CN108729429A - A kind of marine refuse collecting robot people of automatic pathfinding - Google Patents
A kind of marine refuse collecting robot people of automatic pathfinding Download PDFInfo
- Publication number
- CN108729429A CN108729429A CN201810594404.6A CN201810594404A CN108729429A CN 108729429 A CN108729429 A CN 108729429A CN 201810594404 A CN201810594404 A CN 201810594404A CN 108729429 A CN108729429 A CN 108729429A
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- Prior art keywords
- rubbish
- storage box
- propeller
- robot
- rubbish storage
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 15
- 230000009189 diving Effects 0.000 claims abstract description 10
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 4
- 239000004744 fabric Substances 0.000 claims description 4
- 238000004140 cleaning Methods 0.000 description 4
- 239000013535 sea water Substances 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000007667 floating Methods 0.000 description 3
- 238000005273 aeration Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 238000003915 air pollution Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000007858 starting material Substances 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of marine refuse collecting robot people of automatic pathfinding, including the garbage collection component and Dumpster Diving component being arranged in robot nacelle；The garbage collection component includes rubbish storage box, water inlet line, drainage pipeline, gear pump and the first propeller, the water inlet line is arranged in the inlet of the rubbish storage box, and the gear pump is arranged in the exit of the rubbish storage box water channel；First propeller is arranged in the upper end of the rubbish storage box, and first propeller is acted on the rubbish of sucking by direction vertically downward, it is made to sink to the bottom of rubbish storage box.The Dumpster Diving component includes infrared detecting set, camera and control module, mobile route of the control module according to the signal controlling machine device people of the infrared detecting set and camera received on sea.The present invention can greatly improve the accuracy collected to marine refuse and collecting efficiency.
Description
Technical field
The invention belongs to Yu Haiyang applied robot fields, and in particular to a kind of marine refuse collecting robot of automatic pathfinding
People.
Background technology
Currently, under the influence of extensive Port Economic high speed development, the marine eco-environment is hit repeatly, and ocean rubbish is asked
Topic is more serious.Development and marine ecology of the floating refuse easily to the existence of marine animal, fishery and transport service on sea
Environment brings and seriously affects.Wherein, the nearly waterfront area in part due to ship domestic rubbish disposal it is improper, cause sea garbage problem
Seriously restrict its development.Therefore, it is very urgent timely and effectively to solve such ocean garbage problem.Nowadays it is mainly in China
Sea rubbish cleaning is carried out by way of salvaging anti-pollution vessel and manually, although the former cleaning efficiency is high, there is
Hull product is bigger than normal, of high cost, the problems such as bringing air pollution, noise pollution and oily pollution, although the latter's cleaning quality is high,
Manipulation strength is big, the period is long, the degree of automation is too low causes working efficiency low.
Next, the communication technology develops into the shortest distance movement of positioning and use of the equipment in extensive ocean and receives
Collection marine refuse provides the foundation.Therefore the present invention devises a kind of marine refuse collecting robot people of automatic pathfinding.
Invention content
In view of the above-mentioned problems, the present invention proposes a kind of marine refuse collecting robot people of automatic pathfinding.
It realizes above-mentioned technical purpose, reaches above-mentioned technique effect, the invention is realized by the following technical scheme：
A kind of marine refuse collecting robot people of automatic pathfinding, including robot nacelle, are arranged in the robot nacelle
Garbage collection component and Dumpster Diving component；The garbage collection component includes rubbish storage box, water inlet line, drainpipe
Road, gear pump and the first propeller, the water inlet line are arranged in the inlet of the rubbish storage box, the gear
Pump is arranged in the exit of the rubbish storage box water channel；First propeller is arranged in the rubbish storage box
Upper end, first propeller are acted on the rubbish of sucking by direction vertically downward, it are made to sink to the bottom of rubbish storage box
Portion；The Dumpster Diving component includes infrared detecting set, camera and control module, the infrared detecting set or described
The output end of camera is connected with the input terminal of the control module, and the control module is controlled according to received signal
Mobile route of the robot on sea.
As a further improvement on the present invention, the gear pump drives the flow direction of flow and first spiral
The direction that paddle acts on rubbish is not parallel, it is preferred that the gear pump drives the flow direction of flow and first spiral shell
The direction that rotation paddle acts on rubbish is mutually perpendicular to.
As a further improvement on the present invention, further include the strainer being arranged in the rubbish storage box, the filter
Network arrangements further include being arranged in the rubbish storage box bottom in the front end of the gear pump and first propeller
Strainer.
