovoltaic power station Intelligent line patrolling device and its implementation |
| CN108839765A (en) * | 2017-03-06 | 2018-11-20 | 王国涛 | A kind of robot for cleaning the water surface |
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| CN108839765A (en) * | 2017-03-06 | 2018-11-20 | 王国涛 | A kind of robot for cleaning the water surface |
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Application publication date: 20170125 Assignee: Zhongtian Ocean System Co., Ltd. Assignor: Hangzhou Electronic Science and Technology Univ Contract record no.: X2019330000050 Denomination of invention: Wireless charging automatic water surface cleaning robot system Granted publication date: 20180209 License type: Common License Record date: 20191212 |