CN113699957B

CN113699957B - Water robot for capturing and transporting garbage floating on sea

Info

Publication number: CN113699957B
Application number: CN202110852656.6A
Authority: CN
Inventors: 刘必劲; 王立忠
Original assignee: Hainan Institute of Zhejiang University
Current assignee: Hainan Institute of Zhejiang University
Priority date: 2021-07-27
Filing date: 2021-07-27
Publication date: 2022-10-18
Anticipated expiration: 2041-07-27
Also published as: CN113699957A

Abstract

The invention provides a water robot for realizing capture and transportation of garbage on sea and floating, which comprises an energy storage unit, a floating fence, an energy capture unit, a main control unit and a floating transportation robot. The energy storage unit is respectively connected with the floating fence, the energy capture unit, the main control unit and the floating transportation robot. The main control unit is respectively connected with the floating type transportation robot. The floating type transportation robot is configured to be capable of being fixed in the energy storage unit for charging in the garbage capturing stage, and after the charging and the garbage capturing are completed, the main control unit controls the energy storage unit to release the floating type transportation robot and controls the floating type transportation robot to convey the floating garbage captured in the floating type transportation robot to a designated position and return the floating type garbage to the energy storage unit. According to the invention, the floating fences and the floating transportation robot are utilized to realize automatic uninterrupted section interception and collection of 24-hour sea floating garbage in a key offshore area, so that the collection efficiency is greatly improved, and the manpower, capital cost and energy consumption are greatly reduced.

Description

Water robot for capturing and transporting garbage floating on sea

Technical Field

The invention relates to the technical field of marine environment cleaning, in particular to a water robot for capturing and transporting garbage floating on sea.

Background

In 12 months 2014, the five-circulation institute of america considers that 5.25 trillion plastic chips float in the ocean and the total mass is about 26.9 million tons through the evaluation of a multi-year ocean fishing statistics and a mathematical model. The world economic forum also published reports that by 2050 floating plastics in the ocean will eventually outweigh fish. The communique of marine environmental conditions published by the national ministry of ecological environment of China in 2018 shows that the regions with high density of marine waste are mainly distributed in tourist, leisure, recreation and entertainment regions, ports, shipping and near sea regions. Particularly in the beach area where human activities are intensive, the average number and the average density of the garbage are higher than those in other areas. With the increasing of the garbage floating on the sea, the marine ecology is greatly damaged, and meanwhile, the garbage floating on the sea also causes greater and greater interference on navigation safety, marine operation and marine search and rescue.

The Chinese patent with publication number CN205186476U discloses a marine garbage recovery device, which comprises a base body, a garbage mobile phone device, a power system and a control system, wherein the machine body is of a cuboid structure, a rectangular groove is formed in the bottom of the machine body, and a garbage collection device is positioned below the rectangular groove; the power system comprises a propelling device arranged at the bottom of the machine body on two sides of the rectangular groove, a power supply positioned in the machine body and solar power generation equipment positioned at the top of the machine body, and the solar power generation equipment is connected with the power supply; the control system comprises a remote controller, a signal receiver, a loudspeaker and a power switch. This device utilizes one side open-ended cuboid to float and collects the floating garbage in aqueous to utilize the cuboid top to collect the solar energy power supply. However, the device belongs to the traditional point type collection, the efficiency is low, and the energy provided by the solar panel is difficult to meet the operation requirement of the device. Chinese patent application No. CN201611172930.0 discloses an automatic marine garbage collection robot, which collects marine garbage by using a vortex, transmits the marine garbage by using a crawler, and supplies power to the whole device by using solar energy. The device also belongs to the traditional point type absorption, because the sea surface environment is complex, the adopted vortex with smaller energy can be completely submerged in the waves, so that the effect is not obvious, the larger vortex needs to consume great energy, and the requirement of the device for operation is difficult to meet by using solar energy for power supply.

The vast majority of the current garbage collection robots for the sea drift are active-point collection. For scattered garbage floating on the sea, the energy consumption for collecting single garbage floating on the sea by adopting the equipment is too large, and the garbage floating on the sea is difficult to collect continuously for 24 hours. Some offshore floating garbage intercepting devices with section collection capacity can only collect garbage, and the collected floating garbage still needs to be recovered by a garbage ship.

Disclosure of Invention

The invention provides a water robot for capturing and transporting floating garbage, and aims to solve the problems that the existing floating garbage collecting robot is high in energy consumption and difficult to collect the scattered floating garbage uninterruptedly, the collected floating garbage cannot be automatically recovered and the like.