As a further improvement on the present invention, including the garbage collection component described in 4, the garbage collection component are pressed
The mode of ring quasi array array is arranged in the lower end of the robot nacelle.
As a further improvement on the present invention, it is formed by between the water inlet line in two adjacent garbage collection components
Angle is 90 °.
As a further improvement on the present invention, the Dumpster Diving component further includes Big Dipper location receiver and wireless hair
Emitter is used for the afloat real time position of supervisory-controlled robot.
As a further improvement on the present invention, further include ring shaped air-cushion, the ring shaped air-cushion is located in vertical direction
The top of the garbage collection component.
As a further improvement on the present invention, further include the pressure sensor being arranged on ring shaped air-cushion, the pressure
The output end of sensor is connected with the control module.
Beneficial effects of the present invention：
1. the Robot Design for collecting marine refuse designed by the present invention is ingenious, including 4 are arranged according to annular array
Independent garbage collection component, at sea in complicated unrestrained area's environment, when robot is close to rubbish, it is only necessary to do small straight
The movement in line direction can improve collecting garbage accuracy close to rubbish without carrying out the rotation of figure on a large scale.
2. can realize that fixed point subregion cleans, and optimizes garbage collection scheme, saves significantly according to the dense degree of marine refuse
About garbage collection time realizes the positioning and tracking to robot in combination with triones navigation system convenient for ground detection station.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the structural schematic diagram of the garbage collection component inside robot nacelle；
Wherein：1- robots nacelle, the first propellers of 2-, 3- rubbish storage boxes, 4- water inlet lines, 5- drainage pipelines, 6- gears
Pump, 7- strainers, 8- infrared detecting sets, 9- cameras, 10- control modules, 11- Big Dipper location receivers, 12- wireless transmitters,
13- ring shaped air-cushions, 14- pressure sensors, the second propellers of 15-, 16- air doors.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
The application principle of the present invention is explained in detail below in conjunction with the accompanying drawings.
As shown in Figs. 1-2 the present invention structural schematic diagram, shown in robot include be arranged to hull or drilling platforms
The robot nacelle 1 of shape is provided with garbage collection component and use for collecting marine refuse in the robot nacelle 1
In the Dumpster Diving component that the rubbish to floating marine scans for.It is provided with and is used in the bottom of the robot nacelle 1
The second mobile propeller 15 realizes the multi-motions forms such as linear motion, curvilinear motion, the rotation of robot entirety.
The garbage collection component includes rubbish storage box 3, water inlet line 4, drainage pipeline 5, gear pump 6 and the first spiral shell
Paddle 2 is revolved, the water inlet line 4 is arranged in the inlet of the rubbish storage box 3, and the gear pump 6 is arranged described
3 water channel of rubbish storage box exit.Shown in gear pump 6 be powerful pump machine, for realizing the directed flow of seawater.
When robot is close to garbage areas, starter receiver pump 6 makes water inlet line 4 shown in the rubbish entrance on sea.Described
First propeller 2 is arranged in the upper end of the rubbish storage box 3, is stored when rubbish enters rubbish under the action of gear pump 6
When in 3 region of box, first propeller 2 is acted on the rubbish of sucking by direction vertically downward, it is made to sink to rubbish receipts
The bottom of case 3.Seawater extra in nacelle is sucked to exclude from drainage pipeline 5 under the action of gear pump 6.In order to make
Rubbish can effectively enter the bottom of nacelle, and first propeller 2 acts on the direction of rubbish and the gear pump 6
It is not parallel to drive the flow direction of flow, and direction both preferably is mutually perpendicular to, therefore by first spiral
Paddle 2 and the gear pump 6 setting are faced at one group on side.
The gear pump 6, can when 6 negative direction of the gear pump rotation using the gear pump of Double-directional rotary
Inside to pipeline is to carry out automatically cleaning.
In order to avoid rubbish is twisted in gear pump 6 or the first propeller 2 and instrument is made to damage, in the gear
The front end of pump 6 and first propeller 2 is also provided with 7 cloth of strainer, and 7 cloth of strainer is applied not only to separation seawater and rubbish
Rubbish, while being also used for protecting the gear pump 6 and first propeller 2.Simultaneously at the bottom of the rubbish storage box 3
Portion is also provided with for 7 cloth of strainer.
