CN108891544A - Intelligent water surface garbage reclamation processing system based on unmanned boat - Google Patents
Intelligent water surface garbage reclamation processing system based on unmanned boat Download PDFInfo
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- CN108891544A CN108891544A CN201810527867.0A CN201810527867A CN108891544A CN 108891544 A CN108891544 A CN 108891544A CN 201810527867 A CN201810527867 A CN 201810527867A CN 108891544 A CN108891544 A CN 108891544A
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- lead screw
- unmanned boat
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- intelligent
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F1/00—Refuse receptacles; Accessories therefor
- B65F1/14—Other constructional features; Accessories
- B65F1/1405—Compressing means incorporated in, or specially adapted for, refuse receptacles
-
- 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
-
- 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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65F—GATHERING OR REMOVAL OF DOMESTIC OR LIKE REFUSE
- B65F2210/00—Equipment of refuse receptacles
- B65F2210/162—Pressing means
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Environmental & Geological Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The garbage disposal recovery system based on unmanned boat that the present invention relates to a kind of.The present invention is made of unmanned boat vision system, control system, dynamical system and garbage retrieving system.Wherein garbage retrieving system is made of using PLC as control centre recyclable device, processing unit and storage device；Processing unit therein, including transport device, hold-down mechanism and Bi Mian mechanism；Storage device, including ejecting mechanism and subregion dustbin.It is cooperated between each mechanism, realizes sequentially-operating under PLC control, the middle-size and small-size rubbish for swimming in the water surface is recycled, and can realize bulk storage to the rubbish of recycling, to realize that work is maked an inspection tour and be recycled to the long-term water surface.
Description
Technical field
The present invention relates to the intelligent water surface garbage disposal recovery system based on unmanned boat, have increasingly automated, is able to achieve
To the bulk storage of recycling rubbish.
Background technique
With the development of society, the increase of population, the destruction that environment is subjected to is further serious, and the control of environmental pollution becomes
It is extremely urgent.Wherein the governing problem in most domestic river has also caused the extensive concern of people, and river surface is floated at present
Rubbish processing mode, be substantially also to rely on and manually salvaged, and the storage in artificial salvage for rubbish
It also is only that simply rubbish is placed in a bag or in chest.Because storing the sack or chest finite volume of rubbish,
Along with space utilization rate is not high, cause storage capacity limited, is not easy to the garbage reclamation processing of the long-time water surface.Currently, related
Device for cleaning water surface rubbish or system invention when handling garbage on water, also have including the processing to rubbish, but its lead
It to be relatively large floater for object.
Summary of the invention
It is an object of the invention to the deficiencies for current water area refuse recovery processing aspect, provide a kind of based on nobody
The intelligent water surface garbage reclamation processing system of ship.This system can be recycled the middle-size and small-size rubbish for swimming in the water surface, and
Bulk storage can be realized to the rubbish of recycling, to realize that work is maked an inspection tour and be recycled to the long-term water surface.
In order to achieve the above objectives, idea of the invention is that:
The rubbish of the water surface is detected using vision system realization, control system controls the posture of hull and position,
Control system transmitting control signal makes pinpointing in designated position realization for hull calm to dynamical system.The clamping of rubbish can benefit
It is realized with supporting rod, power can be provided using cylinder；Moving up and down for the rubbish of supporting rod clamping can be used another cylinder to control,
Guarantee the displacement of the horizontal plane of each mechanism with lead screw and guide rail, the transmission mode of rubbish can be used conveyer belt progress, utilize rolling
The deformation for the rubbish that cylinder is realized, carries out cutting process for rubbish using cutter, convenient for storage；Rubbish is squeezed using chuck realization
Pressure processing.The mode that subregion dustbin can be used in the storage mode of rubbish realizes the storage of large capacity.Utilize the signal of sensor
Realize the sequentially-operating of each mechanism.
Conceived according to foregoing invention, the present invention adopts the following technical solutions：
A kind of intelligent water surface garbage reclamation intelligent processing system based on unmanned boat, including unmanned boat vision system, unmanned boat control
System, unmanned boat dynamical system and intelligent garbage recovery and processing system processed.The unmanned boat control system connects unmanned boat vision
System, unmanned boat dynamical system and intelligent garbage recovery system, unmanned boat dynamical system connect intelligent garbage recovery and processing system.
