CN110747801A

CN110747801A - Garbage sweeper suitable for dry and wet sand boundary of beach

Info

Publication number: CN110747801A
Application number: CN201910973326.5A
Authority: CN
Inventors: 孔庆杰
Original assignee: Jiangsu Institute of Technology
Current assignee: Jiangsu University of Technology; Jiangsu Institute of Technology
Priority date: 2019-10-14
Filing date: 2019-10-14
Publication date: 2020-02-04
Anticipated expiration: 2039-10-14
Also published as: CN110747801B

Abstract

The invention provides a garbage sweeper suitable for a dry and wet sand boundary of a beach, which comprises a sweeper body, a garbage collecting device, a garbage conveying device, a garbage compressing device and a control system. Wherein, the sweeper body walks along a dry and wet sand boundary of the beach; the garbage collection device is used for collecting garbage at a sand beach dry and wet sand boundary; the garbage conveying device is used for conveying the garbage collected by the garbage collecting device into the garbage compressing device; the garbage compression device is used for compressing the garbage conveyed by the garbage conveying device; the control system is used for controlling the garbage sweeper. The garbage sweeper suitable for the sand beach, provided by the invention, is suitable for sweeping garbage at a dry and wet sand boundary on the sand beach, and greatly saves manpower.

Description

Garbage sweeper suitable for dry and wet sand boundary of beach

Technical Field

The invention relates to the technical field of cleaning equipment, in particular to a garbage sweeper applicable to a sand beach dry and wet sand boundary.

Background

Beach of sea side is the must of tourism of many people and selects the place, but some rubbish that the visitor thrown off often has on the beach, and the ebb tide of sea wave can bring some beach rubbish into the sea, and the tide of rising of sea wave also can bring some rubbish in the sea to the dry and wet sand boundary of beach department simultaneously, and the rubbish of dry and wet sand boundary department on the beach has seriously influenced the environment of beach and visitor's tourism experience, and the rubbish of dry and wet sand boundary department of beach only relies on the manual work to clear up, and work load is big, and is inefficient.

Disclosure of Invention

The invention provides a garbage sweeper suitable for a sand beach dry and wet sand boundary, which aims to solve the problems of large workload and low efficiency of manual cleaning of garbage at the sand beach dry and wet sand boundary.

In order to achieve the purpose, the technical scheme of the invention is realized as follows:

a garbage sweeper suitable for a dry and wet sand boundary of a beach comprises a sweeper body, a garbage collecting device, a garbage conveying device, a garbage compressing device and a control system. Wherein, the sweeper body walks along a dry and wet sand boundary of the beach; the garbage collection device is used for collecting garbage at a sand beach dry and wet sand boundary; the garbage conveying device is used for conveying the garbage collected by the garbage collecting device to the garbage compressing device; the garbage compression device is used for compressing the garbage conveyed by the garbage conveying device; the control system is used for controlling the garbage sweeper suitable for the dry and wet sand boundary of the beach.

Furthermore, the front end face of the sweeper body is provided with at least two binocular cameras.

Furthermore, the front end and the rear end of the sweeper body are respectively provided with two triangular crawler belts, bosses are uniformly distributed on the surfaces of the triangular crawler belts, and the triangular crawler belts can be adjusted in height.

Furthermore, the sweeper body further comprises a sea wave collecting box, the sea wave collecting box extends from the front end to the rear end of the sweeper body, an opening is formed in the side face, close to the motion direction of the sea waves, of the sea wave collecting box, and a grid partition plate is arranged in the sea wave collecting box and is lower than the lower end of the opening.

Further, garbage collection device includes a first rotating circular disc and a first garbage bag, the cutting edge is being arranged to the bottom surface align to grid of first rotating circular disc, the side welding is in the same place about the first garbage bag, and the left surface can carry out the back-and-forth movement, and there is the cutting edge one side of forward movement, and the downside is the net inclined plane, does not have the right flank, first garbage bag sets up a first shower nozzle in entry leading flank department.

Further, a spring is arranged at the upper end of the bottom plate of the sweeper body.

Further, rubbish conveyor includes second rotating circular disc and second garbage bag, second rotating circular disc circumference side sets up the smooth groove in bottom surface, and the both sides in groove set up the baffle, and second garbage bag welding is at second rotating circular disc minimum, the right flank rubbish import of second garbage bag is the same with first garbage bag left surface export size.

