CN2420107Y

CN2420107Y - Robot for water surface cleaner

Info

Publication number: CN2420107Y
Application number: CN 00208211
Authority: CN
Inventors: 王主玉; 唐可洪; 邵承会; 张庆瑞; 史文浩
Original assignee: 王主玉
Priority date: 2000-04-14
Filing date: 2000-04-14
Publication date: 2001-02-21
Anticipated expiration: 2010-04-14

Abstract

The utility model relates to a cleaning robot for a water surface, which is mainly composed of a hull, a collecting arm, an obstacle detector, a CCD visual system, a storage bin and a power source 6, belonging to a mechanical device in the field of environment protection. The hull is composed of one single hull or more than one single hull. A sealed barrel body is at the front part of each single hull. Installing holes are arranged at the upper part of the barrel body, and the barrel body is sealed via a flange. The rear part of each single hull is a driving mechanism composed of liquid wheels, a motor, a transmission mechanism, etc. Two liquid wheels are adopted. The two liquid wheels are driven by the motor through the transmission mechanism. Two collecting arms are arranged, and respectively cemented at both sides of the hull. The obstacle detector is fixed on the hull. The CCD visual system is fixed on a connecting piece of the hull. The storage bin is cemented at the rear part of the hull. The motor is used as the power source, and installed in the hull.

Description

Water surface clean robot

The water surface clean robot that the utility model relates to belongs to the plant equipment in the environmental protection field.Along with the progress of science and technology, the development of production, human activity on various waters is more and more frequent, causes various water resource pollutions to be on the rise.The floating thing of oil that ocean carrier leaks and the discharging of all kinds of ship sharply increases, all kinds of current consumption product, the packaging waste that arbitrarily abandon of people in addition again, cause the into severe contamination in bank marine site and rivers, lake, especially tourist attraction and lake, city can't be escaped the misfortune that floating thing pollutes especially.

Can not there be big change in the marine pollution source in a short time, so the treatment of marine pollution also is a difficult long-range mission, is the common issue with that the whole mankind must face.Can't work with labor cleaning's floater some foul water people that can not satisfy the demand.A lot of developed countries are placed on 21 century to the starting point and are devoted to the research of marine pollution abatement equipment.As the oil cleaning equipment, but just be used for a large amount of cleanings of leaking.But yet there are no the research report of autonomous intelligence formula water surface dirt cleaning equipment.Because the working environment of water surface clean robot is unknown, belongs to non-structure space, must rely on self perception to environment, to set up environmental model and carry out path planning and navigation, this is the subject matter that realizes that the water surface intellectuality equipment of removing contamination will solve.

The purpose of this utility model provides a kind of water surface clean robot that can find and collect floater automatically

Water surface clean robot, it mainly is by hull, collect arm, obstacle detector, the CCD vision system, storage silo and power source are formed, and hull 2 is to be made up of one and an above single hull, each single hull front portion is a sealing staving, installing hole is left on top, and to send out blue sealing, the rear portion is a driving mechanism 8, driving mechanism 8 is by impeller, motor, formations such as transmission mechanism, impeller adopts two, is driven by transmission mechanism by motor, and collection arm 1 is established two, be cemented in the both sides of hull 2 respectively, obstacle detector 3 is fixed on the hull 2, and the CCD vision system is fixed on the connector 9 of hull 2, and storage silo 6 is cemented in the rear portion of hull 2, power source 5 adopts battery, and it is installed on hull 2 inside.

Certain distance is arranged between the said single hull, and be connected and fixed with connector 9, hull 2 is made up of a staving and two cones, staving is circle or polygon, cone is fixed on the two ends of staving, is circular cone or polygonal pyramid, and a driving mechanism is housed on each hull.

Said CCD vision system can be driven turbine, scroll bar or other kinematic pair and be driven adjustable shelf 15 swings by balance motor 14, range finding motor 13 rotates and can make the CCD camera lens certain pivot angle be arranged to finish range finding left by transmission driven CCD fixed head 12 or turn right movingly.

