CN211036855U - Intelligent robot for collecting beach wastes - Google Patents
Intelligent robot for collecting beach wastes Download PDFInfo
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- CN211036855U CN211036855U CN201921658645.9U CN201921658645U CN211036855U CN 211036855 U CN211036855 U CN 211036855U CN 201921658645 U CN201921658645 U CN 201921658645U CN 211036855 U CN211036855 U CN 211036855U
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Abstract
The utility model discloses an intelligent robot for collecting beach wastes, which comprises a vehicle body, a waste collecting device and a control system; the waste collection device comprises a waste collection bin, a collection pipeline and a waste collection head, the waste collection head is arranged in front of the vehicle body and is communicated with the upper end of the waste collection bin through the collection pipeline, a plurality of layers of metal layered screens dividing the waste collection bin into a plurality of compartments are arranged in the waste collection bin up and down, the aperture of each metal layered screen is continuously reduced along with the reduction of the height, and the control system comprises an inductor and an intelligent chip; the chip acquires relevant information of the beach waste through the inductor, processes the information to obtain an information planning path, collects the beach waste according to the planning path, and screens the beach waste in the waste collection bin while collecting the beach waste. The utility model discloses an intelligent degree is high, and the manpower is with low costs, can classify the discarded object when collecting the discarded object, has application prospect.
Description
Technical Field
The utility model belongs to the technical field of beach cleaning equipment, a collect intelligent robot of beach discarded object is related to, in particular to robot that collects, handles, categorised and recycle the beach discarded object.
Background
The topic of marine environmental protection has been always of great interest. At present, great progress has been made in the treatment of marine waste, and researchers in foreign countries have developed intelligent robots specially dealing with marine waste, but research on beach waste closely related to the sea is less, and since the beach is also an indispensable part of the marine ecosystem and is also a place for inhabitation and multiplication of many marine organisms, more and more waste is detained at the beach and is not completely removed, the input of land source pollution is increased, and the dynamic balance of the marine ecosystem is seriously damaged, so that the treatment of the beach waste is urgently needed.
Practitioners in the art have developed various cleaning devices to address this problem. Patent CN 202936759U discloses a clearance machine of sandy beach waterside tongue, its simple structure, convenient operation, low cost can separate waterside tongue and sand when picking up to dewater the waterside tongue, improve and pick up efficiency. Patent CN 109024454 a discloses a beach garbage cleaning vehicle capable of self-cleaning, which has complete functions and can realize beach cleaning and self-cleaning. However, with the arousal of people's environmental awareness in recent years, garbage is classified, so that the resource value and the economic value of the garbage can be remarkably improved, the classification of the domestic garbage in Shanghai is advanced into the life of people, the existing beach garbage cleaning equipment cannot classify the garbage, the garbage still needs to be manually sorted after the garbage cleaning is finished, and the working efficiency is greatly influenced.
Therefore, it is of practical significance to develop a beach waste treatment apparatus capable of sorting the beach waste while collecting the beach waste.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to overcome prior art and can't carry out waste classification and then influenced the defect of waste treatment efficiency when collecting the discarded object, provide one kind and can carry out waste classification's beach waste treatment equipment when collecting.
In order to achieve the above object, the utility model provides a following technical scheme:
an intelligent robot for collecting beach wastes comprises a vehicle body, a waste collecting device, a driving system, a power supply and a control system;
the waste collection device comprises a waste collection bin, a collection pipeline and a waste collection head, wherein the waste collection head is arranged in front of the vehicle body and is communicated with the upper end of the waste collection bin through the collection pipeline, a plurality of layers of metal layered screens for dividing the waste collection bin into a plurality of compartments are arranged in the waste collection bin up and down, and the aperture of each metal layered screen is continuously reduced along with the reduction of the height;
the driving system is arranged below the vehicle body, is used for driving the vehicle body to move and comprises a driving motor;
the power supply is used for providing electric energy for the waste collection device, the driving system and the control system;
the control system comprises an inductor and an intelligent chip, the intelligent chip is connected with the inductor through an inductor detection circuit, the intelligent chip is connected with a driving motor through a motor driving circuit, and the intelligent chip is connected with the waste collection device through a peripheral circuit;
the intelligent chip acquires beach waste position information and ambient environment information through the inductor, processes the information to obtain a planning path, collects the beach waste according to the planning path, the beach waste enters the waste collection bin through the waste collection head and the collection pipeline in the waste collection process, and the waste collection bin is screened by the metal layered screen to complete classification.
