An unmanned environmental protection boat that automatically collects garbage on the water surface

Abstract

The present invention discloses an unmanned environmental protection boat that automatically collects garbage on the water surface, which relates to the field of automatic control technology of unmanned boats, and may include a hull, a fixed frame is provided on the hull, a garbage collection device and a control device are provided on the fixed frame, the garbage collection device is connected to the control device, and both the garbage collection device and the control device are connected to a power supply. The present invention realizes fully automatic control of the navigation route and working state of the environmental protection boat through a control device and a motor control system; realizes efficient and safe river cleaning through a garbage collection device; expands the cleaning area through left and right multi-level intercepting nets; solves the problem of easy leakage of garbage when the boat is reversed through a central intercepting net; realizes garbage collection operations without the boat moving through redundant multi-thrusters, and solves the defect that the boat can only collect garbage while moving in the prior art, which is easy to miss.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of unmanned boats, and in particular to an unmanned environmentally friendly boat capable of automatically collecting garbage on the water surface. Background Art

[0002] In recent years, as people's requirements for the natural environment have increased and their awareness of environmental protection has increased, the cleaning of floating garbage in rivers and lakes has become increasingly urgent. With the development of unmanned boat technology, wireless remote-controlled unmanned boats have emerged to recycle garbage, avoiding the problem of certain dangers in traditional manual salvage methods, but the use of personnel is not efficient enough. Therefore, it is of great significance to use unmanned boats to autonomously collect garbage on the water surface. Summary of the invention

[0003] The purpose of the present invention is to provide an unmanned environmentally friendly boat that automatically collects surface garbage to solve the problems existing in the above-mentioned prior art, automatically and efficiently clean up surface garbage, and can well solve the problems of low efficiency and danger of traditional manual methods.

[0004] To achieve the above-mentioned purpose, the present invention provides the following solution: The present invention provides an unmanned environmentally friendly boat for automatically collecting surface garbage, comprising a hull, a fixed frame is provided on the hull, a garbage collection device and a control device are provided on the fixed frame, the garbage collection device is connected to the control device, and the garbage collection device and the control device are both connected to a power supply.

[0005] Preferably, the hull includes a first hull and a second hull arranged side by side, the first hull and the second hull are connected by the fixed frame, and the garbage collection device is located between the first hull and the second hull; a first propeller and a second propeller are respectively installed on the outer sides of the first hull and the second hull.

[0006] Preferably, the fixed frame includes a walking pulley at the bottom and anti-collision rollers respectively located at the bow and stern ends of the first hull and the second hull; the spacing between the anti-collision rollers is greater than the width of the hull.

[0007] Preferably, both the first propeller and the second propeller are propeller propellers, and one of the propellers of the two propeller propellers is a forward propeller and the other is a reverse propeller.

[0008] Preferably, the power supply is installed in a waterproof compartment, and the waterproof compartment is installed on the fixed frame between the first hull and the tail of the second hull.

[0009] Preferably, the garbage collection device includes a water deflector, a garbage filter basket, a third propeller and a net; the water deflector and the third propeller are respectively fixed to the fixed frame by bolts; the water deflector is located at the bottom of the hull, and the two sides of the water deflector are respectively tightly connected to the first hull and the second hull, the tail of the water deflector is bent upward, and the upper edge of the tail of the water deflector is tightly connected to the waterproof bin, and there is an opening at the bend; the garbage filter basket is located above the middle of the water deflector; the bottom plate, back plate, left and right side plates of the garbage filter basket are all hollow plates; the garbage filter basket is a movable part, and there is a limiting device between it and the hull, and it can be taken out from the top as a whole; the third propeller is located above the tail of the water deflector and behind the garbage filter basket; the water inlet of the third propeller is tightly connected to the tail opening of the water deflector.

