WO2023010604A1 - Intelligent water surface garbage cleaning system - Google Patents

Intelligent water surface garbage cleaning system Download PDF

Info

Publication number
WO2023010604A1
WO2023010604A1 PCT/CN2021/112161 CN2021112161W WO2023010604A1 WO 2023010604 A1 WO2023010604 A1 WO 2023010604A1 CN 2021112161 W CN2021112161 W CN 2021112161W WO 2023010604 A1 WO2023010604 A1 WO 2023010604A1
Authority
WO
WIPO (PCT)
Prior art keywords
water surface
intelligent
charging
garbage
salvage
Prior art date
Application number
PCT/CN2021/112161
Other languages
French (fr)
Chinese (zh)
Inventor
苏绍辉
王聪
陈生亮
吴俊斌
庄增滨
洪汉洋
朱权
陈峥
Original Assignee
厦门佰欧环境智能科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 厦门佰欧环境智能科技有限公司 filed Critical 厦门佰欧环境智能科技有限公司
Publication of WO2023010604A1 publication Critical patent/WO2023010604A1/en

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B35/32Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from open water
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/30Constructional details of charging stations
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63BSHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/22Arrangement of ship-based loading or unloading equipment for cargo or passengers of conveyers, e.g. of endless-belt or screw-type
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02BHYDRAULIC ENGINEERING
    • E02B15/00Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10Devices for removing the material from the surface
    • E02B15/104Conveyors; Paddle wheels; Endless belts
    • EFIXED CONSTRUCTIONS
    • E02HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02BHYDRAULIC ENGINEERING
    • E02B3/00Engineering works in connection with control or use of streams, rivers, coasts, or other marine sites; Sealings or joints for engineering works in general
    • E02B3/20Equipment for shipping on coasts, in harbours or on other fixed marine structures, e.g. bollards
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60LPROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2200/00Type of vehicles
    • B60L2200/32Waterborne vessels
    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10Technologies relating to charging of electric vehicles
    • Y02T90/12Electric charging stations

