CN108729429B - Automatic seek marine garbage collection robot on way - Google Patents
Automatic seek marine garbage collection robot on way Download PDFInfo
- Publication number
- CN108729429B CN108729429B CN201810594404.6A CN201810594404A CN108729429B CN 108729429 B CN108729429 B CN 108729429B CN 201810594404 A CN201810594404 A CN 201810594404A CN 108729429 B CN108729429 B CN 108729429B
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- garbage
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 121
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 20
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 238000012544 monitoring process Methods 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 3
- 230000006872 improvement Effects 0.000 description 7
- 238000004140 cleaning Methods 0.000 description 6
- 239000013535 sea water Substances 0.000 description 5
- 238000011161 development Methods 0.000 description 4
- 239000002699 waste material Substances 0.000 description 4
- 238000013459 approach Methods 0.000 description 3
- 108010066057 cabin-1 Proteins 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011086 high cleaning Methods 0.000 description 1
- 230000003434 inspiratory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
Images
Classifications
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- 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
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- 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 an automatic path-finding marine garbage collection robot, which comprises a garbage collection assembly and a garbage searching assembly, wherein the garbage collection assembly and the garbage searching assembly are arranged on a robot cabin body; the garbage collection assembly comprises a garbage storage box, a water inlet pipeline, a drainage pipeline, a gear pump and a first propeller, wherein the water inlet pipeline is arranged at an inlet of the garbage storage box, and the gear pump is arranged at an outlet of a water channel of the garbage storage box; the first screw is arranged at the upper end of the garbage storage box, and acts on sucked garbage in a vertical downward direction to enable the garbage to sink into the bottom of the garbage storage box. The garbage searching assembly comprises an infrared detector, a camera and a control module, wherein the control module controls the moving path of the robot on the sea surface according to the received signals of the infrared detector and the camera. The invention can greatly improve the accuracy and collection efficiency of marine garbage collection.
Description
Technical Field
The invention belongs to the field of marine application robots, and particularly relates to an automatic road-finding marine garbage collection robot.
Background
At present, under the influence of the rapid economic development of extensive ports, the marine ecological environment is frequently impacted, and the problem of marine garbage is more serious. The floating garbage on the sea surface can bring serious influence to the survival of marine animals, the development of fishery and transportation industry and marine ecological environment. Wherein, the development of the sea surface garbage problem is seriously restricted in part of offshore port areas due to improper treatment of the ship domestic garbage. Therefore, the problem of the marine garbage is very urgent to be solved timely and effectively. At present, sea surface garbage is cleaned mainly in China through a garbage cleaning ship and a manual fishing mode, the cleaning efficiency of the cleaning ship is high, but the cleaning ship has the problems of large size, high cost, air pollution, noise pollution, oil pollution and the like, and the cleaning efficiency of the cleaning ship is low due to high cleaning quality, high operation strength, long period and low automation degree.
Secondly, the development of communication technology provides a basis for the positioning of equipment in a wide ocean and for moving and collecting marine waste with the shortest distance. Therefore, the invention designs the marine garbage collection robot capable of automatically finding the way.
Disclosure of Invention
Aiming at the problems, the invention provides an automatic path-finding marine garbage collection robot.
The technical purpose is achieved, the technical effect is achieved, and the invention is realized through the following technical scheme:
an automatic path-finding marine garbage collection robot comprises a robot cabin body, wherein a garbage collection assembly and a garbage searching assembly are arranged on the robot cabin body; the garbage collection assembly comprises a garbage storage box, a water inlet pipeline, a drainage pipeline, a gear pump and a first propeller, wherein the water inlet pipeline is arranged at an inlet of the garbage storage box, and the gear pump is arranged at an outlet of a water channel of the garbage storage box; the first screw propeller is arranged at the upper end of the garbage storage box and acts on the sucked garbage in a vertical downward direction to enable the sucked garbage to sink to the bottom of the garbage storage box; the garbage searching assembly comprises an infrared detector, a camera and a control module, wherein the output end of the infrared detector or the camera is connected with the input end of the control module, and the control module controls the moving path of the robot on the sea surface according to the received signals.
