A multi-robot collaborative water surface cleaning system based on modular design

Abstract

A multi-machine collaborative water surface cleaning system based on modular design, which is used to automatically clean and salvage water surface garbage on the sea. It is characterized in that it includes: an unmanned water surface cleaning ship, which is used to clean, salvage and package water surface garbage, including a modular cleaning mechanism, a packing mechanism and a hull; a cruising drone, which is used to automatically cruise on the sea surface and guide the unmanned water surface cleaning ship to clean, salvage and package water surface garbage, including a drone control module, a drone vision module and an airframe body. Among them, the modular cleaning mechanism is used to clean and salvage water surface garbage, the packing mechanism is used to collect water surface garbage, the drone control module is used to control the automatic cruising of the cruising drone and issue control instructions to the unmanned water surface cleaning ship, and the drone vision module is used to collect and process the picture information of the sea surface during the cruising process.

Description

Technical Field

[0001] The present invention relates to the field of surface garbage cleaning and salvage, and particularly to a multi-machine collaborative surface cleaning system based on modular design. Background Art

[0002] In recent years, with the damage to the environment by people, the quality of world water resources has been continuously declining, the water environment has been continuously deteriorating, and the ocean has been particularly seriously polluted. Among the existing methods for cleaning and salvaging marine garbage, manual cleaning and salvage are mainly used. However, the method of manual cleaning and salvage is not only costly and inefficient, but also the cleaning and salvage effect is very poor. In the prior art, there are also mechanized cleaning ships that are paired with separately equipped ships to clean and salvage marine garbage, but multiple auxiliary ships are required to be used in combination, and the upfront investment cost and subsequent operating cost are high.

[0003] In the prior art, there are also automatic salvage unmanned ships that use cameras on the ships to identify the environment on the sea surface, and the efficiency of finding garbage is very low. Considering the diversity of marine garbage, a single cleaning and salvage mechanism is difficult to meet the complex sea surface environment. Summary of the Invention

[0004] The present invention is made to solve the above problems, and aims to provide a multi-machine collaborative surface cleaning system based on modular design. For this purpose, the following technical solutions are provided.

[0005] The present invention provides a multi-machine collaborative surface cleaning system based on modular design, which is used for automatically cleaning and salvaging solid debris garbage or liquid oily garbage on the sea surface, and has the following characteristics: including at least one surface cleaning unmanned ship for cleaning, salvaging and packaging solid debris garbage or liquid oily garbage, including a modular cleaning mechanism, a packing mechanism and a hull; a cruising unmanned aerial vehicle for automatically cruising on the sea surface and guiding the surface cleaning unmanned ship to clean, salvage and package solid debris garbage or liquid oily garbage, including an unmanned aerial vehicle control module, an unmanned aerial vehicle vision module and an airframe body. Among them, the modular cleaning mechanism is used for cleaning and salvaging solid debris garbage or liquid oily garbage, the packing mechanism is used for collecting the solid debris garbage or liquid oily garbage cleaned and salvaged by the modular cleaning mechanism, the unmanned aerial vehicle control module is used for controlling the automatic cruising of the cruising unmanned aerial vehicle and issuing control instructions to the surface cleaning unmanned ship, the unmanned aerial vehicle vision module is used for collecting and processing the picture information of the sea surface during the cruising process, and the airframe body is used for carrying the unmanned aerial vehicle control module and the unmanned aerial vehicle vision module.

[0006] In the multi-machine collaborative water surface cleaning system based on modular design provided by the present invention, it may further have the following characteristics: Among them, the modular cleaning mechanism includes a chain-type salvage device, and the chain-type salvage device is used for salvaging solid debris and garbage, including a salvage driving component, a front fork, a conveyor belt, and a scraper. The salvage driving component is used to drive the front fork, and the front fork is used to clean and salvage the solid debris and garbage on the sea surface onto the conveyor belt. The conveyor belt is composed of chain plates and is used to convey the solid debris and garbage salvaged by the front fork to the packing mechanism. The scraper is arranged at the end of the conveyor belt and is used to clean the residual garbage on the conveyor belt.