Definitions

  • the invention relates to the technical field of water area garbage cleaning equipment, in particular to an intelligent water surface garbage cleaning system.
  • the technical problem to be solved by the present invention is to provide an intelligent water surface garbage cleaning system to realize unmanned and intelligent water surface garbage cleaning and improve cleaning efficiency.
  • An intelligent water surface garbage cleaning system including an intelligent salvage ship, a rotating device located on the shore, a charging device and a garbage dumping area;
  • the rotating device is located near the water surface on the shore, and the rotating device is provided with a lifting platform extending toward the water surface, and the lifting platform can be rotated to a side away from the water surface, and the intelligent salvage ship and the lifting platform Platform detachable connection;
  • Both the charging device and the garbage dumping area are located on the side of the rotating device away from the water surface;
  • the intelligent salvage ship includes a hull, a charging receiving terminal, a garbage storage bin, a salvage conveyor belt, and a discharge conveyor belt;
  • the charging receiving end is located at the stern of the hull, and is electrically connected to the charging device when the intelligent salvage ship rotates to the side away from the water surface;
  • the salvage conveyor belt, the garbage storage bin and the unloading conveyor belt are all located in the hull and connected in sequence correspondingly;
  • the feed port of the salvage conveyor belt and the discharge port of the discharge conveyor belt are both set outward on the hull, and the discharge port of the discharge conveyor belt is rotated away from the water surface by the intelligent salvage ship Corresponding to the garbage dumping area on one side.
  • the present invention provides an intelligent water surface garbage cleaning system, by setting a salvage conveyor belt in the intelligent salvage ship, the garbage on the water surface is automatically salvaged into the garbage storage bin, when the garbage storage bin is full
  • the rotating device turns the overall salvage ship to the direction where the charging device and the garbage dump area are also installed on the shore, and unloads the garbage to the garbage through the unloading conveyor belt.
  • a charging device is used to charge the salvage ship at the same time, so that the salvage ship can carry out continuous water surface garbage cleaning operations, realizing unmanned and intelligent water surface garbage cleaning, and improving cleaning efficiency.
  • Fig. 1 is the structural representation of a kind of intelligent surface rubbish cleaning system
  • Fig. 2 is a schematic diagram of charging a smart salvage ship according to an embodiment
  • Fig. 3 is a structural schematic diagram of a trailer of an intelligent water surface garbage cleaning system
  • Figure 4 is a side view of the trailer
  • Fig. 5 is a system diagram of a kind of intelligent water surface garbage cleaning system of the embodiment.
  • FIG. 6 is a schematic diagram of region segmentation in an embodiment
  • Fig. 7 is a specific flow chart of garbage salvage by the intelligent salvage ship of the embodiment.
  • Charging device 301. Charging pole; 302. Charging switch; 303. Charging transmitter;
  • the rotating device is located near the water surface on the shore, and the rotating device is provided with a lifting platform extending toward the water surface, and the lifting platform can be rotated to a side away from the water surface, and the intelligent salvage ship and the lifting platform Platform detachable connection;
  • Both the charging device and the garbage dumping area are located on the side of the rotating device away from the water surface;
  • the intelligent salvage ship includes a hull, a charging receiving terminal, a garbage storage bin, a salvage conveyor belt, and a discharge conveyor belt;
  • the charging receiving end is located at the stern of the hull, and is electrically connected to the charging device when the intelligent salvage ship rotates to the side away from the water surface;
  • the salvage conveyor belt, the garbage storage bin and the unloading conveyor belt are all located in the hull and connected in sequence correspondingly;
  • the feed port of the salvage conveyor belt and the discharge port of the discharge conveyor belt are both set outward on the hull, and the discharge port of the discharge conveyor belt is rotated away from the water surface by the intelligent salvage ship Corresponding to the garbage dumping area on one side.
  • the beneficial effect of the present invention is that by setting a salvage conveyor belt in the intelligent salvage ship, the garbage on the water surface is automatically salvaged into the garbage storage bin, and when the garbage in the garbage storage bin is full, the ship can be docked on the shore. on the lifting platform of the rotating device on the side, and the rotating device turns the overall salvage ship to the direction where the charging device and the garbage dump area are also installed on the shore, and the garbage is unloaded into the garbage dump area through the unloading conveyor belt.
  • the charging device charges the salvage ship, enabling the salvage ship to carry out continuous water surface garbage cleaning operations, realizing unmanned and intelligent water surface garbage cleaning, and improving cleaning efficiency.
  • slide rails and trailers are sequentially arranged on the lifting platform, and wheels are arranged at the bottom of the trailer;
  • the slide rails are fixed on the lifting platform, the wheels are located in the slide rails and bolts are respectively arranged at the front and rear ends of the wheels, and the bolts are used to fix the wheels.
  • the trailer is detachably fixed on the lifting platform through the slide rail and the latch, which can facilitate the dragging of the intelligent salvage ship from the lifting platform to the ground for transportation on the ground or return to the lifting platform through the trailer from the ground. on the platform.
  • a net bag is provided on the top of the trailer.
  • the intelligent salvage ship can be stably docked on the lifting platform through the net bag.
  • the net bag can ensure that the intelligent salvage ship docks smoothly on the lifting platform without causing slippage.
  • the rotating device includes a fixed base, a rotating base, a motor, a driving wheel, a driven wheel, a guide rail, a slider, a connecting frame, a winch and a suspension rope;
  • the fixed base is fixed on the shore near the water surface
  • the driving wheel is connected to the motor shaft, the driven wheel is a slewing bearing with teeth on the outer ring, the outer ring of the driven wheel is meshed with the driving wheel, and the inner ring of the driven wheel is fixed on the Above the fixed base, the rotating base is fixed above the outer ring of the driven wheel;
  • the guide rail is vertically fixed above the rotating base
  • the winch is located on the top of the guide rail
  • the connecting frame adopts an F-shaped structure, and the two ends of the F-shaped structure of the connecting frame extend toward the direction away from the water surface and are connected to the guide rail by sliding up and down through the slider, and the lifting platform is fixed on the The bottom of the vertical end of the F-shaped structure of the connecting frame;
  • the suspension rope is telescopically connected between the hoist and the slider above the connecting frame.
  • the rotating device can not only lift and lower the docked smart salvage ship, but also drive the rotating base to rotate the smart salvage ship to the shore through the connection between the motor, the driving wheel and the driven wheel, which is convenient for the charging device on the shore. Charging and unloading of waste to the waste dump area on the shore.
  • the rotating device also includes a lifting switch, an upper limit switch and a lower limit switch;
  • the lifting switch is a distance sensor
  • the lifting switch is arranged on the vertical end of the F-shaped structure of the connecting frame;
  • the upper limit switch and the lower limit switch are respectively fixed at the upper and lower ends of the guide rail.
  • the lifting switch adopts a distance sensor.
  • the lifting switch realizes automatic opening and closing by sensing the distance of the intelligent salvage ship, thereby automatically controlling the rise and fall of the intelligent salvage ship.
  • the limit switches at the upper and lower ends of the guide rail can automatically stop the rise and fall, preventing the height of the rise and fall from exceeding the length of the guide rail.
  • the rotating device also includes an inclined bracket
  • Two ends of the inclined bracket are respectively fixed on the top of the guide rail and the side of the rotating base away from the guide rail, and the inclined bracket forms a triangular structure with the guide rail and the rotating base.
  • the inclined bracket forms a triangular structure with the guide rail and the rotating base, which further strengthens the strength of the rotating device.
  • the charging device includes a charging transmitter, a charging switch and a charging rod;
  • the charging switch is a distance sensor
  • the charging rod is fixed vertically on the side of the rotating device away from the water surface;
  • a charging switch is fixed between the top and the bottom of the charging rod towards the water surface;
  • the charging transmitting end is located at the top of the charging pole, and the charging receiving end is electrically connected to the charging transmitting end when the intelligent salvage ship is located on a side away from the water surface.
  • the charging switch is automatically turned on and off by sensing the distance of the smart salvage ship, thereby realizing automatic control of the charging device. Salvage boat for charging.
  • the garbage storage bin also includes a storage bin door, and the storage bin door is located at one end of the garbage storage bin near the stern of the hull;
  • the salvage conveyor belt is specifically located at one end of the garbage storage bin close to the head of the hull and extends forward and downward to the outside of the hull and is inclined;
  • the discharge conveyor belt is specifically located at the bottom of the garbage storage bin and vertically connected with the storage bin door.
  • the salvage conveyor belt can drive the garbage on the water surface into the garbage storage bin by rotation, realizing automatic garbage salvage; when the intelligent salvage ship rotates to the side of the principle water surface for charging through the rotating device, the storage bin door will also automatically When it is opened, the garbage is transported from the garbage storage bin to the garbage dump area through the unloading conveyor belt to realize automatic unloading of the garbage.
  • the intelligent salvage ship also includes a camera, an ultrasonic sensor and a driving device;
  • Both the camera and the ultrasonic sensor are arranged outside the hull of the intelligent salvage ship;
  • the driving device is arranged in the hull of the intelligent salvage ship, and is electrically connected with the camera, the ultrasonic sensor, the salvage conveyor belt, the unloading conveyor belt and the charging receiving end.
  • the smart salvage ship is equipped with cameras, ultrasonic sensors and drive modules to realize the identification of garbage on the water surface, avoid obstacles during water operations, etc., and further realize unmanned and intelligent garbage salvage.
  • a central control room is also included, and the central control room is respectively connected in communication with the intelligent salvage ship, the rotating device and the charging device.
  • An intelligent water surface garbage cleaning system as shown in FIG. 1 , includes an intelligent salvage ship 10 , a rotating device 20 located on the shore, a charging device 30 and a garbage dumping area 40 .
  • the rotating device 20 is located near the water surface on the shore, and the charging device 30 and the garbage dumping area 40 are both located on the side of the rotating device 20 away from the water surface.
  • a lifting platform 201 extending toward the water surface is provided on the rotating device 20, and the intelligent salvage ship 10 is detachably connected to the lifting platform 201, and as shown in Figure 2, the lifting platform 201 can be rotated to the side away from the water surface.
  • the rotation angle of the rotation device 20 is 180°. The position is matched with the corresponding angle of rotation.
  • the intelligent salvage ship 10 includes a hull 101, a charging receiving end 102, a garbage storage bin 103, a salvage conveyor belt 104, and a discharge conveyor belt 105.
  • the salvage conveyor belt 104, the garbage storage bin 103 and the unloading conveyor belt 105 are all located in the hull 101 and are connected correspondingly in sequence.
  • the discharge ports are all set outward on the hull 101 .
  • the garbage storage bin 103 also includes a storage bin door 106 located at the end of the garbage storage bin 103 near the tail of the hull 101, and the unloading conveyor belt 105 is specifically located at the bottom of the garbage storage bin 103 and It is vertically connected with the storage bin door 106, and as shown in FIG. 2, the discharge port of the unloading conveyor belt 105 corresponds to the garbage dumping area 40 when the intelligent salvage ship 10 rotates to the side away from the water surface.
  • the upper end of the storage bin door 106 is fixed on the tail of the garbage storage bin 103 with a rotating shaft, and a motor is connected to each of the two ends of the rotating shaft.
  • the storage bin door 106 drives the rotating shaft through the motor. Rotate so that the lower end of the storage bin door 106 rotates from bottom to top to realize the opening of the bin door, and the unloading conveyor belt 105 transfers the garbage in the bin from the bin to the opened bin door through belt transmission so as to fall into the garbage In the stacking area 40, the transmission of the unloading conveyor belt 105 and the opening of the storage bin door 106 do not affect each other.
  • slide rail 216 and trailer 202 are arranged successively on lifting platform 201, and wherein slide rail 216 is fixed on the lifting platform 201;
  • trailer 202 bottom is provided with wheel 217
  • the wheels 217 are located in the slide rail 216, as shown in Figure 4, a latch 218 is also provided in the slide rail 216, and the latch 218 is provided on the outsides of the front and rear wheels 217 of the trailer 202, which can be used as an intelligent salvage ship 10
  • the wheels 217 of the trailer 202 can slide out from the slide rails 216 by pulling out the latch 218, so as to facilitate dragging the whole intelligent salvage ship 10 to the ground, and
  • the plug 218 is inserted, so that the fixed trailer 202 will not slide on the lifting platform 201 .
  • the top of the trailer 202 is provided with a net bag 219, which is used to fix the smart salvage ship 10 so that it will not shake on the lifting platform 201 when the smart salvage ship 10 is docked on the lifting platform 201, which is beneficial to the follow-up
  • the intelligent salvage ship 10 is smoothly lifted and rotated.
  • the net bag 219 is made of netted nylon rope, which has certain strength and elasticity, and further ensures the smooth docking of the intelligent salvage ship 10 .
  • the rotating device 20 includes a fixed base 203, a rotating base 206, a motor not shown on the figure, a driving wheel 204, a driven wheel 205, a guide rail 207, a slider 208, a connection Frame 211, winch 209 and suspension rope 210.
  • the fixed base 203 is fixed on the shore near the water surface, and the driving wheel 204 is connected with the motor shaft not marked on the figure.
  • the D-shaped shaft is matingly connected, and in other equivalent embodiments, the driving wheel 204 and the motor can also be connected in other ways.
  • the driven wheel 205 adopts a toothed slewing bearing on the outer ring, and the gear of the outer ring is meshed with the gear of the driving wheel 204.
  • the inner ring of the driven wheel 205 is fixedly connected above the fixed base 203, and the outer ring is fixed.
  • the outer ring of the driven wheel 205 will also rotate to drive the entire rotating base 206 to rotate, so that the intelligent salvage ship 10 can be rotated from the water surface to the shore. It is convenient for subsequent charging and garbage unloading operations.
  • the guide rail 207 is vertically fixed above the rotating base 206, the winch 209 is located on the top of the guide rail 207, and the guide rail 207 is connected with a connection frame 211 with an F-shaped structure.
  • the F-type connection frame 211 The horizontal ends of the structure extend away from the water surface and are connected to the guide rail 207 by sliding up and down through the slider 208.
  • the lifting platform 201 is fixed on the bottom of the vertical end of the F-shaped structure of the connecting frame 211, and the hoist 209 is above the connecting frame 211.
  • a suspension rope 210 is telescopically connected between the sliders 208 to form an integral liftable structure. That is, the hoist 209 rotates the sling 210 to drive the lifting platform 201 to slide up and down along the guide rail 207, thereby realizing the lifting of the intelligent salvage ship 10 and facilitating subsequent operations.
  • the vertical end of the F-shaped structure of the connecting frame 211 is provided with a lifting switch 212, and the lifting switch 212 adopts a distance sensor.
  • the lift switch 212 is turned on and off by sensing the distance of the smart salvage ship 10, thereby controlling the lifting platform 201 to drive the smart salvage ship 10 to rise and fall .
  • the rotating device 20 also includes an upper limit switch 213 and a lower limit switch 214 respectively fixed on the upper and lower ends of the guide rail 207. , can automatically stop rising or falling, preventing the height of rising and falling from exceeding the length of the guide rail 207.
  • embodiment two of the present invention is:
  • the charging device 30 includes a charging transmitter 303 , a charging switch 302 and a charging pole 301 .
  • the charging rod 301 is vertically fixed on the side of the rotating device 20 away from the water surface, and a charging switch 302 is fixed between the top and the bottom of the charging rod 301 toward the water surface.
  • the charging switch 302 also adopts a distance sensor, and the charging transmitter 303 is located at The top of the charging pole 301 can be electrically connected to the charging transmitter 303 of the smart salvage ship 10, and the electrical connection includes a wireless connection or a wired connection.
  • the charging switch 302 is turned on and off by sensing the distance of the smart salvage ship 10, thereby charging The device 30 charges the intelligent salvage vessel 10 .
  • the storage bin door 106 of the smart salvage ship 10 will also be opened, and the unloading conveyor belt 105 will transport the garbage into the garbage dumping area 40 below, realizing automatic unloading of the garbage .
  • embodiment three of the present invention is:
  • the rotating device 20 in an intelligent water surface garbage cleaning system of this embodiment further includes an inclined bracket 215 .
  • the two ends of the inclined bracket 215 are respectively fixed on the top of the guide rail 207 and the side of the rotating base 206 away from the guide rail 207, the inclined bracket 215 forms a triangular structure with the guide rail 207 and the rotating base 206, The strength of the rotating device 20 is enhanced.
  • embodiment four of the present invention is:
  • the intelligent salvage ship 10 in an intelligent water surface garbage cleaning system of this embodiment also includes a camera, an ultrasonic sensor and a driving device not shown in the figure.
  • the camera and the ultrasonic sensor are all arranged outside the hull 101 of the intelligent salvage ship 10.
  • Terminal 102 is electrically connected. That is, the identification of garbage on the water surface and the avoidance of obstacles during water operations are realized through cameras, ultrasonic waves, and drive modules, and further realize unmanned and intelligent garbage salvage.
  • embodiment five of the present invention is:
  • an intelligent water surface garbage cleaning system of this embodiment further includes a central control room 50, which is respectively connected to the intelligent salvage ship 10, the rotating device 20 and the charging device 30 in communication. That is to say, in this embodiment, the central control room 50 controls the intelligent salvage ship 10 , the rotating device 20 and the charging device 30 to perform operations, thereby realizing intelligent and unmanned management.
  • embodiment six of the present invention is:
  • this embodiment provides specific implementation steps of garbage salvage in an intelligent water surface garbage cleaning system.
  • One salvage ship can correspond to one area, or one salvage ship can correspond to multiple areas.
  • the intelligent salvage ship 10 when there is no need to clean up garbage on the surface of the lake, the intelligent salvage ship 10 is on standby. At this time, the intelligent salvage ship 10 docks on the rotating device 20 of the wharf corresponding to each area, and charges through the charging device 30 .
  • salvage ships with different numbers go to their corresponding area or several areas to start cruising.
  • the central control room 50 issues an instruction, and the salvage ships go to the designated place to pick up garbage, and the garbage is salvaged and transported.
  • the belt 104 is transported to the storage bin, and then the inspection is continued, and the salvage operation is repeated.
  • the ultrasonic device of the salvage ship can also be used to detect and avoid them in advance.
  • the central control room 50 issues an instruction, and the salvage ship returns to the wharf and docks on the lifting platform 201. 50 sends a signal, and the central control room 50 sends an instruction to open the lifting switch 212, and the lifting platform 201 raises the salvage ship, and when the slide block 208 hits the upper limit switch 213, it stops rising.
  • the work of the motor drives the driving wheel 204 to rotate, thereby driving the driven wheel 205 to rotate, and further driving the salvage ship to rotate. Rotate 180° and stop rotating.
  • the salvage ship has rotated to the side close to the charging device 30.
  • the charging switch 302 senses that the salvage ship has reached the designated position, and sends a signal to the central control room 50.
  • the central control room 50 sends an instruction to start charging.
  • Switch 302 now the charging receiving end 102 of the salvage ship is also in contact with the charging transmitting end 303 of the charging device 30, and automatic charging starts.
  • the storage bin door 106 is also automatically opened.
  • the unloading conveyor belt 105 starts, and the garbage is transported to the discharge port of the garbage storage bin 103 by the unloading conveyor belt 105, and is dropped by its own gravity. Enter the rubbish dumping area 40.
  • the rotating device 20 rotates 180°.
  • the lifting switch 212 senses that the salvage ship has reached the specified distance, and the lifting switch 212 is turned on. position, so the lifting platform 201 descends, and stops descending when the slide block 208 touches the lower limit switch 214, and the salvage ship returns to the water surface to continue the next round of inspection work.
  • the whole process is carried out by instructions issued by the central control room 50 to realize automatic navigation, automatic obstacle avoidance, automatic salvage, automatic unloading and automatic charging, realize unmanned and intelligent water surface garbage cleaning, and improve cleaning efficiency.
  • the salvage ship It also has a manual remote control function, which can manually remotely control the salvage ship for operations.
  • the present invention provides an intelligent water surface garbage cleaning system, which automatically salvages the garbage on the water surface into the garbage storage bin by setting a salvage conveyor belt in the smart salvage ship, and passes through when the garbage storage bin is full. Park the ship on the lifting platform of the rotating device on the shore, and the rotating device will turn the overall salvage ship to the direction where the charging device and the garbage dump area are also installed on the shore, and unload the garbage to the garbage dump through the unloading conveyor belt In the area, a charging device is used to charge the salvage boat at the same time, so that the salvage boat can carry out continuous water surface garbage cleaning operations, realizing unmanned and intelligent water surface garbage cleaning, and improving cleaning efficiency.
  • the use of a trailer on the lifting platform can facilitate the transportation of the intelligent salvage ship on the ground;
  • the lifting switch is turned on and off through the sensing distance, and at the same time combined with the upper and lower limit switches, the automatic control of the rising and falling of the lifting platform is realized;
  • the guide rail and the rotating base are fixed by inclined brackets, which further strengthen the strength of the rotating device, so that the intelligent salvage ship can be docked, lifted and rotated stably; at the same time, functional modules such as cameras, ultrasonic sensors, and drive modules are used on the intelligent salvage ship to realize
  • the automatic identification of garbage on the water surface, automatic obstacle avoidance and movement during water operations have further improved the intelligence level of the intelligent salvage ship.
  • the entire salvage process is carried out through commands issued by the central control room, which realizes automatic navigation, automatic obstacle avoidance, automatic salvage, automatic unloading and automatic charging, realizes unmanned and intelligent water surface garbage cleaning, and improves cleaning efficiency.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Environmental & Geological Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Refuse-Collection Vehicles (AREA)
  • Cleaning Or Clearing Of The Surface Of Open Water (AREA)

