Floating garbage collection and treatment system and floating garbage capturing method

Abstract

The invention discloses a floating garbage collection and treatment system which comprises an underwater propeller, and a plurality of propelling units are distributed on the periphery of the underwater propeller in a circumferential array mode. At least three groups of floating garbage capturing units which are arranged back to back are mounted on the upper side of the underwater propeller in a circumferential array, the underwater propeller is completely immersed in water, the lower part of each floating garbage capturing unit is immersed in water, and the upper end of each floating garbage capturing unit is exposed above the water surface; and floating garbage on the water surface can be captured.

Description

Technical Field

[0001] The invention belongs to the field of floating garbage collection. Background Art

[0002] If floating garbage on the water surface, such as plastic bags, bottles, foam, etc., is not cleaned up in time, it will be eaten by aquatic organisms, causing suffocation, poisoning or digestive system obstruction, posing a serious threat to their survival; floating garbage will decompose and release harmful substances, polluting water bodies and affecting water quality; chemicals in garbage may seep into the water, posing risks to aquatic organisms and human health that rely on these water sources; many areas rely on natural water bodies such as rivers and lakes as drinking water sources; the presence of floating garbage may pollute these water sources and affect water supply safety;

[0003] Therefore, cleaning floating garbage helps maintain the natural purification capacity of the water body and reduce the accumulation of pollutants; cleaning surface garbage is one of the important measures to ensure the quality of drinking water and public health. Since floating garbage has a certain randomness, manual cleaning will greatly waste human resources. It is necessary to invent a floating robot that can move on the water surface to identify and capture garbage in real time, so as to achieve the normalization of floating garbage on the water surface. Summary of the invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a floating garbage collection and treatment system and a floating garbage capture method, which can capture floating garbage on the water surface.

[0005] Technical solution: To achieve the above-mentioned purpose, a floating garbage collection and treatment system of the present invention includes an underwater propeller, and a plurality of propulsion units are distributed in a circle around the underwater propeller; at least three groups of floating garbage capture units arranged back to back are installed in a circle on the upper side of the underwater propeller, the underwater propeller is completely immersed in water, the lower part of each floating garbage capture unit is immersed in water, and the upper end of each floating garbage capture unit is exposed above the water surface.

[0006] Furthermore, the floating garbage capturing unit comprises a floating garbage collecting barrel with an open upper end and a semicircular outline when viewed from above, wherein the barrel cavity inside the floating garbage collecting barrel is pre-loaded with gravity-balanced water; a two-way water pump is fixedly installed at the bottom of the floating garbage collecting barrel; the two-way water pump can pump the water at the bottom of the barrel cavity out to the outside, and the two-way water pump can also pump the water in the water area into the barrel cavity.

[0007] Furthermore, a pressure sensor is provided at the bottom of the barrel cavity.

[0008] Furthermore, the circumferential wall of the floating garbage collection bin having a semicircular profile when viewed from above is composed of an arc wall and a vertical plane wall; a lifting inclined panel is provided on the outer side of the vertical plane wall, and the inclined lower end profile edge of the lifting inclined panel slides with the outer wall surface of the vertical plane wall; a lifter is provided below the lifting inclined panel, and the lifter is used to drive the lifting inclined panel to rise and fall.

[0009] Furthermore, a plurality of water-permeable holes are arranged in a row on the lower side of the lifting inclined panel; and the angle formed between the lifting inclined panel and the vertical plane wall is less than 45°.

[0010] Furthermore, a first vertical constraint roller and a second vertical constraint roller are symmetrically arranged on both sides of the lifting inclined plate; the first vertical constraint roller and the second vertical constraint roller are rotatably mounted on the first constraint roller bracket and the second constraint roller bracket respectively;

[0011] The outer side of the upper end of the arc wall is provided with a first belt body crossing the roller, a second belt body crossing the roller and a third belt body crossing the roller at equal intervals along the arc path through a roller bracket; it also includes an elastic latex belt half-surrounded by the outer periphery of the upper end of the arc wall, the relatively tight elastic latex belt respectively crossing the first belt body crossing the roller, the second belt body crossing the roller and the third belt body crossing the roller away from the side of the arc wall, the clockwise end of the elastic latex belt is fixedly connected to the first belt body traction rod extending vertically downward, and the counterclockwise end of the elastic latex belt is fixedly connected to the second belt body traction rod extending vertically downward;