[0007] In the multi-machine collaborative water surface cleaning system based on modular design provided by the present invention, it may further have the following characteristics: Among them, the chain plates include ordinary chain plates with a rough surface and special chain plates with gripper-shaped protrusions on the surface. A plurality of ordinary chain plates are connected between every two special chain plates.

[0008] In the multi-machine collaborative water surface cleaning system based on modular design provided by the present invention, it may further have the following characteristics: Among them, the salvage driving component includes a connecting rod and a servo motor. The connecting rod is used to connect the servo motor and the front fork, and the servo motor is used to drive the front fork by driving the connecting rod.

[0009] In the multi-machine collaborative water surface cleaning system based on modular design provided by the present invention, it may further have the following characteristics: Among them, the modular cleaning mechanism further includes an oil collection device, and the oil collection device is used to clean and collect liquid oily garbage, including a motor, a drum, and an oil scraping plate. The motor provides power for the drum and the oil scraping plate. The drum is used to collect liquid oily garbage. The oil scraping plate is arranged near the packing mechanism of the drum and is used to separate the liquid oily garbage collected by the drum into the packing mechanism.

[0010] In the multi-machine collaborative water surface cleaning system based on modular design provided by the present invention, it may further have the following characteristics: Among them, the surface of the drum is adhered with an oil-loving material, and the oil-loving material has an adsorption effect on oily materials.

[0011] In the multi-machine collaborative water surface cleaning system based on modular design provided by the present invention, it may further have the following characteristics: Among them, the packing mechanism includes a garbage bag, a pressing plate, and a heating sheet. The garbage bag is used to store solid debris and garbage or liquid oily garbage. The pressing plate is used to press the opening of the garbage bag. The heating sheet is arranged on the pressing plate and is used to seal the opening by heating and heat-sealing.

[0012] In the multi - machine collaborative water surface cleaning system based on modular design provided by the present invention, it may also have the following features: Among them, the unmanned surface cleaning boat further includes an underwater thruster, an unmanned boat control module, an unmanned boat vision module, and a solar film. The underwater thruster is used to drive the unmanned surface cleaning boat to move. The unmanned boat control module is used to control the movement of the unmanned surface cleaning boat and the cleaning work of the modular cleaning mechanism. The unmanned boat vision module includes a binocular camera, which is used to perceive the surrounding environment through stereo vision and upload it to the cruising unmanned aerial vehicle. The solar film covers the hull and generates electricity by using solar energy to supply power to the unmanned surface cleaning boat.

[0013] In the multi - machine collaborative water surface cleaning system based on modular design provided by the present invention, it may also have the following features: Among them, a wireless charging device is arranged on the hull, and the wireless charging device is used to charge the cruising unmanned aerial vehicle.

[0014] In the multi - machine collaborative water surface cleaning system based on modular design provided by the present invention, it may also have the following features: Among them, the unmanned aerial vehicle control module serves as a host computer to control multiple unmanned surface cleaning boats to work.

[0015] Functions and effects of the invention

[0016] According to the multi - machine collaborative water surface cleaning system based on modular design involved in the present invention, the modular cleaning and salvage mechanism of the unmanned surface cleaning boat collects solid debris garbage or liquid oily garbage, and the packing mechanism collects the solid debris garbage or liquid oily garbage cleaned and salvaged by the modular cleaning mechanism, making the unmanned surface cleaning boat have high working efficiency, good cleaning and salvage effect, and reducing the re - leakage of garbage. At the same time, during the fixed - point cruising of the cruising unmanned aerial vehicle, it can find the garbage on the sea surface faster, plan the path, and guide the unmanned surface cleaning boat to reach the garbage faster and closer, reducing the power energy loss of the unmanned surface cleaning boat when searching for targets on the water surface.