Abstract

The present invention provides an intelligent water surface garbage cleaning system, comprising an intelligent salvage boat, and a rotation device, a charging device, and a garbage stacking region that are provided on a shore. The rotation device is located on the shore near a water surface and is provided with a lifting/lowering platform extending in a direction toward the water surface. The lifting/lowering platform can be rotated to the side away from the water surface. The intelligent salvage boat is detachably connected to the lifting/lowering platform. The charging device and the garbage stacking region are both located on the side of the rotation device away from the water surface. The intelligent salvage boat comprises a boat body, a charging reception end, a garbage storage bin, a salvage transmission belt, and a discharge transmission belt. The charging reception end is located outside the boat body and can be electrically connected to the charging device. The salvage transmission belt, the garbage storage bin, and the discharge transmission belt are all located in the boat body and are correspondingly connected in sequence. According to the present invention, a salvage boat can automatically perform a continuous water surface garbage cleaning operation, such that unmanned and intelligent water surface garbage cleaning is implemented, and the cleaning efficiency is improved.

Description

一种智能水面垃圾清理***An intelligent water surface garbage cleaning system 技术领域technical field
本发明涉及水域垃圾清理设备技术领域,特别涉及一种智能水面垃圾清理***。The invention relates to the technical field of water area garbage cleaning equipment, in particular to an intelligent water surface garbage cleaning system.
背景技术Background technique
随着社会经济的高速发展,人们的生活水平有了显著的提高。然而,人们在注重工业和经济发展的同时,却忽略了对环境的保护。近年来,环境问题日益突出,水环境的污染问题也越来越受到社会各界的关注,江流、湖泊、水库上漂浮的垃圾处理问题出现在人们的视野中。With the rapid development of social economy, people's living standards have been significantly improved. However, while people pay attention to industrial and economic development, they ignore the protection of the environment. In recent years, environmental problems have become increasingly prominent, and the pollution of water environment has attracted more and more attention from all walks of life. The problem of garbage disposal floating on rivers, lakes and reservoirs has appeared in people's vision.
目前,市场上水面垃圾的清理主要靠人工打捞为主,但这种清理方式劳动强度较大,工作环境恶劣,效率也十分低下;也有带网兜的机械化打捞船,但这种也是人为操控,而且网兜打捞会加大船前进的阻力。At present, the cleaning of water surface garbage on the market mainly relies on manual salvage, but this cleaning method is labor-intensive, the working environment is harsh, and the efficiency is also very low; there are also mechanized salvage ships with net bags, but this is also man-made. Net bag salvage will increase the resistance of the ship to advance.
技术问题technical problem
本发明所要解决的技术问题是:提供一种智能水面垃圾清理***,实现无人化、智能化的水面垃圾清理,提高清理效率。The technical problem to be solved by the present invention is to provide an intelligent water surface garbage cleaning system to realize unmanned and intelligent water surface garbage cleaning and improve cleaning efficiency.
技术解决方案technical solution
为了解决上述技术问题,本发明采用的技术方案为:In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
一种智能水面垃圾清理***,包括智能打捞船以及位于岸边的转动装置、充电装置和垃圾堆放区;An intelligent water surface garbage cleaning system, including an intelligent salvage ship, a rotating device located on the shore, a charging device and a garbage dumping area;
所述转动装置位于岸边靠近水面的位置,所述转动装置上设置有向水面方向延伸的一升降平台且所述升降平台可转动至远离水面的一侧,所述智能打捞船与所述升降平台可拆卸连接;The rotating device is located near the water surface on the shore, and the rotating device is provided with a lifting platform extending toward the water surface, and the lifting platform can be rotated to a side away from the water surface, and the intelligent salvage ship and the lifting platform Platform detachable connection;
所述充电装置和所述垃圾堆放区均位于所述转动装置远离水面的一侧;Both the charging device and the garbage dumping area are located on the side of the rotating device away from the water surface;
所述智能打捞船包括船体、充电接收端、垃圾存储仓、打捞传输带和卸料传输带;The intelligent salvage ship includes a hull, a charging receiving terminal, a garbage storage bin, a salvage conveyor belt, and a discharge conveyor belt;
所述充电接收端位于所述船体尾部,且在所述智能打捞船旋转到远离水面的一侧时与所述充电装置电连接;The charging receiving end is located at the stern of the hull, and is electrically connected to the charging device when the intelligent salvage ship rotates to the side away from the water surface;
所述打捞传输带、所述垃圾存储仓和所述卸料传输带均位于所述船体内且依次对应连接;The salvage conveyor belt, the garbage storage bin and the unloading conveyor belt are all located in the hull and connected in sequence correspondingly;
所述打捞传输带的进料口与所述卸料传输带的出料口均在所述船体上朝外设置,所述卸料传输带的出料口在所述智能打捞船旋转到远离水面的一侧时与所述垃圾堆放区相对应。The feed port of the salvage conveyor belt and the discharge port of the discharge conveyor belt are both set outward on the hull, and the discharge port of the discharge conveyor belt is rotated away from the water surface by the intelligent salvage ship Corresponding to the garbage dumping area on one side.
有益效果Beneficial effect
本发明的有益效果在于:本发明提供一种智能水面垃圾清理***,通过在智能打捞船内设置打捞传输带将水面上的垃圾自动打捞到垃圾存储仓内,当垃圾存储仓内的垃圾堆满时通过将船停靠在岸边的转动装置的升降平台上,并由转动装置将整体打捞船转向同样设置在岸边的充电装置以及垃圾堆放区所在的方向,通过卸料传输带将垃圾卸载到垃圾堆放区内,同时采用充电装置对打捞船进行充电,使打捞船能够进行连续的水面垃圾清理作业,实现了无人化、智能化的水面垃圾清理,提高了清理效率。The beneficial effect of the present invention is that: the present invention provides an intelligent water surface garbage cleaning system, by setting a salvage conveyor belt in the intelligent salvage ship, the garbage on the water surface is automatically salvaged into the garbage storage bin, when the garbage storage bin is full By docking the ship on the lifting platform of the rotating device on the shore, and the rotating device turns the overall salvage ship to the direction where the charging device and the garbage dump area are also installed on the shore, and unloads the garbage to the garbage through the unloading conveyor belt. In the stacking area, a charging device is used to charge the salvage ship at the same time, so that the salvage ship can carry out continuous water surface garbage cleaning operations, realizing unmanned and intelligent water surface garbage cleaning, and improving cleaning efficiency.
附图说明Description of drawings
图1为一种智能水面垃圾清理***的结构示意图;Fig. 1 is the structural representation of a kind of intelligent surface rubbish cleaning system;
图2为实施例的一种智能打捞船充电示意图;Fig. 2 is a schematic diagram of charging a smart salvage ship according to an embodiment;
图3为一种智能水面垃圾清理***的拖车的结构示意图;Fig. 3 is a structural schematic diagram of a trailer of an intelligent water surface garbage cleaning system;
图4为拖车的侧视图;Figure 4 is a side view of the trailer;
图5为实施例的一种智能水面垃圾清理***的***图;Fig. 5 is a system diagram of a kind of intelligent water surface garbage cleaning system of the embodiment;
图6为实施例的一种区域分割示意图;FIG. 6 is a schematic diagram of region segmentation in an embodiment;
图7为实施例的智能打捞船的垃圾打捞具体流程图。Fig. 7 is a specific flow chart of garbage salvage by the intelligent salvage ship of the embodiment.
标号说明:Label description:
10、智能打捞船;101、船体;102、充电接收端;103、垃圾存储仓;104、打捞传输带;105、卸料传输带;106、存储仓仓门;10. Intelligent salvage ship; 101. Hull; 102. Charging receiver; 103. Garbage storage bin; 104. Salvage conveyor belt; 105. Unloading conveyor belt; 106. Storage bin door;
20、转动装置;201、升降平台;202、拖车;203、固定底座;204、主动轮;205、从动轮;206、旋转底座;207、导轨;208、滑块;209、卷扬机;210、吊绳;211、连接架;212、升降开关;213、上限位开关;214、下限位开关;215、斜支架;216、滑轨;217、车轮;218、插销;219、网兜;20, rotating device; 201, lifting platform; 202, trailer; 203, fixed base; 204, driving wheel; 205, driven wheel; 206, rotating base; 207, guide rail; Rope; 211, connecting frame; 212, lift switch; 213, upper limit switch; 214, lower limit switch; 215, inclined bracket; 216, slide rail; 217, wheel; 218, latch; 219, net bag;
30、充电装置;301、充电杆;302、充电开关;303、充电发射端;30. Charging device; 301. Charging pole; 302. Charging switch; 303. Charging transmitter;
40、垃圾堆放区;50、中央控制室。40. Garbage storage area; 50. Central control room.
本发明的实施方式Embodiments of the present invention
为详细说明本发明的技术内容、所实现目的及效果,以下结合实施方式并配合附图予以说明。In order to describe the technical content, achieved goals and effects of the present invention in detail, the following descriptions will be made in conjunction with the embodiments and accompanying drawings.
请参照图1至图7,一种智能水面垃圾清理***,Please refer to Figure 1 to Figure 7, an intelligent water surface garbage cleaning system,
包括智能打捞船以及位于岸边的转动装置、充电装置和垃圾堆放区;Including the smart salvage vessel and the turning device, charging device and garbage dump area located on the shore;
所述转动装置位于岸边靠近水面的位置,所述转动装置上设置有向水面方向延伸的一升降平台且所述升降平台可转动至远离水面的一侧,所述智能打捞船与所述升降平台可拆卸连接;The rotating device is located near the water surface on the shore, and the rotating device is provided with a lifting platform extending toward the water surface, and the lifting platform can be rotated to a side away from the water surface, and the intelligent salvage ship and the lifting platform Platform detachable connection;
所述充电装置和所述垃圾堆放区均位于所述转动装置远离水面的一侧;Both the charging device and the garbage dumping area are located on the side of the rotating device away from the water surface;
所述智能打捞船包括船体、充电接收端、垃圾存储仓、打捞传输带和卸料传输带;The intelligent salvage ship includes a hull, a charging receiving terminal, a garbage storage bin, a salvage conveyor belt, and a discharge conveyor belt;
所述充电接收端位于所述船体尾部,且在所述智能打捞船旋转到远离水面的一侧时与所述充电装置电连接;The charging receiving end is located at the stern of the hull, and is electrically connected to the charging device when the intelligent salvage ship rotates to the side away from the water surface;
所述打捞传输带、所述垃圾存储仓和所述卸料传输带均位于所述船体内且依次对应连接;The salvage conveyor belt, the garbage storage bin and the unloading conveyor belt are all located in the hull and connected in sequence correspondingly;
所述打捞传输带的进料口与所述卸料传输带的出料口均在所述船体上朝外设置,所述卸料传输带的出料口在所述智能打捞船旋转到远离水面的一侧时与所述垃圾堆放区相对应。The feed port of the salvage conveyor belt and the discharge port of the discharge conveyor belt are both set outward on the hull, and the discharge port of the discharge conveyor belt is rotated away from the water surface by the intelligent salvage ship Corresponding to the garbage dumping area on one side.
由上述描述可知,本发明的有益效果在于:通过在智能打捞船内设置打捞传输带将水面上的垃圾自动打捞到垃圾存储仓内,当垃圾存储仓内的垃圾堆满时通过将船停靠在岸边的转动装置的升降平台上,并由转动装置将整体打捞船转向同样设置在岸边的充电装置以及垃圾堆放区所在的方向,通过卸料传输带将垃圾卸载到垃圾堆放区内,同时采用充电装置对打捞船进行充电,使打捞船能够进行连续的水面垃圾清理作业,实现了无人化、智能化的水面垃圾清理,提高了清理效率。It can be seen from the above description that the beneficial effect of the present invention is that by setting a salvage conveyor belt in the intelligent salvage ship, the garbage on the water surface is automatically salvaged into the garbage storage bin, and when the garbage in the garbage storage bin is full, the ship can be docked on the shore. on the lifting platform of the rotating device on the side, and the rotating device turns the overall salvage ship to the direction where the charging device and the garbage dump area are also installed on the shore, and the garbage is unloaded into the garbage dump area through the unloading conveyor belt. The charging device charges the salvage ship, enabling the salvage ship to carry out continuous water surface garbage cleaning operations, realizing unmanned and intelligent water surface garbage cleaning, and improving cleaning efficiency.
