Amphibious propelling wheel-based land and water garbage cleaning device and control method thereof

Abstract

The invention discloses a water and land garbage cleaning device based on amphibious propelling wheels and a control method thereof, and relates to the technical field of water surface cleaning, the water and land garbage cleaning device comprises a front shovel mechanism used for collecting garbage, a driving steering mechanism used for driving the garbage to advance and steer, a tipping bucket mechanism used for bearing the garbage and a sensor module; the front shovel mechanism is installed on the left side of the tipping bucket mechanism, the driving steering mechanism is installed on the lower side of the tipping bucket mechanism, and the sensor modules are installed inside and outside the tipping bucket mechanism. The amphibious robot is provided with the driving steering mechanism, advancing, retreating and steering in the amphibious environment can be achieved, 360-degree steering can be achieved, the problems that in the prior art, a device cannot be used in an amphibious mode and steering is difficult are solved, and the working efficiency can be guaranteed. And a camera module is further installed, in the advancing process, the position of garbage can be distinguished through the camera module, the direction can be adjusted in time, the working efficiency can be guaranteed, homeward voyage can be conducted in time in severe weather, and losses are reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of water surface cleaning, and in particular to an amphibious garbage cleaning device for collecting terrestrial and aquatic garbage and a control method thereof. Background Art

[0002] Water pollution generally refers to human beings changing the water environment and destroying the original stable state of the water. The entry of harmful substances into the water environment will lead to water pollution, resulting in consequences such as deterioration of the water ecology and destruction of the food chain, and damage to human breeding, fishing and other activities. With the rapid acceleration of industrialization and urbanization, the pollution problem of the water environment has become increasingly serious and has received continuous attention from people.

[0003] One of the causes of water pollution is the intrusion of a large amount of floating garbage. These garbage are of different sizes and light weight. At the same time, white garbage such as plastic foam is even difficult to degrade. The harm of floating garbage is huge. It not only pollutes the waters and endangers the living environment of aquatic organisms, but also affects the normal operation of transportation in the waters, and then affects various industries such as fisheries and tourism. The traditional garbage disposal method is for relevant personnel to salvage and clean up the garbage in the waters with tools such as iron forks and iron clamps on small ships. The cleaning efficiency is low, and it consumes more manpower and material resources. It is not suitable for garbage cleaning in vast waters.

[0004] With the continuous innovation of technology and the continuous expansion of practical needs, garbage cleaning devices for floating garbage on land and water are constantly produced.

[0005] Through prior art search, there are the following known technical solutions: Prior art 1: Application number: CN202410402676.7, application date: 2024.04.03, publication (announcement) date: 2024.06.11, the prior art provides an anti-overturning solar water surface garbage cleaning robot, which relates to the field of water surface cleaning technology, including a water surface garbage cleaning robot body, an anti-overturning and cleaning integrated mechanism is provided at the upper end of the water surface garbage cleaning robot body, the anti-overturning and cleaning integrated mechanism includes a photovoltaic unit, and sleds are symmetrically provided inside the water surface garbage cleaning robot body, the two sleds are both located above the photovoltaic unit, and the two sleds are both located on both sides of the photovoltaic unit. The motor is located at the upper end of the water surface garbage cleaning robot body, and the motor is fixedly installed with the water surface garbage cleaning robot body. By optimizing the structure and layout of the device, an anti-overturning and cleaning integrated mechanism is provided, so that the overall structure of the device is compact, and it has anti-overturning and synchronous cleaning of the warning light and the photovoltaic unit, which greatly improves the stability of the water surface garbage cleaning robot body during garbage cleaning and the portability of the staff during maintenance, and is more practical.

[0006] However, the above-mentioned prior art has weak motion and steering capabilities, and is difficult to complete garbage cleaning work in a large area of ​​water, and the cleaning range is highly limited.

[0007] Prior art 2: Application number: CN202410409323.X, application date: 2024.04.07, publication (announcement) date: 2024.06.14, the prior art discloses a multifunctional surface garbage cleaning ship, including a hull, a floating garbage collection device, a waterweed cleaning device and a rudder device, the floating garbage collection device includes a garbage collection box installed on both sides of the hull, a garbage collection plate installed on both sides of the garbage collection box, and a hydroelectric generator installed on both sides of the hull, so as to realize the collection of floating garbage and reduce energy consumption; the waterweed cleaning device includes a collection roller arranged in the front, a crushing roller arranged above, and a conveyor belt mechanism arranged between the two; the rudder device includes a rudder blade located at the bottom of the hull and a propeller located in front of the rudder blade, so as to realize the direction control of the ship. The present invention improves the collection capacity and collection range of surface garbage, and at the same time includes a design method of a garbage cleaning ship capable of collecting floating garbage and waterweed, which is conducive to the efficient treatment of surface pollutants.

[0008] However, the types of garbage collected by the above-mentioned prior art are limited, and only a part of the garbage that can be transported by the conveyor belt can be collected, and the collection and cleaning efficiency is low.