The invention is realized by the following steps:

a water robot for realizing capture and transportation of garbage floating on sea, comprising:

an energy storage unit for storing and releasing energy;

the floating fences are respectively arranged on two sides of the energy storage unit and used for intercepting garbage floating on the sea, and one end of the floating fence, which is far away from the energy storage unit, is also provided with an anchor chain used for fixing the floating fence on the seabed;

the energy capturing units are respectively arranged on the floating fences and are also connected with the energy storage unit for conveying the captured energy to the energy storage unit;

the main control unit is connected with the energy storage unit;

and the floating type transportation robot is configured in the energy storage unit and is electrically connected with the main control unit, the floating type transportation robot can be fixed in the energy storage unit for charging in a garbage capturing stage, and after the charging and the garbage capturing are completed, the main control unit controls the energy storage unit to release the floating type transportation robot and controls the floating type transportation robot to convey the floating garbage captured in the floating type transportation robot to a specified position and return the floating garbage to the energy storage unit.

Further, in a preferred embodiment of the present invention, the floating barrier includes an intercepting screen, an intercepting buoy, and a plurality of gravity balls, wherein the plurality of gravity balls are disposed at equal intervals on a side of the intercepting screen close to water, and the intercepting buoy is disposed on a side of the intercepting screen far from the gravity balls.

Further, in a preferred embodiment of the present invention, the energy capturing unit includes a support truss and a solar panel, the support truss is erected on the intercepting buoy, and the solar panel is fixedly connected to the support truss and connected to the energy storing unit through a cable.

Further, in a preferred embodiment of the present invention, the energy capturing unit further includes a supporting base, a supporting rod, a navigation light and a wind power generator, the supporting base is fixedly connected to the solar panel, one end of the supporting rod is connected to the supporting base, and the end of the supporting rod away from the supporting base is connected to the navigation light, the end of the navigation light away from the supporting rod is further connected to the wind power generator, and the navigation light and the wind power generator are further connected to the energy storage unit through cables.

Further, in a preferred embodiment of the present invention, the energy storage unit includes a robot arresting bar, robot guide plates, and two symmetrically arranged buoyancy plates, the two buoyancy plates are fixedly connected by a plurality of energy storage unit connecting rods and form a space for accommodating the floating transportation robot, one end of each of the two buoyancy plates is further connected to the corresponding floating fence to form a garbage arresting area, the robot arresting bar is located at one end of the floating fence connected to the buoyancy plate, two ends of the robot arresting bar are connected to the corresponding buoyancy plates, one end of the buoyancy plate far away from the robot arresting bar is further provided with a robot guide plate, and the two robot guide plates form a space which is fan-shaped and has an outward opening.

Further, in a preferred embodiment of the present invention, the energy storage unit further includes a garbage baffle, a garbage baffle rotating shaft, and a rotating ring sleeved on the garbage baffle rotating shaft, the garbage baffle rotating shaft is disposed between the two buoyancy plates, and both ends of the garbage baffle rotating shaft are respectively connected to the corresponding buoyancy plates, the garbage baffle is fixedly connected to the rotating ring, the rotating ring is configured to rotate around the garbage baffle rotating shaft under the driving of the floating transportation robot, so as to drive the garbage baffle to rotate around the garbage baffle rotating shaft, so that the floating transportation robot enters the energy storage unit, and when the floating transportation robot leaves the energy storage unit, the garbage baffle automatically hangs down under the action of gravity, so as to prevent floating garbage from passing over the garbage baffle.

Further, in a preferred embodiment of the present invention, the energy storage unit further includes a charging chuck and an energy storage unit battery, the charging chuck includes a charging chuck body, a guide rod, a charging chuck and an electromagnet disposed on the charging chuck body, one end of the guide rod is connected to the charging chuck body, the other end of the guide rod is fixedly connected to the buoyancy plate, one end of the charging chuck close to the buoyancy plate is provided with a fixing ball, the charging chuck close to the charging chuck body is further provided with a fixing pin, the fixing pin is located on a side of the charging chuck body away from the fixing ball, the charging chuck and the electromagnet are respectively electrically connected to the energy storage unit battery, the electromagnet is further electrically connected to the main control unit, the charging chuck is configured to charge the floating transportation robot through the charging chuck when the floating transportation robot completely enters the energy storage unit, and the main control unit controls the electromagnet to be electrified to generate a magnetic force to suck up the charging chuck, so that the floating transportation robot is separated from the charging chuck.

Further, in a preferred embodiment of the present invention, the floating transportation robot includes a robot body, a turbine motor and a robot battery, the robot body includes a hollow-out net and robot buoyancy plates respectively disposed at two sides, the two robot buoyancy plates are fixedly connected through a robot frame rod and connected with the hollow-out net to form a garbage basket for containing the garbage floating on the sea, the turbine motor is respectively disposed around the robot body and located below the robot body, the robot battery is disposed in the robot buoyancy plates and connected with the turbine motor, the turbine motor and the robot battery are respectively and electrically connected with the main control unit, the robot body is provided with an opening for capturing the garbage floating on the sea, and two sides of one end of the robot body near the opening are respectively provided with a charging chuck guide plate.