Unmanned boat vision system judges whether there is floating refuse on the water surface by sweeping the case where surveying the water surface.After detecting rubbish, to rubbish
Rubbish is positioned, and the rubbish position that will test passes to unmanned boat control system；Unmanned boat control system is by comparing certainly
The position of body and the position of floating refuse calculate an optimal path and optimal rubbish pickup point；By control instruction point
Dispensing unmanned boat dynamical system, rear screw shaft movement and advance along the track calculated before, and rest on optimal
Rubbish pickup point；After resting on rubbish pickup point, the intelligent garbage recovery and processing system on ship is acted, and is completed to rubbish
Recovery processing.The intelligent garbage recovery and processing system includes recyclable device, processing unit and storage device.Recyclable device
The rubbish of floating on water is completed to clamp and ships it to the processing unit on ship；Processing unit completes the cutting and pressure to rubbish
Contracting processing, by the garbage disposal from being salvaged the water surface at certain shape after, be sent to storage of the storage device completion to rubbish
It deposits.The processing unit, including transport device, hold-down mechanism and Bi Mian mechanism.It is sent by the rubbish that recyclable device recycles
It is transported to hold-down mechanism after rubbish is carried out deformation cutting process by transport device to transport device, in hold-down mechanism and closes face machine
Compression processing is carried out under the teamwork of structure.The storage device includes ejecting mechanism and subregion dustbin.Ejecting mechanism
Effect is rubbish that will be compressed by pressing device, is pushed up into subregion dustbin.
Compared with existing invention, the present invention have following obvious prominent substantive distinguishing features and significant technology into
Step：
Recycling compression processing has been carried out to rubbish using relatively reasonable simple mode, can effectively increase the amount of storage of rubbish,
The relatively reasonable degree of intelligence for devising garbage reclamation processing increases the continuous capability that unmanned boat handles garbage reclamation.
Detailed description of the invention
Fig. 1 is system structure of device block diagram.
Fig. 2 is function implementation flow chart.
Fig. 3 is garbage on water recycling Intelligent treatment flow chart.
Fig. 4 is whole ship structure chart.
Fig. 5 is whole ship top view.
Fig. 6 is clamping device figure.
Fig. 7 is pretreatment device figure.
Fig. 8 is compacting machine composition.
Fig. 9 is the structural schematic diagram of ejecting mechanism and hold-down mechanism.
Figure 10 is the lead screw schematic diagram and rubbish at cross structure for controlling ejecting mechanism, hold-down mechanism and Bi Mian mechanism
The schematic diagram of storage box.
Specific implementation process
Details are as follows for preferred embodiment combination attached drawing of the invention：
Embodiment one：
Referring to Fig. 1~Figure 10, the present invention is based on the intelligent water surface garbage reclamation intelligent processing systems of unmanned boat, including unmanned boat to regard
Feel system（1）, unmanned boat control system (2), unmanned boat dynamical system (3) and intelligent garbage recovery and processing system (4), feature
It is：The unmanned boat control system (2) connects unmanned boat vision system（1）, unmanned boat dynamical system (3) and intelligent garbage return
It receives processing system (4), unmanned boat dynamical system (3) connects intelligent garbage recovery and processing system (4)；Unmanned boat vision system (1)
The case where by sweeping the survey water surface, judges whether there is floating refuse on the water surface, after detecting rubbish, rubbish is positioned, and
The rubbish position that will test passes to unmanned boat control system (2)；Unmanned boat control system by compare itself position with
The position of floating refuse calculates an optimal path and optimal rubbish pickup point；Control instruction is distributed into unmanned boat
Dynamical system（3）, rear screw shaft movement and advance along the track calculated before, and rest on optimal rubbish and pick up
Point；After resting on rubbish pickup point, the intelligent garbage recovery and processing system (4) on ship is acted, and rubbish is returned in completion
Receipts processing.