[0009] Prior art 3: Application number: CN202410779099.3, application date: 2024.06.17, publication (announcement) date: 2024.07.12, the prior art discloses a garbage cleaning device for water source treatment, including a middle hull, both ends of the middle hull are fixedly connected to a collecting hull, one end of the top of the middle hull is provided with a slag scooping assembly, a garbage transmission assembly is provided inside the middle hull, and a compression device is fixedly connected to the top of the middle hull away from the slag scooping assembly. The barbs arranged on the surface of the belt chain body are convenient for transmitting garbage from the water surface. At the same time, the garbage is prevented from falling due to gravity during the transmission process on the surface of the garbage transmission assembly, thereby improving the stability of garbage transmission, cutting the garbage on the surface of the transmission belt body, achieving garbage crushing, compression and extrusion, thereby reducing the volume of the garbage, and more garbage can be collected at a single time. The garbage passes through the transmission belt assembly and is discharged from the fixed plate to the water bank, which is convenient for operators to handle. The filter screen is used to collect and filter the oil on the water surface to improve the cleaning effect.

[0010] However, after collecting and crushing the garbage, the above-mentioned existing technologies still need to go through the garbage transfer process on land, and the work process still needs to be optimized, and the garbage transfer work cannot be completed in one stop.

[0011] Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the mutual combination of the above prior arts does not destroy the creativity of the present invention. Summary of the invention

[0012] In order to avoid the above-mentioned deficiencies in the prior art, the present invention provides an amphibious garbage cleaning device based on an amphibious propulsion wheel.

[0013] The present invention adopts the following technical solutions to solve the technical problems: an amphibious propulsion wheel-based amphibious garbage cleaning device and a control method thereof, comprising a front shovel mechanism for collecting garbage, a driving and steering mechanism for driving forward and steering, a dump bucket mechanism for carrying garbage, and a sensor module; The front shovel mechanism is installed on the left side of the dump bucket mechanism, the driving steering mechanism is installed on the lower side of the dump bucket mechanism, and the sensor module is installed inside and outside the dump bucket mechanism.

[0014] Furthermore, the front shovel mechanism includes a bucket motor, a steering wheel, a U-shaped bracket, a curved shovel, a left fixed wall, a right fixed wall and an articulated arm fixing seat; the steering wheel and the U-shaped bracket are in two numbers, the steering wheel is installed on the left and right sides of the output end of the bucket motor, and is connected to one of the U-shaped brackets, the end of the bucket motor not installed with the steering wheel is installed with another U-shaped bracket, the end of the bucket motor installed with the steering wheel is connected to the curved shovel through the U-shaped bracket, and the other end is connected to the articulated arm fixing seat through the U-shaped bracket, and the left fixed wall and the right fixed wall are fixedly connected to the left and right sides of the curved shovel.

[0015] Furthermore, the driving steering mechanism includes a servo fixing seat, a steering servo, a servo connecting plate, a speed regulating motor fixing seat, a speed regulating motor waterproof box, a speed regulating motor and a propulsion wheel; the servo fixing seat is installed and fixed to the bottom of the tipping bucket mechanism, the steering servo is installed inside the servo fixing seat, the servo connecting plate is installed at the output end below the servo fixing seat, the speed regulating motor fixing seat is fixedly installed with the servo connecting plate, the speed regulating motor waterproof box is installed and fixed to the bottom of the speed regulating motor fixing seat, the speed regulating motor is installed inside the waterproof box, and the propulsion wheel is installed at the output end of the speed regulating motor.

[0016] Furthermore, the number of the fixing seat, the steering servo, the servo connecting plate, the speed regulating motor fixing seat, the speed regulating motor waterproof box, the speed regulating motor and the propulsion wheel is four.

[0017] Furthermore, the tipping bucket mechanism includes a ship bottom box, a driving servo, a garbage bucket push rod, a garbage bucket, a garbage receiving plate and a bucket-rudder connecting plate; the ship bottom box is installed and fixed below the bucket-rudder connecting plate, the driving servo and the garbage bucket push rod are installed inside the ship bottom box, the output end of the driving servo is installed and connected to the garbage bucket push rod, the garbage bucket push rod is installed and connected to the bottom of the garbage bucket, the garbage bucket is installed above the bucket-rudder connecting plate, and the garbage receiving plate is installed above one side of the garbage bucket close to the front shovel mechanism.

[0018] Furthermore, the sensor module includes a posture sensor, a distance sensor and a gravity sensor; the posture sensor is located below the bucket motor, the distance sensor is installed below the bucket rudder connecting plate, and the gravity sensor is installed inside the garbage bucket.

[0019] Furthermore, it also includes an auxiliary module, which includes a Beidou GPS satellite positioning module, a WIFI module, a single-chip microcomputer control and a camera module; the Beidou GPS satellite positioning module, the WIFI module and the camera module are data-connected with the single-chip microcomputer control module, and the single-chip microcomputer control module is data-connected with the sensor module, the bucket motor, the steering servo, the speed control motor and the drive servo.

[0020] Furthermore, it also includes a battery box, which is installed below the auxiliary module and connected to the auxiliary module, bucket motor, steering servo, speed control motor and drive servo power supply.

