Water surface garbage cleaning and water quality monitoring robot

Abstract

The water surface garbage cleaning and water quality monitoring robot comprises a frame platform, the back face of the frame platform is connected with a ship frame in an attached mode, one end of the bottom of the ship frame is connected with two front baffles, and the two front baffles are each provided with a water quality sensor set; one side of the ship frame is connected with a first catamaran, and the other side of the ship frame is connected with a second catamaran; a control bin and a first waterproof bin covering the control bin are arranged in the middle of the first catamaran, and a battery bin and a second waterproof bin covering the battery bin are arranged in the middle of the second catamaran. A 360-degree camera, a laser radar, an antenna group, a signal transmission unit controller and a solar panel are arranged on the front surface of the frame platform; according to the invention, the equipment integration level of water area garbage treatment and environment monitoring is improved, garbage cleaning, remote video monitoring, water quality monitoring and recording can be carried out at the same time, and the equipment integration level is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a robot for cleaning water surface garbage and monitoring water quality. Background Art

[0002] The problem of water pollution is becoming increasingly serious, which has a significant impact on the sustainable development of human society. There are two main ways to clean up domestic water garbage. The first is to rely on manual cleaning, but this method requires a lot of manpower, is inefficient and has certain risks, so it is not a suitable choice; the second is to use manually driven mechanical devices for cleaning, which has a low degree of mechanical automation and requires manual operation, and is difficult to clean up in narrow and dangerous watersheds. Therefore, the cleaning of floating waste on the water surface in inland rivers and offshore waters requires a lot of manpower, dangerous operations, low cleaning efficiency and poor working environment, which need to be further improved. Summary of the invention

[0003] The present invention provides a water surface garbage cleaning and water quality monitoring robot, which adopts the technical solutions of remote control, image transmission and water quality monitoring, and greatly improves the efficiency of water quality cleaning and protection.

[0004] To solve the above problems, the technical solution provided by the present invention is as follows:

[0005] An embodiment of the present invention provides a water surface garbage cleaning and water quality monitoring robot, comprising a frame platform (1), the back of the frame platform (1) being bonded to a ship frame (2), one end of the bottom of the ship frame (2) being connected to two front baffles (3), both of which are provided with a water quality sensor group (8); one side of the ship frame (2) is connected to a first catamaran (4), and the other side of the ship frame (2) is connected to a second catamaran (5); a control compartment (6) and a first waterproof compartment (6-1) covering the control compartment (6) are provided in the middle of the first catamaran (4), and a battery compartment (7) and a second waterproof compartment covering the battery compartment (7) are provided in the middle of the second catamaran (5);

[0006] The front of the frame platform (1) is provided with a 360-degree camera (10), a laser radar (11), an antenna group (12), a signal transmission unit controller (13) and a solar panel (14); the solar panel (14) is electrically connected to the battery compartment (7); the laser radar (11) is used to acquire images and control algorithms in combination with the 360-degree camera (10) under complex working conditions to realize autonomous path planning of the monitoring robot, identification of floating garbage on the water surface and autonomous movement; the 360-degree camera (10) is used to autonomously scan the surrounding environment and cooperate with the laser radar (11) to realize environmental perception and image acquisition; the antenna group (12) is used to transmit data of the monitoring robot to a control base station to realize real-time data acquisition and reception, and can also receive real-time control commands from the base station; the signal transmission unit controller (13) is used to process relevant data of the antenna group and encrypt and decode data to be sent and received.

[0007] In a preferred embodiment of the present invention, a fixed bracket (9) is arranged on the front of the frame platform (1), the 360-degree camera (10) and the antenna group (12) are fixed on the top platform of the fixed bracket (9), the laser radar (11) is fixed on the upper radar bracket (11-1) of the fixed bracket (9), and the radar bracket (11-1) is located outside the 360-degree camera (10).