Further, in a preferred embodiment of the present invention, the floating transportation robot further includes a wave-crossing one-way door located at the opening, the wave-crossing one-way door includes one-way door plates, a connecting rod, a fixing cap, a buoyancy capsule, and a rotating rod fixed on the one-way door plates, the rotating rod is located between the robot buoyancy plates, and both ends of the rotating rod are respectively rotatably connected to the corresponding robot buoyancy plates, so as to drive the one-way door plates to rotate, the one-way door plate is provided with a through-type guide slot, the connecting rod penetrates through the through-type guide slot, and one side of the connecting rod near the water is connected to the buoyancy capsule, one side of the connecting rod near the water is connected to the fixing cap, and one end of the one-way door plate far from the rotating rod is further provided with a plurality of tooth barbs.

Further, in a preferred embodiment of the present invention, a fixed hook is further disposed at an end of the floating transportation robot away from the opening, the fixed hook is electrically connected to the robot battery and the main control unit, respectively, and the floating transportation robot is configured to transfer energy of the energy storage unit to the robot battery through the charging chuck and the fixed hook by clamping the charging chuck on the fixed hook, so as to provide energy replenishment for the floating transportation robot.

The beneficial effects of the invention are:

1. the invention discloses a water robot for realizing capture and transportation of garbage on sea level, which comprises an energy storage unit, a floating fence, an energy capture unit, a main control unit and a floating transportation robot. The energy storage unit is respectively connected with the floating fence, the energy capture unit, the main control unit and the floating transportation robot. The main control unit is respectively connected with the floating type transportation robot. The floating fences are arranged on two sides of the energy storage unit and used for intercepting the garbage floating on the sea. The floating type transportation robot is configured to be capable of being fixed in the energy storage unit for charging in the garbage capturing stage, and after the charging and the garbage capturing are completed, the main control unit controls the energy storage unit to release the floating type transportation robot and controls the floating type transportation robot to convey the floating garbage captured in the floating type transportation robot to a designated position and return the floating type garbage to the energy storage unit. According to the invention, the floating fence and the floating transport robot are utilized to realize automatic uninterrupted section interception and collection of 24-hour floating garbage in a coastal key sea area with intensive human activities, so that key areas such as sand beaches and ports behind garbage capture sections are prevented from being invaded by the floating garbage. Compared with the traditional offshore garbage intercepting device, the offshore garbage intercepting device has the advantages that the collection efficiency is greatly improved by relying on a special garbage ship to carry out manual point type collection, and meanwhile, the labor, capital cost and energy consumption are greatly reduced. In addition, the wave-facing part of the floating transportation robot is a hollowed net, so that the acting force of the floating transportation robot when facing waves and wind is greatly reduced, and the adaptability of the floating transportation robot to severe sea conditions is greatly improved.

2. The present invention combines a floating barrier with an energy capture unit. The floating barrier can provide a good stable and fixed platform on the sea for the energy capture unit. The energy capture unit is provided with a solar panel and a wind driven generator, and can utilize clean energy such as offshore solar energy, wind energy and the like to complete energy acquisition so as to provide energy for the operation of the whole device.

3. The energy capturing unit is also provided with a navigation prompt lamp, so that ships can be effectively reminded of avoiding the cross-section type arrangement of the marine floating garbage collecting device, and the waterborne robot is prevented from being damaged.

4. The floating fence comprises an interception screen, an interception buoy and a plurality of gravity balls. The structure can intercept water surface garbage and garbage at a certain depth under water. The intercepting screen is provided with the hollowed-out unit, and the size of garbage to be blocked can be controlled by controlling the size of the hollowed-out unit on the intercepting screen.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.

FIG. 1 is a schematic structural view of a marine robot for capturing and transporting floating garbage according to an embodiment of the present invention from a first perspective;

FIG. 2 is a schematic diagram of the floating barrier and energy capture unit configuration of an embodiment of the invention;

FIG. 3 is a schematic diagram of a marine robot for capturing and transporting floating garbage according to an embodiment of the present invention from a second perspective;

FIG. 4 is a front view of a marine robot for capturing and transporting marine floating debris in accordance with an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a floating transport robot of an embodiment of the present invention;

FIG. 6 is a schematic view of an overtopping unidirectional door according to an embodiment of the present invention at a first viewing angle;

FIG. 7 is a schematic view of a cross-over type one-way door according to an embodiment of the present invention at a second viewing angle;