进一步地,所述升降平台上依次设置有滑轨和拖车,所述拖车底部设置有车轮;Further, slide rails and trailers are sequentially arranged on the lifting platform, and wheels are arranged at the bottom of the trailer;
所述滑轨固定在所述升降平台上,所述车轮位于所述滑轨内且在所述车轮的前后端各设置有插销,所述插销用于固定所述车轮。The slide rails are fixed on the lifting platform, the wheels are located in the slide rails and bolts are respectively arranged at the front and rear ends of the wheels, and the bolts are used to fix the wheels.
由上述描述可知,采用拖车通过滑轨及插销可拆卸固定在升降平台上,可便于将智能打捞船从升降平台上拖动到地面上从而在地面上进行运输或从地面上通过拖车回到升降平台上。It can be seen from the above description that the trailer is detachably fixed on the lifting platform through the slide rail and the latch, which can facilitate the dragging of the intelligent salvage ship from the lifting platform to the ground for transportation on the ground or return to the lifting platform through the trailer from the ground. on the platform.
进一步地,所述拖车顶部设置有网兜;Further, a net bag is provided on the top of the trailer;
所述智能打捞船可通过所述网兜稳定停靠在所述升降平台上。The intelligent salvage ship can be stably docked on the lifting platform through the net bag.
由上述描述可知,网兜可以保证智能打捞船平稳地停靠在升降平台上,不会造成滑动。From the above description, it can be known that the net bag can ensure that the intelligent salvage ship docks smoothly on the lifting platform without causing slippage.
进一步地,所述转动装置包括固定底座、旋转底座、电机、主动轮、从动轮、导轨、滑块、连接架、卷扬机和吊绳;Further, the rotating device includes a fixed base, a rotating base, a motor, a driving wheel, a driven wheel, a guide rail, a slider, a connecting frame, a winch and a suspension rope;
所述固定底座固定在岸边靠近水面的位置;The fixed base is fixed on the shore near the water surface;
所述主动轮与所述电机轴连接,所述从动轮为外圈带齿的转盘轴承,所述从动轮的外圈与所述主动轮啮合连接,所述从动轮的内圈固定在所述固定底座上方,所述旋转底座固定在所述从动轮的外圈上方;The driving wheel is connected to the motor shaft, the driven wheel is a slewing bearing with teeth on the outer ring, the outer ring of the driven wheel is meshed with the driving wheel, and the inner ring of the driven wheel is fixed on the Above the fixed base, the rotating base is fixed above the outer ring of the driven wheel;
所述导轨垂直固定在所述旋转底座上方;The guide rail is vertically fixed above the rotating base;
所述卷扬机位于所述导轨的顶部;The winch is located on the top of the guide rail;
所述连接架采用F型结构,所述连接架的F型结构横向两端朝向远离水面的方向延伸并通过所述滑块可上下滑动连接在所述导轨上,所述升降平台固定在所述连接架的F型结构竖向一端的底部;The connecting frame adopts an F-shaped structure, and the two ends of the F-shaped structure of the connecting frame extend toward the direction away from the water surface and are connected to the guide rail by sliding up and down through the slider, and the lifting platform is fixed on the The bottom of the vertical end of the F-shaped structure of the connecting frame;
所述吊绳可伸缩连接在位于所述卷扬机与所述连接架上方的所述滑块之间。The suspension rope is telescopically connected between the hoist and the slider above the connecting frame.
由上述描述可知,转动装置不仅可以将停靠的智能打捞船进行升降,还可以通过电机、主动轮和从动轮之间的连接带动旋转底座将智能打捞船旋转至岸边,便于岸边的充电装置进行充电和将垃圾卸料至岸边的垃圾堆放区。From the above description, it can be seen that the rotating device can not only lift and lower the docked smart salvage ship, but also drive the rotating base to rotate the smart salvage ship to the shore through the connection between the motor, the driving wheel and the driven wheel, which is convenient for the charging device on the shore. Charging and unloading of waste to the waste dump area on the shore.
进一步地,所述转动装置还包括升降开关、上限位开关和下限位开关;Further, the rotating device also includes a lifting switch, an upper limit switch and a lower limit switch;
所述升降开关为距离传感器;The lifting switch is a distance sensor;
所述升降开关设置在所述连接架F型结构竖向的一端上;The lifting switch is arranged on the vertical end of the F-shaped structure of the connecting frame;
所述上限位开关和所述下限位开关分别固定在所述导轨的上下两端。The upper limit switch and the lower limit switch are respectively fixed at the upper and lower ends of the guide rail.
由上述描述可知,升降开关采用距离传感器,当智能打捞船位于升降平台上时,升降开关通过感应智能打捞船的距离来实现自动开启和关闭,从而自动控制智能打捞船的上升和下降,同时结合导轨上下两端的限位开关,实现自动停止上升和下降,防止上升下降的高度超出导轨的长度。As can be seen from the above description, the lifting switch adopts a distance sensor. When the intelligent salvage ship is on the lifting platform, the lifting switch realizes automatic opening and closing by sensing the distance of the intelligent salvage ship, thereby automatically controlling the rise and fall of the intelligent salvage ship. The limit switches at the upper and lower ends of the guide rail can automatically stop the rise and fall, preventing the height of the rise and fall from exceeding the length of the guide rail.
进一步地,所述转动装置还包括斜支架;Further, the rotating device also includes an inclined bracket;
所述斜支架的两端分别固定在所述导轨顶部和所述旋转底座上远离所述导轨的一侧,所述斜支架与所述导轨和所述旋转底座形成三角结构。Two ends of the inclined bracket are respectively fixed on the top of the guide rail and the side of the rotating base away from the guide rail, and the inclined bracket forms a triangular structure with the guide rail and the rotating base.
由上述描述可知,斜支架与导轨和旋转底座形成三角结构,进一步加强了转动装置的强度。It can be seen from the above description that the inclined bracket forms a triangular structure with the guide rail and the rotating base, which further strengthens the strength of the rotating device.
进一步地,所述充电装置包括充电发射端、充电开关和充电杆;Further, the charging device includes a charging transmitter, a charging switch and a charging rod;
所述充电开关为距离传感器;The charging switch is a distance sensor;
所述充电杆垂直固定在所述转动装置远离水面的一侧;The charging rod is fixed vertically on the side of the rotating device away from the water surface;
所述充电杆的顶部与底部之间朝向水面的方向上固定有一所述充电开关;A charging switch is fixed between the top and the bottom of the charging rod towards the water surface;
所述充电发射端位于所述充电杆顶部,所述充电接收端在所述智能打捞船位于远离水面的一侧时与所述充电发射端电连接。The charging transmitting end is located at the top of the charging pole, and the charging receiving end is electrically connected to the charging transmitting end when the intelligent salvage ship is located on a side away from the water surface.
由上述描述可知,当智能打捞船通过转动装置旋转至原理水面一侧的充电装置所在的位置时,充电开关通过感应智能打捞船的距离来实现自动开启和关闭,从而实现自动控制充电装置对智能打捞船进行充电。As can be seen from the above description, when the smart salvage ship rotates to the position of the charging device on the side of the principle water surface through the rotating device, the charging switch is automatically turned on and off by sensing the distance of the smart salvage ship, thereby realizing automatic control of the charging device. Salvage boat for charging.
进一步地,所述垃圾存储仓还包括存储仓仓门,所述存储仓仓门位于所述垃圾存储仓靠近所述船体尾部的一端;Further, the garbage storage bin also includes a storage bin door, and the storage bin door is located at one end of the garbage storage bin near the stern of the hull;
所述打捞传输带具***于所述垃圾存储仓靠近所述船体头部的一端且向前下方延伸至船体外倾斜设置;The salvage conveyor belt is specifically located at one end of the garbage storage bin close to the head of the hull and extends forward and downward to the outside of the hull and is inclined;
所述卸料传输带具***于所述垃圾存储仓内底部且与所述存储仓仓门垂直连接。The discharge conveyor belt is specifically located at the bottom of the garbage storage bin and vertically connected with the storage bin door.
由上述描述可知,打捞传输带能够通过旋转带动水面的垃圾进入垃圾存储仓,实现自动化的垃圾打捞;当智能打捞船通过转动装置旋转至原理水面一侧进行充电时,存储仓仓门也会自动打开,通过卸料传输带将垃圾从垃圾存储仓传输落入垃圾堆放区,实现垃圾的自动卸料。From the above description, it can be known that the salvage conveyor belt can drive the garbage on the water surface into the garbage storage bin by rotation, realizing automatic garbage salvage; when the intelligent salvage ship rotates to the side of the principle water surface for charging through the rotating device, the storage bin door will also automatically When it is opened, the garbage is transported from the garbage storage bin to the garbage dump area through the unloading conveyor belt to realize automatic unloading of the garbage.
进一步地,所述智能打捞船还包括摄像头、超声波传感器和驱动装置;Further, the intelligent salvage ship also includes a camera, an ultrasonic sensor and a driving device;
所述摄像头和所述超声波传感器均设置在所述智能打捞船的船体外;Both the camera and the ultrasonic sensor are arranged outside the hull of the intelligent salvage ship;
所述驱动装置设置在所述智能打捞船的船体内,与所述摄像头、所述超声波传感器、所述打捞传输带、所述卸料传输带和所述充电接收端电连接。The driving device is arranged in the hull of the intelligent salvage ship, and is electrically connected with the camera, the ultrasonic sensor, the salvage conveyor belt, the unloading conveyor belt and the charging receiving end.
由上述描述可知,智能打捞船设置摄像头、超声波传感器以及驱动模块实现对水面垃圾的识别,水上作业时对障碍的规避等,进一步实现无人化和智能化的垃圾打捞。From the above description, it can be seen that the smart salvage ship is equipped with cameras, ultrasonic sensors and drive modules to realize the identification of garbage on the water surface, avoid obstacles during water operations, etc., and further realize unmanned and intelligent garbage salvage.
进一步地,还包括中央控制室,所述中央控制室分别与所述智能打捞船、所述转动装置和所述充电装置通信连接。Further, a central control room is also included, and the central control room is respectively connected in communication with the intelligent salvage ship, the rotating device and the charging device.
由上述描述可知,通过中央控制室控制智能打捞船、转动装置和充电装置进行作业,实现智能化、无人化的管理。It can be seen from the above description that the intelligent salvage ship, rotating device and charging device are controlled by the central control room to carry out operations, realizing intelligent and unmanned management.
请参照图1至图4,本发明的实施例一为:Please refer to Fig. 1 to Fig. 4, embodiment one of the present invention is:
一种智能水面垃圾清理***,如图1所示,包括智能打捞船10以及位于岸边的转动装置20、充电装置30和垃圾堆放区40。An intelligent water surface garbage cleaning system, as shown in FIG. 1 , includes an intelligent salvage ship 10 , a rotating device 20 located on the shore, a charging device 30 and a garbage dumping area 40 .
其中,转动装置20位于岸边靠近水面的位置,充电装置30和垃圾堆放区40均位于转动装置20远离水面的一侧。在本实施例中,如图1所示,转动装置20上设置有向水面方向延伸的一升降平台201,智能打捞船10与升降平台201可拆卸连接,且如图2所示,该升降平台201可转动至远离水面的一侧,在本实施例中,转动装置20的旋转角度为180°,在其他等同实施例中,转动装置20的旋转角度根据充电装置30以及垃圾堆放区40所在的位置而配合旋转相应角度。Wherein, the rotating device 20 is located near the water surface on the shore, and the charging device 30 and the garbage dumping area 40 are both located on the side of the rotating device 20 away from the water surface. In this embodiment, as shown in Figure 1, a lifting platform 201 extending toward the water surface is provided on the rotating device 20, and the intelligent salvage ship 10 is detachably connected to the lifting platform 201, and as shown in Figure 2, the lifting platform 201 can be rotated to the side away from the water surface. In this embodiment, the rotation angle of the rotation device 20 is 180°. The position is matched with the corresponding angle of rotation.
