CN112046220A - Water-air amphibious cleaner and method for collecting floating algae on water surface of still water area - Google Patents
Water-air amphibious cleaner and method for collecting floating algae on water surface of still water area Download PDFInfo
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 151
- 241000195493 Cryptophyta Species 0.000 title claims abstract description 39
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims abstract description 21
- 230000002093 peripheral effect Effects 0.000 claims abstract description 10
- 238000004140 cleaning Methods 0.000 claims abstract description 7
- 238000012545 processing Methods 0.000 claims description 12
- 230000002457 bidirectional effect Effects 0.000 claims description 10
- 238000004891 communication Methods 0.000 claims description 8
- 239000012530 fluid Substances 0.000 claims description 6
- 230000006698 induction Effects 0.000 claims description 6
- 238000013507 mapping Methods 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000001914 filtration Methods 0.000 claims description 2
- 230000001939 inductive effect Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 238000004064 recycling Methods 0.000 abstract description 4
- 238000005188 flotation Methods 0.000 description 17
- 238000010586 diagram Methods 0.000 description 6
- 239000003643 water by type Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 208000034699 Vitreous floaters Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012851 eutrophication Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D27/00—Arrangement or mounting of power plants in aircraft; Aircraft characterised by the type or position of power plants
- B64D27/02—Aircraft characterised by the type or position of power plants
- B64D27/24—Aircraft characterised by the type or position of power plants using steam or spring force
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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
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- 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
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Ocean & Marine Engineering (AREA)
- General Physics & Mathematics (AREA)
- Combustion & Propulsion (AREA)
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- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
Abstract
A water-air amphibious cleaner and a method for collecting water surface floating algae in a still water area belong to the field of cleaning of water surface floating algae in the still water area; the system comprises a water surface garbage collecting device, a power device, a control system, a buoy and a visual image holder; the power device and the floating pontoon are distributed on the lower part of the peripheral surface of the water surface garbage collecting device along the circumferential direction, the power device and the floating pontoon are distributed in a staggered way, the power device is used for controlling the flight and navigation of the cleaner, and the floating pontoon is used for controlling the sinking and floating depth of the cleaner; the control system is used for receiving information and sending a control signal to drive the power device so as to control the working modes of the cleaner for flying in the air, sailing on the water surface or salvaging garbage on the water surface; the visual image holder is used for acquiring the information of the operation environment of the water surface garbage cleaned by the cleaner. The throwing and recycling mode of the traditional surface ship is replaced by the autonomous flight mode, and the water and air are amphibious, so that the throwing and recycling efficiency of the equipment is greatly improved.
Description
Technical Field
The invention belongs to the field of cleaning of still water area water surface floating algae, and particularly relates to a water-air amphibious cleaner and a method for collecting still water area water surface floating algae.
Background
With the development of economy and improvement of living standard of people in China, rapid urbanization and industrialization progress, development of tourism industry, thinness of environmental protection consciousness of people and the like, rivers, tourist scenic spots, reservoirs and some calm long and narrow water areas in cities are difficult to salvage floating algae on the water surface due to the lack of professional water surface floating algae collecting equipment.
The garbage salvage ships in the market are large ship machines, are mainly used for collecting large-area and large-scale water surface garbage, and are complex in structure and large in size. The floating algae salvaging method is not suitable for floating algae salvaging in urban inland rivers, tourist scenic spots rivers, reservoirs and some calm and long and narrow water areas, most floating algae in the water areas are manually salvaged by manually driving boats at present, and the mode has the disadvantages of high labor intensity, low working efficiency, long period, insecurity and serious influence of environmental climate and the like. The design of the water-air amphibious cleaner can simply and efficiently remove floating algae, and meanwhile, the problem of potential safety hazard of manual salvage can be solved.
For example, CN 106741894 a searches for a patent document that has been disclosed in the related art, and simply carries a salvage net on an unmanned aerial vehicle platform to perform a garbage salvage operation. This device has the following disadvantages: 1. the unmanned aerial vehicle has complex salvaging action, great difficulty and low efficiency; 2. the unmanned aerial vehicle has high control precision requirement and large power consumption; 3. floating algae garbage, flaky fallen leaves and other trivial garbage in a large area caused by water eutrophication cannot be collected. For example, CN 107622231 a uses an unmanned plane and a water surface garbage collecting device to work together, but the device also has the following disadvantages: 1. the efficiency problem of cooperative work of the two machines cannot be guaranteed; 2. the system is complex to work.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides a water-air amphibious cleaner for collecting the floating algae on the water surface in the still water area, which aims to efficiently and intelligently clean the floating algae on the water surface in some calm water areas such as lakes, urban rivers, tourist scenic spots, rivers, reservoirs and the like and creates a good water surface sanitary environment. .