[0012] A first underwater steering gear is fixedly installed at the lower end of the floating garbage collection barrel, and a downward steering gear shaft a of the first underwater steering gear is coaxial with the arc wall, and a horizontal underwater telescopic device a is fixedly installed on the steering gear shaft a, and the end of the telescopic rod a of the underwater telescopic device a is fixedly connected to the lower end of the first belt body traction rod; a second underwater steering gear is coaxially arranged below the first underwater steering gear, and an upward steering gear shaft b of the second underwater steering gear is coaxial with the arc wall, and a horizontal underwater telescopic device b is fixedly installed on the steering gear shaft b, and the end of the telescopic rod b of the underwater telescopic device b is fixedly connected to the lower end of the second belt body traction rod;

[0013] The casing of the second underwater steering gear is fixed on the upper side of the underwater propeller, and the casing of the second underwater steering gear is fixedly supported and connected to the bottom end of the floating garbage collection bucket through a bracket arm.

[0014] Furthermore, in the working state, the middle height of the elastic latex belt is the liquid level height of the water area.

[0015] Furthermore, in the initial state, the lifting inclined plate is at a sufficient depth below the liquid surface, and in a top view; the first belt traction rod and the second belt traction rod are symmetrically located on both sides of the floating garbage collection bucket; a virtual circle with the axis of the arc wall as the center is set, and the first belt traction rod and the second belt traction rod are both on the path of the virtual circle;

[0016] When the floating garbage in front of the vertical plane wall of the floating garbage collection bucket reaches the range enclosed by the virtual circle, it is determined that the floating garbage enters the capture range of the floating garbage capture unit;

[0017] Then, by controlling the first underwater steering gear and the second underwater steering gear respectively, the first belt body traction rod is displaced clockwise along the path of the virtual circle, and the second belt body traction rod is displaced counterclockwise along the path of the virtual circle, until the first belt body traction rod and the second belt body traction rod are in limiting contact with each other right in front of the vertical plane wall;

[0018] Then, telescopic rod a and telescopic rod b are controlled to retract at the same time until the first enclosed section of the elastic latex belt and the second enclosed section of the elastic latex belt are collinear in a top-down perspective, and the lifter drives the lifting inclined panel to rise, and the rising lifting inclined panel lifts the floating garbage floating in the strip-shaped enclosed area upward to leave the liquid surface, until the lifting inclined panel rises to above the upper end of the vertical plane wall, and the floating garbage on the lifting inclined panel that has left the liquid surface slides into the barrel cavity under the action of gravity.

[0019] Beneficial effects: The underwater propeller can drive the device to move horizontally to any position on the water surface. Since the capture action can be implemented in multiple directions of the device, the underwater propeller does not need to make a large turning action, and only needs to move horizontally to the vicinity of the floating garbage. When the floating garbage reaches the virtual circle enclosed by any floating garbage capture unit of the device, the floating garbage capture unit performs a capture action to achieve garbage capture. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the device;

[0021] Figure 2 This is a top view of the device;

[0022] Figure 3 It is a schematic diagram of the structure of a single group of floating garbage capture units;

[0023] Figure 4 It is a side view of a single set of floating garbage capture units;

[0024] Figure 5 Schematic diagram of the capture process of a single set of floating garbage capture units from a bird's-eye view. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] As attached Figures 1 to 5 A floating garbage collection and treatment system as shown in Figure 1 and 2As shown, it includes a horizontal disc-shaped underwater propeller 29, and a plurality of propulsion units 30 are arranged in a circle around the underwater propeller 29; at least three groups of floating garbage capturing units 26 arranged back to back are installed in a circle on the upper side of the underwater propeller 29, and the underwater propeller 29 is completely immersed in water, the lower part of each floating garbage capturing unit 26 is immersed in water, and the upper end of each floating garbage capturing unit 26 is exposed above the water surface. Since the capturing action can be implemented in multiple directions of the device, the underwater propeller does not need to make a large turning action, and only needs to be translated to the vicinity of the floating garbage. When the floating garbage reaches the virtual circle enclosed range in front of any floating garbage capturing unit of the device, the floating garbage capturing unit performs a capturing action to achieve garbage capture, thereby achieving garbage capture in any multiple directions.