FIG. 8 is a schematic view of the operation of a marine robot for capturing and transporting garbage from a sea surface during a garbage collection stage according to an embodiment of the present invention;

FIG. 9 is a schematic view of the operation state of the marine robot for capturing and transporting garbage floating on sea according to the embodiment of the present invention under the action of forward waves;

FIG. 10 is a schematic view of the operation of the marine robot for capturing and transporting floating garbage in reverse wave action according to the embodiment of the present invention;

fig. 11 is a schematic view of the working state of the water robot leaving the energy storage unit for realizing the capture and transportation of the garbage on the sea level according to the embodiment of the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive efforts based on the embodiments of the present invention, are within the scope of protection of the present invention. Thus, the following detailed description of the embodiments of the present invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present 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 equipment 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.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1, an embodiment of the present invention provides a water robot for capturing and transporting floating garbage, which includes an energy storage unit 1, a floating barrier 2, a main control unit, a floating transport robot 3, and several energy capture units 4. The main control unit is respectively connected with the energy storage unit 1 and the floating type transportation robot 3.

Referring to fig. 1 and 2, in the present embodiment, the floating fences 2 are respectively disposed at both sides of the energy storage unit 1 for intercepting the floating garbage. Specifically, the floating fence 2 comprises a blocking screen 21, a blocking buoy 22 and a plurality of gravity balls 23. A plurality of gravity balls 23 are arranged on one side of the interception screen 21 close to water at equal intervals, and an interception buoy 22 is arranged on one side of the interception screen far away from the gravity balls 23. Preferably, a V-shaped floating garbage intercepting area which is symmetrical left and right is formed between the two floating fences 2 and the energy storage unit 1. It should be noted that, in other embodiments of the present invention, the floating fences 2 and the energy storage units 1 may be arranged into other shapes of floating garbage intercepting areas according to the actual shoreline or waterway, and the present invention is not limited in particular. In a preferred embodiment of the present invention, the intercepting screen 21 is further provided with a hollow unit, and the size of the hollow unit can be determined according to the size of the floating garbage to be intercepted.

Referring to fig. 1, in this embodiment, an anchor chain 5 is further provided at an end of the floating barrier 2 far away from the energy storage unit 1. One end of the anchor chain 5, which is far away from the floating fence 2, is fixed on the seabed through a heavy stone or iron anchor, so that the floating fence 2 is fixed on the seabed.

Referring to fig. 1 and 2, in this embodiment, a plurality of energy capture units 4 are distributed on the floating barrier 2 at equal intervals. The energy capturing unit 4 is connected with the energy storage unit 1 and is used for transmitting the captured energy into the energy storage unit 1.

In the present embodiment, the energy capture unit 4 includes a support truss 41 and a solar panel 42. The support truss 41 is erected on the interception pontoon 22. The solar panel 42 is fixedly connected to the support truss 41. Preferably, the support truss 41 fixedly connects the interception pontoon 22 and the solar cell panel 42 by means of welding or screwing. The solar panel 42 is connected with the energy storage unit 1 through a cable, and is used for transmitting energy generated by the solar panel 42 to the energy storage unit 1 so as to be supplied to the robot for working.

In this embodiment, the energy capturing unit 4 further comprises a support base 43, a support bar 44, a navigation light 45 and a wind generator 46. The support base 43 is fixedly connected to the solar panel 42 by welding or screws. One end of the support rod 44 is connected with the support base 43 by welding or screw thread, and the end far away from the support base 43 is connected with the navigation indicator light 45. And one end of the navigation prompt lamp 45, which is far away from the support rod 44, is also connected with a wind driven generator 46. The navigation prompt lamp 45 and the wind power generator 46 are also respectively connected with the energy storage unit 1 through cables. The solar panel 42 and the wind power generator 46 can convert solar energy and wind energy into electric energy and store the electric energy in the energy storage unit 1 so as to provide energy supply for the water robot. The number of solar panels 42 and wind generators 46 can be set according to actual engineering requirements. Meanwhile, the navigation prompting lamp 45 is arranged, so that the marine navigation ship can be reminded of arranging the floating fence at the position, and the floating fence 2 with a large distribution range can be prevented from being damaged by the passing ship.

Referring to fig. 1 and 3, in the present embodiment, the energy storage unit 1 includes a robot blocking bar 11, a robot guiding plate 12, and two symmetrically arranged buoyancy plates 13. The two buoyancy plates 13 are fixedly connected through a plurality of energy storage unit connecting rods 14, and a space for accommodating the floating type transportation robot is formed. One end of each of the two buoyancy plates 13 is also connected to its corresponding floating barrier 2 to form a garbage intercepting area. The robot arresting bar 11 is positioned at one end of the floating plate 13 connected with the floating fence 2, and two ends of the robot arresting bar 11 are respectively connected with the corresponding floating plates 13. The floating transport robot 3 can be fixed in the energy storage unit 1 by providing a robot arresting bar 11. The end of the buoyancy plate 13 far away from the robot arresting bar 11 is further provided with a robot guide plate 12, and the two robot guide plates 12 form a space which is fan-shaped and has an outward opening. Preferably, the robot guiding plate 12 is welded on the buoyancy plate 13.

