Unmanned ship for automatically collecting garbage on water surface in complex water area

Abstract

The invention discloses an unmanned ship for automatically collecting water surface garbage in a complex water area, and belongs to the technical field of garbage salvage equipment, the unmanned ship comprises a walking system, a grabbing system is arranged above the walking system, collecting systems parallel to the grabbing system are arranged on the two sides of the walking system, and a solar cell panel is installed on the surface of the walking system. The walking system, the collecting system and the grabbing system are all controlled by the control system. According to the automatic water surface garbage collection unmanned ship for the complex water area, through combination of modular design and an intelligent control system, overall maintenance and upgrading of equipment are simpler, more convenient and more efficient, collection and compression treatment of water surface garbage can be automatically completed under the condition of unmanned management, the operation efficiency is effectively improved, and the labor intensity of workers is relieved. And the method has a wide application prospect in the field of environmental protection, and has market potential.

Description

Technical Field

[0001] The present invention relates to the technical field of garbage salvage equipment, and more particularly to an unmanned ship for automatic collection of surface garbage in complex waters. Background Art

[0002] With the continuous enhancement of environmental protection awareness, the problem of water body garbage has received increasing attention. Surface garbage not only affects the beauty of water bodies, but also poses a threat to the aquatic ecological environment and human health. Especially in waters such as rivers, lakes, and ports, floating garbage such as plastics, wood chips, and waste often accumulates, bringing great challenges to water body management and cleaning work. Traditional methods for cleaning surface garbage mostly rely on manual salvage, which is not only inefficient and costly, but also has certain safety hazards under adverse weather and complex water conditions.

[0003] With the continuous development of unmanned ship technology, the automatic cleaning of surface garbage has gradually become an important direction for solving this problem. The autonomous navigation, intelligent recognition, and efficient operation capabilities of unmanned ships make them have broad application prospects in the fields of environmental monitoring and cleaning. However, the existing unmanned ships for cleaning surface garbage still need to be improved in terms of perception accuracy, garbage collection efficiency, endurance, etc. Especially in complex water environments, how to effectively identify and collect garbage while maintaining the stability and endurance of the unmanned ship is still a technical problem to be solved. Summary of the Invention

[0004] The purpose of the present invention is to provide an unmanned ship for automatic collection of surface garbage in complex waters. By combining modular design and an intelligent control system, the overall maintenance and upgrade of the equipment are simplified, and the collection and compression of surface garbage can be automatically completed under unmanned management, improving the operation efficiency and reducing the labor cost of water area cleaning.

[0005] To achieve the above purpose, the present invention provides an unmanned ship for automatic collection of surface garbage in complex waters, including a traveling system. Above the traveling system is provided a grasping system. On both sides of the traveling system and parallel to the grasping system are provided collection systems. On the surface of the traveling system is installed a solar panel. The traveling system, collection system, and grasping system are all controlled by a control system.

[0006] Preferably, the traveling system includes a hull. Above the hull is provided a camera. To the right of the camera is provided a millimeter-wave radar. On both sides of the millimeter-wave radar are provided information receiving antennas. To the right of the millimeter-wave radar is provided the grasping system. On both sides of the hull are provided water level recognition sensors.

[0007] Preferably, the collection system includes a lifting component and a garbage collection cabin component.

[0008] Preferably, the lifting assembly includes a lead screw fixing bracket fixed to the hull. Above the lead screw fixing bracket, a motor is installed. The output end of the motor is equipped with a coupling. Below the coupling, a lead screw is connected. The lead screw is connected to the garbage collection cabin assembly through a connection bracket.

[0009] Preferably, the garbage collection cabin assembly includes a garbage collection cabin. Drainage holes are provided at the bottom of the garbage collection cabin. A linear electric cylinder is installed on the inner side of the garbage collection cabin. The linear electric cylinder is connected to a garbage compression plate through an electric cylinder transmission shaft.

[0010] Preferably, the grasping system includes a robotic arm main body and robotic claws.

[0011] Therefore, the present invention adopts the above-mentioned automatic garbage collection unmanned boat for complex waters and has the following beneficial effects: 1) Adopting a modular design makes the maintenance and upgrade process of the unmanned boat simple and efficient. Users can easily adjust the configuration of the unmanned boat according to the characteristics of different waters and the garbage volume requirements to ensure that it can adapt to various complex water environments and meet different garbage collection needs.

[0012] 2) It realizes fully automated operation of water surface garbage cleaning. With an intelligent control system, it can autonomously identify, pick up, and compress water surface garbage without human management, improving the operation efficiency.