Further, the garbage compression device comprises at least one second spray head and a garbage can, the second spray head is arranged on the side face of the garbage can, and the bottom face of the garbage can be opened.

Further, control system includes first laser sensor, second laser sensor, third laser sensor and gravity sensor, wherein, first laser sensor is located the left surface of first garbage bag, the setting of second laser sensor is in the top position of dustbin side, third laser sensor sets up and is in on the side of a certain distance away from the dustbin bottom plate, gravity sensor sets up the bottom surface of second garbage bag.

The beneficial technical effects are as follows:

the invention provides the garbage sweeper suitable for the sand beach dry and wet sand boundary, solves the problems of large workload and low efficiency in manual cleaning of garbage at the sand beach dry and wet sand boundary, greatly reduces the manual workload and has high efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only one embodiment of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.

FIG. 1 is a schematic illustration of a sweeper body according to an embodiment of the present invention;

FIG. 2 is a schematic view of a garbage collection apparatus according to an embodiment of the present invention;

FIG. 3 is a schematic view of a garbage transporting apparatus according to an embodiment of the present invention;

FIG. 4 is a schematic view of a garbage compression apparatus according to an embodiment of the present invention;

FIG. 5 is a binocular vision flow chart of a binocular camera;

FIG. 6 is a left side view of a triangular track height adjustment of an embodiment of the present invention;

fig. 7 is a driving diagram of the garbage compressing apparatus according to the embodiment of the present invention.

Wherein, 1-box, 2-binocular camera, 3-anemometer, 4-sea wave collecting box, 5-triangular crawler belt, 6-garbage collecting device, 7-garbage conveying device, 8-garbage compressing device, 9-control system, 10-first rotating disk, 11-first garbage bag, 12-second rotating disk, 13-second garbage bag, 14-first nozzle, 15-pressing plate, 16-garbage box, 17-second nozzle, 18-gear, 19-rack, 20-electric motor, 21-second motor, 22-second reducer, 23-first baffle, 24-second baffle, 25-lead screw, 26-polished rod, 27-slide block, 28-rod, 29-fourth motor, 30-fourth reduction gear, 31-third motor, 32-third reduction gear.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

A garbage sweeper suitable for the dry and wet sand boundary of a beach is disclosed, which is shown in figure 1 and comprises a sweeper body, a garbage collecting device, a garbage conveying device, a garbage compressing device and a control system. Wherein, the sweeper body walks along a dry and wet sand boundary of the beach; the garbage collection device is used for collecting garbage at a sand beach dry and wet sand boundary; the garbage conveying device is used for conveying the garbage collected by the garbage collecting device into the garbage compressing device; the garbage compression device is used for compressing the garbage conveyed by the garbage conveying device; the control system is used for controlling the garbage sweeper.

Sweeper body

The sweeper body comprises a box body 1, a binocular camera 2, an anemoscope 3, a sea wave collecting box 4, a triangular crawler belt 5, a control panel, a front illuminating lamp and a rear illuminating lamp. The two binocular cameras 2 are arranged at the front end of the sweeper body in a parallel, same horizontal line mode, and a certain distance is reserved between the two binocular cameras 2; the control panel is positioned below the binocular camera 2; the anemoscope 3 is positioned at the front position of the top end of the sweeper body, and the blades of the anemoscope 3 face the motion direction of sea waves to measure the wind speed; the wave collecting box 4 is positioned on the left side of the sweeper body and faces the wave motion direction, the wave collecting box 4 extends from the front end to the rear end of the sweeper body, an opening is formed in the side face, close to the wave motion direction, of the wave collecting box 4 and used for collecting waves and garbage floating on the waves, a grid partition plate is arranged below the lower end of the opening in the wave collecting box 4, garbage is stored on the grid partition plate, and seawater is stored below the grid partition plate to separate the waves from the garbage; the number of the triangular crawler belts 5 is four, the front end and the rear end of the sweeper body are respectively provided with two triangular crawler belts 5, the two triangular crawler belts 5 at the front end are driven by one motor, the two triangular crawler belts 5 at the rear end are driven by one motor, the triangular crawler belt driving mechanisms are positioned at the bottom of the front end and the bottom of the rear end of the sweeper body, bosses are uniformly distributed on the surfaces of the triangular crawler belts 5, the triangular crawler belts 5 can be adjusted in height, and a structure diagram of the height adjustment is shown in figure 6.