[0008] In a preferred embodiment of the present invention, the water quality sensor group (8) comprises a sensor fixing housing (8-1) and two water quality sensors (8-2); the front baffle (3) is provided with a sensor cable through hole (3-1); the two water quality sensors (8-2) are installed in the sensor fixing housing (8-1); and the sensor fixing housing (8-1) is installed in the sensor cable through hole (3-1) via a locking nut (3-2);

[0009] The water quality sensor group (8) is used to monitor water pH, dissolved oxygen, conductivity, turbidity, chemical oxygen demand (COD), biochemical oxygen demand (BOD), ammonia nitrogen, total phosphorus, total nitrogen, heavy metals and microbial indicators.

[0010] In a preferred embodiment of the present invention, a welding bottom plate (19) is welded to one side of the bottom of the ship frame (2), the welding bottom plate (19) is a long strip structure, the bottom of the ship frame (2) is connected to a disassembly fixture (20) by means of threads, the welding bottom plate (19) and the slots of the disassembly fixture (20) clamp a tail filter (16), and the tail filter (16) is used to collect floating waste garbage.

[0011] In a preferred embodiment of the present invention, the control cabin (6) is used to process data from the 360-degree camera (10), the laser radar (11), and the water quality sensor group (8), and to control the propeller (15) of the monitoring robot to complete autonomous navigation and path planning according to a built-in algorithm.

[0012] In a preferred embodiment of the present invention, the battery compartment (7) is equipped with a high-density lithium battery, which serves as an energy storage and energy supply unit to provide electrical energy for the monitoring robot.

[0013] In a preferred embodiment of the present invention, the two front baffles (3) are inclined surfaces facing the water surface. The inclination angle of the front baffles (3) is 38°, the opening rate is 15%-35%, and the holes are arranged in a honeycomb shape, which has two functions: first, to protect the water quality sensor group (8) from being hit by oncoming floating garbage. The holes are opened on the front baffles to reduce resistance and allow the water quality sensor group (8) to have smooth water circulation; second, to guide the floating waste into the cabin and reduce the entrance to prevent overflow.

[0014] Compared with the prior art, the embodiment of the present invention provides a water surface garbage cleaning and water quality monitoring robot, which has the following beneficial effects: (1) The present invention overcomes the problems of high labor intensity, large cleaning equipment, and low degree of unmanned intelligence in the prior art water surface management. (2) The present invention improves the equipment integration of water area garbage management and environmental monitoring, and can simultaneously perform garbage cleaning, remote video monitoring, water quality monitoring and recording, etc., thereby improving the equipment integration. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 A schematic diagram of the front structure of a water surface garbage cleaning and water quality monitoring robot provided in an embodiment of the present application.

[0017] Figure 2 A top view of a water surface garbage cleaning and water quality monitoring robot provided in an embodiment of the present application.

[0018] Figure 3 A schematic diagram of the back structure of a water surface garbage cleaning and water quality monitoring robot provided in an embodiment of the present application.

[0019] Figure 4 A side view of a water surface garbage cleaning and water quality monitoring robot provided in an embodiment of the present application.

[0020] Figure 5 A schematic diagram of the installation of a functional structure on a frame platform provided in an embodiment of the present application.

[0021] Figure 6 A schematic diagram of the installation of a tail filter provided in an embodiment of the present application.

[0022] Figure 7 A schematic diagram of the installation of a water quality sensor group provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application. The "upper", "lower", "front", "back", "left", "right", etc. used in the installation position or direction of the structure or parts of the present embodiment are based on the orientation of the given drawings. They are only for the convenience of expression to distinguish the relative positions of the parts or directions, and do not represent the orientation of the device or parts of the present embodiment when used.

[0024] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, an embodiment of the present invention provides a surface garbage cleaning and water quality monitoring robot, which is used to autonomously navigate on the water surface. Floating garbage enters the cabin from the middle of the catamaran and is intercepted by the rear filter. The floating garbage on the water surface is collected through autonomous movement.

[0025] A water surface garbage cleaning and water quality monitoring robot comprises a frame platform 1, a ship frame 2 is attached to the back of the frame platform 1, two front baffles 3 are connected to one end of the bottom of the ship frame 2, and a water quality sensor group 8 is arranged on the two front baffles 3. A first catamaran 4 is connected to one side of the ship frame 2, and a second catamaran 5 is connected to the other side of the ship frame 2. A control compartment 6 and a first waterproof compartment 6-1 covering the control compartment 6 are arranged in the middle of the first catamaran 4, and a battery compartment 7 and a second waterproof compartment covering the battery compartment 7 are arranged in the middle of the second catamaran 5.