As a further improvement of the present invention, the flow direction of the water flow driven by the gear pump is not parallel to the direction of the garbage acted by the first propeller, and preferably, the flow direction of the water flow driven by the gear pump is perpendicular to the direction of the garbage acted by the first propeller.
As a further improvement, the garbage containing box further comprises a filter screen arranged in the garbage containing box, wherein the filter screen is arranged at the front end of the gear pump and the front end of the first propeller, and the filter screen is arranged at the bottom of the garbage containing box.
As a further improvement of the invention, the robot cabin comprises 4 garbage collection assemblies, and the garbage collection assemblies are arranged at the lower end of the robot cabin in an annular matrix array mode.
As a further improvement of the invention, the included angle formed between the water inlet pipelines in the two adjacent garbage collection assemblies is 90 degrees.
As a further improvement of the invention, the garbage searching component further comprises a Beidou positioning receiver and a wireless transmitter, and the Beidou positioning receiver and the wireless transmitter are used for monitoring the real-time position of the robot on the sea.
As a further improvement of the invention, the garbage collecting device also comprises an annular air cushion, and the annular air cushion is positioned above the garbage collecting assembly in the vertical direction.
As a further improvement of the invention, the air conditioner also comprises a pressure sensor arranged on the annular air cushion, and the output end of the pressure sensor is connected with the control module.
The invention has the beneficial effects that:
1. the robot for collecting marine garbage designed by the invention is ingenious in design and comprises 4 independent garbage collecting assemblies arranged according to an annular array, and when the robot approaches the garbage in a complex sea wave zone environment, the robot can approach the garbage only by slightly moving in a linear direction without rotating in a large scale, so that the garbage collecting accuracy is improved.
2. Can realize that the fixed point subregion cleans according to the intensive degree of marine rubbish, optimize the garbage collection scheme, practice thrift the garbage collection time greatly, combine big dipper navigation system simultaneously, the ground detection station of being convenient for realizes the location and the tracking to the robot.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the garbage collection assembly located inside the cabin of the robot;
wherein: 1-a robot cabin body, 2-a first propeller, 3-a garbage storage box, 4-a water inlet pipeline, 5-a water drainage pipeline, 6-a gear pump, 7-a filter screen, 8-an infrared detector, 9-a camera, 10-a control module, 11-a Beidou positioning receiver, 12-a wireless transmitter, 13-an annular air cushion, 14-a pressure sensor, 15-a second propeller and 16-an air valve.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of the principles of the invention is provided in connection with the accompanying drawings.
As shown in fig. 1-2, the robot of the present invention includes a robot cabin 1 configured as a ship or a drilling platform, and a garbage collection assembly for collecting marine garbage and a garbage search assembly for searching marine floating garbage are disposed on the robot cabin 1. The bottom of the robot cabin body 1 is provided with a second propeller 15 for movement, so that the robot can integrally move in various forms such as linear motion, curvilinear motion, rotation and the like.
Garbage collection subassembly include rubbish receiver 3, inlet channel 4, drainage pipe 5, gear pump 6 and first screw 2, inlet channel 4 set up rubbish receiver 3's entrance, gear pump 6 set up the exit of 3 water courses of rubbish receiver. The gear pump 6 shown is a powerful pump for achieving a directional flow of seawater. When the robot approaches the waste area, the gear pump 6 is activated so that waste on the sea surface enters the intake conduit 4 as shown. First screw 2 set up garbage storage box 3's upper end, when rubbish gets into 3 regional in the garbage storage box under gear pump 6's effect, first screw 2 according to perpendicular decurrent direction effect on inspiratory rubbish, make its bottom that sinks into garbage storage box 3. The excess seawater sucked into the cabin is discharged from the water discharge pipeline 5 under the action of the gear pump 6. In order to make the garbage effectively enter the bottom of the cabin body, the direction of the first propeller 2 acting on the garbage is not parallel to the flowing direction of the water flow driven by the gear pump 6, and the directions of the first propeller 2 and the gear pump 6 are preferably perpendicular to each other, so that the first propeller 2 and the gear pump 6 are arranged on a group of adjacent edges.