Embodiment two：The present embodiment is basically the same as the first embodiment, and is particular in that as follows：
The intelligent garbage recovery and processing system (4) is by a recyclable device (4-1) through processing unit (4-2) connection one
A storage device (4-3) is constituted.It is characterized in that：The rubbish of floating on water is completed to clamp and transported by recyclable device (4-1)
Processing unit (4-2) on to ship；Processing unit (4-2) completes the cutting and compression processing to rubbish, will be from being salvaged the water surface
Garbage disposal at certain shape after, be sent to storage device (4-3) and complete storage to rubbish.The recyclable device
(4-1) includes supporting rod（1'）, connecting rod（2'）, gripper cylinder（3'）, telescopic rod（4'）, telescopic cylinder (5) and lead screw (6)；
Supporting rod（1'）It is fixed on connecting rod（2'）On, connecting rod（2'）With gripper cylinder（3'）It is connected；Telescopic cylinder（5）With telescopic rod
（4'）It is connected, gripper cylinder（3'）It is fixed on telescopic rod（4'）On；Telescopic cylinder 5 is fixed on lead screw（6）On.Stop in hull to most
After good rubbish pickup point, telescopic cylinder（5）With telescopic rod（4'）It stretches out, makes to be connected in telescopic rod（4'）On gripper cylinder
（3'）, connecting rod（2'）And supporting rod（1'）It is displaced downwardly to rubbish holding position.Gripper cylinder（3'）Movement, makes supporting rod（1'）It completes
The clamping of rubbish.After the clamping for completing rubbish, telescopic cylinder（5）It shrinks；Hereafter, pass through lead screw（6）Movement, drive are connected to
Lead screw（6）On telescopic cylinder（5）Movement, so that rubbish is transported to processing unit (4-2).The processing unit (4-2), packet
It includes a transport device and connects a hold-down mechanism and the face a Ge Bi mechanism；It is sent by the rubbish that recyclable device (4-1) is recycled
It is transported to hold-down mechanism after rubbish is carried out deformation cutting process by transport device to transport device, in hold-down mechanism and closes face machine
Compression processing is carried out under the teamwork of structure；The transport device includes two idler wheels（7）, belt pulley（8）, belt（8）, baffle
（10）And cutter（11）；Baffle（10）It is mounted on belt（9）Two sides prevent rubbish from falling.Two idler wheels（7）It is fixed on Vertical Square
Upward certain distance, and it is constantly in rolling condition, by belt（9）The rubbish transmitted carries out deformation process.Cutter（11）,
It is mounted on apart from idler wheel（7）It nearby, will be by being shredded to the deformed rubbish of rolling；The hold-down mechanism includes sensor
（12）, chuck（13）, chassis（23）, dustbin is to positive sensor（28）, bevel gear（48）, servo motor（49）, lead screw first
（25）With lead screw second（32）, two lead screws（25,32）At cross distribution；Sensor（12）It is mounted on chuck（13）On, chuck
（13）With chassis（23）Using threaded connection, by controlling chassis（23）Can realize chuck（13）Opening and closing fortune
It is dynamic.Chassis（23）Outside is engaged with screw thread with bevel gear 48, bevel gear（48）It is connected to servo motor（49）On, so motor
（49）Rotation can control chuck（13）Movement；The Bi Mian mechanism includes closing face bar（30）, close face cylinder（31）, lead screw
Third（26）With lead screw fourth（29）, two lead screws（26,29）At cross distribution.Close face bar（30）It is connected to and closes face cylinder（31）On,
Cylinder（31）On-off device can control realization and close face bar（30）With chassis（23）On hole（35）Realize cooperation；Cylinder（31）It is logical
Cross link block lead screw fourth（29）It is connected, lead screw fourth（29）With lead screw third（26）It is connected in cross distribution, controls cylinder（31）Water
The displacement of plane.The storage device (4-3) includes ejecting mechanism and subregion dustbin；The effect of ejecting mechanism is will be through
Cross pressing device（4-2）Compressed rubbish is pushed up into subregion dustbin；The ejecting mechanism includes lead screw penta（15）, connection
Block（16）, lead screw oneself（17）, cylinder（18）, sensor（19）And mandril（43）；Lead screw penta（15）With lead screw oneself（17）In cross
Distribution, cylinder（18）Pass through link block（16）With lead screw penta（15）With lead screw oneself（17）It is connected, and then controls cylinder（18）It is horizontal
Displacement on direction；Sensor（19）It is mounted on cylinder front end, is played to positive interaction；The subregion dustbin includes sensor
（20）, sensor（21）And cabinet（22）.Sensor（20）Be mounted on the top in each area of subregion dustbin, be mounted on top
Sensor in mechanism out（19）It, just can be by rubbish top to the subregion after just；Sensor（21）It is mounted on the upper of each subregion
Portion, after rubbish fills up, the persistent signal that can be spread out of guarantees that rubbish filling next time can be since next subregion.