[0010] Preferably, the blocking net comprises a left blocking net, a right blocking net and a central blocking net, and the left blocking net, the right blocking net and the central blocking net are respectively connected to the fixed frame through a steering gear and are controlled to rotate by the steering gear; the left blocking net and the right blocking net are respectively located on the fixed frame at the front end of the first hull and the second hull; the left blocking net and the right blocking net are a single-stage or multi-stage structure, and when the left blocking net and the right blocking net are a multi-stage structure, the multi-stage left blocking net and the multi-stage right blocking net are connected by gear racks, and the motor drives the gears to rotate, so that the left blocking net or the right blocking net of the next stage moves along the gear racks; the length of the left blocking net and the right blocking net is 50%-400% of the length of the hull; the ends of the left blocking net and the right blocking net away from the hull are respectively provided with anti-collision rollers;

[0011] The left and right nets are retracted outwardly to the two sides of the hull in a non-working state, and are opened forward at a certain angle in a working state; the central net is located in front of the garbage filter basket, and the upper edge of the central net is connected to the fixed frame through a steering gear. In a working state, the central net rotates to a horizontal state or above the horizontal state, and in a non-working state or when the ship is reversed, the central net rotates to a vertical state.

[0012] Preferably, the control device includes a controller, a radar and a binocular camera; the radar and the binocular camera are both connected to the controller; the controller is also connected to a communication device for transmitting and receiving external signals and a navigation device for positioning the hull; the communication device transmits signals through wireless serial port communication, and 4G routing provides network communication to receive external signals; the navigation device is positioned through GPS, and navigates and avoids obstacles through millimeter wave radar and lidar.

[0013] Preferably, it also includes an automatic lighting device, which includes a light recognition sensor and a lighting lamp. The light recognition sensor automatically recognizes the brightness of the ambient light, and the lighting lamp automatically turns on the lighting according to the brightness of the light.

[0014] Compared with the prior art, the present invention has achieved the following technical effects:

[0015] Through the control device, the navigation route and working status of the environmental protection ship can be fully automatically controlled; through the garbage collection device, high-efficiency and high-safety river cleaning can be achieved; through the left and right multi-level blockades, the cleaning area is expanded; the central blockade solves the problem of garbage outflow when the ship is reversed; through the coordination of redundant multi-thrusters, garbage collection operations can be achieved without the ship moving, which solves the defect of the existing technology that the ship can only collect garbage while moving, which is easy to miss. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the bottom structure of the present invention;

[0019] Figure 3 It is a side cross-sectional structural schematic diagram of the present invention;

[0020] Figure 4 It is a schematic diagram of the structure of the barrier net of the present invention when it is folded;

[0021] Among them, 1. sensor assembly, 2. power supply and control device assembly, 3. garbage filter basket, 41. first hull, 42. second hull, 51. first anti-collision roller, 52. second anti-collision roller, 53. third anti-collision roller, 54. fourth anti-collision roller, 55. fifth anti-collision roller, 56. sixth anti-collision roller, 61. first propeller, 62. second propeller, 63. third propeller, 71-74, walking pulley, 8. fixed frame, 91. left block net, 92. right block net, 93. central block net, 10. water guide plate. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0023] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Embodiment 1

[0025] like Figure 1-4 As shown, this embodiment provides an unmanned environmentally friendly boat for automatically collecting surface garbage, including a hull, the hull has a load capacity of 200KG, the hull weight is less than 80KG, and a person weighing 80KG can stand on the boat for maintenance; a fixed frame 8 is arranged on the hull, wherein the fixed frame 8 is a metal structure frame, preferably made of aluminum alloy, but not limited to aluminum alloy, and other waterproof metal materials can also be selected, and each structure on the hull is fixed to the fixed frame 8 by bolts; a garbage collection device and a control device are arranged on the fixed frame 8, the garbage collection device is connected to the control device, and the garbage collection device and the control device are both connected to a power supply, and are powered by the power supply.

[0026] In this embodiment, the hull includes a first hull 41 and a second hull 42 arranged side by side, the first hull 41 and the second hull 42 are connected by the fixed frame 8, and the garbage collection device is located between the first hull 41 and the second hull 42; the first propeller 61 and the second propeller 62 are respectively installed on the outer sides of the first hull 41 and the second hull 42, and both propellers are connected to the control device and the power supply.