The gear pump 6 adopts a gear pump capable of rotating in two directions, and when the gear pump 6 rotates in the opposite direction, the inside of the pipeline can be automatically cleaned.
In order to avoid the damage of the apparatus caused by the garbage being twisted into the gear pump 6 or the first propeller 2, a filter screen 7 is arranged at the front end of the gear pump 6 and the front end of the first propeller 2, and the filter screen 7 is not only used for separating seawater and garbage, but also used for protecting the gear pump 6 and the first propeller 2. Simultaneously be in the bottom of rubbish receiver 3 also set up and be used for filter screen 7.
The robot is inconvenient to move on the sea, and the garbage can continuously move along with the flow of the seawater. In order to facilitate the collection of garbage, 4 garbage collection assemblies are arranged in the robot, so that the robot is provided with water inlet pipelines 4 in the front, back, left and right directions, and the adjacent water inlet pipelines 4 are distributed at an angle of 90 degrees. Therefore, when the robot is close to garbage, the garbage can be effectively collected only by making a small movement without making a large-scale body state rotation. Therefore, the garbage collection assemblies are arranged at the lower end of the robot cabin 1 in a circular matrix array.
Also included is an annular air cushion 13, said annular air cushion 13 being vertically above said waste collection assembly. The annular air cushion 13 is provided with an air valve 16 for inflation, and the inflation quantity of the annular air cushion 13 is adjusted by adjusting the opening and closing of the air valve 16. The size of the buoyancy is adjusted by controlling the inflation quantity of the annular air cushion 13, so that the water inlet pipeline 4 can be completely immersed and close to the sea surface, and the garbage can be conveniently sucked.
The rubbish searching assembly comprises an infrared detector 8, a camera 9 and a control module 10. The infrared detector 8 is suitable for working at night and collects garbage in an infrared scanning mode. The camera 9 is suitable for daytime tools, and can determine the position of the garbage by acquiring sea surface images. The output end of the infrared detector 8 or the camera 9 is connected with the input end of the control module 10, collected data are transmitted in the control module 10, the control module 10 obtains possible paths for reaching the positions of all the garbage according to the position relation between the robot and all the garbage monitored on the sea surface by adopting a Dijkstra algorithm, and then all the possible paths are compared, and one path with the shortest path is selected from the paths for running. The control module 10 is arranged in a control system for controlling the robot to automatically work.
The rubbish searching assembly further comprises a Beidou positioning receiver 11 and a wireless transmitter 12, and the Beidou positioning receiver and the wireless transmitter are used for monitoring the real-time position of the robot on the sea. And an antenna is arranged on the Beidou positioning receiver 11 to communicate with a satellite at fixed time, so that real-time position information of the robot is obtained. The radio transmitter loads the obtained information to radio waves through modulation, and transmits the information to the ground monitoring station, so that ground control personnel can monitor the position of the robot conveniently.
The power control system of the robot in the invention comprises a storage battery pack for providing power and a control switch connected with each device.