Referring to fig. 3, in particular, in the present embodiment, the energy storage unit 1 includes a garbage baffle 15, a garbage baffle rotating shaft 16, and a rotating ring 17 sleeved on the garbage baffle rotating shaft 16. The garbage baffle rotating shaft rod 16 is arranged between the two buoyancy plates 13, and two ends of the garbage baffle rotating shaft rod are respectively connected with the corresponding buoyancy plates 13. The trash baffle 15 is welded to the rotating ring 17. The swivel ring 17 is configured to be rotatable around the trash baffle swivel shaft 16 under the driving of the floating transport robot 3, and further to drive the trash baffle 15 to rotate around the trash baffle swivel shaft 16 so that the floating transport robot 3 enters the energy storage unit 1, and when the floating transport robot 3 leaves the energy storage unit, the trash baffle 15 automatically hangs down under the action of gravity for preventing the floating trash from crossing the whole trash intercepting section during trash recycling.

In this embodiment, the floating transport robot 3 is disposed in the energy storage unit 1 and electrically connected to the main control unit. The floating type transportation robot 3 is configured to be fixed in the energy storage unit 1 for charging in a garbage capturing stage, and after the charging and the garbage capturing are completed, the main control unit controls the energy storage unit 1 to release the floating type transportation robot 3, and controls the floating type transportation robot 3 to convey the floating garbage to a designated position and then return the floating type garbage to the energy storage unit 1.

Referring to fig. 1 and 5, specifically, the floating transport robot 3 includes a robot body, a turbine motor 31, and a robot battery. The turbine motor 31 and the robot battery are respectively connected with the main control unit through cables. The robot body comprises a hollow net 32 and robot buoyancy plates 33 which are respectively arranged on two sides. The two robot floating plates 33 are fixedly connected through the robot frame rods 34 and connected with the hollow net 42 to form a garbage basket for containing floating garbage. The turbine motors 31 are respectively arranged on the periphery of the robot body and below the robot body and used for providing motion power for the floating type transportation robot 3. Preferably, the turbine motor 31 is welded or screwed to the robot body. The robot battery is arranged in the robot buoyancy plate 33 and is connected with the turbine motor 31.

Referring to fig. 1 and 10, the robot body is provided with an opening 35 for catching garbage floating on the sea. A charging chuck guide plate 36 is further provided on each of both sides of one end of the robot body near the opening 35. The charging chuck guide plate 36 can jack the charging chuck 183 when the floating type transportation robot 3 enters the energy storage unit 1, so that the floating type transportation robot 3 can smoothly enter the energy storage unit 1.

Referring to fig. 1 and 5 to 7, in this embodiment, the floating transport robot 3 further includes an overtopping unidirectional door 37 at the opening 35. The overtopping type one-way door 37 comprises a one-way door plate 371, a connecting rod 372, a fixing cap 373, a buoyancy capsule 374 and a rotating rod 375 fixed on the one-way door plate 371. The rotating rod 375 is located between the robot buoyancy plates 33, and two ends of the rotating rod are respectively rotatably connected with the corresponding robot buoyancy plates 33, so as to drive the one-way door plate 371 to rotate. Specifically, the rotating rod 375 is welded or screwed to the one-way door panel 371. Two fixing balls 376 are provided at both ends of the rotating rod 375. Preferably, the fixing ball 376 is fixed to both ends of the rotating rod 375 by welding or screwing. Be equipped with the solid fixed ring 377 of two door plant on robot buoyancy board 33, dwang 375 runs through in the solid fixed ring 377 of door plant to make fixed ball 376 be located the solid fixed ring 377 of door plant and keep away from one side of dwang 375, thereby fix dwang 375 on the robot.

Referring to fig. 6 and 7, in the present embodiment, the one-way door 371 has a through-slot 378. The connecting rod 372 penetrates through the through-type guiding groove 378, a buoyancy capsule 374 is connected to the side, close to water, of the connecting rod 372, and a fixing cap 373 is connected to the side, back to the water, of the connecting rod 372. The one-way door panel 371 is further provided with a plurality of tooth barbs 379 at the end away from the rotating rod 375. When waves come from the front, the waves carry the garbage floating on the sea to climb along the one-way door plate 371. At this time, under the action of the self-gravity of the wave and the lever effect of the one-way door plate 371, the one-way door plate 371 and the rotating rod 375 rotate around the door plate fixing ring 377 so that the wave and the floating garbage carried by the wave easily enter the floating type transportation robot 3 in a wave-crossing manner. Because the one-way door plate 371 is provided with the buoyancy capsule 374, the wave-crossing one-way door 37 can always face the waves with a small inclination angle under the action of the buoyancy capsule 374. When the reverse wave acts, the garbage floating on the sea is blocked by the reverse side of the one-way door plate 371 and the tooth-shaped barb 379, so that the garbage entering the robot body cannot escape.