[0027] The fixed frame 8 includes a walking pulley at the bottom and anti-collision rollers respectively located at the bow and stern ends of the first hull 41 and the second hull 42; wherein there are four walking pulleys, including a walking pulley 71, a walking pulley 72, a walking pulley 73 and a walking pulley 74, which are respectively located at the four corners of the bottom of the hull; the anti-collision rollers at the bow and stern ends of the first hull 41 are respectively the fourth anti-collision roller 54 and the third anti-collision roller 53, and the anti-collision rollers at the bow and stern ends of the second hull 42 are respectively the first anti-collision roller 51 and the second anti-collision roller 52; the spacing between the anti-collision rollers relatively arranged on the first hull 41 and the second hull 42 is greater than the width of the hull, that is, the spacing between the first anti-collision roller 51 and the fourth anti-collision roller 54, and the spacing between the second anti-collision roller 52 and the third anti-collision roller 53 are greater than the width of the hull.

[0028] Specifically, the first propeller 61 and the second propeller 62 are both propeller propellers, one of the propellers of the two propeller propellers is a forward propeller and the other is a reverse propeller; the maximum travel speed of the hull is 3.5m / s, and it can move forward slowly and steadily; wherein, when the two propellers work at the same time and the propellers rotate in the same direction and at the same speed, the lateral forces generated by them cancel each other out, so that the ship can keep sailing in a straight line.

[0029] In this embodiment, the power supply and control device assembly 2 is installed in a waterproof chamber, and the waterproof chamber is installed on the fixed frame 8 between the tails of the first hull 41 and the second hull 42; the power supply is a lithium battery, which provides power for the navigation of the unmanned boat and the operation of the control device.

[0030] In this embodiment, the garbage collection device includes a water guide plate 10, a garbage filter basket 3, a third propeller 63 and a blocking net; the water guide plate 10 and the third propeller 63 are respectively fixed to the fixed frame 8 by bolts; the water guide plate 10 is located at the bottom of the hull, and the two sides are tightly connected to the first hull 41 and the second hull 42. The tail of the water guide plate 10 is bent upward, and its upper edge is tightly connected to the battery waterproof compartment, and there is an opening at the bend; the garbage filter basket 3 is located above the middle of the water guide plate 10; The bottom plate, back plate, left and right side plates of the filter basket 3 are all hollow plates; the garbage filter basket 3 is a movable component, and there is a limiting device between it and the hull, and it can be taken out as a whole from the top, wherein the limiting device can be a limiting hook arranged on the top of the garbage filter frame so that it can be placed on the hull, and other limiting devices that meet the needs can also be used; the third propeller 63 is located above the tail of the water guide plate 10 and behind the garbage filter basket 3; the water inlet of the third propeller 63 is tightly connected with the opening at the tail of the water guide plate 10.

[0031] In this embodiment, the blocking nets include a left blocking net 91, a right blocking net 92 and a central blocking net 93, which are respectively connected to the fixed frame 8 through a steering gear and controlled to rotate by the steering gear; the left blocking net 91 and the right blocking net 92 are respectively located on the fixed frame 8 at the front end of the first hull 41 and the second hull 42; the left blocking net 91 and the right blocking net 92 are a single-stage or multi-stage structure, and their lengths are controlled at 50%-400% of the length of the hull; the distance between the left blocking net 91 and the right blocking net 92 is controlled to be 50%-400% of the length of the hull; The fifth anti-collision roller 55 and the sixth anti-collision roller 56 are respectively installed at the ends; the left blocking net 91 and the right blocking net 92 are retracted outwardly at both sides of the hull in the non-working state, and are opened forward at a certain angle in the working state; the central blocking net 93 is located in the front part of the garbage filter basket 3, and its upper edge is connected to the fixed frame 8 through a steering gear. In the working state, the central blocking net 93 rotates to a horizontal state, and in the non-working state or when the ship is reversed, the central blocking net 93 rotates to a vertical state.

[0032] The first propeller 61 and the second propeller 62 are installed on the outer side of the rear part of the hull. When they output forward force, they can push the hull forward together with the third propeller 63 of the garbage collection device; at the same time, they can output reverse force to offset the forward force of the third propeller 63, so as to realize garbage collection when the hull is stationary.

[0033] In normal working state, part of the garbage filter basket 3 is immersed in water, and the water guide plate 10 is below the waterline; the left fence 91 and the right fence 92 are opened forward at a certain angle, and the central fence 93 is rotated to a horizontal state; the third propeller 63 (propeller propeller) generates negative pressure, and the pressure difference is used to guide the flow direction of the surface river water through the water guide plate 10.