The robot of the utility model obtains the relevant information (searching waste) of the beach waste through the technologies of 3D vision, ultrasonic wave, infrared induction and the like, the control system controls the intelligent robot of the beach waste to collect the waste, while the waste collection work is carried out, the multilayer metal layered screen in the waste collection bin can sieve the collected waste (waste classification), the automation degree is high, and compared with domestic wastes, the beach wastes have single types and obvious characteristics, the classification of the waste can be basically realized through the metal layered screen in the collection bin, although the classification can not reach the accuracy of 100 percent compared with the traditional manual vision technology for identifying and classifying the waste, but rapid collection and disposal can be achieved by mechanized operation, reducing the amount of work and adverse environmental impact due to prolonged exposure of large amounts of waste to the beach. The utility model has the advantages of simple structure, low cost through using the utility model discloses a beach's environment bearing capacity can effectively be alleviated to the robot, effectively compromises marine ecological environment, promotes the realization of tourism industry and marine ecological sustainability development, and application prospect is good.
As a preferred technical scheme:
according to the intelligent robot for collecting the beach wastes, the driving system comprises two parallel tracks, and the tracks are respectively provided with a driving gear connected with a driving motor;
the waste collecting bin is arranged above the mainframe box, and the intelligent chip, the sensor detection circuit, the motor driving circuit and the peripheral circuit are located in the mainframe box. The crawler belt is selected as the driving module, the trafficability and the platform stability are good, the technology is mature, and the cost is low.
The intelligent robot for collecting the beach wastes comprises a battery and a solar backboard (the battery can be charged in fine weather, energy is saved, emission is reduced), wherein the battery and the solar backboard are connected with each other, the solar backboard is arranged at the top of the waste collecting bin, and the battery is arranged in a main case.
The intelligent robot for collecting the beach wastes is characterized in that the waste collection bin is integrally a cube, two layers of metal layered screens are arranged in the waste collection bin from top to bottom, wherein the aperture of the upper layer of metal layered screen is 0.05 x 0.05m, and the aperture of the lower layer of metal layered screen is 0.01 x 0.01 m;
bottom slideways are arranged at the bottoms of the left side wall and the right side wall of the waste collection bin along the track direction, a pushing plate is arranged in each bottom slideway, the pushing plate is connected with a pushing piece, and the pushing plate can slide back and forth along the bottom slideways under the driving of the pushing pieces;
the left side wall and the right side wall are provided with curved slideways corresponding to the two layers of metal layered screens, the metal layered screens are connected with sliding pieces, and under the driving of the sliding pieces, the front ends of the metal layered screens can slide backwards along the curved slideways to dump beach wastes on the metal layered screens;
the rear side plate of the waste collection bin is connected with the top plate through a rotating pair, the rotating pair is connected with a rotating motor, and the rear side plate can rotate around the rotating pair under the driving of the rotating motor to open and close;
the rotating motor, the sliding part and the pushing part are respectively connected with the intelligent chip. The utility model discloses a scope of protection is not limited to this, the utility model discloses enumerate a feasible technical scheme, technical field personnel can adjust structure and size according to the practical application scene, and specifically the aperture and the number of piles as metal layered screen can set up according to the actual demand.
An intelligent robot for collecting beach wastes as described above, wherein the sensor comprises an infrared sensor, an ultrasonic sensor, a touch sensor, a humidity sensor and a position sensor;
the infrared sensor is used for scanning the environment near the robot through a 3D vision technology and an infrared technology to acquire relevant information of beach waste;
the ultrasonic sensor is used for searching beach waste in a large range through an ultrasonic technology;
the humidity sensor is used for sensing the humidity of the sand, and when the humidity of the sand is sensed to exceed 10%, the intelligent chip drives the robot to leave the area, so that wet sand is prevented from being sucked;
the touch sensor is used for sensing obstacles in front of the waste collecting head, and avoiding the damage to equipment caused by the rolling of heavy objects and harmful substances;
the position sensor is used for sensing the state of the rear side plate;
the infrared sensor and the ultrasonic sensor are arranged on a front side plate of the waste collection bin, the touch sensor is arranged on the front portion of the waste collection head, the humidity sensor is arranged at the bottom of the main case, and the position sensor is arranged on a rear side plate of the waste collection bin. The utility model discloses an integrated GPS orientation module that has in the intelligence chip, it can give the more accurate navigation ability of robot.
When the storage amount of the beach wastes in the waste collection bin reaches 3/4 of the maximum storage amount, the sensor sends information to the intelligent chip, and the intelligent chip drives the robot to unload the wastes.
An intelligent robot for collecting beach waste as described above, the waste collection device further comprising a fan for providing suction.
