A water surface garbage cleaning and water quality monitoring robot

Abstract

The present invention discloses a water surface garbage cleaning and water quality monitoring robot, which includes a frame platform. A ship frame is adhesively connected to the back of the frame platform. Two front baffles are connected to one end of the bottom of the ship frame, and a water quality sensor group is arranged on each of the two front baffles; a first catamaran is connected to one side of the ship frame, and a second catamaran is connected to the other side of the ship frame; a control cabin and a first waterproof cabin covering the control cabin are arranged at the middle position of the first catamaran, and a battery cabin and a second waterproof cabin covering the battery cabin are arranged at the middle position of the second catamaran; a 360-degree camera, a lidar, an antenna group, a signal transmission unit controller and a solar panel are arranged on the front of the frame platform; the present invention improves the equipment integration degree of water area garbage treatment and environmental monitoring, can simultaneously carry out operations such as garbage cleaning, remote video monitoring, water quality monitoring and recording, and improves the equipment integration degree.

Description

Technical Field

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

[0002] The problem of water pollution is becoming increasingly serious, which has an important impact on the sustainable development of human society. There are mainly two ways to clean water bodies in China. First, rely on manual cleaning, but this method requires a large amount of manpower, has low efficiency and certain risks, so it is not a suitable choice. Second, use mechanical devices driven by humans for cleaning, with low mechanical automation and requiring manual operation, making it difficult to clean narrow and dangerous water areas. Therefore, a large amount of manual labor is required to clean floating waste in inland and coastal waters, with problems such as 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 robot for cleaning surface garbage and monitoring water quality, adopting technical solutions of remote control, image transmission, and water quality monitoring, which greatly improves the efficiency of water quality cleaning and protection.

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

[0005] An embodiment of the present invention provides a robot for cleaning surface garbage and monitoring water quality, including a frame platform (1). A ship frame (2) is attached to the back of the frame platform (1). At one end of the bottom of the ship frame (2), 2 front baffles (3) are connected, and water quality sensor groups (8) are arranged on both of the 2 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 cabin (6) and a first waterproof cabin (6-1) covering the control cabin (6) are arranged at the middle position of the first catamaran (4), and a battery compartment (7) and a second waterproof cabin covering the battery compartment (7) are arranged at the middle position of the second catamaran (5);

[0006] On the front of the frame platform (1), there are a 360-degree camera (10), a lidar (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 lidar (11) is used to combine with the 360-degree camera (10) under complex working conditions to obtain images and control algorithms to achieve 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 lidar (11) to achieve 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 achieve real-time data collection and reception, and can also receive 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.

[0007] In a preferred embodiment of the present invention, a fixed bracket (9) is provided 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), and the lidar (11) is fixed on the upper lidar bracket (11-1) of the fixed bracket (9). The lidar 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) includes a sensor fixed 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 fixed housing (8-1), and the sensor fixed housing (8-1) is installed in the sensor cable through hole (3-1) through a lock nut (3-2);

[0009] Among them, the water quality sensor group (8) is used to monitor water quality indicators such as pH value, dissolved oxygen, conductivity, turbidity, chemical oxygen demand COD, biochemical oxygen demand BOD, ammonia nitrogen, total phosphorus, total nitrogen, heavy metals, and microorganisms.

[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 of a long strip structure. The bottom of the ship frame (2) is connected with a disassembly fixture (20) by threads. The welding bottom plate (19) and the clamping groove of the disassembly fixture (20) clamp a tail filter screen (16). The tail filter screen (16) is used to collect floating waste garbage.

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

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

[0013] In a preferred embodiment of the present invention, the two front baffles (3) have an inclined surface on the side facing the water surface. The inclination angle of the front baffle (3) is 38°, the aperture ratio is 15%-35%, and the holes are arranged in a honeycomb pattern, which has two functions: the first is to protect the water quality sensor group (8) from being collided by oncoming floating garbage. There are holes on it to reduce resistance and also allow the water quality sensor group (8) to have a smooth water flow circulation; the second is to guide the floating waste into the cabin and narrow 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 large manual labor intensity, too large cleaning equipment, and low unmanned and intelligent level in the existing water surface treatment. (2) The present invention improves the equipment integration degree of water area garbage treatment and environmental monitoring, and can simultaneously perform operations such as garbage cleaning, remote video monitoring, water quality monitoring and recording, etc., improving the equipment integration degree. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the embodiments or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

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

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

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

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

[0020] Figure 5 Schematic diagram of the installation of a functional structure on a framework platform provided by an embodiment of the present application.