[0034] In this embodiment, the control device includes a controller, and the sensor assembly 1 includes a radar and a binocular camera; the radar and the binocular camera are both connected to the controller; the controller is also connected to a communication device for transmitting and receiving external signals and a navigation device for positioning the hull; the communication device includes wireless serial port communication and 4G routing, and signals are transmitted through wireless serial port communication, and the 4G routing provides network communication to receive external signals; the navigation device is a GPS navigation device, which is positioned by GPS, and navigates and avoids obstacles through millimeter wave radar and lidar.

[0035] Among them, the radar uses millimeter-wave radar and laser radar for obstacle avoidance; the binocular camera collects water surface image data. The binocular camera is placed at a certain angle, and the collected three-dimensional image data is transmitted to the controller. According to the AI ​​intelligent algorithm, the size and location of the garbage are automatically identified; and the controller uses the embedded GPU development board as the carrier, loaded with image processing algorithms, unmanned ship navigation route planning algorithms, and coordinated control algorithms of various components, which are used to find the location of surface garbage, plan navigation routes, and coordinate and control various electrical components.

[0036] In this embodiment, an automatic lighting device is also included. The automatic lighting device includes a light recognition sensor and a lighting lamp. The light recognition sensor automatically recognizes the brightness of the ambient light, and the lighting lamp automatically turns on the lighting according to the brightness of the light.

[0037] The working process of the unmanned environmental protection boat in this embodiment can be divided into three stages: positioning stage, garbage collection stage, and return stage.

[0038] First, the unmanned environmental protection boat scans the entire water area through a binocular camera, and the surface image is transmitted back to the controller, and the image recognition algorithm identifies the garbage on the surface. The navigation device locates the location of the garbage and determines the initial position of the unmanned environmental protection boat. The path planning algorithm calculates the best path between the two locations; after the calculation is completed, the positioning phase ends.

[0039] After the positioning phase, the garbage collection mission begins; the unmanned environmental protection ship begins autonomous navigation according to the pre-programmed program and calculated path to reach the mission destination; if the radar detects an obstacle on the way, it can bypass the obstacle under the guidance of the navigation equipment. After arriving at the destination, the unmanned ship will carry out the garbage collection phase according to the pre-programmed process.

[0040] First, the controller starts the third propeller 63, the water in the garbage filter basket 3 is discharged, and the negative pressure generated by the water level difference causes the water in front of the water guide plate 10 to enter the water guide plate 10; the flowing water carries the floating garbage on the surface into the water guide plate 10, and after being filtered by the filter basket, the clean water is discharged, and the floating garbage remains in the filter basket. The water above the water guide plate 10 is continuously discharged, and the water in front of the water guide plate 10 continues to flow in, and eventually all the floating garbage in this area is collected into the filter basket. Then, the third propeller 63 stops working, the controller controls the steering gear to rotate, the central screen 93 is placed in a vertical state, and the left screen 91 and the right screen 92 are retracted outwards and placed on both sides of the hull. At this point, the single garbage collection task is completed.

[0041] After a single garbage collection mission is completed, the unmanned environmental protection ship returns to the positioning stage and continues to search and locate the next floating garbage. Then the control device plans the path and the unmanned ship enters the next garbage collection stage.

[0042] When the image recognition algorithm identifies that the garbage on the water surface has been completely cleaned up, or when the controller receives feedback that the power is low, the controller issues a return command and the unmanned environmental protection boat enters the return phase.

[0043] At the beginning of the return phase, the navigation device locates the location of the unmanned boat, automatically plans the path according to the pre-input base station location, and autonomously navigates to the location of the base station. After returning to the base station, the garbage in the garbage filter basket 3 is manually taken out and the battery is charged. At this time, the unmanned environmental protection boat completes its work.

[0044] In summary, the unmanned environmentally friendly boat for automatic collection of surface garbage in this embodiment achieves the purpose of unmanned autonomous navigation and automatic garbage recovery through the control of intelligent algorithms and controllers, thereby realizing efficient and safe river cleaning.

[0045] Embodiment 2

[0046] This embodiment is an improvement on the basis of the first embodiment, and the improvement lies in that the left net 91 and the right net 92 are of a multi-stage structure, and the multi-stage left net 91 and the multi-stage right net 92 are connected by gear racks, and the motor drives the gears to rotate, so that the next stage of the left net 91 or the right net 92 moves along the rack, and the length is controlled at 50%-400% of the length of the hull.