Referring to fig. 1 and 4, in the present embodiment, the energy storage unit 1 further includes a charging socket 18 and an energy storage unit battery. The charging socket 18 includes a charging socket body 181 and a guide rod 182. The charging card seat body 181 is formed by welding the charging card seat frame rods. One end of the guide rod 182 is connected with the charging cassette body 181, and the other end thereof is fixedly connected with the buoyancy plate 13. The floating type transportation robot 3 can be guided to smoothly enter the energy storage unit 1 by arranging the guide rod 182, and the floating type transportation robot 3 is prevented from being clamped by the charging clamping seat body 181.

Referring to fig. 4, in the present embodiment, the charging socket 18 further includes a charging chuck 183 and an electromagnet 184 disposed on the charging socket body 181. Specifically, a fixing ball 185 is disposed at one end of the charging chuck 183 close to the floating plate 13. A fixing pin 186 is further disposed at a position of the charging chuck 183 close to the charging chuck body 181, and the fixing pin 186 is located at a side of the charging chuck body 181 far from the fixing ball 185. The charging chuck 183 can be limited on the charging chuck body 181 by the cooperation of the fixing pin 186, the fixing ball 185 and the charging chuck body 181, and the charging chuck 183 can move vertically along the charging chuck body 181. Preferably, the charging chuck 183 is made of metal. It should be noted that, in other embodiments of the present invention, the charging chuck 183 may also be made of other conductive materials, and the present invention is not limited in particular. The charging chuck 183 and the electromagnet 184 are also electrically connected with the energy storage unit battery respectively.

Referring to fig. 1, 4, 10 and 11, in this embodiment, the end of the floating transport robot 3 away from the opening 35 is further provided with a fixing hook 38. The fixing hook 38 is connected with the robot battery and the main control unit through cables, respectively. Preferably, the securing hook 38 is a metal. The floating transport robot 3 is configured to be capable of supplying energy to the robot battery by clamping the charging chuck 183 on the fixed hook 38 when the floating transport robot completely enters the energy storage unit 1, and then transferring the energy of the energy storage unit 1 to the robot battery through the charging chuck 183 and the fixed hook 38, and controlling the electromagnet 184 to be electrified through the main control unit to generate a magnetic force to suck up the charging chuck 183 so as to separate the floating transport robot 3 from the charging chuck 183. The floating type transportation robot 3 can automatically stop in the energy storage unit 1 in the garbage collection period of the sea float, and can finish energy acquisition by utilizing the stopping time. After the garbage is fully collected, the garbage automatically leaves the energy storage unit 1 under the control of the main control unit and is sent back to the shore, and after the garbage is unloaded, the garbage returns to the energy storage unit 1 to enter the next collection cycle.

Referring to fig. 1 and 4, when the floating transport robot 3 enters the energy storage unit 1, the charging chuck 183 may vertically move upwards along the frame of the charging chuck body 181 under the action of the charging chuck guide plate 36 so that the floating transport robot 3 smoothly enters the energy storage unit 1. When the floating transport robot 3 completely enters, the charging chuck 183 falls into the fixing hook 38 by gravity. Because the fixing hook 38 is made of metal and is connected with the robot battery through a cable, and the charging chuck 183 is also made of metal and is connected with the energy storage unit battery through a cable, the two contact with each other not only can play a role in fixing the floating type transportation robot 3, but also can complete energy supply to the floating type transportation robot 3. When the floating type transportation robot 3 leaves the energy storage unit 1, the electromagnet 184 is electrified to generate magnetic force to suck the charging chuck 183, so that the floating type transportation robot 3 is free from the constraint of the energy storage unit 1 and can return to the shore to unload floating type garbage. Therefore, by providing the charging chuck 183 and the fixing hook 38, it is possible to charge the floating transport robot 3 by the charging chuck 183 and the fixing hook 38 during the garbage collection, and to restrict the floating transport robot 3 from moving with the waves.

In order to facilitate an understanding of the invention, some preferred embodiments of the invention are described further below.

Referring to fig. 1, in a preferred embodiment, the floating transport robot 3 includes a plurality of buoyant spheres 6. The buoyancy ball 6 is fixedly arranged on the frame rod of the robot by welding or screw connection and is used for providing buoyancy for the floating type transportation robot 3.