The technical scheme of the invention is as follows: a empty amphibious cleaner of water that is used for still water area surface of water to float algae to collect which characterized in that: the system comprises a water surface garbage collecting device, a power device, a control system, a buoy and a visual image holder; 4 groups of power devices and 4 groups of floating bowls are uniformly distributed at the lower part of the peripheral surface of the water surface garbage collecting device along the circumferential direction, and the power devices and the floating bowls are distributed in a staggered manner;
the water surface garbage collecting device is integrally of a columnar structure and comprises an adjusting cover, a filter screen, a garbage collecting barrel, a submersible pump and a base; the garbage collecting barrel is of a cylindrical structure with an opening at the upper end and is arranged on the base; the submersible pump is arranged in the base, and a water suction port of the submersible pump is communicated with the interior of the garbage collecting barrel; the adjusting cover is a thin-wall circular ring part, is sleeved at the opening of the garbage collecting barrel and is in clearance fit with the opening, and is used for adjusting water flow vortex above the garbage collecting barrel; the filter screen is arranged in the garbage collection barrel and is used for filtering algae floating in the garbage collection barrel to prevent the algae from entering the submersible pump; the submersible pump continuously pumps water in the garbage collection barrel, so that water on the water surface continuously flows into the garbage collection barrel from the upper surface of the adjusting cover, and vortex centripetal suction force is generated above the adjusting cover, so that fluid carries suspended matters on the water surface in a vortex area to flow downwards in a spiral centripetal mode and further flows into the garbage collection barrel;
the power device comprises a horn, a tilting steering engine, a motor and a rotor wing, wherein one end of the horn is fixed on the outer peripheral surface of the garbage collection barrel, and the other end of the horn is sequentially provided with the tilting steering engine, the motor and the rotor wing;
the buoy comprises an upper hemispherical buoy, a buoy bracket, a lower hemispherical buoy and a bidirectional gear pump; one end of the float bowl support is fixed on the peripheral surface of the garbage collection barrel, and the other end of the float bowl support is of an annular structure; the upper hemispherical buoy and the lower hemispherical buoy are respectively fixedly arranged on the upper side and the lower side of the other end of the buoy bracket and are combined into a hollow integrated structure; the bidirectional gear pump is arranged at the bottom of the lower hemispherical buoy, and the water absorption or drainage function is realized by changing the meshing direction of the gears;
the control system is used for receiving information and sending a control signal to drive the power device so as to control the working modes of the cleaner for flying in the air, sailing on the water surface or salvaging garbage on the water surface;
the visual image holder comprises a mounting rack, a visual module and a laser radar; the vision module and the laser radar are arranged right above the garbage collection barrel through a mounting frame, and the vision module is used for acquiring the operation environment information of the water surface garbage cleaner; the laser radar is used for acquiring water area boundary environment information.
The further technical scheme of the invention is as follows: the control system is arranged on an installation rack of the visual image holder and comprises a central processing unit, a power supply module, an induction module, a storage module, a positioning module, a navigation module, a communication module and an electric driving module for driving a power device; the power module, the induction module, the storage module, the positioning module, the navigation module, the communication module and the electric driving module for driving the power device are respectively connected with the central processing unit; the induction module is used for inducing the water level height of the buoy; the central processing unit receives the information sent by the positioning module, the navigation module and the communication module, processes the information into a control signal and sends the control signal to the electric driving module to drive the power device.
The further technical scheme of the invention is as follows: the bottom of the garbage collection barrel is provided with a through hole, a water outlet is arranged at the through hole, and the water outlet is hermetically connected with a water suction port of the submersible pump.
The further technical scheme of the invention is as follows: the upper hemisphere buoy and the lower hemisphere buoy are of a hemisphere shell structure and are connected with the buoy support frame through bolts to form an integral hollow structure.