[0047] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. An unmanned environmental protection boat for automatically collecting surface garbage, comprising a hull, characterized in that: A fixed frame is provided on the hull, a garbage collection device and a control device are provided on the fixed frame, the garbage collection device is connected to the control device, and both the garbage collection device and the control device are connected to a power source; The hull comprises a first hull and a second hull arranged side by side, the fixed frame comprises four pulleys at the bottom and anti-collision rollers respectively located at the head and tail ends of the first hull and the second hull; the spacing between the anti-collision rollers is greater than the width of the hull; The power supply is installed in the waterproof bin, and the garbage collection device includes a water guide plate, a garbage filter basket, a third propeller and a blocking net; the water guide plate and the third propeller are respectively fixed to the fixed frame by bolts; the water guide plate is located at the bottom of the hull, and the two sides of the water guide plate are tightly connected to the first hull and the second hull respectively, the tail of the water guide plate is bent upward, and the upper edge of the tail of the water guide plate is tightly connected to the waterproof bin, and there is an opening at the bend; the garbage filter basket is located above the middle of the water guide plate; the bottom plate, back plate, left and right side plates of the garbage filter basket are all hollow plates; the garbage filter basket is a movable part, and there is a limiting device between it and the hull, and it can be taken out from the top as a whole; the third propeller is located above the tail of the water guide plate and behind the garbage filter basket; the water inlet of the third propeller is tightly connected to the tail opening of the water guide plate; The blocking net comprises a left blocking net, a right blocking net and a central blocking net, which are respectively connected to the fixed frame through a steering gear and are controlled to rotate by the steering gear; the left blocking net and the right blocking net are respectively located on the fixed frame at the front end of the first hull and the second hull; the left blocking net and the right blocking net are a single-stage or multi-stage structure, and when the left blocking net and the right blocking net are a multi-stage structure, the multi-stage left blocking net and the multi-stage right blocking net are connected by gear racks, and the motor drives the gears to rotate, so that the next-stage left blocking net or right blocking net moves along the gear racks; the length of the left blocking net and the right blocking net is 50%-400% of the length of the hull; the ends of the left blocking net and the right blocking net away from the hull are respectively provided with anti-collision rollers; The left and right nets are retracted outwardly to both sides of the hull in a non-working state, and are opened forward at a certain angle in a working state; the central net is located in front of the garbage filter basket, and the upper edge of the central net is connected to the fixed frame through a steering gear. In a working state, the central net rotates to a horizontal state or above the horizontal state, and in a non-working state or when the ship is reversed, the central net rotates to a vertical state.

2. The unmanned environmentally friendly boat for automatically collecting surface garbage according to claim 1 is characterized in that: The first hull and the second hull are connected via the fixed frame, and the garbage collecting device is located between the first hull and the second hull; a first propeller and a second propeller are respectively installed on the outer sides of the first hull and the second hull.

3. The unmanned environmentally friendly boat for automatically collecting surface garbage according to claim 2 is characterized by: The first propeller and the second propeller are both propeller propellers, and one of the propellers of the two propeller propellers is a forward propeller and the other is a reverse propeller.

4. The unmanned environmentally friendly boat for automatically collecting surface garbage according to claim 2 is characterized by: The waterproof compartment is installed on the fixed frame between the first hull and the tail of the second hull.

5. The unmanned environmentally friendly boat for automatically collecting surface garbage according to claim 1 is characterized in that: The control device includes a controller, a radar and a binocular camera; the radar and the binocular camera are both connected to the controller; the controller is also connected to a communication device for transmitting and receiving external signals and a navigation device for positioning the hull; the communication device transmits signals through wireless serial port communication, and 4G routing provides network communication to receive external signals; the navigation device is positioned through GPS, and navigates and avoids obstacles through millimeter wave radar and laser radar.

6. The unmanned environmentally friendly boat for automatically collecting surface garbage according to claim 5 is characterized by: It also includes an automatic lighting device, which includes a light recognition sensor and a lighting lamp. The light recognition sensor automatically recognizes the brightness of the surrounding light, and the lighting lamp automatically turns on the lighting according to the brightness of the light.

Images