[0021] A control method for an amphibious garbage cleaning device based on an amphibious propulsion wheel comprises the following steps: Step 1: The cleaning device starts the garbage cleaning task according to the signal received by the WiFi module, and obtains the latitude and longitude of the cleaning device through the Beidou GPS satellite positioning module. , take the starting point of the cleaning device as the origin, the latitude passing through the starting point as the x-axis, the longitude passing through the starting point as the y-axis, and the earth's axis as the z-axis to establish a rectangular coordinate system, and calculate the position of the cleaning device according to formula 1: (Formula 1); In formula 1, R is the radius of the earth, ; Step 2: The camera module takes pictures of the surroundings, identifies the water surface in the acquired image, and obtains the required heading angle for the cleaning device to move to the water surface through the position of the cleaning device and the position of the interface between the water surface and the ground. , and completes road segmentation and path planning according to the path-finding algorithm carried by the cleaning device; Step 3: The cleaning device adjusts the torque output by the steering structure and the speed regulating structure, and obtains the heading angle of the cleaning device according to the acceleration information and angular velocity information of the x, y, and z axes obtained by the attitude sensor. ,when , the comparison operation stops; otherwise, the robot continues to adjust the torque output by the steering structure and the speed control structure until ; Step 4: Clean the device based on the distance data returned by the camera module ,when When the cleaning device adjusts the torque output by the speed regulating structure until the cleaning device stops moving, the steering structure is adjusted until the front propulsion wheel is parallel to the hull and the rear propulsion wheel is perpendicular to the hull; The minimum distance allowed from the water surface; Step 5: The cleaning device adjusts the torque output by the steering structure and the speed regulating mechanism until the propulsion wheel at the rear end rotates to generate power to move the cleaning device on the water surface; Step 6: The camera module of the cleaning device takes pictures of the surroundings, identifies the garbage in the acquired images, and obtains the location of the garbage , the required heading angle for the cleaning device to move to the current location of the garbage is obtained through the location of the cleaning device and the location of the garbage ; Step 7: The cleaning device obtains the heading angle of the cleaning device based on the acceleration information and angular velocity information on the x, y, and z axes obtained by the attitude sensor. ,when , stop the comparison operation; otherwise, the robot adjusts the torque output by the steering structure and the speed control structure until ; Step 8: The cleaning device performs step 6 regularly to obtain the required heading angle corresponding to the current state under the condition that the garbage position may change. ,like , return to step six, otherwise end step eight; Step 9: Clean the device based on the distance data returned by the camera module ,when When the cleaning device adjusts the torque output by the steering structure and the speed regulating structure until the cleaning device stops moving; wherein, The distance between the allowed use and the garbage; Step 10: The bucket motor of the front shovel mechanism outputs a reverse torque, and the steering wheel drives the U-shaped bracket and the curved shovel to rotate until the curved shovel is in close contact with the horizontal plane; Step 11: The camera module obtains images of the garbage and the curved shovel, and adjusts the torque output by the steering structure and the speed regulating structure until the image of the garbage is included in the image of the curved shovel; Step 12: The bucket motor of the front shovel mechanism outputs a positive torque, and the steering wheel drives the U-shaped bracket and the curved shovel to rotate until the curved shovel is in close contact with the garbage receiving plate, and the garbage falls along the garbage receiving plate into the garbage bucket; Step 13: Clean the device based on the data returned by the gravity sensor ,exist When the camera module obtains the ground image, the cleaning device adjusts the torque output by the steering structure and the speed regulating structure to return to the ground; is the maximum permissible weight; Step 14: The cleaning device adjusts the steering structure until all the propulsion wheels are in a parallel state, the speed regulating structure of the cleaning device outputs torque, and the device moves on the ground; Step 15: The device is based on the position of the ground target point , the required heading angle of the cleaning device moving to the ground target point is obtained by the position of the cleaning device and the position of the ground target point ; Step 16: The cleaning device obtains the heading angle of the cleaning device based on the acceleration information and angular velocity information on the x, y, and z axes obtained by the attitude sensor. ,when When the comparison operation stops, otherwise the cleaning device adjusts the torque output by the steering structure and the speed regulating structure until ; Step 17: The cleaning device moves to the target area on the ground, and the garbage bucket push rod pushes the garbage bucket to dump the garbage, completing the task; Step 18: Clean the device based on the data returned by the gravity sensor ,exist When If the weight is normal, return "Garbage Cleaning Task Completed" to another corresponding terminal via the WiFi module, otherwise return to step seventeen.

[0022] The present invention provides an amphibious propulsion wheel-based amphibious garbage cleaning device and a control method thereof, which has the following beneficial effects: 1. The present invention is equipped with a driving steering mechanism, which can realize forward, backward and steering in an amphibious environment, and can also implement 360-degree steering, solving the problems of the prior art that the device cannot be used for both water and land and has difficulty in steering, which is conducive to ensuring work efficiency.

[0023] 2. The present invention is equipped with a camera module. During the process of moving forward, the location of garbage can be identified through the camera module, and the direction can be adjusted in time, which is beneficial to the guarantee of work efficiency. In case of bad weather, it can also return in time to reduce losses.

[0024] 3. The present invention is equipped with a Beidou GPS satellite positioning module, a WiFi module, a camera module, a single-chip microcomputer control and a battery box, and has the advantages of two-way communication, low equipment requirements, high GPS positioning accuracy and a wide range. In conjunction with the communication control of the WiFi module, the camera module and the mobile terminal, the positioning of the cleaning device is more accurate, the use is more convenient, and it is conducive to ensuring work efficiency.

[0025] 4. The present invention is equipped with a sensor module, in which the attitude sensor can assist the water and land garbage cleaning device to move at a suitable speed and angle, the distance sensor can assist the water and land garbage cleaning device to understand the distance of surrounding objects, and the gravity sensor can transmit the weight of the garbage in the garbage bin. When the garbage in the garbage bin reaches a certain weight, the water and land garbage cleaning device is controlled to return to clean the garbage inside the garbage bin, which is conducive to ensuring work efficiency.