[0017] Therefore, compared with the manual cleaning and salvage and the mechanized cleaning boat in the prior art, the multi - machine collaborative water surface cleaning system based on modular design of the present invention not only reduces the labor cost and auxiliary boats, but also has better cleaning and salvage efficiency and effect. Brief description of the drawings

[0018] Figure 1 is an exploded view of the multi - machine collaborative water surface cleaning system based on modular design when the modular cleaning mechanism is a chain - type salvage device in the embodiment of the present invention;

[0019] Figure 2 is a structural diagram of the chain - type salvage device in the embodiment of the present invention;

[0020] Figure 3 is a structural diagram of the packing mechanism in the embodiment of the present invention;

[0021] Figure 4 It is the structural diagram of the unmanned surface cleaning ship when the modular cleaning mechanism is replaced by an oil collecting device in the embodiment of the present invention;

[0022] Figure 5 It is the structural diagram of the cruising UAV in the embodiment of the present invention; and

[0023] Figure 6 It is the schematic diagram of the unmanned surface cleaning UAV charging the cruising UAV through a wireless charging device in the embodiment of the present invention. Detailed implementation manners

[0024] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the following embodiments will specifically elaborate on the multi - machine collaborative surface cleaning system based on modular design of the present invention in conjunction with the accompanying drawings.

[0025] <Embodiment>

[0026] Figure 1 It is the explosion diagram of the multi - machine collaborative surface cleaning system based on modular design when the modular cleaning mechanism is a chain - type salvage device in the embodiment of the present invention.

[0027] As Figure 1 shown, the multi - machine collaborative surface cleaning system 100 based on modular design includes an unmanned surface cleaning ship 10 and a cruising UAV 20.

[0028] The unmanned surface cleaning ship 10 includes a chain - type salvage device 11, a packing mechanism 12, a hull 13, an underwater thruster 14, an unmanned ship control module 15, an unmanned ship vision module 16, a solar film 17, and a wireless charging device 18.

[0029] Figure 2 It is the structural diagram of the chain - type salvage device in the embodiment of the present invention.

[0030] As Figure 2 shown, the chain - type salvage device 11 can clean and salvage solid debris and garbage on the sea surface, including a salvage drive assembly 111, a front fork 112, a conveyor belt 113, and a scraper 114. The salvage drive assembly 111 can drive the front fork 112, and the front fork 112 can clean and salvage the solid debris and garbage on the sea surface onto the conveyor belt 113. The conveyor belt 113 can convey the previously cleaned and salvaged solid debris and garbage into the packing mechanism 12. The scraper 114 is arranged at the end of the conveyor belt 113 and can clean the residual garbage on the conveyor belt 113.

[0031] The salvage drive assembly 111 includes a connecting rod 1111 and a servo 1112. The connecting rod 1111 can connect the servo 1112 and the front fork 112, and the servo 1112 can drive the front fork by driving the connecting rod.

[0032] The conveyor belt 113 is composed of chain plates, which include ordinary chain plates 1131 with a rough surface and special chain plates 1132 with gripper-shaped protrusions on the surface. Six ordinary chain plates 1131 are connected between every two special chain plates 1132.

[0033] Figure 3 It is a structural diagram of the packing mechanism in the embodiment of the present invention.

[0034] As Figure 3 shown, the packing mechanism 12 can collect solid debris or liquid oily waste cleaned and salvaged by the modular cleaning mechanism, including a pressing plate 121, a heating sheet 122 and a garbage bag 123. The pressing plate 121 can press the opening of the garbage bag 123 filled with solid debris. The heating sheet 122 is arranged in the pressing surface of the pressing plate and can seal the opening of the garbage bag 123 by heat sealing through heating.

[0035] The hull 13 adopts a streamlined outer shell, taking into account the reasonable optimization of the internal space and the reduction of flow resistance. The chain-type salvage device 11 is arranged at the front end of the hull 13, and the packing mechanism 12 is arranged inside the hull 13.

[0036] Two underwater thrusters 14 are respectively arranged on both sides of the bottom of the hull 13 and can drive the unmanned surface cleaning ship to move.

[0037] The unmanned ship control module 15 can control the movement of the unmanned surface cleaning ship and the cleaning work of the chain-type salvage device 11.

[0038] The unmanned ship vision module 16 uses a binocular camera and can perceive the surrounding environment through stereo vision and upload it to the cruise UAV 20.

[0039] The solar film 17 covers the hull 13 and can generate electricity by using solar energy to supply power to the unmanned surface cleaning ship 10.

[0040] The wireless charging device 18 is arranged at the rear end of the hull 13 and can charge the cruise UAV 20.

[0041] Figure 4 It is a structural diagram of the unmanned surface cleaning ship when the modular cleaning mechanism is replaced with an oil collecting device in the embodiment of the present invention.