The CCD vision system of the utility model equipment can be judged the pollutant compact district; Can infer whether is the little and distance of floating thing and floating thing according to the information that detects, make the decision of whether collecting and the optimal path of collection by main frame; The identification water surface, bank and other fixture; Main body front lower place equipment has the probe of feeling function, prevents that main body and rock or other non-floating object are to hitting; Can preestablish time of return, arrive predetermined instant after, send by the settlement and to return double navigation signal, guide it to return the fixed location.At its duration of work, owner can command it to return the settlement at any time; Have the autonomous learning function, can detect environmental information, set up the model of working environment, and when the part changes, can relearn, revise original block mold by sensor

Particular content of the present utility model illustrated embodiment in conjunction with the accompanying drawings is described further:

Fig. 1 water surface clean robot structural representation;

The vertical view of Fig. 2 Fig. 1;

The partial view of Fig. 3 Fig. 1;

The partial enlarged drawing of Fig. 4 Fig. 1;

The structure chart of the hull 2 among Fig. 5 Fig. 1;

The vertical view of Fig. 6 Fig. 5;

Fig. 7 is the structural representation of CCD vision system 4 among Fig. 1;

Fig. 8 is the vertical view of Fig. 7;

Fig. 9 is CCD vision system and control section fundamental diagram.

Among the figure: 1. collection arm 2. hulls 3. obstacle detector 4.CCD vision systems 5. power sources 6. storage silo 7. single hulls 8. driving mechanisms 9. connectors 10. range finding turbines 11. range finding scroll bar 12.CCD vision systems 13. range finding motors 14. balance motors 15. adjustable shelfs 16. supports 17. balance scroll bars 18. balance turbines

The main body of water surface clean robot is by hull, adopts catamaran hull in the present embodiment, consults Fig. 1 and 2: its general structure mainly is made up of 6 parts, and totally two of collection arms are cemented in the both sides of hull 2 respectively; Obstacle detector 3 is welded on the hull 2; The CCD vision system is welded on the connector of hull (consulting Fig. 6); Storage silo 6 is cemented in afterbody, is the net assembling structure with stent support; Power source is installed on hull interior.The concrete structure of hull 2 is seen Fig. 5, Fig. 6.Its front portion is a sealing staving, and installing hole is left on top, to send out blue sealing; The rear portion is a driving mechanism, is made of impeller, motor, transmission mechanism etc., is welded in the single hull rear portion.The detailed structure of CCD vision system is consulted Fig. 7, Fig. 8: based on the support of angle steel welding, adjustable shelf is supported by two bearing blocks and is connected on the support with bolt, this right-hand member is equipped with worm gear, worm engaging with the balance motor drive, adjust CCD vision system balance, make amendment according to the horizontal level side-play amount, make CCD be in level all the time; The CCD fixed head is supported on the adjustable shelf by bearing block, and the worm engaging of its connecting axle lower end worm gear and range finding driven by motor drives the CCD rotating certain angle, comes measuring distance.

Vision system and control system composition are seen Fig. 9.Its operation principle is as follows:

1) picture signal of CCD stylus picked-up after data acquisition unit is handled, is transferred to controller, and the control drive motors is adjusted the travel direction of ship after power amplification; But also can control balance motor and range finding motor operation and stop;

2) radio receiver can drive towards the fixed location by control vessel after receiving signal;

3) stellar-based global-positioning system can be transferred to controller to the present position signalling of ship, to realize the navigation of ship.

Claims

1. water surface clean robot, it is characterized in that it mainly is by hull, collect arm, obstacle detector, the CCD vision system, 6 of storage silo and power sources part is formed, and hull (2) is to be made up of one and an above single hull, each single hull front portion is a sealing staving, installing hole is left on top, and with the flange sealing, the rear portion is a driving mechanism 8, driving mechanism 8 is by impeller, motor, formations such as transmission mechanism, impeller adopts two, is driven by transmission mechanism by motor, and collection arm 1 is established two, be cemented in the both sides of hull 2 respectively, obstacle detector 3 is fixed on the hull 2, and the CCD vision system is fixed on the connector 9 of hull 2, and storage silo 6 is cemented in the rear portion of hull 2, power source 5 adopts battery, and it is installed on hull 2 inside.

2. water surface clean robot according to claim 1, it is characterized in that certain distance is arranged between the said single hull, and be connected and fixed with connector 9, hull 2 is made up of a staving and two cones, staving is circle or polygon, cone is fixed on the two ends of staving, is circular cone or polygonal pyramid, and a driving mechanism is housed on each hull.

3. according to claim 1 or 2 described water surface clean robots, it is characterized in that said CCD vision system can be driven turbine, scroll bar or other kinematic pair and be driven adjustable shelf 15 swings by balance motor 14, range finding motor 13 rotates and can make the CCD camera lens certain pivot angle be arranged to finish range finding left by transmission driven CCD fixed head 12 or turn right movingly.