Since robot is afloat mobile inconvenient, and rubbish can be moved constantly with the flowing of seawater.In order to
Convenient for the collection of rubbish, in the robot be provided with 4 described in garbage collection component so that robot it is forward and backward,
All there is water inlet line 4 on left and right 4 direction, be distributed in 90 ° of angle between adjacent water inlet line 4.To work as machine
When people is close to rubbish, it is only necessary to which doing the movement of very little just can effectively collect rubbish, without doing significantly figure's rotation.Cause
Garbage collection component described in this is arranged in the way of ring quasi array array in the lower end of the robot nacelle 1.
Further include ring shaped air-cushion 13, the ring shaped air-cushion 13 is located at the garbage collection component in vertical direction
Top.The ring shaped air-cushion 13 is equipped with the air door 16 for inflation, and the keying by adjusting air door 16 is adjusted
The aeration quantity of ring shaped air-cushion 13.By controlling the aeration quantity of ring shaped air-cushion 13, the size of buoyancy is adjusted, so that water inlet line
4 can be submerged and lean on Layer Near The Sea Surface completely, convenient for sucking rubbish.
The Dumpster Diving component includes infrared detecting set 8, camera 9 and control module 10.The infrared acquisition
Instrument 8 is suitable for working at night, and rubbish is collected by the way of infrared scan.The camera 9 is suitable for tool on daytime, passes through
It obtains sea image and determines rubbish position.The output end of the infrared detecting set 8 or the camera 9 and the control
The input terminal of module 10 is connected, by the data transfer of acquisition in the control module 10,10 basis of control module
The position relationship of all rubbish monitored in robot and sea is obtained using Dijkstra's algorithm reaches all rubbish institutes
Locate position possibility path, compares the potential path of institute, and the therefrom shortest route operation in selection path later.Institute
The control module 10 stated is provided in the control system of control robot automatically working.
The Dumpster Diving component further includes Big Dipper location receiver 11 and wireless transmitter 12, is used for supervisory-controlled robot
Afloat real time position.It is disposed with antenna on the Big Dipper location receiver 11, with regular time and satellite communication, is obtained
Robot real-time position information.The transmitting set loads on radio wave as modulating the information by obtained by, and information is passed
Ground monitoring station is transported to, the position of ground controller's monitoring robot is convenient for.
The power control system of robot in the present invention includes providing the accumulator group of power and being carried out with each equipment
The control of connection switchs.
Further include the pressure sensor 14 being arranged on ring shaped air-cushion 13 in the present invention, the pressure for incuding wave is big
It is small, when beyond range is limited, illustrate that briny environment is not sufficiently stable, is not suitable for carrying out operation or robot floating state exception,
Alarm is sent out at this time.The output end of the pressure sensor 14 is connected with control module 10, passes through the wave pressure that will be detected
Information is transferred in control module 10, has the system in control module 10 to carry out analyzing and determining that robot is done if appropriate for sea
Industry.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (8)
1. a kind of marine refuse collecting robot people of automatic pathfinding, including robot nacelle（1）, it is characterised in that：Described
Robot nacelle（1）It is upper to be provided with garbage collection component and Dumpster Diving component；
The garbage collection component includes rubbish storage box（3）, water inlet line（4）, drainage pipeline（5）, gear pump（6）With
One propeller（2）, the water inlet line（4）It is arranged in the rubbish storage box（3）Inlet, the gear pump
（6）It is arranged in the rubbish storage box（3）The exit of water channel；First propeller（2）It is arranged in the rubbish
Storage box（3）Upper end, first propeller（2）The rubbish that sucking is acted on by direction vertically downward, makes it sink to
Rubbish storage box（3）Bottom；
The Dumpster Diving component includes infrared detecting set（8）, camera（9）And control module（10）, the infrared spy
Survey instrument（8）Or the camera（9）Output end and the control module（10）Input terminal be connected, the control mould
Block（10）Mobile route according to received signal control robot on sea.
2. a kind of marine refuse collecting robot people of automatic pathfinding according to claim 1, it is characterised in that：The tooth
Wheel pump（6）Drive the flow direction of flow and first propeller（2）The direction for acting on rubbish is not parallel, it is preferred that
The gear pump（6）Drive the flow direction of flow and first propeller（2）It mutually hangs down in the direction for acting on rubbish
Directly.
3. a kind of marine refuse collecting robot people of automatic pathfinding according to claim 2, it is characterised in that：Further include cloth
It sets in the rubbish storage box（3）In strainer（7）, the strainer（7）It is arranged in the gear pump（6）With it is described
First propeller（2）Front end, further include being arranged in the rubbish storage box（3）The strainer of bottom（7）.
4. a kind of marine refuse collecting robot people of automatic pathfinding according to claim 1, it is characterised in that：Including 4
The garbage collection component, the garbage collection component are arranged in the way of ring quasi array array in the robot cabin
Body（1）Lower end.