[0026] 5. The present invention has small size, light weight, low energy consumption, is easy to carry, has good practicality, and meets the needs of actual work. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a structural schematic diagram of the front shovel mechanism of the present invention; Figure 3 It is a structural schematic diagram of the driving steering mechanism and the dump bucket mechanism of the present invention; Figure 4 This is a schematic diagram of the structure inside the bottom box of the ship of the present invention; Figure 5 It is a structural schematic diagram of the bottom surface of the present invention; Figure 6 It is a structural schematic diagram of the auxiliary module of the present invention; Figure 7 A flow chart of garbage cleaning by the cleaning device of the present invention; Figure 8 A flow chart for adjusting the course of the cleaning device of the present invention.

[0028] In the figure: 1. Front shovel mechanism; 11. Bucket motor; 12. Steering wheel; 13. U-shaped bracket; 14. Curved shovel; 15. Left fixed wall; 16. Right fixed wall; 17. Joint arm fixing seat; 2. Driving steering mechanism; 21. Servo fixing seat; 22. Steering servo; 23. Servo connecting plate; 24. Speed ​​regulating motor fixing seat; 25. Speed ​​regulating motor waterproof box; 26. Speed ​​regulating motor; 27. Propulsion wheel; 3. Tipping bucket mechanism; 31. Bottom box; 32. Driving servo; 33. Garbage bucket push rod; 34. Garbage bucket; 35. Garbage receiving plate; 36. Bucket rudder connecting plate; 4. Sensor module; 41. Attitude sensor; 42. Distance sensor; 43. Gravity sensor; 5. Auxiliary module; 51. Beidou GPS satellite positioning module; 52. WIFI module; 53. Single chip microcomputer control module; 54. Camera module; 6. Battery box. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in combination with the embodiments of the present invention. Obviously, the described embodiments are 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.

[0030] like Figure 1 to Figure 8 As shown, its structural relationship is as follows: it includes a front shovel mechanism 1 for collecting garbage, a driving and steering mechanism 2 for driving forward and steering, a dump bucket mechanism 3 for carrying garbage, and a sensor module 4; The front shovel mechanism 1 is installed on the left side of the dump bucket mechanism 3 , the driving steering mechanism 2 is installed on the lower side of the dump bucket mechanism 3 , and the sensor module 4 is installed inside and outside the dump bucket mechanism 3 .

[0031] Preferably, the front shovel mechanism 1 includes a bucket motor 11, a steering wheel 12, a U-shaped bracket 13, a curved shovel 14, a left fixed wall 15, a right fixed wall 16 and an articulated arm fixing seat 17; there are two steering wheels 12 and two U-shaped brackets 13, the steering wheel 12 is installed on the left and right sides of one end of the bucket motor 11, and is installed and connected to one U-shaped bracket 13, and another U-shaped bracket 13 is installed at the output end of the bucket motor 11 where the steering wheel 12 is not installed, one end of the bucket motor 11 equipped with the steering wheel 12 is installed and connected to the curved shovel 14 through the U-shaped bracket 13, and the other end is installed and connected to the articulated arm fixing seat 17 through the U-shaped bracket 13, and the left fixed wall 15 and the right fixed wall 16 are fixedly connected to the left and right sides of the curved shovel 14.

[0032] The left fixed wall 15 and the right fixed wall 16 can increase the loading capacity of the garbage in the curved shovel 14, prevent the garbage from falling out of the curved shovel 14, and facilitate the collection of garbage. In addition, small holes should be densely distributed on the bottom plate of the curved shovel 14 so that water entering the curved shovel 14 during garbage collection can leak out through the small holes, thereby reducing the invalid load of each mechanism.

[0033] The working process of the front shovel mechanism 1 is as follows: The bucket motor 11 outputs power to drive the steering plate 13 to rotate, and drives the U-shaped bracket 13 installed on the steering plate 13 to rotate together, so that the front end of the curved shovel 14 on the U-shaped bracket 13 is lifted or dropped.

[0034] Preferably, a baffle is provided on the front side of the curved shovel 14 .

[0035] In actual use, after the front shovel mechanism 1 has collected the garbage, the baffle rotates to a suitable position to prevent the garbage in the curved shovel 14 from sliding out of the curved shovel 14, which is beneficial to the guarantee of work efficiency.

[0036] Preferably, the driving steering mechanism 2 includes a servo fixing seat 21, a steering servo 22, a servo connecting plate 23, a speed regulating motor fixing seat 24, a speed regulating motor waterproof box 25, a speed regulating motor 26 and a propulsion wheel 27; the servo fixing seat 21 is installed and fixed at the bottom of the tipping mechanism 3, the steering servo 22 is installed inside the servo fixing seat 21, and a servo connecting plate 23 is installed at the output end below it, the speed regulating motor fixing seat 24 is fixedly installed with the servo connecting plate 23, the speed regulating motor waterproof box 25 is installed and fixed to the bottom of the speed regulating motor fixing seat 24, a speed regulating motor 26 is installed inside it, and the propulsion wheel 27 is installed at the output end of the speed regulating motor 26.

[0037] During actual setting, since the speed regulating motor 26 is completely immersed in water, the speed regulating motor waterproof box 25 can effectively protect the speed regulating motor 26 from being corroded by water, thereby reducing the risk of damage to the speed regulating motor 26 .