[0021] Figure 6 Schematic diagram of the installation of a tail filter screen provided by an embodiment of the present application.

[0022] Figure 7 Schematic diagram of the installation of a water quality sensor group provided by an embodiment of the present application. Detailed implementation manners

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying 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 the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application. When describing the installation positions or directions of the structures or components in this embodiment, the "upper", "lower", "front", "rear", "left", "right", etc. are based on the orientation of the given drawings. They are only for the convenience of description to distinguish the relative positions of the components or directions, and do not represent the orientation when the device or component in this embodiment is in use.

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

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

[0026] On the front of the frame platform 1, there are a 360-degree camera 10, a lidar 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 lidar 11 is used to combine with the 360-degree camera 10 under complex working conditions to obtain images and control algorithms to achieve autonomous path planning of the monitoring robot, recognition of floating garbage on the water surface, and autonomous movement, greatly improving the intelligent, unmanned level and efficiency of the operation. The 360-degree camera 10 is used to autonomously scan the surrounding environment and cooperate with the lidar 11 to achieve 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 achieve real-time data collection and reception, and can also receive 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 Combined with Figure 1 , on the front of the frame platform 1, there is a fixed bracket 9. The 360-degree camera 10 and the antenna group 12 are fixed on the top platform of the fixed bracket 9, and the lidar 11 is fixed on the upper lidar bracket 11-1 of the fixed bracket 9. The lidar bracket 11-1 is located outside the 360-degree camera 10. The lidar is defined as a lidar with 11 or more lines.

[0028] The control compartment 6 is used to process the lidar 11, the 360-degree camera 10, and the water quality sensor group 8, and control the propellers 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 is internally equipped with high-density lithium batteries, which serve as an energy storage and supply unit to provide electrical energy for the monitoring robot. Two propellers 15 are respectively installed at the bottoms of the first catamaran 4 and the second catamaran 5.

[0029] The two front baffles 3 have an inclined surface on the side facing the water surface. The inclination angle of the front baffle 3 is preferably 38°, the opening ratio is 15%-35%, and the holes are arranged in a honeycomb shape. It has been verified by simulation that the water flow resistance can be reduced by 42%. It has two functions: the first is to protect the water quality sensor group 8 from being collided by the oncoming floating garbage. There are holes on it to reduce the resistance and also allow the water quality sensor group 8 to have a smooth water flow circulation; the second is to guide the floating waste garbage into the cabin and narrow the entrance to prevent overflow.

[0030] As Figure 5 shown, the frame platform 1 is connected to the ship frame 2 by a plurality of rivets 18. As Figure 6 shown, a tail filter 16 is connected to the bottom of the ship frame 2. 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. The welding bottom plate 19 is a long strip structure. The bottom of the ship frame 2 is detachably clamped with a tail filter 16 through a threaded connection disassembly fixture 20, and the welding bottom plate 19 and the card 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 realize the monitoring of water body pH value, 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 requirements. Specifically, as Figure 7 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, and 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 above with preferred embodiments, the above preferred embodiments are not intended to limit the present invention. Those of ordinary skill in the art can make various modifications and changes without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention is subject to the scope defined by 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 the data of the monitoring robot to the 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 the data to be sent and received; 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); A welding bottom plate (19) is welded to one side of the bottom of the ship frame (2), the welding bottom plate (19) being a long strip structure, the bottom of the ship frame (2) being connected to a disassembly fixture (20) via threads, the welding bottom plate (19) and the slots of the disassembly fixture (20) clamping a tail filter (16), the tail filter (16) being used to collect floating waste garbage; 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.

2. 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.

3. A water surface garbage cleaning and water quality monitoring robot 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.

4. A 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.

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