[0042] As Figure 4 shown, the modular cleaning mechanism in the unmanned surface cleaning ship 10 includes an oil collecting device 19, and the oil collecting device 19 can clean and collect liquid oily waste, including a motor 191, a roller 192 and an oil scraping plate 193.

[0043] The motor 191 provides power for the drum 192 and the oil scraping plate 193. The surface of the drum 192 is adhered with an oil-loving material, which has an adsorption effect on oily materials. The drum 192 can clean and collect liquid oily garbage on the sea surface. The oil scraping plate 193 is arranged near the packing mechanism 12 of the drum and can separate the liquid oily garbage collected by the drum 192 into the packing mechanism 12.

[0044] Figure 5 It is the structural diagram of the cruise drone in the embodiment of the present invention.

[0045] As Figure 5 shown, the cruise drone 20 includes a drone vision module 21, a drone control module 22 and a fuselage body 23.

[0046] The drone vision module 21 can collect and process the picture information on the sea surface during the cruise.

[0047] The drone control module 22 can control the automatic cruise of the cruise drone 20 and can issue control instructions to the unmanned surface cleaning ship 10. In this embodiment, the drone control module mainly uses a Raspberry Pi (English: Raspberry Pi, abbreviated as RPi, alias RasPi / RPI). The Raspberry Pi is a microcomputer the size of a credit card, and its system is based on Linux. The drone control module, as the upper computer of the multi-robot cooperative surface cleaning system 100 based on modular design, can control two unmanned surface cleaning ships 10 to work simultaneously. In actual work, multiple unmanned surface cleaning ships can be added as needed and controlled by one cruise drone 20.

[0048] The fuselage body 23 adopts a four-wing drone, which has the characteristics of stable flight and large load, and can adapt to the environment on the sea surface. The drone vision module 21 and the drone control module 22 are both arranged on the fuselage body 23.

[0049] In this embodiment, the modular cleaning mechanism carried by the unmanned surface cleaning ship 10 includes a chain-type salvage device 11 and an oil collection device 19. The two unmanned surface cleaning ships 10 are respectively equipped with the chain-type salvage device 11 and the oil collection device 19, and cooperate with one cruise drone 20 to carry out cleaning and salvage work.

[0050] After programming the drone control module 22, the cruise drone 20 conducts automatic fixed-point cruise in a specific sea area. When the drone vision module 21 takes pictures of a certain sea surface position with garbage and analyzes and processes the image to identify solid debris garbage, it selects the unmanned surface cleaning ship 10 equipped with the chain-type salvage device 11 to set out for salvage and issues instructions to the unmanned ship control module 15 in the unmanned surface cleaning ship 10.

[0051] After receiving the instruction, the unmanned ship control module 15 in the surface cleaning unmanned ship 10 equipped with the chain-type salvage device 11 controls the underwater thrusters 14 on both sides of the bottom of the hull 13 to move the surface cleaning unmanned ship 10. After the surface cleaning unmanned ship 10 equipped with the chain-type salvage device 11 reaches the sea area with solid debris and garbage to be cleaned, the unmanned ship vision module 16 on the surface cleaning unmanned ship 10 equipped with the chain-type salvage device 11 further identifies the garbage photographed by the unmanned aerial vehicle vision module 21. After confirming that it is solid debris and garbage, the servo motor 1112 in the salvage drive assembly 111 drives the front fork 112 through the drive link 1111, and the front fork 112 forks up and lifts the solid debris and garbage onto the conveyor belt 113. The ordinary chain plates 1131 with rough surfaces and the special chain plates 1132 with gripper-like protrusions on the surface in the conveyor belt 113 smoothly send the solid debris and garbage into the packing mechanism 12. The scraper 114 clears the residual garbage on the conveyor belt. After the unmanned ship vision module 16 determines that all the solid debris and garbage have been cleaned and salvaged, the pressing plate 121 in the packing mechanism 12 presses the opening of the garbage bag 123, and the heating sheet 122 seals the opening of the garbage bag 123 by heating and heat-sealing.

[0052] When the unmanned aerial vehicle vision module 21 photographs garbage at a certain sea area position and analyzes and processes the image to identify liquid oily garbage, the surface cleaning ship 10 equipped with the oil collection device 19 is selected to set out for salvage, and an instruction is sent to the unmanned ship control module 15 in the surface cleaning unmanned ship 10.