[0038] Preferably, the number of the fixing seat 21, the steering servo 22, the servo connecting plate 23, the speed regulating motor fixing seat 24, the speed regulating motor waterproof box 25, the speed regulating motor 26 and the propulsion wheel 27 is four.

[0039] In actual use, the steering servo 22 controls the left and right rotation of the propulsion wheel 26 to achieve the purpose of steering. The four steering servos 22 can make the water and land garbage cleaning device turn 360 degrees, making the water and land garbage cleaning device more flexible in steering, no longer a single steering, which is conducive to ensuring work efficiency; Working process of driving steering mechanism 2: The speed regulating motor 26 rotates forward or reversely, and the speed regulating motor 26 drives the propulsion wheel 27 at its output end to rotate, so that the water and land garbage cleaning device can move forward or backward. The speed of the speed regulating motor 26 can be controlled according to the needs, so that the speed of the water and land garbage cleaning device can be controlled. When turning is required, the two steering servos 22 at the front end are started, so that the output end of the steering servo 22 drives the servo connecting plate 23 to rotate left and right, so that the speed regulating motor fixing seat 24 connected to the servo connecting plate 23 rotates left and right, thereby making the propulsion wheel 27 rotate left and right to achieve the purpose of turning. When a small angle turn is required, the four steering servos 22 can achieve a small angle turn by rotating different angles, and the water and land garbage cleaning device can also turn around on the spot.

[0040] Preferably, the tipping mechanism 3 includes a ship bottom box 31, a driving servo 32, a garbage bucket push rod 33, a garbage bucket 34, a garbage receiving plate 35 and a bucket-rudder connecting plate 36; the ship bottom box 31 is installed and fixed below the bucket-rudder connecting plate 36, the driving servo 32 and the garbage bucket push rod 33 are installed inside the ship bottom box 31, the output end of the driving servo 32 is installed and connected to the garbage bucket push rod 33, the garbage bucket push rod 33 is installed and connected to the bottom of the garbage bucket 34, the garbage bucket 34 is installed above the bucket-rudder connecting plate 36, and the garbage receiving plate 35 is installed above the side of the garbage bucket 34 close to the front shovel mechanism 1.

[0041] The bucket rudder connecting plate 36 can make the garbage inside the curved shovel 14 pour into the garbage bucket 34 so that the garbage can smoothly enter the garbage bucket 34 without falling outside the garbage bucket 34. In actual setting, the surface of the bucket rudder connecting plate 36 should be as smooth as possible, which is more conducive to the garbage sliding into the garbage bucket 34 under the action of gravity; Working process of the tipping mechanism 3: The curved shovel 14 rotates until it sticks to the bucket rudder connecting plate 36. During the rotation of the curved shovel 14, the garbage inside falls onto the bucket rudder connecting plate 36 due to the influence of gravity, and then slides along the bucket rudder connecting plate 36 into the garbage bucket 34. When a certain amount of garbage is collected in the garbage bucket 34, the water and land garbage cleaning device moves to the garbage opposite position, drives the steering gear 32 to start, drives the garbage bucket push rod 33 at the output end of the steering gear 32 to push one end of the garbage bucket 34 to lift up, and pour the garbage in the garbage bucket 34 into the garbage pile, and finally drives the steering gear 32 to reverse, and the garbage bucket 34 returns to the initial position.

[0042] Preferably, the sensor module 4 includes a posture sensor 41 , a distance sensor 42 and a gravity sensor 43 ; the posture sensor 41 is located below the bucket motor 11 , the distance sensor 42 is installed below the bucket rudder connecting plate 36 , and the gravity sensor 43 is installed inside the garbage bucket 34 .

[0043] The attitude sensor 41 can transmit the travel speed and angle information of the water and land garbage cleaning device, and assist the water and land garbage cleaning device to move at a suitable speed and angle. The distance sensor 42 can assist the water and land garbage cleaning device to understand the distance of surrounding objects. The gravity sensor 43 can transmit the weight of the garbage in the garbage bin 34 to prevent problems in the garbage and land garbage cleaning device caused by excessive garbage in the garbage bin 34. When the garbage in the garbage bin 34 reaches a certain weight, the gravity sensor 43 transmits information to control the water and land garbage cleaning device to return and clean the garbage inside the garbage bin.

[0044] Preferably, an auxiliary module 5 is also included, which includes a Beidou GPS satellite positioning module 51, a WIFI module 52, a single-chip control 53 and a camera module 54; the Beidou GPS satellite positioning module 51, the WIFI module 52 and the camera module 53 are data-connected with the single-chip control module 54, and the single-chip control module 54 is data-connected with the sensor module 4, the bucket motor 11, the steering servo 22, the speed control motor 26 and the drive servo 32.

[0045] The Beidou GPS satellite positioning module 51 obtains location information, and the WIFI module 52 provides a network to transmit the location information, action information and surrounding information of the water and land garbage cleaning device to the staff, so that the staff can timely set or modify the movement trajectory and movement speed of the water and land garbage cleaning device. The camera module 54 can capture the surrounding environment information and garbage information, and transmit the information to the staff and the single-chip control module 54. The single-chip control module 54 controls the action path of the land garbage cleaning device through the situation transmitted by the camera module 54 until the garbage is completely in the curved shovel 14. The staff can also remotely set the movement path of the water and land garbage cleaning device according to the surrounding environment information.