The steps of identifying the dry and wet sand boundary of the beach by the two binocular cameras 2 are shown in fig. 5, and the specific steps are as follows:

acquiring images of a beach terrain with a dry and wet sand boundary of the beach by using a binocular camera 2, wherein the images comprise a left image L and a right image R;

calibrating the left image and the right image acquired by the binocular camera 2 through Zhang calibration to obtain internal and external parameters of the left binocular camera 2 and the right binocular camera 2;

correcting the left image L and the right image R through the internal and external parameters of the binocular camera 2;

calculating the corrected left and right images by using a parallel SGM algorithm to obtain a disparity map;

and processing the obtained disparity map, removing noise by using a median filtering method, obtaining coordinates of a sand beach dry-wet sand boundary, transmitting the coordinates to a control system, and driving the sweeper body to move.

Garbage collection device

The garbage collecting device is shown in figure 2 and comprises an electric motor 20, a first rotating disc 10, a second hydraulic cylinder and a first garbage bag 11, wherein an output shaft of the electric motor 20 is connected with a central shaft of the first rotating disc 10, the first rotating disc 10 is driven to rotate by the rotation of the electric motor 20, the electric motor 20 is arranged in a box body, three sides are fixedly connected, a plurality of cutting edges are uniformly arranged on the bottom surface of the first rotating disc 10, garbage can be pulled downwards when the first rotating disc 10 rotates, the garbage is put into the bag by the gravity of the garbage, the front side, the rear side, the upper side and the lower side of the first garbage bag 11 are welded together, the left side can move back and forth, the upper end and the lower end of the left side of the first garbage bag 11 are respectively provided with a track, the two tracks are welded together with the front side, the rear side, the upper side and the lower side, the length of the left side of the first garbage, the side also is the net face that can filter the sand around, first garbage bag 11 does not have the right flank, rubbish gets into first garbage bag 11 from the right flank, the side of going up of first garbage bag 11 passes through the screw rod, nut and spring link to each other with sweeper body bottom plate, the spring is in sweeper body bottom plate upper end, can pass through compression spring, adapt to different sandy beach inclination, the left surface of first garbage bag 11 can stretch out and draw back around can going on, there is the cutting edge one side that the left surface stretches out and draws back forward, first garbage bag 11 sets up a first shower nozzle 14 in entry leading flank department, seawater in the extraction wave collecting box 4 through the suction pump washes rubbish and gives an impulsive force of rubbish, conveniently go into the pocket.

Garbage conveying device

The garbage conveying device is shown in fig. 3 and comprises a third motor 31, a third speed reducer 32, a second rotating disc 12 and a second garbage bag 13, wherein the third motor 31 and the third speed reducer 32 are located on a bottom plate of a sweeper body, an output shaft of the third motor 31 is connected with an input shaft of the third speed reducer 32, an output shaft of the third speed reducer 32 is coaxial with a rotating shaft of the second rotating disc 12, the second garbage bag 13 is welded at the lowest point of the second rotating disc 12, a garbage inlet on the right side face of the second garbage bag 13 is identical to an outlet on the left side face of the first garbage bag 11 in size, a groove with a smooth bottom face is formed in the circumferential side face of the second rotating disc 12, and baffles are arranged on two sides of the groove to prevent garbage from falling down along the groove.

Garbage compression device

The garbage compression device is shown in fig. 4 and comprises a third rack box, a fourth motor 29, a fourth speed reducer 30, a gear 18, a rack 19, a pressing plate 15, a garbage box 16 and a second spray head 17, wherein the fourth motor 29 and the fourth speed reducer 30 are positioned on a partition plate, an output shaft of the fourth motor 29 is connected with an input shaft of the fourth speed reducer 30, an output shaft of the fourth speed reducer 30 is coaxial with the gear 18, the gear 18 is meshed with the rack 19, the lower end of the rack 19 is fixedly connected with the pressing plate 15, an opening is formed in the top end of the garbage box 16 for garbage to fall off, a third rack box is arranged on the other part of the top end of the garbage box 16, a partition plate is arranged in the middle of the third rack box, a small opening is formed in the partition plate for the rack 19 to move up and down and pass through, the second spray head 17 is arranged on the side surface of the garbage box 16, the spray head 17 of the second spray head pumps, the bottom surface of the trash can 16 can be opened.