[0053] After receiving the instruction, the unmanned ship control module 15 in the surface cleaning unmanned ship 10 equipped with the oil collection device 19 controls the underwater thrusters 14 on both sides of the bottom of the hull 13 to move the surface cleaning unmanned ship 10. After the surface cleaning unmanned ship 10 equipped with the oil collection device 19 reaches the sea area with solid debris and garbage to be cleaned, the unmanned ship vision module 16 on the surface cleaning unmanned ship 10 equipped with the oil collection device 19 further identifies the garbage photographed by the unmanned aerial vehicle vision module 21. After confirming that it is liquid oily garbage, the motor 191 starts, causing the drum 192 and the oil scraping plate 193 to rotate. After the drum 192 adsorbs the oily liquid garbage, the oil scraping plate 193 separates the liquid oily garbage and sends it into the packing mechanism 12. After the unmanned ship vision module 16 determines that all the liquid oil has been cleaned and salvaged, the pressing plate 121 in the packing mechanism 12 presses the opening of the garbage bag 123, and the heating sheet 122 seals the opening of the garbage bag 123 by heating and heat-sealing.

[0054] After completing a cleaning and salvage operation, the unmanned aerial vehicle vision module in the surface cleaning unmanned ship 10 uploads the surrounding environment to the cruising unmanned aerial vehicle 20. After the cruising unmanned aerial vehicle 20 confirms that the solid debris and garbage or the liquid oily garbage have been completely cleaned and salvaged, it will issue a return instruction or go to the next sea area to continue cleaning and salvaging the solid debris and garbage or the liquid oily garbage.

[0055] Figure 6 This is a schematic diagram of the surface cleaning UAV charging the cruising UAV through a wireless charging device in an embodiment of the present invention.

[0056] As Figure 6 shown, during the process of cleaning and salvaging solid debris or liquid oily waste above, the solar film 17 in the surface cleaning unmanned boat 10 covers the hull 13, making use of the sufficient solar energy on the open sea. The solar film 17 starts to work after the surface cleaning unmanned boat sets sail, providing energy for the surface cleaning unmanned boat 10. When the cruising UAV 20 has insufficient battery power, it lands on the nearest surface cleaning unmanned boat 10 by virtue of the ability of its fuselage body 23 to fly steadily, and uses the wireless charging device 18 to charge itself.

[0057] Functions and effects of the embodiment

[0058] In view of the diversity of marine garbage, it is difficult to meet the requirements with a single cleaning mode. In this embodiment, through the chain-type salvage device of the modular cleaning mechanism, solid debris on the sea surface can be effectively cleaned and salvaged. Through the oil collecting device of the modular cleaning mechanism, liquid oily waste on the sea surface can be effectively cleaned and salvaged, solving the problem of the diversity of marine garbage. The packing mechanism collects the solid debris or liquid oily waste cleaned and salvaged by the modular cleaning mechanism, making the surface cleaning unmanned boat have high working efficiency, good cleaning and salvaging effect, and reducing the re-leakage of garbage. Through the mutual cooperation of the cruising UAV and the surface cleaning unmanned boat, the labor cost is reduced. The cruising UAV plans a basic and scientific shortest salvage path for the surface cleaning unmanned boat, thereby reducing the loss of power energy when the surface cleaning unmanned boat searches for targets on the water surface. The solar film covering the hull of the surface cleaning unmanned boat can make full use of the sufficient solar energy on the broad sea surface. Different from the existing cleaning and salvaging boats using internal combustion gas, it will not cause further pollution to the environment, and the cost of upfront investment and subsequent maintenance and operation is small.

[0059] Therefore, the multi-aircraft cooperation surface cleaning system based on modular design of the present invention can solve the problems in the prior art, and has the characteristics of low noise, pollution-free, green environmental protection, and accurately and efficiently completing cleaning and salvaging.

[0060] The above embodiments are preferred cases of the present invention and are not used to limit the protection scope of the present invention.