[0027] A photovoltaic system and a visual recognition system may also be mounted above the floating garbage capturing unit 26 of the device.

[0028] like Figures 3 to 5 As shown, the floating garbage capturing unit 26 includes a floating garbage collecting barrel 20 with a semicircular outline in a top view and an open top end, and a barrel cavity 22 in the floating garbage collecting barrel 20 is pre-filled with gravity-balanced water; a two-way water pump 25, such as a gear pump, is fixedly installed at the bottom of the floating garbage collecting barrel 20; the two-way water pump 25 can pump the water at the bottom of the barrel cavity 22 out to the outside, and the two-way water pump 25 can also pump the water in the water area into the barrel cavity 22; a pressure sensor is arranged at the bottom of the barrel cavity 22; after the floating garbage is collected in the barrel cavity 22, the liquid level in the barrel cavity 22 will increase, so that the pressure sensor arranged at the bottom of the barrel cavity 22 senses the pressure increase; in order to avoid the problem that the overall drainage volume of the device increases and the overall decreases in the water area, when the pressure sensor arranged at the bottom of the barrel cavity 22 senses the pressure increase, the two-way water pump 25 is controlled to gradually pump the water at the bottom of the barrel cavity 22 out to the outside, so that the pressure sensor arranged at the bottom of the barrel senses that the pressure gradually decreases to a preset range, thereby ensuring that the overall drainage volume of the device remains unchanged, and further ensuring that the floating height of the device is always in a constant state.

[0029] The circumferential wall of the floating garbage collection bin 20, which has a semicircular profile when viewed from above, is composed of an arc wall 20a and a vertical plane wall 20b; a lifting inclined panel 21 is arranged on the outer side of the vertical plane wall 20b, and the inclined lower end contour edge of the lifting inclined panel 21 is slidably matched with the outer wall surface of the vertical plane wall 20b; a lifter 16 is arranged below the lifting inclined panel 21, and the lifter 16 is used to drive the lifting inclined panel 21 to rise and fall, and the lifter 16 is fixed to the outer side surface of the vertical plane wall 20b through a lifter support 15; the upper end of the lifting rod 17 of the lifter 16 is connected to the bottom of the lifting inclined panel 21.

[0030] The lower side of the lifting inclined panel 21 is arranged with a plurality of water-permeable holes; the angle between the lifting inclined panel 21 and the vertical plane wall 20b is less than 45°, so that when the lifting inclined panel 21 is higher than the water surface, objects on the surface of the lifting inclined panel 21 can slide down smoothly under the action of gravity.

[0031] The first vertical restraining roller 12 and the second vertical restraining roller 11 are symmetrically arranged on both sides of the lifting inclined plate 21; the first vertical restraining roller 12 and the second vertical restraining roller 11 are rotatably mounted on the first restraining roller bracket 14 and the second restraining roller bracket 13 respectively.

[0032] The first belt body crossing the roller 18a, the second belt body crossing the roller 18b and the third belt body crossing the roller 18c are equidistantly arranged on the outer side of the upper end of the arc wall 20a through the roller bracket along the arc path; Figure 5 As shown in Figure a, it also includes an elastic latex belt 19 that is half-surrounded by the outer periphery of the upper end of the arc wall 20a. The thickness of the elastic latex belt 19 in the free state is about 4 mm. After the elastic latex belt 19 is elastically stretched, the thickness will adaptively decrease. The relatively taut elastic latex belt 19 respectively crosses the first belt body across the roller 18a, the second belt body across the roller 18b, and the third belt body across the roller 18c away from the side of the arc wall 20a. The clockwise end of the barrel cavity 22 of the elastic latex belt 19 is fixedly connected to the first belt body traction rod 10 extending vertically downward, and the counterclockwise end of the elastic latex belt 19 is fixedly connected to the second belt body traction rod 9 extending vertically downward; the taut elastic latex belt 19 should be a broken line shape when viewed from a top view, with Figure 2 and Figure 5 shall prevail.