Control system

The control system comprises a second motor 21, a third motor, a fourth motor, a water suction pump, a first laser sensor, a second laser sensor, a third laser sensor and a gravity sensor, wherein the first laser sensor is positioned on the left side surface of the first garbage bag 11, and when the second garbage bag 13 is detected to move to a low position, the second motor 21 is started, and the third motor 31 is stopped; the second laser sensor is arranged at the top of the side face of the garbage can 16, and when the garbage is sensed to fall off, the water suction pump is started to clean the garbage; when the second laser sensor does not have a return signal, the display lamp gives an alarm to indicate that the garbage can 16 is full, the sweeper body runs to a garbage dumping position, the bottom plate of the garbage can 16 is opened, and garbage is dumped; the third laser sensor is arranged on the side surface at a distance from the bottom plate of the garbage can 16, and when the position of the garbage is sensed, the fourth motor 29 is started to compress the garbage; the gravity sensor is provided on the bottom surface of the second garbage bag 13, and when it is sensed that the gravity of the second garbage bag 13 is sufficient, the third motor 31 is activated.

The specific working process is as follows:

the initial state is as follows: the left surface of first garbage bag 11 is opened, and second garbage bag 13 is located the minimum of second rotating disc 12, and is closed mutually with the opening of the left surface of first garbage bag 11, and first garbage bag 11 and second garbage bag 13 make first garbage bag 11 and second garbage bag 13 laminate the sandy beach through the spring of compression scavenging machine body upper end, and clamp plate 15 is located the top of dustbin 16 among the rubbish compressor arrangement 8.

The working state is as follows: the sweeper body moves to a sand beach dry and wet sand boundary, the height of the triangular crawler 5 is adjusted to enable the bottom plate of the box body 1 of the sweeper body to be horizontal, and the first rotating disc 10 is adjusted to enable the first rotating disc 10 to be parallel to a sand beach plane; the control system 9 starts the electric motor 20 to rotate, simultaneously starts the binocular camera 2 to identify a dry and wet sand boundary on the beach, when a beach dry and wet sand boundary coordinate is obtained, data detected in real time are transmitted to the control system 9, and the control system 9 starts the first nozzle 14 on the front side surface of the inlet of the first garbage bag 11 to pump seawater in the sea wave collecting box 4 through the water suction pump to provide impulsive force for garbage and flush the garbage; because the first rotating disc 10 is at a high position, the first garbage bag 11 and the second garbage bag 13 are at a low position, garbage enters the second garbage bag 13 through the left side opening of the first garbage bag 11 by utilizing the gravity of the garbage and the impact force of the first nozzle 14 on the garbage, the gravity sensor at the bottom surface of the second garbage bag 13 transmits real-time detection data to the control system 9, the control system 9 judges whether the garbage in the second garbage bag 13 is full or not, when the garbage in the second garbage bag 13 is detected to be full, the second motor 21 is started, the second motor 21 rotates to drive the second speed reducer 22 to operate, the second speed reducer 22 operates to drive the first lead screw 25 to operate so as to drive the first sliding block 27 to move back and forth, the first sliding block 27 moves forward to drive the rod 28 to move forward so as to drive the left side of the first garbage bag 11 to close, and because one side of the left side has a cutting edge, the garbage can be cut off; the real-time detection data are transmitted to the control system 9 by the first laser sensor on the left side surface of the first garbage bag 11, the control system 9 judges whether the left side surface is closed or not, when the left side surface is detected to be closed, the control system 9 drives the second rotating disc 12 to rotate, when the second garbage bag 13 is operated to the highest point of the second rotating disc 12, the second rotating disc 12 is paused, garbage in the second garbage bag 13 slides down along the track on the side surface of the second rotating disc 12 and slides to the garbage can 16, the real-time detection data are transmitted to the control system 9 by the second laser sensor on the top end of the side surface of the garbage can 16, the control system 9 judges that garbage exists in the garbage can 16, and the control system 9 controls the second spray head 17 on the side surface of the garbage can 16 to extract seawater in the sea wave collection box 4 through a water suction pump so as to clean the garbage; the third laser sensor at the bottom of the side surface of the garbage can 16 transmits real-time detection data to the control system 9, when the control system 9 judges that garbage is at the same height as the third laser sensor, the control system 9 starts the fourth motor 29 to operate to drive the fourth speed reducer 30 to operate, the fourth speed reducer 30 operates to drive the gear 18 to operate, the gear 18 is meshed with the rack 19 to enable the rack 19 to move downwards, the pressing plate 15 compresses the garbage in the garbage can 16, the second laser sensor at the top end of the side surface of the garbage can 16 transmits the real-time detection data to the control system 9, the control system 9 judges whether the garbage in the garbage can 16 is full or not, when the garbage in the garbage can 16 is detected to be full, an alarm is displayed, the garbage is dumped, the sweeper body operates to a garbage storage place, and the control system 9 controls the opening at the bottom surface of the garbage can 16.