[0046] Preferably, a battery box 6 is further included, which is installed below the auxiliary module 5 and is connected to the auxiliary module 5, the bucket motor 11, the steering servo 22, the speed regulating motor 26 and the driving servo 32.

[0047] This setting can provide sufficient power for each component and drive motor, ensure the power supply, and help ensure work efficiency.

[0048] A control method for an amphibious garbage cleaning device based on an amphibious propulsion wheel comprises the following steps: Step 1: The cleaning device starts the garbage cleaning task according to the signal received by the WiFi module 52, and obtains the latitude and longitude of the cleaning device through the Beidou GPS satellite positioning module 51. , take the starting point of the cleaning device as the origin, the latitude passing through the starting point as the x-axis, the longitude passing through the starting point as the y-axis, and the earth's axis as the z-axis to establish a rectangular coordinate system, and calculate the position of the cleaning device according to formula 1: (Formula 1); In formula 1, R is the radius of the earth, ; Step 2: The camera module 54 takes a picture of the surroundings, identifies the water surface in the acquired image, and obtains the required heading angle for the cleaning device to move to the water surface through the position of the cleaning device and the position of the boundary between the water surface and the ground. , and completes road segmentation and path planning according to the path-finding algorithm carried by the cleaning device; The above-mentioned pathfinding algorithm can be one of the algorithms such as Dijkstra algorithm, A* algorithm, ant colony algorithm, etc. For the specific content of Dijkstra algorithm, please refer to "Multiple Neighbors and Multiple Shortest Path Problems in Dijkstra Algorithm" (Wang Shuxi, Li Anyu. Multiple Neighbors and Multiple Shortest Path Problems in Dijkstra Algorithm [J]. Computer Science, 2014, 41(06): 217-224.), and for the specific content of A* algorithm, please refer to "Shortest Path Planning of Mobile Robot Based on Improved A* Algorithm" (Wu Peng, Sang Chengjun , Lu Zhonghua, et al. Research on mobile robot path planning based on improved A* algorithm [J]. Computer Engineering and Applications, 2019, 55(21): 227-233.), for the specific content of the ant colony algorithm, please refer to "Ant Colony Algorithm for Robot Path Planning Based on Grid Method" (Zhu Qingbao, Zhang Yulan. Ant Colony Algorithm for Robot Path Planning Based on Grid Method [J]. Robot, 2005, (02): 132-136. DOI: 10.13973 / j.cnki.robot.2005.02.008.); Step 3: The cleaning device adjusts the torque output by the steering structure and the speed regulating structure, and obtains the heading angle of the cleaning device according to the acceleration information and angular velocity information of the x, y, and z axes obtained by the attitude sensor 41. ,when , the comparison operation stops; otherwise, the robot continues to adjust the torque output by the steering structure and the speed control structure until ; Step 4: The cleaning device collects the distance data returned by the camera module 54. ,when When the cleaning device adjusts the torque output by the speed regulating structure until the cleaning device stops moving, the steering structure is adjusted until the front propulsion wheel 27 is parallel to the hull and the rear propulsion wheel 27 is perpendicular to the hull; The minimum distance allowed from the water surface; Step 5: The cleaning device adjusts the torque output by the steering structure and the speed regulating mechanism until the propulsion wheel 27 at the rear end rotates to generate power to move the cleaning device on the water surface; Step 6: The camera module 54 of the cleaning device takes a picture of the surroundings, identifies the garbage in the acquired image, and obtains the location of the garbage , the required heading angle for the cleaning device to move to the current location of the garbage is obtained through the location of the cleaning device and the location of the garbage ; Step 7: The cleaning device obtains the heading angle of the cleaning device according to the acceleration information and angular velocity information on the x, y, and z axes obtained by the attitude sensor 41. ,when , stop the comparison operation; otherwise, the robot adjusts the torque output by the steering structure and the speed control structure until ; Step 8: The cleaning device performs step 6 regularly to obtain the required heading angle corresponding to the current state under the condition that the garbage position may change. ,like , return to step six, otherwise end step eight; Step 9: The cleaning device collects the distance data returned by the camera module 54. ,when When the cleaning device adjusts the torque output by the steering structure and the speed regulating structure until the cleaning device stops moving; wherein, The distance between the allowed use and the garbage; Step 10: The bucket motor 11 of the front shovel mechanism 1 outputs a reverse torque, and the steering wheel 12 drives the U-shaped bracket 13 and the curved shovel 14 to rotate until the curved shovel 14 is in close contact with the horizontal plane; Step 11: The camera module 54 obtains images of the garbage and the curved shovel, and adjusts the torque output by the steering structure and the speed regulating structure until the image of the garbage is included in the image of the curved shovel 14; Step 12: The bucket motor 11 of the front shovel mechanism 1 outputs a positive torque, and the steering wheel 12 drives the U-shaped bracket 13 and the curved shovel 14 to rotate until the curved shovel 14 is in close contact with the garbage receiving plate 35, and the garbage falls along the garbage receiving plate 35 into the garbage bucket 34; Step 13: The cleaning device is based on the data returned by the gravity sensor 43 ,exist When the camera module 54 obtains the ground image, the cleaning device adjusts the torque output by the steering structure and the speed regulating structure to return to the ground; is the maximum permissible weight; Step 14: The cleaning device adjusts the steering structure until all the propulsion wheels 27 are in a parallel state, the speed regulating structure of the cleaning device outputs torque, and the device moves on the ground; Step 15: The device is based on the position of the ground target point , the required heading angle of the cleaning device moving to the ground target point is obtained by the position of the cleaning device and the position of the ground target point ; Step 16: The cleaning device obtains the heading angle of the cleaning device according to the acceleration information and angular velocity information on the x, y, and z axes obtained by the attitude sensor 41. ,when When the comparison operation stops, otherwise the cleaning device adjusts the torque output by the steering structure and the speed regulating structure until ; Step 17: The cleaning device moves to the target area on the ground, and the garbage bucket push rod 33 pushes the garbage bucket 34 to dump the garbage, completing the task; Step 18: The cleaning device is based on the data returned by the gravity sensor 43 ,exist When If the weight is normal, the WiFi module 52 returns "the garbage cleaning task has been completed" to another corresponding terminal, otherwise it returns to step seventeen.