[0033] like Figures 3 to 5 As shown, a first underwater steering gear 1 is fixedly installed at the lower end of the floating garbage collection barrel 20, and a downward a steering gear shaft 2 of the first underwater steering gear 1 is coaxial with the arc wall 20a, and a horizontal a underwater telescopic device 2 is fixedly installed on the a steering gear shaft 2, and the end of a telescopic rod 7 of the a underwater telescopic device 2 is fixedly connected to the lower end of the first belt traction rod 10; a second underwater steering gear 4 is coaxially arranged below the first underwater steering gear 1, and an upward b steering gear shaft 5 of the second underwater steering gear 4 is coaxial with the arc wall 20a, and a horizontal b underwater telescopic device 6 is fixedly installed on the b steering gear shaft 5, and the end of b telescopic rod 8 of b underwater telescopic device 6 is fixedly connected to the lower end of the second belt traction rod 9; the casing of the second underwater steering gear 4 is fixed on the upper side of the underwater propeller 29, and the casing of the second underwater steering gear 4 is fixedly supported and fixedly connected to the bottom end of the floating garbage collection barrel 20 through a bracket arm 23.

[0034] In the working state, the middle height of the elastic latex belt 19 is the liquid level height of the water area where it is located, so that the elastic latex belt 19 forms a restraining effect on floating objects on the water surface.

[0035] The underwater propeller 29 can drive the device to move horizontally to any position on the water surface, identify floating objects on the surrounding water surface through cameras or other sensors, and approach the floating garbage. When the floating garbage reaches any floating garbage capturing unit 26, the corresponding floating garbage capturing unit 26 performs a capturing action;

[0036] The process of a single floating garbage capturing unit 26 capturing floating garbage in front of it:

[0037] In the initial state, the lifting inclined plate 21 is at a sufficient depth below the liquid surface, in a top view; the first belt traction rod 10 and the second belt traction rod 9 are symmetrically arranged on both sides of the floating garbage collection barrel 20; in a top view, a virtual circle 27 with the axis of the arc wall 20a as the center 38 is set, and the first belt traction rod 10 and the second belt traction rod 9 are both on the path of the virtual circle 27; when the floating garbage in front of the vertical plane wall 20b of the floating garbage collection barrel 20 reaches the enclosed range of the virtual circle 27, it is determined that the floating garbage enters the capture range of the floating garbage capture unit 26; Figure 5 As shown in Figure a;

[0038] Then, by controlling the first underwater steering engine 1 and the second underwater steering engine 4 respectively, the first belt traction rod 10 is displaced clockwise along the path of the virtual circle 27, and the second belt traction rod 9 is displaced counterclockwise along the path of the virtual circle 27. Since the elastic latex belt 19 can be elastically extended along its own length path, during the process in which the first belt traction rod 10 is displaced clockwise along the path of the virtual circle 27 and the second belt traction rod 9 is displaced counterclockwise along the path of the virtual circle 27, the elastic latex belt 19 adaptively elastically extends along its own length direction until the first belt traction rod 10 and the second belt traction rod 9 are aligned. The body traction rod 9 is in contact with each other in a limited position right in front of the vertical plane wall 20b; at this time, a section of the elastic latex belt 19 between the first vertical constraint roller 12 and the first belt body traction rod 10 is recorded as the first elastic latex belt enclosure section 19a, and a section between the second vertical constraint roller 11 and the second belt body traction rod 9 is recorded as the second elastic latex belt enclosure section 19b. At this time, the captured floating garbage is enclosed in the enclosure area 28 formed by the first elastic latex belt enclosure section 19a, the second elastic latex belt enclosure section 19b and the vertical plane wall 20b in a top view; Figure 5 As shown in Figure b.