[0013] 3) Through the garbage recognition method combining a camera and a millimeter-wave radar, the accurate positioning and collection of garbage are ensured; the robotic arm enables the unmanned boat to flexibly handle various types of water surface garbage, ensuring the comprehensiveness of cleaning; the compression device effectively compresses the garbage through a linear electric cylinder, reduces the volume of the garbage, and discharges the moisture through the drainage holes, improving the efficiency of garbage treatment.

[0014] The following will further describe the technical solutions of the present invention in detail through the drawings and embodiments. Description of the Drawings

[0015] Figure 1 is the overall structural schematic diagram of an embodiment of the automatic garbage collection unmanned boat for complex waters of the present invention; Figure 2 is the side view structural schematic diagram of an embodiment of the automatic garbage collection unmanned boat for complex waters of the present invention; Figure 3 is the structural schematic diagram of the grasping system of an embodiment of the automatic garbage collection unmanned boat for complex waters of the present invention; Figure 4 is the front view structural schematic diagram of the collection system of an embodiment of the automatic garbage collection unmanned boat for complex waters of the present invention; Figure 5It is a schematic diagram of the back structure of the collection system of an embodiment of the automatic garbage collection unmanned ship for complex waters of the present invention.

[0016] Reference numerals 1. Traveling system; 11. Hull; 12. Millimeter-wave radar; 13. Camera; 14. Information receiving antenna; 15. Water level recognition sensor; 16. Solar panel; 2. Collection system; A. Garbage collection cabin assembly; B. Lifting assembly; 21. Screw fixing bracket; 22. Motor; 23. Coupling; 24. Screw; 25. Garbage collection cabin; 26. Linear cylinder; 27. Cylinder transmission shaft; 28. Garbage compression plate; 29. Connection bracket; 210. Drain hole; 3. Grabbing system; 31. Manipulator main body; 32. Mechanical claw. Specific implementation manners

[0017] The technical solutions of the present invention will be further described below with reference to the drawings and embodiments.

[0018] Unless otherwise defined, the technical terms or scientific terms used in the present invention should have the ordinary meanings understood by those of ordinary skill in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or objects appearing before this word cover the elements or objects listed after this word and their equivalents, without excluding other elements or objects. The terms such as "connected" or "coupled" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "upper", "lower", "left" and "right" are only used to represent relative positional relationships, and when the absolute position of the object to be described changes, the relative positional relationship may also change accordingly.

[0019] Embodiment 1 The present invention provides an automatic garbage collection unmanned ship for complex waters, and the overall structure is as Figure 1 shown, and the side view structure is as Figure 2 shown, including a traveling system 1. Above the traveling system 1, a grabbing system 3 is arranged. On both sides of the traveling system 1, a collection system 2 is arranged in parallel with the grabbing system 3. A solar panel 16 is installed on the surface of the traveling system 1. The traveling system 1, the collection system 2 and the grabbing system 3 are all controlled by a control system. Arranging the collection system 2 on both sides is beneficial to increasing the overall contact of the device with the water surface and improving the overall stability of the device in water. The solar panel 16 is connected to an energy device and is used to provide additional power support for the unmanned ship, extend the endurance time, and improve the working efficiency and environmental protection performance.

[0020] The walking system 1 includes a hull 11, above which a camera 13 is provided. To the right of the camera 13, a millimeter-wave radar 12 is provided. On both sides of the millimeter-wave radar 12, information receiving antennas 14 are provided. To the right of the millimeter-wave radar 12, a grasping system 3 is provided. On both sides of the hull 11, water level identification sensors 15 are provided. The camera 13 and the millimeter-wave radar 12 are used to identify surface garbage and locate it, detect obstacles, and provide position guidance; the information receiving antennas 14 are used to receive external control instructions and perform real-time data transmission; the water level identification sensors 15 can detect water level changes to ensure the stable operation of the unmanned boat in different water depth environments.

[0021] The collection system is as Figure 4 and Figure 5 shown, and includes a lifting component B and a garbage collection cabin component A. The lifting component B includes a lead screw fixing bracket 21 fixed to the hull 11. Above the lead screw fixing bracket 21, a motor 22 is installed. At the output end of the motor 22, a coupling 23 is installed. Below the coupling 23, a lead screw 24 is connected. The lead screw 24 is connected to the garbage collection cabin component A through a connection bracket 29. When the motor 22 operates, it drives the lead screw 24 to rotate through the coupling 23, thereby controlling the garbage collection cabin component A to move up and down to meet the garbage collection requirements at different water levels.

[0022] The garbage collection cabin component A includes a garbage collection cabin 25. At the bottom of the garbage collection cabin 25, a drain hole 210 is provided. Inside the garbage collection cabin 25, a compression mechanism is provided. The compression mechanism includes a linear electric cylinder 26 installed on the side of the inner wall of the garbage collection cabin 25. The linear electric cylinder 26 is connected to a garbage compression plate 28 through an electric cylinder transmission shaft 27. The linear electric cylinder 26, the electric cylinder transmission shaft 27, and the garbage compression plate 28 are used to compress the volume of the collected garbage. The drain hole 210 is used to drain the excess water generated during the compression process to reduce the weight.