[0049] Example 1 This paper selects the land mode for testing. The experimental results show that when traveling at full speed, the robot only takes 4.3 seconds to pass a path length of 3.12m, and its travel speed is 0.73m / s, achieving a relatively excellent travel result. The comparison results with the travel speed of some cleaning devices on the market are shown in Table 1. The weight of the compared cleaning devices is less than 10kg.

[0050] Table 1 Comparison of travel speeds of different devices In addition, the cleaning device in this paper has high flexibility and can achieve omnidirectional movement and rotation in place. The speed of its rotation in place is r / s. It can complete a rotation in 3 seconds.

[0051] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0052] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A land and water garbage cleaning device based on an amphibious propulsion wheel, characterized in that: It comprises a front shovel mechanism (1) for collecting garbage, a driving and steering mechanism (2) for driving forward and steering, a tipping bucket mechanism (3) for carrying garbage, and a sensor module (4); The front shovel mechanism (1) is installed on the left side of the dump mechanism (3), the driving steering mechanism (2) is installed on the lower side of the dump mechanism (3), and the sensor module (4) is installed inside and outside the dump mechanism (3).

2. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 1, characterized in that: The front shovel mechanism (1) comprises a bucket motor (11), a steering disc (12), a U-shaped bracket (13), a curved shovel (14), a left fixed wall (15), a right fixed wall (16) and an articulated arm fixing seat (17); the steering disc (12) and the U-shaped bracket (13) are in number two, the steering disc (12) being mounted on the left and right sides of the output end of the bucket motor (11) and being mounted and connected to one of the U-shaped brackets (13); the end of the bucket motor (11) not mounted with the steering disc (12) being mounted with another of the U-shaped brackets (13); the end of the bucket motor (11) mounted with the steering disc (12) being mounted and connected to the curved shovel (14) through the U-shaped bracket (13), and the other end being mounted and connected to the articulated arm fixing seat (17) through the U-shaped bracket (13); the left fixed wall (15) and the right fixed wall (16) being fixedly connected to the left and right sides of the curved shovel (14).

3. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 2 is characterized by: A baffle is provided on the front side of the curved shovel (14).

4. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 2 is characterized in that: The driving steering mechanism (2) comprises a steering gear fixing seat (21), a steering steering gear (22), a steering gear connecting plate (23), a speed regulating motor fixing seat (24), a speed regulating motor waterproof box (25), a speed regulating motor (26) and a propulsion wheel (27); the steering gear fixing seat (21) is fixedly mounted on the bottom of the dump mechanism (3); the steering steering gear (22) is mounted inside the steering gear fixing seat (21), the steering gear connecting plate (23) is mounted on the output end below the steering gear fixing seat (21); the speed regulating motor fixing seat (24) is fixedly mounted to the steering gear connecting plate (23); the speed regulating motor waterproof box (25) is fixedly mounted below the speed regulating motor fixing seat (24), the speed regulating motor (26) is mounted inside the speed regulating motor waterproof box (25), and the propulsion wheel (27) is mounted on the output end of the speed regulating motor (26).

5. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 4 is characterized in that: The number of the fixing seat (21), the steering servo (22), the servo connection plate (23), the speed regulating motor fixing seat (24), the speed regulating motor waterproof box (25), the speed regulating motor (26) and the propulsion wheel (27) is four.

6. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 4, characterized in that: The tipping bucket mechanism (3) comprises a bottom box (31), a driving steering engine (32), a garbage bucket push rod (33), a garbage bucket (34), a garbage receiving plate (35) and a bucket-rudder connecting plate (36); the bottom box (31) is fixedly mounted below the bucket-rudder connecting plate (36); the driving steering engine (32) and the garbage bucket push rod (33) are mounted inside the bottom box (31); the output end of the driving steering engine (32) is mounted and connected to the garbage bucket push rod (33); the garbage bucket push rod (33) is mounted and connected to the bottom of the garbage bucket (34); the garbage bucket (34) is mounted above the bucket-rudder connecting plate (36); and the garbage receiving plate (35) is mounted above a side of the garbage bucket (34) close to the front shovel mechanism (1).

7. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 6, characterized in that: The sensor module (4) comprises a posture sensor (41), a distance sensor (42) and a gravity sensor (43); the posture sensor (41) is located below the bucket motor (11), the distance sensor (42) is installed below the bucket rudder connecting plate (36), and the gravity sensor (43) is installed inside the garbage bucket (34).

8. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 7, characterized in that: The invention also comprises an auxiliary module (5), wherein the auxiliary module (5) comprises a Beidou GPS satellite positioning module (51), a WIFI module (52), a single-chip control module (53) and a camera module (54); the Beidou GPS satellite positioning module (51), the WIFI module (52) and the camera module (53) are in data communication with the single-chip control module (54), and the single-chip control module (54) is in data communication with the sensor module (4), the bucket motor (11), the steering servo (22), the speed regulating motor (26) and the driving servo (32).

9. The amphibious propulsion wheel-based water and land garbage cleaning device according to claim 8, characterized in that: It also includes a battery box (6), which is installed below the auxiliary module (5) and is connected to the auxiliary module (5), the bucket motor (11), the steering servo (22), the speed regulating motor (26) and the driving servo (32) power supply.

10. A control method for a land and water garbage cleaning device based on an amphibious propulsion wheel, used to control the land and water garbage cleaning device as claimed in claim 9 to clean up garbage, characterized in that: The following steps are involved: Step 1: The cleaning device starts the garbage cleaning task according to the signal received by the WiFi module (52), and obtains the longitude and latitude of the cleaning device through the Beidou GPS satellite positioning module (51). , take the starting point of the cleaning device as the origin, the latitude passing through the starting point as the x-axis, the longitude passing through the starting point as the y-axis, and the earth's axis as the z-axis to establish a rectangular coordinate system, and calculate the position of the cleaning device according to formula 1: (Formula 1) In formula 1, R is the radius of the earth, ; Step 2: The camera module (54) takes a picture of the surroundings, identifies the water surface in the acquired image, and obtains the required heading angle for the cleaning device to move to the water surface through the position of the cleaning device and the position of the boundary between the water surface and the ground. , and completes road segmentation and path planning according to the path-finding algorithm carried by the cleaning device; Step 3: The cleaning device adjusts the torque output by the steering structure and the speed regulating structure, and obtains the heading angle of the cleaning device according to the acceleration information and angular velocity information of the x, y, and z axes obtained by the attitude sensor (41). ,when , the comparison operation stops; otherwise, the robot continues to adjust the torque output by the steering structure and the speed control structure until ; Step 4: The cleaning device collects the distance data returned by the camera module (54) ,when When the cleaning device is in a state of being ... The minimum distance allowed from the water surface; Step 5: The cleaning device adjusts the torque output by the steering structure and the speed regulating mechanism until the propulsion wheel (27) at the rear end rotates to generate power to move the cleaning device on the water surface; Step 6: The camera module (54) of the cleaning device takes a picture of the surroundings, identifies the garbage in the acquired image, and obtains the location of the garbage. , the required heading angle for the cleaning device to move to the current location of the garbage is obtained through the location of the cleaning device and the location of the garbage ; Step 7: The cleaning device obtains the heading angle of the cleaning device according to the acceleration information and angular velocity information on the x, y, and z axes obtained by the attitude sensor (41). ,when , stop the comparison operation; otherwise, the robot adjusts the torque output by the steering structure and the speed control structure until ; Step 8: The cleaning device performs step 6 regularly to obtain the required heading angle corresponding to the current state under the condition that the garbage position may change. ,like , return to step six, otherwise end step eight; Step 9: The cleaning device collects the distance data returned by the camera module (54) ,when When the cleaning device adjusts the torque output by the steering structure and the speed regulating structure until the cleaning device stops moving; wherein, The distance between the allowed use and the garbage; Step 10: The bucket motor (11) of the front shovel mechanism (1) outputs a reverse torque, and the steering wheel (12) drives the U-shaped bracket (13) and the curved shovel (14) to rotate until the curved shovel (14) is in close contact with the horizontal plane; Step 11: The camera module (54) obtains images of the garbage and the curved shovel, and adjusts the torque output by the steering structure and the speed regulating structure until the image of the garbage is included in the image of the curved shovel (14); Step 12: The bucket motor (11) of the front shovel mechanism (1) outputs a positive torque, and the steering wheel (12) drives the U-shaped bracket (13) and the curved shovel (14) to rotate until the curved shovel (14) and the garbage receiving plate (35) are in close contact, and the garbage falls along the garbage receiving plate (35) into the garbage bucket (34); Step 13: Clean the device based on the data returned by the gravity sensor (43) ,exist When the camera module (54) acquires the ground image, the cleaning device adjusts the torque output by the steering structure and the speed regulating structure to return to the ground; wherein is the maximum permissible weight; Step 14: the cleaning device adjusts the steering structure until all the propulsion wheels (27) are in a parallel state, the speed regulating structure of the cleaning device outputs torque, and the device moves on the ground; Step 15: The device is based on the position of the ground target point , the required heading angle of the cleaning device moving to the ground target point is obtained by the position of the cleaning device and the position of the ground target point ; Step 16: The cleaning device obtains the heading angle of the cleaning device according to the acceleration information and angular velocity information on the x, y, and z axes obtained by the attitude sensor (41). ,when When the comparison operation stops, otherwise the cleaning device adjusts the torque output by the steering structure and the speed regulating structure until ; Step 17: the cleaning device moves to the target area on the ground, and the garbage bucket push rod (33) pushes the garbage bucket (34) to dump the garbage, completing the work task; Step 18: Clean the device according to the data returned by the gravity sensor (43) ,exist When If the weight is normal, the WiFi module (52) returns "the garbage cleaning task has been completed" to another corresponding terminal, otherwise it returns to step seventeen.

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