[0039] Then, the a telescopic rod 7 and the b telescopic rod 8 are controlled to retract at the same time, so that the first belt traction rod 10 and the second belt traction rod 9 are simultaneously moved towards the vertical plane wall 20b. At the same time, the first underwater steering gear 1 and the second underwater steering gear 4 are adaptively controlled respectively, so that the first belt traction rod 10 and the second belt traction rod 9 are simultaneously moved towards the vertical plane wall 20b while maintaining contact with each other and no movement interference occurs; when the first belt traction rod 10 and the second belt traction rod 9 are simultaneously moved towards the vertical plane wall 20b, the total length of the elastic latex belt 19 is adaptively shortened under the elastic restoring force and maintained taut. In the state, when the first belt traction rod 10 and the second belt traction rod 9 are simultaneously moving toward the vertical plane wall 20b, the angle between the first enclosure section 19a of the elastic latex belt and the second enclosure section 19b of the elastic latex belt gradually increases, and the range of the enclosure area 28 gradually shrinks, until the first enclosure section 19a of the elastic latex belt and the second enclosure section 19b of the elastic latex belt are collinear in a top-down perspective, the enclosure area 28 shrinks into a strip-shaped rectangle and is just above the lifting inclined panel 21; at this time, the captured floating garbage is constrained by the first enclosure section 19a of the elastic latex belt and the second enclosure section 19b of the elastic latex belt and gathers above the lifting inclined panel 21; Figure 5 As shown in Figure c.

[0040] Then the lifter 16 drives the lifting inclined plate 21 to rise, and the rising lifting inclined plate 21 lifts the floating garbage floating in the strip-shaped enclosed area 28 upward to leave the liquid surface, until the lifting inclined plate 21 rises to a level higher than the upper end of the vertical plane wall 20b, and the floating garbage on the lifting inclined plate 21 that has left the liquid surface slides down into the barrel cavity 22 under the action of gravity, thus completing a garbage capturing process;

[0041] Floating garbage that slides into the barrel cavity 22 will cause the liquid level in the barrel cavity 22 to increase, so that the pressure sensor set at the bottom of the barrel cavity 22 senses the increased pressure; in order to avoid the problem of the overall drainage volume of the device increasing and the overall decrease in the water area, when the pressure sensor set at the bottom of the barrel cavity 22 senses the pressure increase, the two-way water pump 25 is controlled to gradually pump the water at the bottom of the barrel cavity 22 out to the outside, so that the pressure sensor set at the bottom of the barrel senses that the pressure gradually decreases to a preset range, thereby ensuring that the overall drainage volume of the device remains unchanged, and further ensuring that the floating height of the device is always in a constant state.

[0042] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A floating garbage collection and treatment system, comprising an underwater propeller (29), wherein a plurality of propulsion units (30) are arranged in a circular pattern around the underwater propeller (29); at least three groups of floating garbage capturing units (26) arranged back to back are arranged in a circular pattern on the upper side of the underwater propeller (29), wherein the underwater propeller (29) is completely immersed in water, the lower part of each floating garbage capturing unit (26) is immersed in water, and the upper end of each floating garbage capturing unit (26) is exposed above the water surface.

2. A floating garbage collection and treatment system according to claim 1, characterized in that: The floating garbage capturing unit (26) comprises a floating garbage collecting barrel (20) with an open upper end and a semicircular outline when viewed from above, wherein a barrel cavity (22) in the floating garbage collecting barrel (20) is pre-filled with gravity-balanced water; a two-way water pump (25) is fixedly installed at the bottom of the floating garbage collecting barrel (20); the two-way water pump (25) can pump water at the bottom of the barrel cavity (22) out to the outside, and the two-way water pump (25) can also pump water in the water area into the barrel cavity (22).

3. A floating garbage collection and treatment system according to claim 2, characterized in that: A pressure sensor is arranged at the bottom of the barrel cavity (22).

4. A floating garbage collection and treatment system according to claim 1, characterized in that: The circumferential wall of a floating garbage collection barrel (20) having a semicircular profile when viewed from above is composed of an arc wall (20a) and a vertical plane wall (20b); a lifting inclined panel (21) is arranged on the outer side of the vertical plane wall (20b); the inclined lower end profile edge of the lifting inclined panel (21) is slidably matched with the outer wall surface of the vertical plane wall (20b); a lifter (16) is arranged below the lifting inclined panel (21), and the lifter (16) is used to drive the lifting inclined panel (21) to rise and fall.

5. A floating garbage collection and treatment system according to claim 4, characterized in that: A plurality of water-permeable holes are arranged in a row on the lower side of the lifting inclined panel (21); and the angle formed between the lifting inclined panel (21) and the vertical plane wall (20b) is less than 45 degrees.