其中,智能打捞船10包括船体101、充电接收端102、垃圾存储仓103、打捞传输带104和卸料传输带105,充电接收端102位于船体101尾部且在智能打捞船10旋转到远离水面的一侧时与充电装置30电连接,打捞传输带104、垃圾存储仓103和卸料传输带105均位于船体101内且依次对应连接,打捞传输带104的进料口与卸料传输带105的出料口均在船体101上朝外设置。在本实施例中,如图1所示,垃圾存储仓103还包括位于垃圾存储仓103靠近船体101尾部的一端的存储仓仓门106,卸料传输带105具***于垃圾存储仓103内底部且与存储仓仓门106垂直连接,且如图2所示,卸料传输带105的出料口在智能打捞船10旋转到远离水面的一侧时与垃圾堆放区40相对应。在本实施例中,存储仓仓门106的上端采用转动轴固定在垃圾存储仓103尾部,且转动轴的两端各连接有电机,当卸载垃圾时,存储仓仓门106通过电机带动转动轴进行旋转从而使存储仓仓门106的下端由下往上旋转实现仓门的开启,而卸料传输带105通过带传动将仓内的垃圾由仓内传送至开启的仓门处从而落入垃圾堆放区40内,卸料传输带105的传动和存储仓仓门106的开启互不影响。Among them, the intelligent salvage ship 10 includes a hull 101, a charging receiving end 102, a garbage storage bin 103, a salvage conveyor belt 104, and a discharge conveyor belt 105. When one side is electrically connected with the charging device 30, the salvage conveyor belt 104, the garbage storage bin 103 and the unloading conveyor belt 105 are all located in the hull 101 and are connected correspondingly in sequence. The discharge ports are all set outward on the hull 101 . In this embodiment, as shown in Figure 1, the garbage storage bin 103 also includes a storage bin door 106 located at the end of the garbage storage bin 103 near the tail of the hull 101, and the unloading conveyor belt 105 is specifically located at the bottom of the garbage storage bin 103 and It is vertically connected with the storage bin door 106, and as shown in FIG. 2, the discharge port of the unloading conveyor belt 105 corresponds to the garbage dumping area 40 when the intelligent salvage ship 10 rotates to the side away from the water surface. In this embodiment, the upper end of the storage bin door 106 is fixed on the tail of the garbage storage bin 103 with a rotating shaft, and a motor is connected to each of the two ends of the rotating shaft. When unloading garbage, the storage bin door 106 drives the rotating shaft through the motor. Rotate so that the lower end of the storage bin door 106 rotates from bottom to top to realize the opening of the bin door, and the unloading conveyor belt 105 transfers the garbage in the bin from the bin to the opened bin door through belt transmission so as to fall into the garbage In the stacking area 40, the transmission of the unloading conveyor belt 105 and the opening of the storage bin door 106 do not affect each other.
其中,如图1至图4所示,在升降平台201上依次设置有滑轨216和拖车202,其中滑轨216固定在升降平台201上;如图3所示,拖车202底部设置有车轮217且车轮217位于滑轨216内,如图4所示,在滑轨216内还设置有插销218,且插销218在拖车202的前后两个车轮217外侧均设置有,可用于当智能打捞船10停靠在升降平台201上而需要拖动到地面上时,可通过将插销218拔出,拖车202的车轮217从滑轨216内滑出,从而便于拖动整个智能打捞船10到地面上,而不需要进行地面运输时,则将插销218插上,从而固定拖车202不会在升降平台201上进行滑动。Wherein, as shown in Figure 1 to Figure 4, slide rail 216 and trailer 202 are arranged successively on lifting platform 201, and wherein slide rail 216 is fixed on the lifting platform 201; As shown in Figure 3, trailer 202 bottom is provided with wheel 217 And the wheels 217 are located in the slide rail 216, as shown in Figure 4, a latch 218 is also provided in the slide rail 216, and the latch 218 is provided on the outsides of the front and rear wheels 217 of the trailer 202, which can be used as an intelligent salvage ship 10 When docked on the lifting platform 201 and need to be dragged to the ground, the wheels 217 of the trailer 202 can slide out from the slide rails 216 by pulling out the latch 218, so as to facilitate dragging the whole intelligent salvage ship 10 to the ground, and When ground transportation is not required, the plug 218 is inserted, so that the fixed trailer 202 will not slide on the lifting platform 201 .
如图3或4所示,拖车202的顶部设置有网兜219,用于当智能打捞船10停靠在升降平台201上时,能够固定智能打捞船10不会在升降平台201上进行晃动,利于后续对智能打捞船10进行平稳的升降和转动。在本实施例中,网兜219采用网状的尼龙绳制成,具有一定的强度和弹性,进一步保证智能打捞船10的平稳停靠。As shown in Figure 3 or 4, the top of the trailer 202 is provided with a net bag 219, which is used to fix the smart salvage ship 10 so that it will not shake on the lifting platform 201 when the smart salvage ship 10 is docked on the lifting platform 201, which is beneficial to the follow-up The intelligent salvage ship 10 is smoothly lifted and rotated. In this embodiment, the net bag 219 is made of netted nylon rope, which has certain strength and elasticity, and further ensures the smooth docking of the intelligent salvage ship 10 .
在本实施例中,如图1所示,转动装置20包括了固定底座203、旋转底座206、未在图上标出的电机、主动轮204、从动轮205、导轨207、滑块208、连接架211、卷扬机209和吊绳210。In this embodiment, as shown in Figure 1, the rotating device 20 includes a fixed base 203, a rotating base 206, a motor not shown on the figure, a driving wheel 204, a driven wheel 205, a guide rail 207, a slider 208, a connection Frame 211, winch 209 and suspension rope 210.
其中,固定底座203固定在岸边靠近水面的位置,主动轮204与未在图上标出的电机轴连接,在本实施例中,主动轮204采用中心开D型孔的齿轮,与电机的D型轴配合连接,在其他等同实施例中,主动轮204和电机也可以为其他的轴连接方式。同时,本实施例中从动轮205采用外圈带齿的转盘轴承,且外圈的齿轮与主动轮204的齿轮啮合连接,从动轮205的内圈固定连接在固定底座203的上方,外圈固定在旋转底座206的下方,当电机带动主动轮204旋转时,从动轮205的外圈也会随着旋转从而带动整个旋转底座206旋转,能实现将智能打捞船10从水面上旋转至岸边,便于后续的充电及垃圾卸料作业。Wherein, the fixed base 203 is fixed on the shore near the water surface, and the driving wheel 204 is connected with the motor shaft not marked on the figure. The D-shaped shaft is matingly connected, and in other equivalent embodiments, the driving wheel 204 and the motor can also be connected in other ways. Simultaneously, in the present embodiment, the driven wheel 205 adopts a toothed slewing bearing on the outer ring, and the gear of the outer ring is meshed with the gear of the driving wheel 204. The inner ring of the driven wheel 205 is fixedly connected above the fixed base 203, and the outer ring is fixed. Below the rotating base 206, when the motor drives the driving wheel 204 to rotate, the outer ring of the driven wheel 205 will also rotate to drive the entire rotating base 206 to rotate, so that the intelligent salvage ship 10 can be rotated from the water surface to the shore. It is convenient for subsequent charging and garbage unloading operations.
其中,导轨207垂直固定在旋转底座206上方,卷扬机209位于导轨207的顶部,且导轨207上连接有F型结构的连接架211连接,具体的,如图1所示,连接架211的F型结构横向两端朝向远离水面的方向延伸并通过滑块208可上下滑动连接在导轨207上,同时升降平台201固定在连接架211的F型结构竖向一端的底部,卷扬机209与连接架211上方的滑块208之间可伸缩连接有一吊绳210,形成一个整体的可升降结构。即通过卷扬机209旋转吊绳210带动升降平台201沿导轨207做上下滑动,从而实现智能打捞船10的升降,便于后续的作业。Wherein, the guide rail 207 is vertically fixed above the rotating base 206, the winch 209 is located on the top of the guide rail 207, and the guide rail 207 is connected with a connection frame 211 with an F-shaped structure. Specifically, as shown in FIG. 1 , the F-type connection frame 211 The horizontal ends of the structure extend away from the water surface and are connected to the guide rail 207 by sliding up and down through the slider 208. At the same time, the lifting platform 201 is fixed on the bottom of the vertical end of the F-shaped structure of the connecting frame 211, and the hoist 209 is above the connecting frame 211. A suspension rope 210 is telescopically connected between the sliders 208 to form an integral liftable structure. That is, the hoist 209 rotates the sling 210 to drive the lifting platform 201 to slide up and down along the guide rail 207, thereby realizing the lifting of the intelligent salvage ship 10 and facilitating subsequent operations.
其中,连接架211的F型结构竖向一端设置有升降开关212,该升降开关212采用距离传感器。如图1所示,当智能打捞船10停靠在升降平台201上时,升降开关212通过感应智能打捞船10的距离来进行开启和关闭,从而控制升降平台201带动智能打捞船10进行上升和下降。同时,在转动装置20上还包括分别固定在导轨207的上下两端的上限位开关213和下限位开关214,当智能打捞船10上升或下降而触碰到上限位开关213或下限位开关214时,能自动停止上升或下降,防止上升下降的高度超出导轨207的长度。Wherein, the vertical end of the F-shaped structure of the connecting frame 211 is provided with a lifting switch 212, and the lifting switch 212 adopts a distance sensor. As shown in Figure 1, when the smart salvage ship 10 docks on the lifting platform 201, the lift switch 212 is turned on and off by sensing the distance of the smart salvage ship 10, thereby controlling the lifting platform 201 to drive the smart salvage ship 10 to rise and fall . At the same time, the rotating device 20 also includes an upper limit switch 213 and a lower limit switch 214 respectively fixed on the upper and lower ends of the guide rail 207. , can automatically stop rising or falling, preventing the height of rising and falling from exceeding the length of the guide rail 207.
请参照图2,本发明的实施例二为:Please refer to Fig. 2, embodiment two of the present invention is:
在上述实施例一的基础上,当智能打捞船10在岸边进行充电时,如图2所示,智能打捞船10通过转动装置20旋转到远离水面的一侧。在本实施例中,充电装置30包括充电发射端303、充电开关302和充电杆301。On the basis of the first embodiment above, when the smart salvage ship 10 is charging on the shore, as shown in FIG. 2 , the smart salvage ship 10 rotates to the side away from the water surface through the rotating device 20 . In this embodiment, the charging device 30 includes a charging transmitter 303 , a charging switch 302 and a charging pole 301 .
其中,充电杆301垂直固定在转动装置20远离水面的一侧,充电杆301的顶部与底部之间朝向水面的方向上固定有一充电开关302,充电开关302也采用距离传感器,充电发射端303位于充电杆301顶部,可与智能打捞船10的充电发射端303电连接,该电连接包括无线连接或者有线连接。如图2所示,当智能打捞船10停靠在升降平台201上且通过转动装置20旋转到远离水面的一侧时,充电开关302通过感应智能打捞船10的距离来进行开启和关闭,从而充电装置30对智能打捞船10进行充电。Wherein, the charging rod 301 is vertically fixed on the side of the rotating device 20 away from the water surface, and a charging switch 302 is fixed between the top and the bottom of the charging rod 301 toward the water surface. The charging switch 302 also adopts a distance sensor, and the charging transmitter 303 is located at The top of the charging pole 301 can be electrically connected to the charging transmitter 303 of the smart salvage ship 10, and the electrical connection includes a wireless connection or a wired connection. As shown in Figure 2, when the smart salvage ship 10 is docked on the lifting platform 201 and rotated to the side away from the water surface by the rotating device 20, the charging switch 302 is turned on and off by sensing the distance of the smart salvage ship 10, thereby charging The device 30 charges the intelligent salvage vessel 10 .
其中,在智能打捞船10进行充电的时候,智能打捞船10的存储仓仓门106也会打开,卸料传输带105将垃圾传输落入下方的垃圾堆放区40内,实现垃圾的自动卸料。Wherein, when the smart salvage ship 10 is charging, the storage bin door 106 of the smart salvage ship 10 will also be opened, and the unloading conveyor belt 105 will transport the garbage into the garbage dumping area 40 below, realizing automatic unloading of the garbage .
请参照图1或图2,本发明的实施例三为:Please refer to Fig. 1 or Fig. 2, embodiment three of the present invention is:
在上述实施例一或实施例二任一实施例的基础上,本实施例的一种智能水面垃圾清理***中的转动装置20还包括斜支架215。On the basis of any one of the first or second embodiments above, the rotating device 20 in an intelligent water surface garbage cleaning system of this embodiment further includes an inclined bracket 215 .
如图1所示,在本实施例中,斜支架215的两端分别固定在导轨207顶部和旋转底座206上远离导轨207的一侧,斜支架215与导轨207和旋转底座206形成三角结构,加强了转动装置20的强度。As shown in Figure 1, in the present embodiment, the two ends of the inclined bracket 215 are respectively fixed on the top of the guide rail 207 and the side of the rotating base 206 away from the guide rail 207, the inclined bracket 215 forms a triangular structure with the guide rail 207 and the rotating base 206, The strength of the rotating device 20 is enhanced.