Embodiment three：
Unmanned boat cruises in the water surface, after finding rubbish, leaves at rubbish；Anemoclinograph 44 and doppler flow loaded on hull
Fast instrument 36 is used to the judgement to external environment, when finding rubbish, by the adjusting to propeller 40,24, realizes that fixed point is calm,
Hull is set to be parked in the specific place of face rubbish.Garbage recovery device（4-1）Under the rotation of lead screw 6, the translation of front and back is carried out
Movement；After finding rubbish, telescopic rod 4 declines（The movement of telescopic rod is completed by the ventilation of cylinder 5）.Telescopic rod 4 makes to press from both sides
It holds bar 1 and reaches designated position；Cylinder 3 acts, and completes the clamping to rubbish.The rubbish then clamped is transported to the upper of transport mechanism
Side；After bar 1 to be held moves to designated position with rubbish（It is fixed on the sensor 39 on bar and the sensor on cylinder at this time
50 faces）, conveyer belt 9 and roller 7 are started to work.Rubbish first passes through roller（Two rollers 7 roll in pairs, and centre keeps certain
Distance）It is squeezed, completes the preliminary deformation of shape, be convenient for subsequent cutting process（If there is water in rubbish, this process can be incited somebody to action
Water squeezes out）.The rubbish being extruded is transferred at blade 11, and blade 11 carries out cutting movement with a stable speed, from
And rubbish is cut into regular size, at the rubbish of shape.Then, rubbish is transferred into chuck 13, after a period of time（It protects
It demonstrate,proves all rubbish and enters chuck）, bevel gear rotates driven by the motor, so that chassis 23 be driven to rotate, and then drives chuck
The clamping work of rubbish is completed in 13 movement；In the process, the through-hole 35 on chassis 23 is closed closing for face device in clamping device
The cooperation closing of face bar 28, guarantees that rubbish will not fall down.After the completion of compressing work, the rubbish being compacted is at cylindric.When clamping work
It is mobile with rubbish under the work of lead screw 27 and lead screw 34 that clamp system is put at cross down below after the completion of work；It crosses herein
Cheng Zhong closes face device under the control of lead screw 26 and lead screw 29, moves synchronously also with hold-down mechanism, guarantees that hole 35 is closed form
State.When hold-down mechanism is moved on rubbish storage case with rubbish, the cylinder 28 of Bi Mian mechanism is acted, and withdraws cylinder rod；
Face device is closed under the action of lead screw 29, is moved back, is handled convenient for the subsequent filling of rubbish.When filling starts, rubbish is from first
Start to fill in region 46.After filling up for first, sensor 20 detects signal, then starts to fill second 47 region.It fills out
When filling each region, when sensor 28 only below pressure plate and 20 face of area sensor on subregion dustbin,
It can filling.When filling, pressing device opens a certain distance in the state of at present（It is flared to the size with following through-hole）,
Ejecting mechanism is moved to the top of pressing device chuck 13 under the rotation of lead screw 15 and lead screw 17（Biography above ejecting mechanism
Sensor 12 on sensor 19 and hold-down mechanism cooperates, and completes alignment work）, the ejection movement of cylinder 18（The diameter of mandril and bottom
The diameter of portion's through-hole is equal）, rubbish is depressed into cabinet 22 by mandril, and pushes a distance, and guarantor tamps rubbish.Complete rubbish
Processing after, each mechanism is back to original position.