Claims

1. A multi-machine collaborative water surface cleaning system based on modular design, which is used for automatically cleaning and salvaging solid debris garbage or liquid oily garbage on the sea surface, and is characterized in that Comprising: At least one unmanned surface cleaning vessel, which is used for cleaning, salvaging and packaging the solid debris garbage or liquid oily garbage, and includes a modular cleaning mechanism, a packing mechanism and a hull; A cruising unmanned aerial vehicle, which is used for automatically cruising over the sea surface and guiding the unmanned surface cleaning vessel to clean, salvage and package the solid debris garbage or liquid oily garbage, and includes a UAV control module, a UAV vision module and an airframe body, Wherein, the modular cleaning mechanism is used for cleaning and salvaging the solid debris garbage or liquid oily garbage. The modular cleaning mechanism includes a chain-type salvage device, and the chain-type salvage device is used for cleaning and salvaging the solid debris garbage, and includes a salvage driving assembly, a front fork, a conveyor belt and a scraper, The salvage driving assembly is used for driving the front fork, The front fork is used for cleaning and salvaging the solid debris garbage on the sea surface onto the conveyor belt, The conveyor belt is composed of chain plates connected together, and is used for conveying the solid debris garbage salvaged by the front fork to the packing mechanism. The chain plates include ordinary chain plates with a rough surface and special chain plates with gripper-shaped protrusions on the surface. A plurality of the ordinary chain plates are connected between every two of the special chain plates, The scraper is arranged at the end of the conveyor belt and is used for cleaning the residual garbage on the conveyor belt, The modular cleaning mechanism further includes an oil collecting device, and the oil collecting device is used for cleaning and collecting the liquid oily garbage, and includes a motor, a drum and an oil scraping plate, The motor provides power for the drum and the oil scraping plate, The drum is used for collecting the liquid oily garbage, The oil scraping plate is arranged at a position where the drum is close to the packing mechanism and is used for separating the liquid oily garbage collected by the drum into the packing mechanism, The packing mechanism is used for collecting the solid debris garbage and the liquid oily garbage cleaned and salvaged by the modular cleaning mechanism, The UAV control module is used for controlling the automatic cruising of the cruising UAV and issuing control instructions to the unmanned surface cleaning vessel, The UAV vision module is used for collecting and processing the picture information of the sea surface during the cruising process, The airframe body is used for carrying the UAV control module and the UAV vision module.

2. The multi-machine collaborative surface cleaning system based on modular design according to claim 1, wherein: Among them, The salvage driving assembly includes a connecting rod and a servo motor, The connecting rod is used for connecting the servo motor and the front fork, The servo motor is used for driving the front fork by driving the connecting rod.

3. The multi-machine collaborative surface cleaning system based on modular design according to claim 1, wherein: Among them, The surface of the drum is adhered with an oil-attracting material, and the oil-attracting material has an adsorption effect on oily materials.

4. The multi-machine collaborative surface cleaning system based on modular design according to claim 1, wherein: Among them, The packing mechanism includes a garbage bag, a pressing plate and a heating sheet, The garbage bag is used for storing the solid debris garbage and the liquid oily garbage, The pressing plate is used for pressing the opening of the garbage bag, The heating sheet is arranged on the pressing plate and is used for sealing the opening in a heat-sealing manner by heating.

5. The multi-robot collaborative water surface cleaning system based on modular design according to claim 1, wherein: Among them, The unmanned surface cleaning vessel further includes an underwater thruster, an unmanned vessel control module, an unmanned vessel vision module, and a solar film. The underwater thruster is used to drive the unmanned surface cleaning vessel to move. The unmanned vessel control module is used to control the movement of the unmanned surface cleaning vessel and the cleaning work of the modular cleaning mechanism. The unmanned vessel vision module includes a binocular camera, which is used to perceive the surrounding environment through stereo vision and upload it to the cruising unmanned aerial vehicle. The solar film covers the hull and supplies power to the unmanned surface cleaning vessel by using solar power generation.

6. The multi-robot collaborative water surface cleaning system based on modular design according to claim 5, wherein: Among them, A wireless charging device is provided on the hull, and the wireless charging device is used to charge the cruising unmanned aerial vehicle.

7. The multi-robot collaborative water surface cleaning system based on modular design according to claim 1, wherein: Among them, The unmanned aerial vehicle control module serves as a host computer to control multiple unmanned surface cleaning vessels to work.

Images