The intelligent robot for collecting the beach wastes is characterized in that the inlet of the waste collecting head is provided with a filtering hole for filtering gravel.
The intelligent robot for collecting the beach wastes is characterized in that an internal compressor for compressing the wastes is further arranged in the waste collecting head.
When waste is collected, the intelligent chip starts the fan and the internal compressor to suck the waste, and when the internal compressor rotates, fine sand and fine gravel can be efficiently squeezed to the filter holes and filtered out, so that the weight burden of the machine body is prevented from being increased, and meanwhile, the rolled waste achieves the effect of saving space through the rolling effect of the internal compressor; the waste is conveyed into a waste collection box, the waste is filtered and classified through metal layered screens with different apertures, the waste collection work is completed, the two layers of metal layered screens are driven by a sliding part to vibrate to screen the waste, the vibration can improve the screening efficiency, the waste collection box is divided into three compartments, the waste coming out of a collection pipeline firstly reaches an upper layer with the largest space, and the waste remained on the upper layer mainly comprises plastic, foam, light metal, rubber, fabric (cloth), light wood products, paper and the like with larger specifications; the waste in the middle layer after being screened by the upper metal layered screen is mainly shells; the lowermost layer has the smallest space and mainly collects glass scraps, butt scraps, nylon fibers, fishing gear/fishing net scraps and the like.
Has the advantages that:
(1) the intelligent robot for collecting the beach wastes has high intelligent degree, can automatically collect the wastes and has low labor cost;
(2) the utility model discloses an intelligent robot of collection beach discarded object can classify the discarded object when collecting the discarded object, alleviates sanitation worker's work burden on the one hand, and on the other hand accords with energy saving and emission reduction's social trend, has application prospect.
Drawings
Fig. 1 is a schematic view of the overall structure of the intelligent robot for collecting beach wastes according to the present invention;
FIG. 2 is a schematic view of a waste collection bin;
FIG. 3 is a schematic view of the operation of the waste collection bin to unload waste;
FIG. 4 is a schematic view of the waste collection head;
FIG. 5 is a schematic view of the body structure of the intelligent beach waste robot;
the system comprises a waste collection bin 1, a waste collection bin 101, an infrared sensor 102, an ultrasonic sensor, a solar backboard 103, a position sensor I104, a position sensor 105, a sensor for detecting the storage amount of waste, a metal layered screen 106, a propelling plate 107, a curve slideway 108, a bottom slideway 109, a waste collection head 2, a collection pipeline 201, a metal charging contact 202, a touch sensor 203, an internal compressor 204, a filter hole 205, a vehicle body 3, a crawler 301, a main chassis 302, a humidity sensor 303, a battery 304, an integrated circuit board 305, a peripheral circuit 3051, a motor driving circuit 3052, a sensor detecting circuit 3053 and an intelligent chip 3054.
Detailed Description
The following describes the present invention with reference to the accompanying drawings.
An intelligent robot for collecting beach waste, as shown in fig. 1, comprises a vehicle body 3, a waste collection device, a driving system, a power supply and a control system;
the control system comprises an inductor and an intelligent chip 3054, the intelligent chip 3054 is connected with the inductor through an inductor detection circuit 3053, the intelligent chip 3054 is connected with a driving motor through a motor driving circuit 3052, the intelligent chip 3054 is connected with a waste collection device through a peripheral circuit 3051, the motor driving circuit 3052, the inductor detection circuit 3053 and the intelligent chip 3054 are integrated on an integrated circuit board 305, the inductor comprises an infrared sensor 101, an ultrasonic sensor 102, a touch sensor 203, a humidity sensor 303 and a position sensor 104, the infrared sensor 101 is used for scanning the environment near the intelligent beach waste robot through a 3D vision technology and an infrared technology to acquire relevant information of beach waste, the ultrasonic sensor 102 is used for searching the beach waste in a large range through an ultrasonic technology, the humidity sensor 303 is used for sensing the humidity of the sand, when sensing that the humidity of the sand exceeds 10%, the intelligent chip drives the intelligent beach waste robot to leave the area, the touch sensor 203 is used for sensing the obstacle in front of the waste collecting head, and the position sensor 104 is used for sensing the state of the rear side plate;
the power supply comprises interconnected batteries 304 and solar backplane 103;
as shown in FIG. 5, the driving system is arranged below the vehicle body and used for driving the vehicle body to move, and comprises two parallel tracks 301, and the tracks 301 are provided with driving gears connected with driving motors;
a main case 302 for connecting the two tracks is arranged between the two tracks, an integrated circuit board 305 and a battery 304 are arranged in the main case 302, and a humidity sensor 303 is arranged at the bottom of the main case 302;
the waste collecting device comprises a waste collecting bin 1, a collecting pipeline 201, a waste collecting head 2 and a fan for providing suction;