The further technical scheme of the invention is as follows: the mounting frame comprises a holder bracket and a holder fixing frame, and the holder fixing frame is of a flat plate structure and is used for fixedly mounting the vision module and the laser radar; the holder fixing frame is of an L-shaped structure; two cloud platform mount symmetry set up in cloud platform mount both sides, its upper end all with cloud platform mount is fixed, the lower extreme symmetry is fixed in on the garbage collection bucket outer peripheral face.
A cleaning method of a water-air amphibious cleaner for collecting floating algae on the water surface of a still water area comprises the following steps:
step 1: the water-air amphibious cleaner is used for carrying out mapping and modeling on a water surface boundary through the laser radar in a flight mode, carrying out mapping and modeling on the water surface boundary, calculating the area of a water surface, and planning a sailing route of the water-air amphibious cleaner on the water surface according to an operation radius corresponding to the water-air amphibious cleaner;
step 2: the water-air amphibious cleaner is changed from a flight mode to a navigation mode through a control system, and water surface navigation is carried out according to a planned navigation route;
and step 3: the visual image holder is used for acquiring an image of a water surface to be cleaned, when the visual image holder detects floating algae on the water surface, a central processing unit of the water-air amphibious cleaner sends an instruction, the water-air amphibious cleaner controls the bidirectional gear pump to absorb water, the submersible pump is started to collect the floating algae after the floating pontoon floats to the position slightly lower than the water surface of the adjusting cover of the water surface garbage collecting device, and meanwhile, the bidirectional gear pump continuously absorbs and discharges water to keep the working state that the adjusting cover is slightly lower than the water surface;
and 4, step 4: when the water-air amphibious cleaner reaches the time required by the corresponding optimal operation radius, the submersible pump stops collecting floating algae and continues navigating along the planned route;
and 5: repeating the step 3 and the step 4, when the ground station observes that the garbage collection barrel is full, the ground station sends an instruction to the central processing unit, the water-air amphibious cleaner is changed from a navigation mode to a flight mode, and the water-air amphibious cleaner returns to the shore;
step 6: and after the garbage collection barrel is cleaned, starting the water-air amphibious cleaner again, enabling the water-air amphibious cleaner to fly to the return geographic coordinate position according to the stored data, and continuing to sail according to the planned route until the cleaning work of the whole water surface is completed.
Advantageous effects
The invention has the beneficial effects that:
1. realize modeling to waters boundary through laser radar, to the modeling of the whole condition of surface of water to and waters boundary modeling, according to the operation route of cleaner, carry out the fixed point and collect and float the alga, replace and salvage from traditional full waters navigation, thereby promoted the efficiency of floating the alga greatly, the energy saving.
2. Constantly follow the garbage collection bucket through the immersible pump and absorb water, set up the regulation cover in garbage collection bucket top, make the upper surface of adjusting the cover produce the vortex centripetal suction, downdraft the centripetal suction that the vortex produced for the fluid carries the regional surface of water suspended solid spiral of vortex to flow downwards centripetal, has realized 360 degrees no dead angles and has salvaged floating algae. Based on the fluid vortex centripetal suction principle, floating algae is salvaged in 360 degrees without dead angles.
3. When the tilting steering engine in the power device of the cleaner rotates to be perpendicular to the water surface, the cleaner is in a flight mode, when the tilting steering engine rotates to be parallel to the water surface, the cleaner is in a navigation mode, and the design of the dual-mode integrated power device for the flying and navigation of the cleaner is realized through the tilting steering engine. The throwing and recycling mode of the traditional surface ship is replaced by the autonomous flight mode, and the water and air are amphibious, so that the throwing and recycling efficiency of the equipment is greatly improved.
Drawings
Fig. 1 is a schematic structural diagram of a water-air amphibious cleaner adopted by the invention.
Fig. 2 is a schematic structural diagram of a power device adopted by the invention.
Fig. 3 is a schematic structural view of the water surface garbage collecting device adopted by the invention.
FIG. 4 is a block diagram of a buoy structure employed in the present invention.
FIG. 5 is a schematic diagram of a visual image platform structure employed in the present invention.
Fig. 6 is a block diagram of a control system employed in the present invention.
Fig. 7 is a schematic diagram of a working route of the water-air amphibious cleaner adopted by the invention.