Referring to fig. 1, in a preferred embodiment, the floating transport robot 3 further comprises a control antenna 7. And the control antenna 7 is welded or fixed on a frame rod of the robot through a screw. And the control antenna 7 is connected with the main control unit through a cable and is used for providing signal communication for the floating type transportation robot 3.

Referring to fig. 1, in another preferred embodiment, the floating transport robot 3 further comprises a hollow flexible garbage bag, and the hollow flexible garbage bag is arranged in the garbage basket. The effect of quickly removing floating garbage in the garbage basket can be achieved by directly replacing the hollow flexible garbage bag.

The working process of the water robot for realizing the capture and transportation of the garbage floating on the sea of the invention is detailed below.

Referring to fig. 1 to 11, the energy capturing unit 4 located on the floating fence 2 collects wind energy and solar energy at sea through the solar panel 42 and the wind generator 46 and stores the collected energy in the energy storing unit 1 through a marine dedicated cable. And then the main control unit controls the energy storage unit to provide electric energy for the navigation prompt lamp 45 and the floating type transportation robot 3 positioned in the energy storage unit 1. In the garbage collection stage, the floating garbage close to the shore is intercepted by the floating fences 2 arranged in a V shape. The floating garbage captured by the floating barrier 2 under the action of the coastal currents, tides and waves moves to the middle of the V-shaped floating barrier 2. At this time, the floating garbage gathered around the floating fence 2 enters the energy storage unit 1 under the action of waves and enters the floating transportation robot 3 in a single direction through the wave-crossing one-way door 37, so that the floating garbage is captured. While the garbage on the sea is captured, the energy storage unit 1 can charge the floating type transportation robot 3 by clamping the charging clamping seat 183 in the fixed hook 38.

When the floating transport robot 3 collects the garbage in the garbage basket, the main control unit controls the energy storage unit 1 to energize the electromagnet 184 so that the electromagnet 184 generates magnetic force and sucks up the charging card holder 183, and then the charging card holder 183 is separated from the floating transport robot 3. The main control unit then controls the floating type transportation robot 3 to start and leave the energy storage unit 1 so as to transport the collected floating garbage to a designated place on the shore. While the floating transport robot 3 leaves, the garbage barrier 15 is lowered to block the floating garbage in the energy storage unit 1. The floating type transport robot 3 transports the garbage floating on the sea to a designated place under the control of the main control unit and then returns to and approaches the energy storage unit 1. Under the action of the energy storage unit guide plate 36 and the charging cassette guide rod 182, the floating type transportation robot 3 smoothly jacks up the charging cassette 183 and the garbage baffle 15 to enter the energy storage unit 1, and the charging cassette 183 is clamped on the fixed hook 38 to be fixed in the energy storage unit 1 to start the next cycle of collection and energy supply of the garbage floating on the sea.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A water robot for realizing capture and transportation of garbage floating on sea, which is characterized by comprising:

an energy storage unit for storing and releasing energy; the energy storage unit comprises a robot blocking rod, robot guide plates and two symmetrically arranged buoyancy plates, the two buoyancy plates are fixedly connected through a plurality of energy storage unit connecting rods and form a space for accommodating the floating transportation robot, one ends of the two buoyancy plates are respectively connected with the corresponding floating fences to form a garbage blocking area, the robot blocking rod is positioned at one end where the buoyancy plates are connected with the floating fences, two ends of the robot blocking rod are respectively connected with the corresponding buoyancy plates, one end, far away from the robot blocking rod, of each buoyancy plate is further provided with a robot guide plate, and the two robot guide plates form a fan-shaped space with an outward opening;

the energy storage unit further comprises a charging clamping seat and an energy storage unit battery, the charging clamping seat comprises a charging clamping seat body, a guide rod, a charging clamping head and an electromagnet arranged on the charging clamping seat body, one end of the guide rod is connected with the charging clamping seat body, the other end of the guide rod is fixedly connected with the buoyancy plate, one end of the charging clamping head, which is close to the buoyancy plate, is provided with a fixing ball, the charging clamping head is also provided with a fixing pin, which is positioned on one side of the charging clamping seat body, which is far away from the fixing ball, the charging clamping head can be limited on the charging clamping seat body through the matching of the fixing pin, the fixing ball and the charging clamping seat body and can make the charging clamping head do vertical motion along the charging clamping seat body, the charging clamping head and the electromagnet are respectively and electrically connected with the energy storage unit battery, the electromagnet is also electrically connected with the main control unit, and the charging clamping head is configured to charge the floating transportation robot through the charging clamping head when the floating transportation robot completely enters the energy storage unit, and the floating transportation robot is separated from the charging clamping head through controlling the electromagnet to generate magnetic force;