[0023] The grasping system 3 is as Figure 3 shown and is used to pick up surface garbage. It includes a robotic arm main body 31 and a robotic claw 32. The robotic arm main body 31 includes multiple joints and can achieve flexible movement in multiple directions, at multiple angles, and with high degrees of freedom, and can flexibly adjust its posture according to the position and size of the garbage. The robotic claw 32 is used to grasp and pick up surface garbage and place it into the garbage collection cabin 25 of the collection system 2.

[0024] The control system integrates the control of the camera 13, the millimeter-wave radar 12, the grasping system 3, the linear electric cylinder 26, and the solar panel 16, and realizes the coordinated operation of each component through a central processor to ensure the efficient operation of the unmanned boat.

[0025] The unmanned ship for automatic collection of surface garbage described in this embodiment adopts an automatic control system and combines the intelligent recognition technology of millimeter-wave radar and visible light cameras. It can efficiently complete the recognition, picking up, and compression of surface garbage without human intervention, with a high level of intelligence and operation ability. With the development of artificial intelligence and automatic control technology, the unmanned ship for automatic collection of surface garbage described in this embodiment also has the potential for continuous learning and optimization. By collecting and analyzing the data during the operation process, the unmanned ship can gradually optimize its garbage recognition and collection efficiency, forming a self-improving closed-loop system. The operation data accumulated by the unmanned ship in different environments can be fed back into the system, enabling it to more intelligently respond to the operation requirements of complex waters in subsequent tasks and providing personalized garbage cleaning solutions for different water environments. This not only helps improve the efficiency of surface garbage collection, reduce the labor cost of manual operation, but also improves the working safety of the ship while ensuring the cleanliness of the water area.

[0026] When the unmanned ship for automatic collection of surface garbage described in this embodiment is working, the unmanned ship can autonomously berth in the designated area of the water area. When the system detects garbage on the water surface, the unmanned ship will automatically start and go to the target area for garbage collection operations. The walking system 1 drives the hull 11 forward through the motor. At the same time, the manipulator main body 31 of the grasping system 3 adjusts its posture according to the position of the garbage, and the mechanical claw 32 grabs the garbage and then puts it into the garbage collection cabin 25 in the collection system 2 for compression and storage. After the garbage collection is completed, the unmanned ship will automatically return to the berthing point without human intervention.

[0027] Therefore, the present invention adopts the above-mentioned unmanned ship for automatic collection of surface garbage in complex waters. Through the combination of modular design and intelligent control system, the overall maintenance and upgrade of the equipment are made more simple and efficient. The unmanned ship can automatically complete the collection and compression of surface garbage without human management, effectively improving the operation efficiency and reducing the labor cost of water area cleaning. It has broad application prospects in the environmental protection field and has market potential.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. An unmanned boat for automatic collection of surface garbage in complex waters, characterized by: It comprises a walking system, a grabbing system is arranged above the walking system, collecting systems are arranged on both sides of the walking system in parallel with the grabbing system, solar panels are installed on the surface of the walking system, and the walking system, the collecting system and the grabbing system are all controlled by a control system.

2. The automatic surface garbage collection unmanned boat for complex waters according to claim 1 is characterized by: The walking system includes a hull, a camera is arranged above the hull, a millimeter-wave radar is arranged on the right side of the camera, information receiving antennas are arranged on both sides of the millimeter-wave radar, the grasping system is arranged on the right side of the millimeter-wave radar, and water level identification sensors are arranged on both sides of the hull.

3. The automatic surface garbage collection unmanned boat for complex waters according to claim 2 is characterized by: The collection system includes a lifting assembly and a garbage collection compartment assembly.

4. The automatic surface garbage collection unmanned boat for complex waters according to claim 3 is characterized by: The lifting assembly includes a screw fixing bracket fixed to the hull, a motor is installed above the screw fixing bracket, a coupling is installed at the output end of the motor, a screw is connected below the coupling, and the screw is connected to the garbage collection chamber assembly through a connecting bracket.

5. The automatic surface garbage collection unmanned boat for complex waters according to claim 3 is characterized by: The garbage collection chamber assembly comprises a garbage collection chamber, a drainage hole is arranged at the bottom of the garbage collection chamber, a linear electric cylinder is installed on the inner side of the garbage collection chamber, and the linear electric cylinder is connected to a garbage compression plate through an electric cylinder transmission shaft.

6. The automatic surface garbage collection unmanned boat for complex waters according to claim 1 is characterized by: The grasping system comprises a mechanical arm body and a mechanical claw.

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