Description of reference numerals: 1. the device comprises a power device, 2, a water surface garbage collecting device, 3, a buoy, 4, a visual image tripod head, 11, a horn, 12, a tilting steering engine, 13, a motor, 14, a rotor wing, 21, an adjusting cover, 22, a filter screen, 23, a garbage collecting barrel, 24, a submersible pump, 25, a base, 31, an upper hemisphere buoy, 32, a buoy bracket, 33, a lower hemisphere buoy, 34, a bidirectional gear pump, 41, a tripod head bracket, 42, a tripod head fixing frame, 43, a visual module and 44, and a laser radar.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
As shown in fig. 1, 2, 3, 4 and 5, the water-air amphibious cleaner for collecting the floaters on the water surface comprises a power device 1, a water surface garbage collecting device 2, a buoy 3 and a visual image holder 4. The water surface garbage collection device is located the cleaner central point and puts, the water surface garbage collection device comprises adjusting cover 21, filter screen 22, garbage collection bucket 23, immersible pump 24 and 25 four bibliographic categories of base, immersible pump 24 is installed inside the base 25, immersible pump 24's water sucking mouth with garbage collection bucket 23 is connected, garbage collection bucket 23 with the base 25 is connected, filter screen 22 is placed inside garbage collection bucket 23, adjusting cover 21 is placed garbage collection bucket 23 top. The submersible pump 24 continuously pumps water in the garbage collection barrel 23, the water on the water surface continuously flows into the garbage collection barrel 23 from the upper surface of the adjusting cover 21, and a vortex centripetal suction force is generated above the adjusting cover 21 (according to a vortex speed moment conservation principle, the rotation peripheral speed of a vortex is inversely proportional to the radius of the vortex, and the position close to the smaller radius of the vortex center, the larger the flow rate of the fluid is, the smaller the relative pressure is according to a Bernoulli equation, so that a pressure difference is generated along the radial direction of the vortex, and under the environment of atmospheric contact, the fluid is represented as a concave quadratic curve type free curved surface.
The cleaner adopts four power devices 1 with the same structure, as shown in fig. 2, the power device 1 is composed of four parts, namely a horn 11, a tilting steering engine 12, a motor 13 and a rotor wing 14. The tilt steering engine 12 is mounted on the horn 11, and the motor 13 and the rotor 14 are mounted on the tilt steering engine 12. The four power devices 1 are radially and uniformly arranged on the lower side surface of the garbage collecting barrel 33 through the machine arm 11.
This cleaner adopts four flotation pontoon 3 of the same structure, as shown in fig. 4, flotation pontoon 3 comprises episphere flotation pontoon 31, flotation pontoon support 32, lower hemisphere flotation pontoon 33 and two-way gear pump 34, flotation pontoon support 32 is located episphere flotation pontoon 31 with lower hemisphere flotation pontoon 33 intermediate position, episphere flotation pontoon 31, flotation pontoon support 32 and lower hemisphere flotation pontoon 33 link together through bolt and nut, four flotation pontoons 3 pass through radial equipartition of flotation pontoon support 32 is installed garbage collection bucket 33 downside, with four power device 1 be 45 equidistant distribution. The two-way gear pump 34 is installed the hemisphere flotation pontoon 33 bottom down, the two-way gear pump 34 realizes absorbing water or drainage function through the change of gear engagement direction, the two-way gear pump 34 absorbs water and makes the cleaner adjust the cover 21 and slightly be less than the surface of water after, immersible pump 34 starts to float the algae and collects, through the real-time measurement of flotation pontoon water level height sensing module 3 water level height of flotation pontoon makes the two-way gear pump 34 constantly absorbs water and discharges to keep adjust the operating condition that the cover 21 is slightly less than the surface of water.
As shown in fig. 5, the visual image pan-tilt 4 is composed of a pan-tilt support 41, a pan-tilt mount 42, a visual module 43 and a laser radar 44, the visual module 43 and the laser radar 44 are installed on the pan-tilt mount 42, two end faces of the pan-tilt mount 42 are fixed on two pan-tilt supports 41, and the pan-tilt support 41 is installed on the lower side surface of the garbage collecting can 33.