the floating fences are respectively arranged on two sides of the energy storage unit and used for intercepting floating garbage, and one end of the floating fence, which is far away from the energy storage unit, is also provided with an anchor chain used for fixing the floating fence on a seabed;

the main control unit is connected with the energy storage unit;

a floating transport robot disposed in the energy storage unit and electrically connected to the main control unit, the floating transport robot being configured to be fixed to the energy storage unit for charging in a garbage capture stage, and after the charging and the garbage capture are completed, the main control unit controls the energy storage unit to release the floating transport robot and controls the floating transport robot to transport the floating garbage captured in the floating transport robot to a designated location and return to the energy storage unit, wherein,

the floating type transportation robot comprises a robot body, a turbine motor and a robot battery, wherein the robot body comprises a hollow net and robot buoyancy plates which are respectively arranged at two sides, the two robot buoyancy plates are fixedly connected through a robot frame rod and are connected with the hollow net to form a garbage basket for containing the garbage floating on the sea, the turbine motor is respectively arranged at the periphery of the robot body and is positioned below the robot body, the robot battery is arranged in the robot buoyancy plates and is connected with the turbine motor, the turbine motor and the robot battery are respectively and electrically connected with a main control unit, an opening for capturing the garbage floating on the sea is formed in the robot body, and two sides of one end, close to the opening, of the robot body are respectively provided with a charging clamping head guide plate;

the floating type transportation robot is characterized in that a fixing hook is further arranged at one end, far away from the opening, of the floating type transportation robot, the fixing hook is electrically connected with the robot battery and the main control unit respectively, the floating type transportation robot is constructed to be capable of conveying energy of the energy storage unit into the robot battery through the charging chuck and the fixing hook by clamping the charging chuck on the fixing hook, and the energy supply is provided for the floating type transportation robot.

2. The water robot for realizing capture and transportation of garbage from sea-drift as claimed in claim 1, wherein the floating barrier comprises an intercepting screen, an intercepting buoy and a plurality of gravity balls, the side of the intercepting screen close to water is provided with a plurality of gravity balls at equal intervals, and the side of the intercepting screen far away from the gravity balls is provided with the intercepting buoy.

3. The marine robot for capturing and transporting marine floating garbage according to claim 2, wherein the energy capturing unit comprises a support truss and a solar panel, the support truss is erected on the intercepting buoy, and the solar panel is fixedly connected to the support truss and connected with the energy storing unit through a cable.

4. The water robot for realizing capture and transportation of garbage from sea and water surface according to claim 3, wherein the energy capture unit further comprises a support base, a support rod, a navigation prompt light and a wind power generator, the support base is fixedly connected to the solar panel, one end of the support rod is connected to the support base, one end of the support rod away from the support base is connected to the navigation prompt light, one end of the navigation prompt light away from the support rod is further connected to the wind power generator, and the navigation prompt light and the wind power generator are further connected to the energy storage unit through cables respectively.

5. The waterborne robot for capturing and transporting garbage from sea level as claimed in claim 1, wherein the energy storage unit further comprises a garbage baffle, a garbage baffle rotating shaft, and a rotating ring sleeved on the garbage baffle rotating shaft, the garbage baffle rotating shaft is disposed between two of the buoyancy plates, and both ends of the garbage baffle rotating shaft are respectively connected to the corresponding buoyancy plates, the garbage baffle is fixedly connected to the rotating ring, the rotating ring is configured to rotate around the garbage baffle rotating shaft under the driving of the floating transportation robot, so as to drive the garbage baffle to rotate around the garbage baffle rotating shaft to enable the floating transportation robot to enter the energy storage unit, and when the floating transportation robot leaves the energy storage unit, the garbage baffle automatically hangs down under the gravity to prevent the garbage from sea level from crossing the garbage baffle.

6. The water robot for realizing capture and transportation of garbage from sea water according to claim 1, wherein the floating transportation robot further comprises a wave-crossing one-way door located at the opening, the wave-crossing one-way door comprises one-way door plates, connecting rods, fixing caps, buoyancy capsules and a rotating rod fixed on the one-way door plates, the rotating rod is located between the robot buoyancy plates, two ends of the rotating rod are respectively connected with the robot buoyancy plates in a rotatable manner, the rotating rod further drives the one-way door plates to rotate, a through type guide groove is formed in the one-way door plates, the connecting rods penetrate through the through type guide groove, one side of the connecting rod close to water is connected with one of the buoyancy capsules, one side of the connecting rod back to water is connected with one fixing cap, and one end of the one-way door plate, far away from the rotating rod, is further provided with a plurality of tooth type barbs.