请参照图1或图2,本发明的实施例四为:Please refer to Fig. 1 or Fig. 2, embodiment four of the present invention is:
在上述实施例三基础上,本实施例的一种智能水面垃圾清理***中的智能打捞船10还包括未在图上标出的摄像头、超声波传感器和驱动装置。On the basis of the third embodiment above, the intelligent salvage ship 10 in an intelligent water surface garbage cleaning system of this embodiment also includes a camera, an ultrasonic sensor and a driving device not shown in the figure.
其中,摄像头和超声波传感器均设置在智能打捞船10的船体101外,驱动装置设置在智能打捞船10的船体101内,与摄像头、超声波传感器、打捞传输带104、卸料传输带105和充电接收端102电连接。即通过摄像头、超声波以及驱动模块实现对水面垃圾的识别,水上作业时对障碍的规避等,进一步实现无人化和智能化的垃圾打捞。Wherein, the camera and the ultrasonic sensor are all arranged outside the hull 101 of the intelligent salvage ship 10. Terminal 102 is electrically connected. That is, the identification of garbage on the water surface and the avoidance of obstacles during water operations are realized through cameras, ultrasonic waves, and drive modules, and further realize unmanned and intelligent garbage salvage.
请参照图3,本发明的实施例五为:Please refer to Fig. 3, embodiment five of the present invention is:
在上述实施例四的基础上,本实施例的一种智能水面垃圾清理***还包括中央控制室50,中央控制室50分别与智能打捞船10、转动装置20和充电装置30通信连接。即本实施例通过中央控制室50控制智能打捞船10、转动装置20和充电装置30进行作业,实现智能化、无人化的管理。On the basis of the fourth embodiment above, an intelligent water surface garbage cleaning system of this embodiment further includes a central control room 50, which is respectively connected to the intelligent salvage ship 10, the rotating device 20 and the charging device 30 in communication. That is to say, in this embodiment, the central control room 50 controls the intelligent salvage ship 10 , the rotating device 20 and the charging device 30 to perform operations, thereby realizing intelligent and unmanned management.
请参照图1至图5,本发明的实施例六为:Please refer to Fig. 1 to Fig. 5, embodiment six of the present invention is:
在上述实施例五的基础上,本实施例提供一种智能水面垃圾清理***的垃圾打捞具体实施步骤。On the basis of the fifth embodiment above, this embodiment provides specific implementation steps of garbage salvage in an intelligent water surface garbage cleaning system.
在本实施例中,假设需要清理一个湖泊水面上的垃圾,其中,由于湖泊的面积较大,故而需要采用多艘智能打捞船10以及在岸边划分多个码头以设置多个转动装置20、充电装置30及垃圾堆放区40。In this embodiment, it is assumed that it is necessary to clean up the garbage on the surface of a lake, wherein, due to the large area of the lake, it is necessary to adopt multiple intelligent salvage ships 10 and divide multiple docks on the shore to set multiple rotating devices 20, Charging device 30 and garbage storage area 40.
首先,建立一个中央控制室50,将湖泊的地图导入中央控制室50的电脑中,建立坐标系,标记坐标原点。采用网格式将地图分割成若干块,如图4所示,编号区域1、区域2、区域3……以此类推;在湖泊的岸边建立若干个码头,码头数量视具体情况而定,编号码头1、码头2……以此类推,并在地图上标明相应的坐标;根据区域的数量选用一定的智能打捞船10,并编号为打捞船1、打捞船2……以此类推。可以一条打捞船对应一块区域,也可以一条打捞船对应多个区域。First, set up a central control room 50, import the map of the lake into the computer in the central control room 50, establish a coordinate system, and mark the coordinate origin. Use the grid format to divide the map into several blocks, as shown in Figure 4, numbering area 1, area 2, area 3...and so on; build several docks on the shore of the lake, the number of docks depends on the specific situation, numbering Wharf 1, wharf 2... and so on, and mark the corresponding coordinates on the map; select a certain intelligent salvage ship 10 according to the number of areas, and number it as salvage ship 1, salvage ship 2... and so on. One salvage ship can correspond to one area, or one salvage ship can correspond to multiple areas.
其次,如图5所示,当湖泊水面上不需要进行垃圾清理时,智能打捞船10处于待命状态。此时,智能打捞船10停靠在各自区域对应的码头的转动装置20上,并通过充电装置30进行充电。开始工作时,不同编号的打捞船前往自己对应的一块或几块区域开始巡航,通过摄像头检测到水面上有垃圾时,中央控制室50发出指令,打捞船前往指定地方捞取垃圾,垃圾经过打捞传输带104传输到存储仓里,然后继续巡检,反复打捞作业,同时在水面上遇到障碍时,也可通过打捞船的超声波装置提前检测规避。Secondly, as shown in FIG. 5 , when there is no need to clean up garbage on the surface of the lake, the intelligent salvage ship 10 is on standby. At this time, the intelligent salvage ship 10 docks on the rotating device 20 of the wharf corresponding to each area, and charges through the charging device 30 . When starting to work, salvage ships with different numbers go to their corresponding area or several areas to start cruising. When the camera detects that there is garbage on the water surface, the central control room 50 issues an instruction, and the salvage ships go to the designated place to pick up garbage, and the garbage is salvaged and transported. The belt 104 is transported to the storage bin, and then the inspection is continued, and the salvage operation is repeated. At the same time, when encountering obstacles on the water surface, the ultrasonic device of the salvage ship can also be used to detect and avoid them in advance.
当存储仓储满垃圾或者打捞船电量不足时,中央控制室50发出指令,打捞船返航回到码头,停靠在升降平台201上,此时升降开关212感应到打捞船达到指定距离,给中央控制室50发送信号,中央控制室50发出指令开启升降开关212,升降平台201将打捞船升高,当滑块208碰到上限位开关213时,停止上升。此时电机工作带动主动轮204转动,从而带动从动轮205转动,进一步带动打捞船转动。旋转180°后停止旋转,此时打捞船旋转到了靠近充电装置30的一侧,此时充电开关302感应到打捞船达到指定位置,给中央控制室50发送信号,中央控制室50发出指令开启充电开关302,此时打捞船的充电接收端102也与充电装置30的充电发射端303接触,开始自动充电。在打捞船进行自动充电的同时,存储仓仓门106也自动开启,此时卸料传输带105启动,垃圾由卸料传输带105传输到垃圾存储仓103的出料口,由自身重力下降掉入垃圾堆放区40。When the storage warehouse is full of garbage or the battery of the salvage ship is insufficient, the central control room 50 issues an instruction, and the salvage ship returns to the wharf and docks on the lifting platform 201. 50 sends a signal, and the central control room 50 sends an instruction to open the lifting switch 212, and the lifting platform 201 raises the salvage ship, and when the slide block 208 hits the upper limit switch 213, it stops rising. At this moment, the work of the motor drives the driving wheel 204 to rotate, thereby driving the driven wheel 205 to rotate, and further driving the salvage ship to rotate. Rotate 180° and stop rotating. At this time, the salvage ship has rotated to the side close to the charging device 30. At this time, the charging switch 302 senses that the salvage ship has reached the designated position, and sends a signal to the central control room 50. The central control room 50 sends an instruction to start charging. Switch 302, now the charging receiving end 102 of the salvage ship is also in contact with the charging transmitting end 303 of the charging device 30, and automatic charging starts. While the salvage ship is automatically charging, the storage bin door 106 is also automatically opened. At this time, the unloading conveyor belt 105 starts, and the garbage is transported to the discharge port of the garbage storage bin 103 by the unloading conveyor belt 105, and is dropped by its own gravity. Enter the rubbish dumping area 40.
当垃圾卸料完成及充电完成时,转动装置20回转180°,此时升降开关212又感应到打捞船达到指定距离,升降开关212开启,由于此时滑块208位于触碰到上限位开关213的位置,故而升降平台201下降,当滑块208触碰到下限位开关214时停止下降,打捞船重新回到水面上,继续下一轮巡检工作。When the garbage unloading is completed and the charging is completed, the rotating device 20 rotates 180°. At this time, the lifting switch 212 senses that the salvage ship has reached the specified distance, and the lifting switch 212 is turned on. position, so the lifting platform 201 descends, and stops descending when the slide block 208 touches the lower limit switch 214, and the salvage ship returns to the water surface to continue the next round of inspection work.
整个过程由中央控制室50发出指令进行,实现自动导航、自动避障、自动打捞、自动卸载和自动充电,实现了无人化、智能化的水面垃圾清理,提高了清理效率,同时,打捞船也具有手动遥控功能,可以人工远程遥控打捞船进行作业。The whole process is carried out by instructions issued by the central control room 50 to realize automatic navigation, automatic obstacle avoidance, automatic salvage, automatic unloading and automatic charging, realize unmanned and intelligent water surface garbage cleaning, and improve cleaning efficiency. At the same time, the salvage ship It also has a manual remote control function, which can manually remotely control the salvage ship for operations.
综上所述,本发明提供的一种智能水面垃圾清理***,通过在智能打捞船内设置打捞传输带将水面上的垃圾自动打捞到垃圾存储仓内,当垃圾存储仓内的垃圾堆满时通过将船停靠在岸边的转动装置的升降平台上,并由转动装置将整体打捞船转向同样设置在岸边的充电装置以及垃圾堆放区所在的方向,通过卸料传输带将垃圾卸载到垃圾堆放区内,同时采用充电装置对打捞船进行充电,使打捞船能够进行连续的水面垃圾清理作业,实现了无人化、智能化的水面垃圾清理,提高了清理效率。其中,在升降平台上采用拖车能够便于智能打捞船在地面上的运输;通过感应距离来开启与关闭升降开关,同时结合上下限位开关,实现自动控制升降平台的上升和下降;将转动装置上的导轨与旋转底座采用斜支架固定,进一步加强转动装置的强度,使智能打捞船停靠及升降及旋转能稳定地进行;同时,在智能打捞船上采用摄像头、超声波传感器以及驱动模块等功能模块,实现对水面垃圾的自动识别、水上作业时自动避障及移动等进一步提高了智能打捞船的智能化水平。整个打捞的过程通过中央控制室发出指令进行,实现自动导航、自动避障、自动打捞、自动卸载和自动充电,实现了无人化、智能化的水面垃圾清理,提高了清理效率。To sum up, the present invention provides an intelligent water surface garbage cleaning system, which automatically salvages the garbage on the water surface into the garbage storage bin by setting a salvage conveyor belt in the smart salvage ship, and passes through when the garbage storage bin is full. Park the ship on the lifting platform of the rotating device on the shore, and the rotating device will turn the overall salvage ship to the direction where the charging device and the garbage dump area are also installed on the shore, and unload the garbage to the garbage dump through the unloading conveyor belt In the area, a charging device is used to charge the salvage boat at the same time, so that the salvage boat can carry out continuous water surface garbage cleaning operations, realizing unmanned and intelligent water surface garbage cleaning, and improving cleaning efficiency. Among them, the use of a trailer on the lifting platform can facilitate the transportation of the intelligent salvage ship on the ground; the lifting switch is turned on and off through the sensing distance, and at the same time combined with the upper and lower limit switches, the automatic control of the rising and falling of the lifting platform is realized; The guide rail and the rotating base are fixed by inclined brackets, which further strengthen the strength of the rotating device, so that the intelligent salvage ship can be docked, lifted and rotated stably; at the same time, functional modules such as cameras, ultrasonic sensors, and drive modules are used on the intelligent salvage ship to realize The automatic identification of garbage on the water surface, automatic obstacle avoidance and movement during water operations have further improved the intelligence level of the intelligent salvage ship. The entire salvage process is carried out through commands issued by the central control room, which realizes automatic navigation, automatic obstacle avoidance, automatic salvage, automatic unloading and automatic charging, realizes unmanned and intelligent water surface garbage cleaning, and improves cleaning efficiency.
以上所述仅为本发明的实施例,并非因此限制本发明的专利范围,凡是利用本发明说明书及附图内容所作的等同变换,或直接或间接运用在相关的技术领域,均同理包括在本发明的专利保护范围内。The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent transformations made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in related technical fields, are all included in the same principle. Within the scope of patent protection of the present invention.