As shown in fig. 6, the cleaner control system is provided with a central processor 101, a power module 102, a sensing module 103, a storage module 104, a positioning module 105, a navigation module 106, a communication module 107, and an electric driving module 108 for driving the water-air amphibious cleaner to fly in the air, navigate on the water surface, and collect floating objects on the water surface, wherein the power module 102, the sensing module 103, the storage module 104, the positioning module 105, the navigation module 106, the communication module 107, and the electric driving module 108 for driving the power device are respectively connected with the central processor 101.
A working method of a water-air amphibious cleaner for collecting floating objects on water surface comprises the following steps:
step 1: the method comprises the following steps that under a flight mode, a water-air amphibious cleaner conducts mapping and modeling on a water surface boundary through a laser radar, the water surface boundary is mapped and modeled, the area of a water surface is calculated, and a sailing route of the water-air amphibious cleaner on the water surface is planned according to an operation radius corresponding to the cleaner;
step 2: the water-air amphibious cleaner is changed from a flight mode to a navigation mode, and sails on the water surface according to a planned navigation route;
and step 3: the AI vision cloud platform acquires the image of treating the clearance surface of water, and when the AI vision cloud platform detected the surface of water and floats the algae, the central processing unit of empty amphibious cleaner of water sent the instruction, and empty amphibious cleaner of water control bidirectional gear pump absorbs water, and the flotation pontoon floats to the adjustment cover after being less than the surface of water a little, and the immersible pump starts to float the algae and collects, and the two-way gear pump constantly absorbs water the drainage simultaneously and keeps the adjustment cover operating condition that is less than the surface of water a little.
And 4, step 4: when the water-air amphibious cleaner reaches the time required by the corresponding optimal operation radius, the submersible pump stops collecting floating algae and continues navigating along the planned route;
and 5: repeating the step 3 and the step 4, when the ground station observes that the garbage collection barrel is full, the ground station sends an instruction to the central processing unit, the water-air amphibious cleaner is changed from a navigation mode to a flight mode, and the water-air amphibious cleaner returns to the shore;
step 6: and after the garbage collection barrel is cleaned, starting the water-air amphibious cleaner again, enabling the water-air amphibious cleaner to fly to the return geographic coordinate position according to the stored data, and continuing to sail according to the planned route until the cleaning work of the whole water surface is completed.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (6)
1. A empty amphibious cleaner of water that is used for still water area surface of water to float algae to collect which characterized in that: the system comprises a water surface garbage collecting device, a power device, a control system, a buoy and a visual image holder; 4 groups of power devices and 4 groups of floating bowls are uniformly distributed at the lower part of the peripheral surface of the water surface garbage collecting device along the circumferential direction, and the power devices and the floating bowls are distributed in a staggered manner;
the water surface garbage collecting device is integrally of a columnar structure and comprises an adjusting cover, a filter screen, a garbage collecting barrel, a submersible pump and a base; the garbage collecting barrel is of a cylindrical structure with an opening at the upper end and is arranged on the base; the submersible pump is arranged in the base, and a water suction port of the submersible pump is communicated with the interior of the garbage collecting barrel; the adjusting cover is a thin-wall circular ring part, is sleeved at the opening of the garbage collecting barrel and is in clearance fit with the opening, and is used for adjusting water flow vortex above the garbage collecting barrel; the filter screen is arranged in the garbage collection barrel and is used for filtering algae floating in the garbage collection barrel to prevent the algae from entering the submersible pump; the submersible pump continuously pumps water in the garbage collection barrel, so that water on the water surface continuously flows into the garbage collection barrel from the upper surface of the adjusting cover, and vortex centripetal suction force is generated above the adjusting cover, so that fluid carries suspended matters on the water surface in a vortex area to flow downwards in a spiral centripetal mode and further flows into the garbage collection barrel;
the power device comprises a horn, a tilting steering engine, a motor and a rotor wing, wherein one end of the horn is fixed on the outer peripheral surface of the garbage collection barrel, and the other end of the horn is sequentially provided with the tilting steering engine, the motor and the rotor wing;
the buoy comprises an upper hemispherical buoy, a buoy bracket, a lower hemispherical buoy and a bidirectional gear pump; one end of the float bowl support is fixed on the peripheral surface of the garbage collection barrel, and the other end of the float bowl support is of an annular structure; the upper hemispherical buoy and the lower hemispherical buoy are respectively fixedly arranged on the upper side and the lower side of the other end of the buoy bracket and are combined into a hollow integrated structure; the bidirectional gear pump is arranged at the bottom of the lower hemispherical buoy, and the water absorption or drainage function is realized by changing the meshing direction of the gears;
the control system is used for receiving information and sending a control signal to drive the power device so as to control the working modes of the cleaner for flying in the air, sailing on the water surface or salvaging garbage on the water surface;
the visual image holder comprises a mounting rack, a visual module and a laser radar; the vision module and the laser radar are arranged right above the garbage collection barrel through a mounting frame, and the vision module is used for acquiring the operation environment information of the water surface garbage cleaner; the laser radar is used for acquiring water area boundary environment information.