5. a kind of marine refuse collecting robot people of automatic pathfinding according to claim 4, it is characterised in that：Adjacent two
Water inlet line in a garbage collection component（4）Between to be formed by angle be 90 °.
6. a kind of marine refuse collecting robot people of automatic pathfinding according to claim 1, it is characterised in that：The rubbish
It further includes Big Dipper location receiver that rubbish, which searches component,（11）And wireless transmitter（12）, afloat in real time for supervisory-controlled robot
Position.
7. a kind of marine refuse collecting robot people of automatic pathfinding according to claim 1, it is characterised in that：It further include ring
Shape air cushion（13）, described in vertical direction ring shaped air-cushion（13）Positioned at the top of the garbage collection component.
8. a kind of marine refuse collecting robot people of automatic pathfinding according to claim 7, it is characterised in that：Further include setting
It sets in ring shaped air-cushion（13）On pressure sensor（14）, the pressure sensor（14）Output end and the control mould
Block（10）It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594404.6A CN108729429B (en) | 2018-06-11 | 2018-06-11 | Automatic seek marine garbage collection robot on way |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810594404.6A CN108729429B (en) | 2018-06-11 | 2018-06-11 | Automatic seek marine garbage collection robot on way |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108729429A true CN108729429A (en) | 2018-11-02 |
| CN108729429B CN108729429B (en) | 2020-09-22 |
Family
ID=63932836
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810594404.6A Expired - Fee Related CN108729429B (en) | 2018-06-11 | 2018-06-11 | Automatic seek marine garbage collection robot on way |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108729429B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2312177A (en) * | 1996-04-17 | 1997-10-22 | Frembgen Fritz Herbert | Device for removing the surface layer of liquids |
| CN1888996A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Intelligent watersurface garbage collecting boat apparatus |
| CN101357677A (en) * | 2008-09-12 | 2009-02-04 | 武汉科技学院 | Environmental protection cleaning boat capable of automatically salvaging fragmentary floater |
| CN104652390A (en) * | 2013-11-20 | 2015-05-27 | 何睿杰 | River channel garbage fishing device |
| CN106013019A (en) * | 2016-06-06 | 2016-10-12 | 铜陵有色金属集团股份有限公司金昌冶炼厂 | Non-pump suspension type floating oil collection device |
| CN106218825A (en) * | 2016-09-19 | 2016-12-14 | 安徽机电职业技术学院 | A kind of water rubbish clean-up vessel optimizing trajectory planning |
| CN106351195A (en) * | 2016-09-27 | 2017-01-25 | 浙江工业大学 | Adjustable assist device for collection of dirt on water surface |
| CN106823547A (en) * | 2017-03-11 | 2017-06-13 | 江西省科学院 | A kind of sewage water filtration environmental protecting device |
| CN107401150A (en) * | 2017-08-03 | 2017-11-28 | 宁德职业技术学院 | A kind of novel sea device for cleaning water surface rubbish |
-
2018
- 2018-06-11 CN CN201810594404.6A patent/CN108729429B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2312177A (en) * | 1996-04-17 | 1997-10-22 | Frembgen Fritz Herbert | Device for removing the surface layer of liquids |
| CN1888996A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Intelligent watersurface garbage collecting boat apparatus |
| CN101357677A (en) * | 2008-09-12 | 2009-02-04 | 武汉科技学院 | Environmental protection cleaning boat capable of automatically salvaging fragmentary floater |
| CN104652390A (en) * | 2013-11-20 | 2015-05-27 | 何睿杰 | River channel garbage fishing device |
| CN106013019A (en) * | 2016-06-06 | 2016-10-12 | 铜陵有色金属集团股份有限公司金昌冶炼厂 | Non-pump suspension type floating oil collection device |
| CN106218825A (en) * | 2016-09-19 | 2016-12-14 | 安徽机电职业技术学院 | A kind of water rubbish clean-up vessel optimizing trajectory planning |
| CN106351195A (en) * | 2016-09-27 | 2017-01-25 | 浙江工业大学 | Adjustable assist device for collection of dirt on water surface |
| CN106823547A (en) * | 2017-03-11 | 2017-06-13 | 江西省科学院 | A kind of sewage water filtration environmental protecting device |
| CN107401150A (en) * | 2017-08-03 | 2017-11-28 | 宁德职业技术学院 | A kind of novel sea device for cleaning water surface rubbish |
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| Publication number | Publication date |
|---|---|
| CN108729429B (en) | 2020-09-22 |
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