Claims (10)

  1. 一种智能水面垃圾清理***,其特征在于,包括智能打捞船以及位于岸边的转动装置、充电装置和垃圾堆放区;An intelligent water surface garbage cleaning system is characterized in that it includes an intelligent salvage ship, a rotating device located on the shore, a charging device and a garbage dumping area;
    所述转动装置位于岸边靠近水面的位置,所述转动装置上设置有向水面方向延伸的一升降平台且所述升降平台可转动至远离水面的一侧,所述智能打捞船与所述升降平台可拆卸连接;The rotating device is located near the water surface on the shore, and the rotating device is provided with a lifting platform extending toward the water surface, and the lifting platform can be rotated to a side away from the water surface, and the intelligent salvage ship and the lifting platform Platform detachable connection;
    所述充电装置和所述垃圾堆放区均位于所述转动装置远离水面的一侧;Both the charging device and the garbage dumping area are located on the side of the rotating device away from the water surface;
    所述智能打捞船包括船体、充电接收端、垃圾存储仓、打捞传输带和卸料传输带;The intelligent salvage ship includes a hull, a charging receiving terminal, a garbage storage bin, a salvage conveyor belt, and a discharge conveyor belt;
    所述充电接收端位于所述船体尾部,且在所述智能打捞船旋转到远离水面的一侧时与所述充电装置电连接;The charging receiving end is located at the stern of the hull, and is electrically connected to the charging device when the intelligent salvage ship rotates to the side away from the water surface;
    所述打捞传输带、所述垃圾存储仓和所述卸料传输带均位于所述船体内且依次对应连接;The salvage conveyor belt, the garbage storage bin and the unloading conveyor belt are all located in the hull and connected in sequence correspondingly;
    所述打捞传输带的进料口与所述卸料传输带的出料口均在所述船体上朝外设置,所述卸料传输带的出料口在所述智能打捞船旋转到远离水面的一侧时与所述垃圾堆放区相对应。The feed port of the salvage conveyor belt and the discharge port of the discharge conveyor belt are both set outward on the hull, and the discharge port of the discharge conveyor belt is rotated away from the water surface by the intelligent salvage ship Corresponding to the garbage dumping area on one side.
  2. 根据权利要求1所述的一种智能水面垃圾清理***,其特征在于,所述升降平台上依次设置有滑轨和拖车,所述拖车底部设置有车轮;A kind of intelligent water surface garbage cleaning system according to claim 1, characterized in that, slide rails and trailers are sequentially arranged on the lifting platform, and wheels are arranged at the bottom of the trailer;
    所述滑轨固定在所述升降平台上,所述车轮位于所述滑轨内且在所述车轮的前后端各设置有插销,所述插销用于固定所述车轮。The slide rails are fixed on the lifting platform, the wheels are located in the slide rails and bolts are respectively arranged at the front and rear ends of the wheels, and the bolts are used to fix the wheels.
  3. 根据权利要求2所述的一种智能水面垃圾清理***,其特征在于,所述拖车顶部设置有网兜;A kind of intelligent water surface garbage cleaning system according to claim 2, characterized in that, the top of the trailer is provided with a net bag;
    所述智能打捞船可通过所述网兜稳定停靠在所述升降平台上。The intelligent salvage ship can be stably docked on the lifting platform through the net bag.
  4. 根据权利要求1所述的一种智能水面垃圾清理***,其特征在于,所述转动装置包括固定底座、旋转底座、电机、主动轮、从动轮、导轨、滑块、连接架、卷扬机和吊绳;An intelligent water surface garbage cleaning system according to claim 1, wherein the rotating device includes a fixed base, a rotating base, a motor, a driving wheel, a driven wheel, a guide rail, a slider, a connecting frame, a hoist and a sling ;
    所述固定底座固定在岸边靠近水面的位置;The fixed base is fixed on the shore near the water surface;
    所述主动轮与所述电机轴连接,所述从动轮为外圈带齿的转盘轴承,所述从动轮的外圈与所述主动轮啮合连接,所述从动轮的内圈固定在所述固定底座上方,所述旋转底座固定在所述从动轮的外圈上方;The driving wheel is connected to the motor shaft, the driven wheel is a slewing bearing with teeth on the outer ring, the outer ring of the driven wheel is meshed with the driving wheel, and the inner ring of the driven wheel is fixed on the Above the fixed base, the rotating base is fixed above the outer ring of the driven wheel;
    所述导轨垂直固定在所述旋转底座上方;The guide rail is vertically fixed above the rotating base;
    所述卷扬机位于所述导轨的顶部;The winch is located on the top of the guide rail;
    所述连接架采用F型结构,所述连接架的F型结构横向两端朝向远离水面的方向延伸并通过所述滑块可上下滑动连接在所述导轨上,所述升降平台固定在所述连接架的F型结构竖向一端的底部;The connecting frame adopts an F-shaped structure, and the two ends of the F-shaped structure of the connecting frame extend toward the direction away from the water surface and are connected to the guide rail by sliding up and down through the slider, and the lifting platform is fixed on the The bottom of the vertical end of the F-shaped structure of the connecting frame;
    所述吊绳可伸缩连接在位于所述卷扬机与所述连接架上方的所述滑块之间。The suspension rope is telescopically connected between the hoist and the slider above the connecting frame.
  5. 根据权利要求4所述的一种智能水面垃圾清理***,其特征在于,所述转动装置还包括升降开关、上限位开关和下限位开关;An intelligent water surface garbage cleaning system according to claim 4, wherein the rotating device further includes a lifting switch, an upper limit switch and a lower limit switch;
    所述升降开关为距离传感器;The lifting switch is a distance sensor;
    所述升降开关设置在所述连接架F型结构竖向的一端上;The lifting switch is arranged on the vertical end of the F-shaped structure of the connecting frame;
    所述上限位开关和所述下限位开关分别固定在所述导轨的上下两端。The upper limit switch and the lower limit switch are respectively fixed at the upper and lower ends of the guide rail.
  6. 根据权利要求4所述的一种智能水面垃圾清理***,其特征在于,所述转动装置还包括斜支架;An intelligent water surface garbage cleaning system according to claim 4, characterized in that, the rotating device also includes an inclined bracket;
    所述斜支架的两端分别固定在所述导轨顶部和所述旋转底座上远离所述导轨的一侧,所述斜支架与所述导轨和所述旋转底座形成三角结构。Two ends of the inclined bracket are respectively fixed on the top of the guide rail and the side of the rotating base away from the guide rail, and the inclined bracket forms a triangular structure with the guide rail and the rotating base.
  7. 根据权利要求1所述的一种智能水面垃圾清理***,其特征在于,所述充电装置包括充电发射端、充电开关和充电杆;The intelligent water surface garbage cleaning system according to claim 1, wherein the charging device includes a charging transmitter, a charging switch and a charging rod;
    所述充电开关为距离传感器;The charging switch is a distance sensor;
    所述充电杆垂直固定在所述转动装置远离水面的一侧;The charging rod is fixed vertically on the side of the rotating device away from the water surface;
    所述充电杆的顶部与底部之间固定有一所述充电开关;The charging switch is fixed between the top and the bottom of the charging pole;
    所述充电发射端位于所述充电杆顶部,所述充电接收端在所述智能打捞船位于远离水面的一侧时与所述充电发射端电连接。The charging transmitting end is located at the top of the charging pole, and the charging receiving end is electrically connected to the charging transmitting end when the intelligent salvage ship is located on a side away from the water surface.
  8. 根据权利要求1所述的一种智能水面垃圾清理***,其特征在于,所述垃圾存储仓还包括存储仓仓门,所述存储仓仓门位于所述垃圾存储仓靠近所述船体尾部的一端;The intelligent water surface garbage cleaning system according to claim 1, wherein the garbage storage bin further includes a storage bin door, and the storage bin door is located at one end of the garbage storage bin near the tail of the hull ;
    所述打捞传输带具***于所述垃圾存储仓靠近所述船体头部的一端且向前下方延伸至船体外倾斜设置;The salvage conveyor belt is specifically located at one end of the garbage storage bin close to the head of the hull and extends forward and downward to the outside of the hull and is inclined;
    所述卸料传输带具***于所述垃圾存储仓内底部且与所述存储仓仓门垂直连接。The discharge conveyor belt is specifically located at the bottom of the garbage storage bin and vertically connected with the storage bin door.
  9. 根据权利要求1所述的一种智能水面垃圾清理***,其特征在于,所述智能打捞船还包括摄像头、超声波传感器和驱动装置;A kind of intelligent water surface rubbish cleaning system according to claim 1, is characterized in that, described intelligent salvage ship also comprises camera, ultrasonic sensor and driving device;
    所述摄像头和所述超声波传感器均设置在所述智能打捞船的船体外;Both the camera and the ultrasonic sensor are arranged outside the hull of the intelligent salvage ship;
    所述驱动装置设置在所述智能打捞船的船体内,与所述摄像头、所述超声波传感器、所述打捞传输带、所述卸料传输带和所述充电接收端电连接。The driving device is arranged in the hull of the intelligent salvage ship, and is electrically connected with the camera, the ultrasonic sensor, the salvage conveyor belt, the unloading conveyor belt and the charging receiving end.
  10. 根据权利要求1-9任一所述的一种智能水面垃圾清理***,其特征在于,还包括中央控制室,所述中央控制室分别与所述智能打捞船、所述转动装置和所述充电装置通信连接。An intelligent water surface garbage cleaning system according to any one of claims 1-9, further comprising a central control room, the central control room is connected to the intelligent salvage ship, the rotating device and the charging station respectively. Device communication connection.
PCT/CN2021/112161 2021-08-06 2021-08-12 Intelligent water surface garbage cleaning system WO2023010604A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110900622.XA CN113401296B (en) 2021-08-06 2021-08-06 Intelligent water surface garbage cleaning system
CN202110900622.X 2021-08-06