the waste collection bin 1 is arranged above a main machine box 302, the concrete structure of the waste collection bin is shown in fig. 2, the whole waste collection bin is a cube, a solar back plate 103 is arranged at the top of the waste collection bin, two layers of metal layered screens 106 which divide the waste collection bin 1 into three compartments are arranged above and below the top of the waste collection bin, the aperture of each metal layered screen is continuously reduced along with reduction of the height, an infrared sensor 101 and an ultrasonic sensor 102 are installed on a front side plate of the waste collection bin, bottom slideways 109 are arranged at the bottoms of left and right side walls of the waste collection bin along the crawler direction, push plates 107 are arranged in the bottom slideways, the push plates 107 are connected with push pieces, the push plates can slide back and forth along the bottom slideways under the driving of the push pieces, two curved slideways 108 are arranged on the left and right side walls corresponding to the two layers of metal layered screens 106, the metal layered screens 106 are Beach waste; the rear side plate of the waste collection bin is connected with the top plate through a rotating pair, the rotating pair is connected with a rotating motor, the rear side plate can rotate around the rotating pair under the driving of the rotating motor, a position sensor I104 is installed on the rear side plate of the waste collection bin, a sensor 105 for detecting the storage amount of waste is installed in the waste collection bin, when the storage amount of the waste in the waste collection bin reaches 3/4 of the maximum storage amount, the sensor sends information to a processor, the processor drives the intelligent beach waste robot to unload to the intelligent waste bin 4, and the operation schematic diagram of the waste collection bin for unloading waste is shown in FIG. 3;
the waste collection head 2 is arranged in front of the vehicle body and is communicated with the upper end of the waste collection bin through a collection pipeline 201, the specific structure of the waste collection head is shown in figure 4, a filtering hole 205 for filtering gravel is arranged at the inlet of the waste collection head, an internal compressor 204 for compressing waste is further arranged in the waste collection head, and a touch sensor 203 and a metal charging contact 202 are arranged at the front part of the waste collection head.
Through verification, the intelligent robot for collecting the beach wastes has high intelligent degree, can automatically collect the wastes, and has low labor cost; the waste can be classified while being collected, so that the workload of sanitation workers is reduced, the social trend of energy conservation and emission reduction is met, and the method has a wide application prospect.
The utility model discloses a process of robot uninstallation discarded object as follows:
the back in robot discarded object collection storehouse has aimed at waste bin (subregion), and intelligent chip drive rotates the motor, and the rear side board in waste collection storehouse is opened under the rotation motor drives, and at this moment, drive impeller and slider, the ejector pad slides backward under the drive of impeller, and the front end of upper and lower floor metal layering screen cloth can slide backward along the curve slide under the drive of slider, is about to correspond the conveying to this waste bin's corresponding region with the discarded object on the ejector pad of upper and lower floor metal layering screen cloth, accomplishes the discarded object unloading operation.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and various changes or modifications may be made without departing from the spirit and scope of the invention.
Claims (9)
1. An intelligent robot for collecting beach wastes is characterized by comprising a vehicle body, a waste collecting device, a driving system, a power supply and a control system;
the waste collection device comprises a waste collection bin, a collection pipeline and a waste collection head, wherein the waste collection head is arranged in front of the vehicle body and is communicated with the upper end of the waste collection bin through the collection pipeline, a plurality of layers of metal layered screens for dividing the waste collection bin into a plurality of compartments are arranged in the waste collection bin up and down, and the aperture of each metal layered screen is continuously reduced along with the reduction of the height;
the driving system is arranged below the vehicle body, is used for driving the vehicle body to move and comprises a driving motor;
the power supply is used for providing electric energy for the waste collection device, the driving system and the control system;
the control system comprises an inductor and an intelligent chip, the intelligent chip is connected with the inductor through an inductor detection circuit, the intelligent chip is connected with a driving motor through a motor driving circuit, and the intelligent chip is connected with the waste collection device through a peripheral circuit;
the intelligent chip acquires beach waste position information and ambient environment information through the inductor, processes the information to obtain a planning path, collects the beach waste according to the planning path, the beach waste enters the waste collection bin through the waste collection head and the collection pipeline in the waste collection process, and the waste collection bin is screened by the metal layered screen to complete classification.