Claims (5)
1. a kind of intelligent water surface garbage reclamation intelligent processing system based on unmanned boat, including unmanned boat vision system（1）, nobody
Ship control system (2), unmanned boat dynamical system (3) and intelligent garbage recovery and processing system (4), it is characterised in that：It is described nobody
Ship control system (2) connects unmanned boat vision system（1）, unmanned boat dynamical system (3) and intelligent garbage recovery and processing system
(4), unmanned boat dynamical system (3) connection intelligent garbage recovery and processing system (4)；Unmanned boat vision system (1) is by sweeping survey water
The case where face judges whether there is floating refuse on the water surface, after detecting rubbish, positions to rubbish, and will test
Rubbish position passes to unmanned boat control system (2)；Unmanned boat control system passes through the position and floating refuse for comparing itself
Position calculates an optimal path and optimal rubbish pickup point；Control instruction is distributed into unmanned boat dynamical system
（3）, rear screw shaft movement and advance along the track calculated before, and rest on optimal rubbish pickup point；Stopping
After staying in rubbish pickup point, the intelligent garbage recovery and processing system (4) on ship is acted, and completes the recovery processing to rubbish.
2. the intelligent water surface garbage reclamation intelligent processing system according to claim 1 based on unmanned boat, it is characterised in that：
The intelligent garbage recovery and processing system (4) connects a storage through a processing unit (4-2) by a recyclable device (4-1)
Cryopreservation device (4-3) is constituted, and the rubbish of floating on water is completed to clamp and ships it to the processing on ship by the recyclable device (4-1)
Device (4-2)；Processing unit (4-2) completes cutting and compression processing to rubbish, by the garbage disposal from being salvaged the water surface at
After certain shape, it is sent to storage of storage device (4-3) completion to rubbish.
3. the intelligent water surface garbage reclamation intelligent processing system according to claim 2 based on unmanned boat, feature in：Institute
The recyclable device (4-1) stated includes supporting rod（1'）, connecting rod（2'）, gripper cylinder（3'）, telescopic rod（4'）, telescopic cylinder
(5) and lead screw (6)；Supporting rod（1'）It is fixed on connecting rod（2'）On, connecting rod（2'）With gripper cylinder（3'）It is connected；Flexible gas
Cylinder（5）With telescopic rod（4'）It is connected, gripper cylinder（3'）It is fixed on telescopic rod（4'）On；Telescopic cylinder（5）It is fixed on lead screw（6）
On, stop in hull to optimal rubbish pickup point, telescopic cylinder（5）With telescopic rod（4'）It stretches out, makes to be connected in telescopic rod
（4'）On gripper cylinder（3'）, connecting rod（2'）And supporting rod（1'）It is displaced downwardly to rubbish holding position, gripper cylinder（3'）Movement,
Make supporting rod（1'）The clamping for completing rubbish, after the clamping for completing rubbish, telescopic cylinder（5）It shrinks；Hereafter, pass through lead screw
（6）Movement, drive are connected to lead screw（6）On telescopic cylinder（5）Movement, so that rubbish is transported to processing unit (4-2).