6. A floating garbage collection and treatment system according to claim 4, characterized in that: A first vertical constraint roller (12) and a second vertical constraint roller (11) are symmetrically arranged on both sides of the lifting inclined plate (21); the first vertical constraint roller (12) and the second vertical constraint roller (11) are rotatably mounted on a first constraint roller bracket (14) and a second constraint roller bracket (13) respectively; The outer side of the upper end of the arc wall (20a) is provided with a first belt body crossing the roller (18a), a second belt body crossing the roller (18b) and a third belt body crossing the roller (18c) at equal intervals along the arc path through a roller bracket; it also includes an elastic latex belt (19) semi-enclosed by the outer periphery of the upper end of the arc wall (20a), and the relatively taut elastic latex belt (19) respectively crosses the first belt body crossing the roller (18a), the second belt body crossing the roller (18b) and the third belt body crossing the roller (18c) away from the arc wall (20a) on one side; the clockwise end of the elastic latex belt (19) is fixedly connected to a first belt body traction rod (10) extending vertically downward, and the counterclockwise end of the elastic latex belt (19) is fixedly connected to a second belt body traction rod (9) extending vertically downward; A first underwater steering gear (1) is fixedly installed at the lower end of the floating garbage collection bucket (20); a downward a steering gear shaft (2) of the first underwater steering gear (1) is coaxial with the arc wall (20a); a horizontal a underwater telescopic device (2) is fixedly installed on the a steering gear shaft (2); the end of the a telescopic rod (7) of the a underwater telescopic device (2) is fixedly connected to the lower end of the first belt traction rod (10); a second underwater steering gear (4) is coaxially arranged below the first underwater steering gear (1); a b steering gear shaft (5) of the second underwater steering gear (4) is coaxial with the arc wall (20a); a horizontal b underwater telescopic device (6) is fixedly installed on the b steering gear shaft (5); the end of the b telescopic rod (8) of the b underwater telescopic device (6) is fixedly connected to the lower end of the second belt traction rod (9); The casing of the second underwater steering gear (4) is fixed on the upper side of the underwater propeller (29), and the casing of the second underwater steering gear (4) is fixedly supported and connected to the bottom end of the floating garbage collection bucket (20) through a support arm (23).

7. A floating garbage collection and treatment system according to claim 6, characterized in that: In the working state, the middle height of the elastic latex belt (19) is the liquid level height of the water area.

8. The floating capture method of a floating garbage collection and treatment system according to claim 6, characterized in that: In the initial state, the lifting inclined plate (21) is at a sufficient depth below the liquid surface, and in a top view; the first belt traction rod (10) and the second belt traction rod (9) are symmetrically located on both sides of the floating garbage collection bucket (20); a virtual circle (27) with the axis of the arc wall (20a) as the center (38) is provided, and the first belt traction rod (10) and the second belt traction rod (9) are both on the path of the virtual circle (27); When the floating garbage in front of the vertical plane wall (20b) of the floating garbage collection bucket (20) reaches the range enclosed by the virtual circle (27), it is determined that the floating garbage has entered the capture range of the floating garbage capture unit (26); Then, by respectively controlling the first underwater steering engine (1) and the second underwater steering engine (4), the first belt traction rod (10) is displaced clockwise along the path of the virtual circle (27), and the second belt traction rod (9) is displaced counterclockwise along the path of the virtual circle (27), until the first belt traction rod (10) and the second belt traction rod (9) are in limiting contact with each other just in front of the vertical plane wall (20b); Then, the telescopic rod a (7) and the telescopic rod b (8) are controlled to retract at the same time until the first enclosure section (19a) of the elastic latex belt and the second enclosure section (19b) of the elastic latex belt are in the same line when viewed from above, and the lifter (16) drives the lifting inclined panel (21) to rise, and the rising lifting inclined panel (21) lifts the floating garbage floating in the strip-shaped enclosure area (28) upward to leave the liquid surface, until the lifting inclined panel (21) rises to a level higher than the upper end of the vertical plane wall (20b), and the floating garbage on the lifting inclined panel (21) that has left the liquid surface slides down into the barrel cavity (22) under the action of gravity.

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