Resetting the state: the left surface of first garbage bag 11 is opened, third motor 31 reverses, second garbage bag 13 is located the minimum of second rotating disc 12, and is closed mutually with the opening of the 11 left surfaces of first garbage bag, first garbage bag 11 and second garbage bag 13 pass through the spring of compression scavenging machine body upper end, make first garbage bag 11 and the laminating sandy beach of second garbage bag 13, and clamp plate 15 is located the top of dustbin 16 among the rubbish compressor arrangement 8, carries out the garbage collection operation of next time.

The above examples are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A dust sweeper adapted for use at a dry and wet sand line of a beach, the dust sweeper adapted for use on a beach comprising:

the sweeper body runs along a dry and wet sand boundary of a beach;

the garbage collection device (6) is used for collecting garbage at a dry and wet sand boundary of the sand beach;

the garbage conveying device (7) is used for conveying the garbage collected by the garbage collecting device (6) to the garbage compressing device (8);

a garbage compressing device (8) for compressing the garbage conveyed by the garbage conveying device (7);

and the control system (9) is used for controlling the garbage sweeper suitable for the dry and wet sand boundary of the beach.

2. The dust sweeper applicable to the sand beach dry and wet sand boundary line is characterized in that the front end surface of the sweeper body is provided with at least two binocular cameras (2).

3. The garbage sweeper applicable to the dry and wet sand boundary of the beach as claimed in claim 2, wherein the sweeper body is provided with two triangular tracks (5) at the front end and the rear end respectively, the triangular tracks (5) are evenly distributed with bosses on the surface, and the triangular tracks (5) can be adjusted in height.

4. The dust sweeper applicable to the dry and wet sand boundary of the beach of claim 3, is characterized in that the sweeper body further comprises a wave collection box (4), the wave collection box (4) extends from the front end to the rear end of the sweeper body, an opening is formed in the side face, close to the wave moving direction, of the wave collection box (4), and a grid partition plate is arranged in the wave collection box (4) and is lower than the lower end of the opening.

5. The dust sweeper applicable to the sand beach dry and wet sand boundary line of claim 1, wherein the dust collecting device (6) comprises a first rotating disk (10) and a first dust bag (11), the bottom surface of the first rotating disk (10) is uniformly provided with cutting edges, the front, back, upper and lower sides of the first dust bag (11) are welded together, the left side can move back and forth, the forward moving side is provided with the cutting edges, the lower side is a grid slope and is not provided with a right side, and the first dust bag (11) is provided with a first spray head (14) at the inlet front side.

6. The dust sweeper suitable for the sand beach dry and wet sand boundary of claim 1, wherein the upper end of the bottom plate of the sweeper body is provided with a spring.

7. The dust sweeper applicable to the sand beach dry and wet sand boundary line is characterized in that the dust conveying device (7) comprises a second rotating disk (12) and a second dust bag (13), the circumferential side surface of the second rotating disk (12) is provided with a groove with a smooth bottom surface, two sides of the groove are provided with baffle plates, the second dust bag (13) is welded at the lowest point of the second rotating disk (12), and the right side dust inlet of the second dust bag (13) is the same as the left side outlet of the first dust bag (11).

8. A dust sweeper suitable for sand beach dry and wet sand boundary line according to claim 1, characterized in that the dust compressing device (8) comprises at least one second nozzle (17) and a dust bin (16), the second nozzle (17) is arranged at the side of the dust bin (16), the bottom of the dust bin (16) is openable.

9. The dust sweeper at the sand beach dry and wet sand boundary line as claimed in claim 1, wherein the control system comprises a first laser sensor located on the left side of the first dust bag (11), a second laser sensor located at the top of the side of the dust bin (16), a third laser sensor located on the side at a distance from the bottom plate of the dust bin (16), and a gravity sensor located on the bottom of the second dust bag (13).