2. The water-air amphibious cleaner for collection of floating algae on water in still water areas according to claim 1, wherein: the control system is arranged on an installation rack of the visual image holder and comprises a central processing unit, a power supply module, an induction module, a storage module, a positioning module, a navigation module, a communication module and an electric driving module for driving a power device; the power module, the induction module, the storage module, the positioning module, the navigation module, the communication module and the electric driving module for driving the power device are respectively connected with the central processing unit; the induction module is used for inducing the water level height of the buoy; the central processing unit receives the information sent by the positioning module, the navigation module and the communication module, processes the information into a control signal and sends the control signal to the electric driving module to drive the power device.
3. The water-air amphibious cleaner for collection of floating algae on water in still water areas according to claim 1, wherein: the bottom of the garbage collection barrel is provided with a through hole, a water outlet is arranged at the through hole, and the water outlet is hermetically connected with a water suction port of the submersible pump.
4. The water-air amphibious cleaner for collection of floating algae on water in still water areas according to claim 1, wherein: the upper hemisphere buoy and the lower hemisphere buoy are of a hemisphere shell structure and are connected with the buoy support frame through bolts to form an integral hollow structure.
5. The water-air amphibious cleaner for collection of floating algae on water in still water areas according to claim 1, wherein: the mounting frame comprises a holder bracket and a holder fixing frame, and the holder fixing frame is of a flat plate structure and is used for fixedly mounting the vision module and the laser radar; the holder fixing frame is of an L-shaped structure; two cloud platform mount symmetry set up in cloud platform mount both sides, its upper end all with cloud platform mount is fixed, the lower extreme symmetry is fixed in on the garbage collection bucket outer peripheral face.
6. A cleaning method of the water-air amphibious cleaner for collecting the floating algae on the water surface in the still water area according to claim 1 is characterized by comprising the following specific steps:
step 1: the water-air amphibious cleaner is used for carrying out mapping and modeling on a water surface boundary through the laser radar in a flight mode, carrying out mapping and modeling on the water surface boundary, calculating the area of a water surface, and planning a sailing route of the water-air amphibious cleaner on the water surface according to an operation radius corresponding to the water-air amphibious cleaner;
step 2: the water-air amphibious cleaner is changed from a flight mode to a navigation mode through a control system, and water surface navigation is carried out according to a planned navigation route;
and step 3: the visual image holder is used for acquiring an image of a water surface to be cleaned, when the visual image holder detects floating algae on the water surface, a central processing unit of the water-air amphibious cleaner sends an instruction, the water-air amphibious cleaner controls the bidirectional gear pump to absorb water, the submersible pump is started to collect the floating algae after the floating pontoon floats to the position slightly lower than the water surface of the adjusting cover of the water surface garbage collecting device, and meanwhile, the bidirectional gear pump continuously absorbs and discharges water to keep the working state that the adjusting cover is slightly lower than the water surface;
and 4, step 4: when the water-air amphibious cleaner reaches the time required by the corresponding optimal operation radius, the submersible pump stops collecting floating algae and continues navigating along the planned route;
and 5: repeating the step 3 and the step 4, when the ground station observes that the garbage collection barrel is full, the ground station sends an instruction to the central processing unit, the water-air amphibious cleaner is changed from a navigation mode to a flight mode, and the water-air amphibious cleaner returns to the shore;
step 6: and after the garbage collection barrel is cleaned, starting the water-air amphibious cleaner again, enabling the water-air amphibious cleaner to fly to the return geographic coordinate position according to the stored data, and continuing to sail according to the planned route until the cleaning work of the whole water surface is completed.
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