The invention also comprises a pressure sensor 14 arranged on the annular air cushion 13 and used for sensing the pressure of sea waves, when the pressure exceeds a limited range, the seawater environment is not stable enough and is not suitable for operation or the floating state of the robot is abnormal, and then an alarm is given. The output end of the pressure sensor 14 is connected with the control module 10, and the detected sea wave pressure information is transmitted to the control module 10, so that a system in the control module 10 analyzes and judges whether the robot is suitable for offshore operation.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (9)
1. The utility model provides an automatic marine garbage collection robot that seeks way, includes the robot cabin body (1), its characterized in that: a garbage collection assembly and a garbage searching assembly are arranged on the robot cabin body (1);
the garbage collection assembly comprises a garbage storage box (3), a water inlet pipeline (4), a drainage pipeline (5), a gear pump (6) and a first propeller (2), wherein the water inlet pipeline (4) is arranged at an inlet of the garbage storage box (3), and the gear pump (6) is arranged at an outlet of a water channel of the garbage storage box (3); the first propeller (2) is arranged at the upper end of the garbage storage box (3), and the first propeller (2) applies force to sucked garbage in a vertical downward direction to enable the sucked garbage to sink to the bottom of the garbage storage box (3);
the rubbish searching assembly comprises an infrared detector (8), a camera (9) and a control module (10), wherein the output end of the infrared detector (8) or the camera (9) is connected with the input end of the control module (10), and the control module (10) controls the moving path of the robot on the sea surface according to received signals.
2. The marine garbage collection robot capable of automatically finding the way according to claim 1, wherein: the gear pump (6) drives the flow direction of the water flow to be unparallel to the direction of the first propeller (2) acting on the garbage.
3. The marine garbage collection robot capable of automatically finding the way according to claim 2, wherein: the gear pump (6) drives the flow direction of the water flow to be perpendicular to the direction of the first propeller (2) acting on the garbage.
4. The marine garbage collection robot capable of automatically finding the way according to claim 2, wherein: still including arranging filter screen (7) in rubbish receiver (3), filter screen (7) arrange gear pump (6) with the front end of first screw (2), still including setting up filter screen (7) in rubbish receiver (3) bottom.
5. The marine garbage collection robot capable of automatically finding the way according to claim 1, wherein: the robot cabin comprises 4 garbage collection assemblies, wherein the garbage collection assemblies are arranged at the lower end of the robot cabin body (1) in an annular matrix array mode.
6. The marine garbage collection robot capable of automatically finding the way according to claim 5, wherein: the included angle formed between the water inlet pipelines (4) in the two adjacent garbage collection assemblies is 90 degrees.
7. The marine garbage collection robot capable of automatically finding the way according to claim 1, wherein: the rubbish searching assembly further comprises a Beidou positioning receiver (11) and a wireless transmitter (12) and is used for monitoring the real-time position of the robot on the sea.
8. The marine garbage collection robot capable of automatically finding the way according to claim 1, wherein: the garbage collecting device also comprises an annular air cushion (13), and the annular air cushion (13) is positioned above the garbage collecting assembly in the vertical direction.
9. The marine garbage collection robot capable of automatically finding the way according to claim 8, wherein: the air cushion device also comprises a pressure sensor (14) arranged on the annular air cushion (13), and the output end of the pressure sensor (14) is connected with the control module (10).
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 |
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| Publication Number | Publication Date |
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| CN108729429A CN108729429A (en) | 2018-11-02 |
| CN108729429B true CN108729429B (en) | 2020-09-22 |
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| CN201810594404.6A Expired - Fee Related CN108729429B (en) | 2018-06-11 | 2018-06-11 | Automatic seek marine garbage collection robot on way |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19713375A1 (en) * | 1996-04-17 | 1997-10-30 | Frembgen Fritz Herbert | Device for suctioning off the surface layer of a liquid |
| CN1888996A (en) * | 2005-06-30 | 2007-01-03 | 上海市延安中学 | Intelligent watersurface garbage collecting boat apparatus |
| CN101357677B (en) * | 2008-09-12 | 2010-11-10 | 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 |
| CN106218825B (en) * | 2016-09-19 | 2019-04-26 | 安徽机电职业技术学院 | A kind of water rubbish clean-up vessel optimizing trajectory planning |
| CN106351195B (en) * | 2016-09-27 | 2019-04-09 | 浙江工业大学 | A kind of adjustable water surface dirt-collecting assistor |
| CN106823547B (en) * | 2017-03-11 | 2019-11-12 | 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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- 2018-06-11 CN CN201810594404.6A patent/CN108729429B/en not_active Expired - Fee Related
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| CN108729429A (en) | 2018-11-02 |
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