[0026] The front of the frame platform 1 is provided with a 360-degree camera 10, a laser radar 11, an antenna group 12, a signal transmission unit controller 13 and a solar panel 14. The solar panel 14 is electrically connected to the battery compartment 7. The laser radar 11 is used to acquire images and control algorithms in combination with the 360-degree camera 10 under complex working conditions to realize autonomous path planning of the monitoring robot, identification of floating garbage on the water surface and autonomous movement, which greatly improves the intelligence, unmanned level and efficiency of the operation. The 360-degree camera 10 is used to autonomously scan the surrounding environment and cooperate with the laser radar 11 to realize environmental perception and image acquisition. The antenna group 12 is used to transmit the data of the monitoring robot to the control base station to realize real-time data collection and acceptance, and can also accept real-time control commands from the base station. The signal transmission unit controller 13 is used to process the relevant data of the antenna group and encrypt and decode the data to be sent and received.

[0027] Figure 4 Combination Figure 1 A fixed bracket 9 is arranged on the front of the frame platform 1, a 360-degree camera 10 and an antenna group 12 are fixed on the top platform of the fixed bracket 9, a laser radar 11 is fixed on an upper radar bracket 11-1 of the fixed bracket 9, and the radar bracket 11-1 is located outside the 360-degree camera 10. The laser radar is limited to a laser radar with more than 11 lines.

[0028] The control compartment 6 is used to process the laser radar 11, the 360-degree camera 10, the water quality sensor group 8, and control the propeller 15 of the monitoring robot to complete the functions of autonomous navigation and path planning according to the built-in algorithm. The battery compartment 7 has a built-in high-density lithium battery as an energy storage and energy supply unit to provide power energy for the monitoring robot. The two propellers 15 are installed at the bottom of the first catamaran 4 and the second catamaran 5 respectively.

[0029] The two front baffles 3 are inclined toward the water surface. The inclination angle of the front baffles 3 is preferably 38°, the opening rate is 15%-35%, and the holes are arranged in a honeycomb pattern. After simulation verification, it can reduce water flow resistance by 42%. It has two functions: the first is to protect the water quality sensor group 8 from being hit by the oncoming floating garbage. The holes are opened on it to reduce resistance and allow the water quality sensor group 8 to have smooth water circulation; the second is to guide the floating waste into the cabin and reduce the entrance to prevent overflow.

[0030] like Figure 5 As shown, the frame platform 1 is connected to the ship frame 2 by a plurality of rivets 18. Figure 6 As shown, a tail filter 16 is connected to the bottom of the ship frame 2, and the tail filter 16 is used to collect floating waste garbage. Specifically, a welding bottom plate 19 is welded to one side of the bottom of the ship frame 2, and the welding bottom plate 19 is a long strip structure. The bottom of the ship frame 2 is connected to a disassembly fixture 20 by threading, and the welding bottom plate 19 and the slot of the disassembly fixture 20 clamp the tail filter 16.

[0031] The water quality sensor group 8 includes two water quality sensors, which can be replaced to monitor water pH, dissolved oxygen, conductivity, turbidity, chemical oxygen demand COD, biochemical oxygen demand BOD, ammonia nitrogen, total phosphorus, total nitrogen, heavy metals and microbial indicators. It contains multiple modules, and the corresponding sensors can be replaced according to needs. Specifically, Figure 7 As shown, the water quality sensor group 8 includes a sensor fixing housing 8-1 and two water quality sensors 8-2. A sensor cable through hole 3-1 is provided on the front baffle 3. The two water quality sensors 8-2 are installed in the sensor fixing housing 8-1. The sensor fixing housing 8-1 is installed in the sensor cable through hole 3-1 through a locking nut 3-2.

[0032] Although the present invention has been disclosed as above in terms of preferred embodiments, the above preferred embodiments are not intended to limit the present invention. A person skilled in the art may make various modifications and alterations without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be based on the scope defined in the claims.