2. The intelligent robot for collecting beach wastes as claimed in claim 1, wherein the driving system is two parallel caterpillar tracks, each of which is provided with a driving gear connected with a driving motor;
the waste collecting bin is arranged above the mainframe box, and the intelligent chip, the sensor detection circuit, the motor driving circuit and the peripheral circuit are located in the mainframe box.
3. The intelligent robot for collecting beach waste of claim 2 wherein the power source includes interconnected batteries and a solar back panel disposed on top of the waste collection bin, the batteries being disposed within the main chassis.
4. The intelligent robot for collecting beach wastes as claimed in claim 1, wherein the waste collection bin is a cube with two layers of metal layered screens arranged on top and bottom;
bottom slideways are arranged at the bottoms of the left side wall and the right side wall of the waste collection bin along the track direction, a pushing plate is arranged in each bottom slideway, the pushing plate is connected with a pushing piece, and the pushing plate can slide back and forth along the bottom slideways under the driving of the pushing pieces;
the left side wall and the right side wall are provided with curved slideways corresponding to the two layers of metal layered screens, the metal layered screens are connected with sliding pieces, and under the driving of the sliding pieces, the front ends of the metal layered screens can slide backwards along the curved slideways to dump beach wastes on the metal layered screens;
the rear side plate of the waste collection bin is connected with the top plate through a revolute pair, the revolute pair is connected with a rotary motor, and the rear side plate can rotate around the revolute pair under the driving of the rotary motor.
5. The intelligent robot for collecting beach wastes of claim 4, wherein the sensors comprise an infrared sensor, an ultrasonic sensor, a tactile sensor, a humidity sensor, and a position sensor;
the infrared sensor is used for scanning the environment near the robot through a 3D vision technology and an infrared technology to acquire relevant information of beach waste;
the ultrasonic sensor is used for searching beach waste in a large range through an ultrasonic technology;
the humidity sensor is used for sensing the humidity of the sandy soil, and when the humidity of the sandy soil is sensed to exceed 10%, the intelligent chip drives the robot to leave the area;
the tactile sensor is used for sensing an obstacle in front of the waste collecting head;
the position sensor is used for sensing the state of the rear side plate;
the infrared sensor and the ultrasonic sensor are arranged on a front side plate of the waste collection bin, the touch sensor is arranged on the front portion of the waste collection head, the humidity sensor is arranged at the bottom of the main case, and the position sensor is arranged on a rear side plate of the waste collection bin.
6. The intelligent robot for collecting beach waste as claimed in claim 1, wherein the waste collection bin is provided with a sensor for detecting the amount of the waste stored therein, when the amount of the beach waste stored in the waste collection bin reaches 3/4 of the maximum amount of the beach waste stored therein, the sensor sends a message to the intelligent chip, and the intelligent chip drives the robot to unload the waste.
7. The intelligent robot for collecting beach waste of claim 1 wherein the waste collection device further comprises a fan that provides suction.
8. The intelligent robot for collecting beach waste of claim 1 wherein the inlet of the waste collection head is provided with a filter hole for filtering gravel.
9. The intelligent robot for collecting beach waste of claim 1 wherein the waste collection head further comprises an internal compressor for compressing the beach waste.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921658645.9U CN211036855U (en) | 2019-09-30 | 2019-09-30 | Intelligent robot for collecting beach wastes |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921658645.9U CN211036855U (en) | 2019-09-30 | 2019-09-30 | Intelligent robot for collecting beach wastes |
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| Publication Number | Publication Date |
|---|---|
| CN211036855U true CN211036855U (en) | 2020-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921658645.9U Expired - Fee Related CN211036855U (en) | 2019-09-30 | 2019-09-30 | Intelligent robot for collecting beach wastes |
Country Status (1)
| Country | Link |
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| CN (1) | CN211036855U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2800099A1 (en) * | 2020-07-28 | 2020-12-23 | Univ Madrid Politecnica | MOVING AND SCRAPING MECHANISM FOR CLEANING SAND BEACHES (Machine-translation by Google Translate, not legally binding) |
| CN113250125A (en) * | 2021-06-17 | 2021-08-13 | 临汾市知亿科技有限公司 | Dustproof efficient cleaning sweeper |
-
2019
- 2019-09-30 CN CN201921658645.9U patent/CN211036855U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ES2800099A1 (en) * | 2020-07-28 | 2020-12-23 | Univ Madrid Politecnica | MOVING AND SCRAPING MECHANISM FOR CLEANING SAND BEACHES (Machine-translation by Google Translate, not legally binding) |
| CN113250125A (en) * | 2021-06-17 | 2021-08-13 | 临汾市知亿科技有限公司 | Dustproof efficient cleaning sweeper |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200717 Termination date: 20210930 |