4. the intelligent water surface garbage reclamation intelligent processing system according to claim 2 based on unmanned boat, feature in：Institute
The processing unit (4-2) stated, including a transport device connect a hold-down mechanism and the face a Ge Bi mechanism；By recyclable device
The rubbish of (4-1) recycling is sent to transport device and is transported to compacting machine after rubbish is carried out deformation cutting process by transport device
Structure carries out compression processing under the teamwork of hold-down mechanism and Bi Mian mechanism；
The transport device includes two idler wheels（7）, belt pulley（8）, belt（8）, baffle（10）And cutter（11）；Baffle（10）
It is mounted on belt（9）Two sides prevent rubbish from falling, two idler wheels（7）It is fixed on certain distance in vertical direction, and is constantly in
Rolling condition, by belt（9）The rubbish transmitted carries out deformation process；Cutter（11）, it is mounted on apart from idler wheel（7）It is close
Place, will be by shredding the deformed rubbish of rolling；
The hold-down mechanism includes sensor（12）, chuck（13）, chassis（23）, dustbin is to positive sensor（28）, bevel gear
（48）, servo motor（49）, lead screw first（25）With lead screw second（32）, two lead screws（25,32）At cross distribution；Sensor（12）
It is mounted on chuck（13）On, chuck（13）With chassis（23）Using threaded connection, by controlling chassis（23）Can realize
Chuck（13）Opening and closing movement, chassis（23）Have screw thread and bevel gear in outside（48）Engagement, bevel gear（48）It is connected to
Servo motor（49）On, so motor（49）Rotation can control chuck（13）Movement；
The Bi Mian mechanism includes closing face bar（30）, close face cylinder（31）, lead screw third（26）With lead screw fourth（29）, two lead screws
（26,29）At cross distribution；Close face bar（30）It is connected to and closes face cylinder（31）On, cylinder（31）On-off device can control realization
Close face bar（30）With chassis（23）On hole（35）Realize cooperation；Cylinder（31）Pass through link block lead screw fourth（29）It is connected, lead screw
Fourth（29）With lead screw third（26）It is connected in cross distribution, controls cylinder（31）Horizontal plane movement.
5. the intelligent water surface garbage reclamation intelligent processing system according to claim 2 based on unmanned boat, feature in：Institute
The storage device (4-3) stated includes ejecting mechanism and subregion dustbin；The effect of ejecting mechanism is will to pass through pressing device（4-
2）Compressed rubbish is pushed up into subregion dustbin；
The ejecting mechanism includes lead screw penta（15）, link block（16）, lead screw oneself（17）, cylinder（18）, sensor（19）The top and
Bar（43）；Lead screw penta（15）With lead screw oneself（17）In cross distribution, cylinder（18）Pass through link block（16）With lead screw penta（15）With
Lead screw oneself（17）It is connected, and then controls cylinder（18）Displacement in horizontal direction；Sensor（19）It is mounted on cylinder front end, is played
To positive interaction；
The subregion dustbin includes sensor（20）, sensor（21）And cabinet（22）, sensor（20）It is mounted on subregion rubbish
The top in each area of rubbish case, with the sensor that is mounted on ejecting mechanism（19）It, just can be by rubbish top to the subregion after just；
Sensor（21）It is mounted on the top of each subregion, after rubbish fills up, the persistent signal that can be spread out of guarantees rubbish next time
Filling can be since next subregion.
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|---|---|---|---|
| CN201810527867.0A CN108891544B (en) | 2018-05-29 | 2018-05-29 | Intelligent water surface garbage recycling system based on unmanned ship |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810527867.0A CN108891544B (en) | 2018-05-29 | 2018-05-29 | Intelligent water surface garbage recycling system based on unmanned ship |
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| Publication Number | Publication Date |
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| CN108891544A true CN108891544A (en) | 2018-11-27 |
| CN108891544B CN108891544B (en) | 2020-10-16 |
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| CN108839764A (en) * | 2018-06-11 | 2018-11-20 | 上海大学 | Intelligent water surface garbage reclamation processing system based on unmanned boat |
| CN109795633A (en) * | 2019-02-28 | 2019-05-24 | 上海大学 | A kind of refuse on water surface unmanned boat and its method for carrying out rubbish cleaning |
| CN110397008A (en) * | 2019-07-29 | 2019-11-01 | 河海大学常州校区 | A kind of device for cleaning water surface rubbish and its control system and control method |
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| CN110397008A (en) * | 2019-07-29 | 2019-11-01 | 河海大学常州校区 | A kind of device for cleaning water surface rubbish and its control system and control method |
| CN110924367A (en) * | 2019-12-05 | 2020-03-27 | 游代松 | Duckweed fishing device used in river sewage treatment |
| CN110924367B (en) * | 2019-12-05 | 2021-06-15 | 绍兴市高砚智生物科技有限公司 | Duckweed fishing device used in river sewage treatment |
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| CN108891544B (en) | 2020-10-16 |
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