Claims

1. A water surface garbage cleaning and water quality monitoring robot, characterized in that: The invention comprises a frame platform (1), the back of the frame platform (1) being fittedly connected to a ship frame (2), one end of the bottom of the ship frame (2) being connected to two front baffles (3), each of which being provided with a water quality sensor group (8); one side of the ship frame (2) being connected to a first catamaran (4), and the other side of the ship frame (2) being connected to a second catamaran (5); a control compartment (6) and a first waterproof compartment (6-1) covering the control compartment (6) being provided in the middle of the first catamaran (4), and a battery compartment (7) and a second waterproof compartment covering the battery compartment (7) being provided in the middle of the second catamaran (5); The front of the frame platform (1) is provided with a 360-degree camera (10), a laser radar (11), an antenna group (12), a signal transmission unit controller (13) and a solar panel (14); the solar panel (14) is electrically connected to the battery compartment (7); the laser radar (11) is used to acquire images and control algorithms in combination with the 360-degree camera (10) under complex working conditions to realize autonomous path planning of the monitoring robot, identification of floating garbage on the water surface and autonomous movement; the 360-degree camera (10) is used to autonomously scan the surrounding environment and cooperate with the laser radar (11) to realize environmental perception and image acquisition; the antenna group (12) is used to transmit data of the monitoring robot to a control base station to realize real-time data acquisition and reception, and can also receive real-time control commands from the base station; the signal transmission unit controller (13) is used to process relevant data of the antenna group and encrypt and decode data to be sent and received.

2. A water surface garbage cleaning and water quality monitoring robot according to claim 1, characterized in that: A fixed bracket (9) is arranged on the front of the frame platform (1); the 360-degree camera (10) and the antenna group (12) are fixed on the top platform of the fixed bracket (9); the laser radar (11) is fixed on an upper radar bracket (11-1) of the fixed bracket (9); and the radar bracket (11-1) is located outside the 360-degree camera (10).

3. A water surface garbage cleaning and water quality monitoring robot according to claim 1, characterized in that: The water quality sensor group (8) comprises a sensor fixing housing (8-1) and two water quality sensors (8-2); the front baffle (3) is provided with a sensor cable through hole (3-1); the two water quality sensors (8-2) are mounted in the sensor fixing housing (8-1); and the sensor fixing housing (8-1) is mounted in the sensor cable through hole (3-1) via a locking nut (3-2); The water quality sensor group (8) is used to monitor water pH, dissolved oxygen, conductivity, turbidity, chemical oxygen demand (COD), biochemical oxygen demand (BOD), ammonia nitrogen, total phosphorus, total nitrogen, heavy metals and microbial indicators.

4. A water surface garbage cleaning and water quality monitoring robot according to claim 1, characterized in that: A welding bottom plate (19) is welded to one side of the bottom of the ship frame (2); the welding bottom plate (19) is a long strip structure; a disassembly fixture (20) is connected to the bottom of the ship frame (2) via threads; the welding bottom plate (19) and the slots of the disassembly fixture (20) hold a tail filter (16); the tail filter (16) is used to collect floating waste garbage.

5. The robot for cleaning water surface garbage and monitoring water quality according to claim 1, characterized in that: The control cabin (6) is used to process data from the 360-degree camera (10), the laser radar (11), and the water quality sensor group (8), and to control the propeller (15) of the monitoring robot to complete autonomous navigation and path planning according to a built-in algorithm.

6. The water surface garbage cleaning and water quality monitoring robot according to claim 1, characterized in that: The battery compartment (7) has a built-in high-density lithium battery, which serves as an energy storage and energy supply unit to provide electrical energy for the monitoring robot.

7. The robot for cleaning water surface garbage and monitoring water quality according to claim 1, characterized in that: The two front baffles (3) have an inclined surface facing the water surface. The inclination angle of the front baffles (3) is 38°, the opening rate is 15%-35%, and the holes are arranged in a honeycomb shape. They have two functions: first, to protect the water quality sensor group (8) from being hit by oncoming floating garbage. The holes are opened on them to reduce resistance and allow the water quality sensor group (8) to have smooth water circulation; second, to guide floating waste garbage into the cabin and reduce the entrance to prevent overflow.

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