Publications (1)

Publication Number Publication Date
WO2023010604A1 true WO2023010604A1 (en) 2023-02-09

Family

ID=77688503

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/112161 WO2023010604A1 (en) 2021-08-06 2021-08-12 Intelligent water surface garbage cleaning system

Country Status (2)

Country Link
CN (1) CN113401296B (en)
WO (1) WO2023010604A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116065546A (en) * 2023-03-02 2023-05-05 江苏合洪环保科技有限公司 River channel water surface garbage collection and treatment device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115806020B (en) * 2022-12-07 2023-07-18 广东省水利水电科学研究院 Water robot system

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09254875A (en) * 1996-03-27 1997-09-30 Hitachi Zosen Corp Catamaran ship for cleaning sea water surface
CN206552219U (en) * 2017-03-06 2017-10-13 邓优超 A kind of refuse fishing vessel
CN210395293U (en) * 2019-07-09 2020-04-24 四川东方水利智能装备工程股份有限公司 Floater garbage salvaging treatment device for river channel cleaning ship
CN111254899A (en) * 2020-03-19 2020-06-09 科盛环保科技股份有限公司 Blue algae fishing system and method
CN212530000U (en) * 2020-07-23 2021-02-12 张书鹏 Full-automatic high-efficient rubbish salvage ship
CN213229068U (en) * 2020-08-17 2021-05-18 四川东方水利智能装备工程股份有限公司 Intelligent fishing equipment for cleaning water garbage
US20210214055A1 (en) * 2019-11-27 2021-07-15 Boris Maydanik Ocean cleanup autonomous system (ocas)

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102006060224A1 (en) * 2006-12-20 2008-07-03 Buchert, Jürgen Mobile system for catalytic production of diesel oil from organic residues has a suction device that draws oil-contaminated water and an extractor removes waste oil from the oil-contaminated water
CN108284922B (en) * 2018-02-28 2023-08-25 深圳市东方祺胜实业有限公司 Intelligent unmanned mother-child ship for cleaning water surface and control method thereof
CN108438156A (en) * 2018-04-10 2018-08-24 浙江海洋大学 A kind of intelligent small water area refuse cleaning catamaran
CN110304209B (en) * 2019-07-09 2021-04-13 上海海洋大学 Unmanned water floating garbage cleaning boat and control method thereof
CN111877290A (en) * 2020-08-10 2020-11-03 重庆交通大学 Intelligent water surface cleaning robot
CN111945691A (en) * 2020-08-17 2020-11-17 四川东方水利智能装备工程股份有限公司 Intelligent water cleaning robot
AU2020102191A4 (en) * 2020-09-09 2020-10-22 (Assistant Professor), Mr. Anil Sudhakarrao Parlikar WCM-Smart City: WASTE COLLECTION AND MANAGEMENT UNDER SMART CITY USING IOT
CN112947202B (en) * 2021-02-26 2022-06-14 厦门理工学院 Intelligent cleaning system for water surface floating garbage and control method

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09254875A (en) * 1996-03-27 1997-09-30 Hitachi Zosen Corp Catamaran ship for cleaning sea water surface
CN206552219U (en) * 2017-03-06 2017-10-13 邓优超 A kind of refuse fishing vessel
CN210395293U (en) * 2019-07-09 2020-04-24 四川东方水利智能装备工程股份有限公司 Floater garbage salvaging treatment device for river channel cleaning ship
US20210214055A1 (en) * 2019-11-27 2021-07-15 Boris Maydanik Ocean cleanup autonomous system (ocas)
CN111254899A (en) * 2020-03-19 2020-06-09 科盛环保科技股份有限公司 Blue algae fishing system and method
CN212530000U (en) * 2020-07-23 2021-02-12 张书鹏 Full-automatic high-efficient rubbish salvage ship
CN213229068U (en) * 2020-08-17 2021-05-18 四川东方水利智能装备工程股份有限公司 Intelligent fishing equipment for cleaning water garbage

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116065546A (en) * 2023-03-02 2023-05-05 江苏合洪环保科技有限公司 River channel water surface garbage collection and treatment device

Also Published As

Publication number Publication date
CN113401296B (en) 2022-09-30
CN113401296A (en) 2021-09-17

Similar Documents

Publication Publication Date Title
WO2023010604A1 (en) Intelligent water surface garbage cleaning system
CN102963505B (en) Automatic clearing ship for rubbish on water
CN109204723B (en) Automatic cleaning device and method for floating garbage in water area
CN111206636B (en) River channel dredging robot and unmanned ship
CN202923846U (en) Water surface garbage automatic cleaning boat
CN108284922B (en) Intelligent unmanned mother-child ship for cleaning water surface and control method thereof
CN106801445B (en) Automatic river channel cleaning ship based on Internet of things technology and method thereof
CN203752864U (en) Anti-flooding automobile cover
CN109024453B (en) Novel beach garbage cleaning vehicle and use method thereof
EP4353079A1 (en) Catamaran workboat-based deep-sea aquaculture method
EP4353080A1 (en) Catamaran for deep and far sea culture
CN111236946B (en) Cabled shuttling ore-transporting submersible for deep-sea mining and operation method
CN114108586A (en) Automatic cruise type intelligent floating garbage collector and collection method
US5328250A (en) Self-propelled undersea nodule mining system
CN113585445B (en) Underwater operation robot for cleaning bottom mud of sewage plant and working method
CN215483497U (en) Underwater operation robot for cleaning bottom mud of sewage plant
CN204057317U (en) One is transferred handling carrying ship
CN207129684U (en) Ship-to-shore induction system
CN212075736U (en) Environment-friendly movable ship loader for loading bulk powdery materials
CN214168989U (en) Intercepting device for river surface floater
CN212500931U (en) Intelligent water surface carrying ship
CN209635482U (en) Intelligent environmental protection type continuous high-efficient bridge-type buries scraper plate ship unloaders
CN114013858A (en) Marine waste classified collection system
CN214614284U (en) Intelligent sediment removal device of water conservancy
CN111516807A (en) Lifting cabin and underwater material collecting system adopting same

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21952475

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE