Dirt cleaning robot with underwater detection function

Abstract

The invention discloses a cleaning robot with an underwater detection function, which comprises a shell, and a main control area, a collection area, an adjusting area, a propeller, a side wing propeller, a suction pump, a water flow guide pipe, a garbage collection box and a water flow outlet pipe are arranged in the shell; the main control area is used for placing the main control board, the machine vision assembly, the sensor group, the GPS module and the power supply module, and is connected with external equipment through a waterproof aviation plug; a suction arm is arranged on the front portion of the collecting area, and a waterproof steering engine drives a steering gear to rotate so as to adjust the direction of the suction arm. The adjusting area comprises an electric push rod, a water tank, an air chamber, a bearing and a steering engine base and is used for adjusting floating, sinking and posture of the robot. By arranging the main control area, the collecting area, the adjusting area and other structures, the functions of intelligent navigation and operation control of the robot, precise collection of garbage, posture adjustment, buoyancy control and the like are achieved, and finally automation, high efficiency and energy saving of underwater garbage cleaning are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent underwater robots, and particularly to a sewage cleaning robot with an underwater detection function. Background Art

[0002] In the current technical field of underwater garbage cleaning, research and product development still face many challenges and limitations. Internationally, although a small number of underwater garbage treatment mechanical devices have emerged, these devices generally have problems such as complex manufacturing processes and high costs, which make it difficult for them to achieve large-scale production and widespread application. In China, the research on water garbage treatment technology is even more scarce. Most of the existing technical concepts remain in the theoretical hypothesis stage, and there is no actual developed physical product. In addition, there is basically a lack of highly automated cleaning equipment that can be put into industrial application in China. Currently, the few developed cleaning machines have relatively single functions, low levels of mechanization and automation, and extremely limited application ranges, making it difficult to meet the garbage cleaning needs in a wide range of water environments. Summary of the Invention

[0003] An object of the present invention is to provide a sewage cleaning robot with an underwater detection function, so as to solve the problems of single function, low automation level, limited application range, insufficient research and no actual product in the field of underwater garbage cleaning mentioned in the above background.

[0004] A sewage cleaning robot with an underwater detection function according to an embodiment of the present invention includes:

[0005] A housing, inside which a main control area, a collection area, and an adjustment area are respectively provided;

[0006] The main control area is used to place a main control board, a machine vision component, a sensor group, a GPS module, and a power module, and is connected to external devices through waterproof aviation plugs;

[0007] The collection area is provided with a suction arm at its front part, and the steering gear is driven by a waterproof servo to rotate, so as to adjust the direction of the suction arm;

[0008] The adjustment area includes an electric push rod, a water tank, an air chamber, a bearing, and a servo base, and is used to adjust the floating and sinking and attitude of the robot;

[0009] A thruster, which provides the forward and turning power of the robot in water;

[0010] Flank propellers, located at the four corners of the robot, adopting an X-shaped power distribution, and are used to realize the lifting, diving, and attitude adjustment of the robot;

[0011] A suction pump and a water flow guiding pipe, which cooperate to generate suction force to suck garbage into the collection area;

[0012] A garbage collection box for temporarily storing the collected garbage;

[0013] A water flow leading pipe for leading the water pumped out by the suction pump out of the robot.

[0014] Preferably, the main control area realizes intelligent navigation and operation control through an integrated sensor group, a GPS module and a power module.

[0015] Preferably, the collection area realizes precise collection of garbage through a suction arm, a waterproof servo, a steering gear and a suction pump.

[0016] Preferably, the collection area further includes a visual detection module for detecting and identifying the underwater environment so that the robot can perform effective garbage cleaning work.

[0017] Preferably, the adjustment area realizes attitude adjustment and buoyancy control through an electric push rod, a water tank and an air chamber.

[0018] Preferably, the thruster provides forward and steering power, and the flank propellers realize lifting and attitude adjustment.

[0019] Preferably, the suction pump cooperates with the water flow guiding pipe to generate suction to suck the garbage into the collection area.

[0020] Preferably, the suction pump generates negative pressure inside the collection area to assist in collecting garbage.

[0021] Preferably, the garbage collection box is used to store the collected garbage, and a plurality of mesh holes are arranged on the surface of the garbage collection box for filtering the collected garbage so that the water leaks out of the mesh holes and is discharged out of the housing through the water flow guiding pipe.

[0022] Preferably, the water flow leading pipe leads out the water pumped out by the suction pump to maintain the continuity of garbage collection.

[0023] The beneficial effects of the present invention are:

[0024] By setting structures such as a main control area, a collection area, and an adjustment area, the present invention realizes functions such as intelligent navigation and operation control of the robot, precise collection of garbage, and attitude adjustment and buoyancy control, and finally realizes the automation, high efficiency and energy saving of underwater garbage cleaning;

[0025] The main control area of the present invention integrates various components such as sensors, GPS modules, power modules, etc., and is connected to external devices through waterproof aviation plugs, realizing the intelligent navigation and operation control of the robot. This enables the robot to autonomously carry out garbage cleaning work in the complex and changeable underwater environment according to the preset route or real-time data. At the same time, the main control area also includes machine vision components, which can detect and identify the underwater environment so that the robot can carry out effective garbage cleaning work. This function of intelligent navigation and operation control enables the robot to more accurately locate garbage during the underwater garbage cleaning process, improve the cleaning efficiency, and reduce manual input;

[0026] The collection area of the present invention realizes the precise collection of garbage through structures such as suction arms, waterproof servos, steering gears, and suction pumps. The suction arm drives the steering gear to rotate through a waterproof servo, which can adjust the direction of the suction arm so that it can accurately grab garbage. The suction pump works in cooperation with the water flow guiding pipe to generate suction to suck the garbage into the collection area and store it through the garbage collection box. The surface of the garbage collection box is provided with several mesh holes for filtering the collected garbage, allowing water to leak out of the mesh holes and be discharged from the shell through the water flow guiding pipe. This function of precisely collecting garbage enables the robot to effectively clean underwater garbage, improve the cleaning efficiency, and reduce pollution to the underwater environment;

[0027] The adjustment area of the present invention realizes the attitude adjustment and buoyancy control of the robot through structures such as electric push rods, water tanks, and air chambers. The electric push rod controls the water volume in the water tank, thereby controlling the floating and sinking conditions and static balance conditions of the robot. The water tank and the air chamber are integrated, and the gas in the air chamber is used to supplement the space change caused by the change in the water volume of the water tank. By adjusting the total water volume of the water tank, the floating and sinking and suspension conditions of the robot can be controlled, and the inclination balance of the machine can be adjusted by matching the water volumes of the four water tanks respectively. This function of attitude adjustment and buoyancy control enables the robot to maintain a stable attitude during the underwater garbage cleaning process, improve the cleaning efficiency, and reduce energy consumption. Description of the Drawings

[0028] The drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention. In the drawings:

[0029] Figure 1 is a schematic structural diagram of a sewage cleaning robot with an underwater detection function proposed by the present invention;

[0030] Figure 2 is a sectional view of the sewage cleaning robot with an underwater detection function proposed by the present invention from a top view angle;

[0031] Figure 3Cross-sectional view of a sewage cleaning robot with an underwater detection function proposed by the present invention from a side view angle;

[0032] Figure 4 Schematic diagram of the water tank and air chamber of a sewage cleaning robot with an underwater detection function proposed by the present invention;

[0033] Figure 5 Overall structural schematic diagram of a sewage cleaning robot with an underwater detection function proposed by the present invention;

[0034] Figure 6 Top view of a sewage cleaning robot with an underwater detection function proposed by the present invention;

[0035] Figure 7 Three-dimensional view of the internal structures of the housing of a sewage cleaning robot with an underwater detection function proposed by the present invention;

[0036] In the figure: 1, main control area; 2, collection area; 3, adjustment area; 4, thruster; 5, flanking propeller; 6, suction arm; 7, waterproof servo; 8, steering gear; 9, housing; 10, water flow guiding pipe; 11, sensor group; 12, electric push rod; 13, water tank; 14, air chamber; 15, bearing; 16, servo base; 17, suction pump; 18, garbage collection box; 19, water flow outlet pipe. Detailed implementation manners

[0037] Now, the present invention will be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0038] Reference Figure 1-7 , a sewage cleaning robot with an underwater detection function, includes the following embodiments:

[0039] Embodiment 1: A sewage cleaning robot with an underwater detection function, which generally includes three parts: a motion platform, a garbage collection module, and a vision module. The motion platform is an innovative combination of a suspension system based on a small water tank 13 and a traditional propulsion system. The regulation of the small water tank 13 enables the machine to have the ability to work in suspension with low power consumption for garbage collection in the entire water area; the garbage collection module is designed and manufactured based on a suction robotic arm, and the garbage can be efficiently collected through the suction robotic arm, and the underwater and water surface garbage can be collected in the entire area more energy-efficiently and efficiently; with the help of a perfect motion platform and garbage collection module, the machine can complete the integrated process of garbage vision locking, garbage picking, garbage rapid recovery, and subsequent garbage processing with low power consumption and high efficiency relying on a perfect underwater vision recognition algorithm.

[0040] Embodiment 2: The main control area 1, the collection area 2, and the adjustment area 3 realize the intelligent navigation and operation control of the robot, the precise collection of garbage, and functions such as attitude adjustment and buoyancy control, ultimately achieving the automation, high efficiency, and energy saving of underwater garbage cleaning;

[0041] The main control area 1 integrates various sensor groups, GPS modules, power modules and other components, and is connected to external devices through waterproof aviation plugs, realizing the intelligent navigation and operation control of the robot; this enables the robot to autonomously carry out garbage cleaning work in the complex and changeable underwater environment according to the preset route or real-time data; at the same time, the main control area 1 also includes machine vision components, which can detect and identify the underwater environment so that the robot can carry out effective garbage cleaning work; this function of intelligent navigation and operation control enables the robot to more accurately locate garbage during underwater garbage cleaning, improve the cleaning efficiency, and reduce manual input; through the underwater detection function, the robot can autonomously carry out garbage cleaning work in the complex and changeable underwater environment according to the preset route or real-time data;

[0042] The collection area 2 realizes the precise collection of garbage through structures such as the suction arm 6, waterproof servo 7, steering gear 8, and suction pump 17; the suction arm 6 drives the steering gear 8 to rotate through the waterproof servo 7, which can adjust the direction of the suction arm 6 so that it can accurately grab garbage; the suction pump 17 works in cooperation with the water flow guiding pipe 10 to generate suction to suck the garbage into the collection area 2 and store it through the garbage collection box 18; the surface of the garbage collection box 18 is provided with several mesh holes for filtering the collected garbage, so that the water leaks out of the mesh holes and is discharged from the housing 9 through the water flow guiding pipe 10; this function of precisely collecting garbage enables the robot to effectively clean underwater garbage, improve the cleaning efficiency, and reduce the pollution of the underwater environment;

[0043] The adjustment area 3 realizes the attitude adjustment and buoyancy control of the robot through structures such as the electric push rod 12, water tank 13, and air chamber 14; the electric push rod 12 controls the water volume in the water tank 13, thereby controlling the floating and sinking conditions and static balance conditions of the robot; the water tank 13 and the air chamber 14 are integrated, and the gas in the air chamber 14 is used to supplement the space change caused by the change in the water volume of the water tank 13; by adjusting the total water volume of the water tank 13, the floating and sinking and suspension conditions of the robot can be controlled, and the inclination balance of the machine can be adjusted by matching the water volumes of the four water tanks 13 respectively; this function of attitude adjustment and buoyancy control enables the robot to maintain a stable attitude during underwater garbage cleaning, and can maintain balance even in complex flowing water, thereby improving the cleaning efficiency and reducing energy consumption; at the same time, this design can also adjust the buoyancy of the robot according to different underwater environments so that it can work under different water depths and flow rates.

[0044] Embodiment 3: The thrusters 4 and the flanking propellers 5 are designed such that the robot can achieve omnidirectional movement underwater. Whether it is moving forward, backward, turning, or ascending and descending, it can respond flexibly. The combined use of the thrusters 4 and the flanking propellers 5 can not only improve the movement efficiency of the robot but also reduce energy consumption and extend the endurance time. The coordinated operation of the suction pump 17 and the water flow guiding pipe 10 can ensure that the garbage can be quickly and effectively collected, avoiding further diffusion and pollution of the garbage in the underwater environment. The design of the garbage collection box 18 can effectively separate the garbage and water, avoiding the influence of water on garbage collection. At the same time, it reduces the weight of the garbage collection box 18 and improves the endurance ability of the robot. The design of the water flow outlet pipe 19 can ensure the continuity of garbage collection, enabling the garbage to be quickly and effectively collected, avoiding further diffusion and pollution of the garbage in the underwater environment. The design of the thrusters 4 and the flanking propellers 5 adopts advanced hydrodynamic principles to ensure the efficient movement of the robot in water. The thrusters 4 are located in the middle of both sides of the fuselage and adopt a twin-engine design, so that the thrust generated during operation is evenly distributed to the fuselage, making its action more stable. Steering is achieved through the differential speed or reverse speed of the twin-engine thrusters 4. Small-angle yaw steering is completed using differential speed to ensure that the original speed is not lost while achieving steering. Large-angle steering or in-place turning is achieved using the principle of twin-engine reverse. This method is sensitive in response, simple to control, and the accuracy meets the requirements. The flanking propellers 5 are located at the four corners of the fuselage and adopt an X-shaped power distribution. By using the coordinated operation of four engines, the purposes of ascending, diving, and self-attitude adjustment are achieved. This distribution method is more complex than the cross-shaped control method, but it has strong cruising ability, is more flexible, and is more adaptable to different external forces, meeting the requirements of the complex and changeable underwater environment.

[0045] Embodiment 4: The suction pump 17 and the water flow guiding pipe 10 are designed using efficient fluid mechanics principles to ensure that the garbage can be quickly and effectively sucked into the collection area 2. The suction pump 17 is located inside the collection area 2 and sucks the garbage into the collection area 2 by generating suction, and stores it through the garbage collection box 18. This design can ensure that the garbage can be quickly and effectively collected, avoiding further diffusion and pollution of the garbage in the underwater environment. At the same time, the suction pump 17 generates negative pressure inside the collection area 2 to assist in collecting the garbage, further improving the cleaning efficiency.

[0046] The design of the garbage collection box 18 adopts advanced filtering technology, which can effectively separate garbage and moisture; several mesh holes are arranged on the surface of the garbage collection box 18 for filtering the collected garbage, so that the moisture leaks out of the mesh holes and is discharged from the housing 9 through the water flow guiding pipe 10; this design can effectively separate garbage and moisture, avoid the influence of moisture on garbage collection, and at the same time reduce the weight of the garbage collection box 18 and improve the battery life of the robot; the filtering function of the garbage collection box 18 not only improves the efficiency of garbage collection, but also can protect the underwater environment and reduce the pollution of the water body by garbage;

[0047] The design of the water flow outlet pipe 19 adopts an efficient drainage system, which can quickly lead out the water pumped out by the suction pump 17 from the robot; the water flow outlet pipe 19 leads out the water pumped out by the suction pump 17 to maintain the continuity of garbage collection; this design can ensure that garbage can be quickly and effectively collected, avoiding further diffusion and pollution of garbage in the underwater environment; at the same time, the design of the water flow outlet pipe 19 can also prevent water from entering the interior of the robot, protect the internal components of the robot from the influence of water, and extend the service life of the robot.

[0048] During use, after the robot is started, the main control board, GPS module and sensor group 11 in the main control area 1 start to work for self-detection and positioning; the main control board activates the machine vision component to scan the surrounding underwater environment and identify possible garbage positions; the electric push rod 12 in the adjustment area 3 adjusts the water volume in the water tank 13 according to the instructions of the main control area to adjust the floating and sinking and attitude of the robot; the water tank 13 and the air chamber 14 are integrally designed, and the gas in the air chamber 14 compensates for the change in the water volume of the water tank 13 to maintain the internal pressure balance of the robot; by adjusting the water volume of the four water tanks 13, the inclination balance of the robot in the water is achieved to ensure the stable suspension of the robot; the main control area 1 plans the cleaning path according to the data provided by the GPS module and the sensor group 11; the thruster 4 provides the power for forward, backward and turning according to the instructions of the main control area to make the robot move along the preset path; the wing propellers 5 are located at the four corners of the robot, and through the X-shaped power distribution, the lifting, diving and fine attitude adjustment of the robot are realized; the vision detection module, under the command of the main control area 1, conducts real-time detection of the underwater environment to identify and lock the garbage position; the suction arm 6 in the collection area 2 adjusts the direction through the steering gear 8 under the drive of the waterproof servo 7 to align with the garbage position; the suction pump 17 is started, and in cooperation with the water flow guiding pipe 10, generates suction to suck the garbage into the collection area 2; after the garbage is sucked into the collection area 2, it is temporarily stored in the garbage collection box 18; the surface of the garbage collection box 18 is provided with mesh holes to filter the garbage, and the water flows out through the mesh holes and is discharged from the housing 9 through the water flow guiding pipe 10; the water flow leading-out pipe 19 leads out the water pumped out by the suction pump 17 from the robot to maintain the continuity of garbage collection; the main control area 1 monitors the garbage collection process to ensure that the garbage collection box 18 is not overfilled and at the same time maintains the balance and stability of the robot; when the garbage collection box 18 is nearly full or the cleaning task is completed, the main control area 1 issues a return command; the robot navigates back to the preset recovery point according to the GPS module positioning; during the return process, the adjustment area 3 adjusts the buoyancy of the robot to ensure the smooth floating or sinking of the robot; after the robot reaches the recovery point, the garbage collection box 18 is opened to unload the garbage; the robot conducts self-cleaning and maintenance and prepares for the next operation; through the above work process, the robot can achieve intelligent navigation, efficient garbage collection, precise attitude control and continuous operation, so as to complete the underwater garbage cleaning task.

[0049] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A pollution-cleaning robot with underwater detection function, characterized in that: include: A housing (9), wherein a main control area (1), a collection area (2) and a regulation area (3) are respectively arranged inside the housing (9); The main control area (1) is used to place the main control board, machine vision components, sensor group (11), GPS module and power module, and is connected to external devices through a waterproof aviation plug; The collection area (2) is provided with a suction arm (6) at the front, and a steering gear (8) is driven to rotate by a waterproof steering gear (7) to adjust the direction of the suction arm (6); The adjustment area (3) includes an electric push rod (12), a water tank (13), an air chamber (14), a bearing (15), and a steering gear seat (16), and is used to adjust the buoyancy and posture of the robot; A propeller (4) provides the robot with forward and steering power in water; The side propellers (5) are located at the four corners of the robot and adopt an X-shaped power distribution to realize the lifting, diving and attitude adjustment of the robot; The suction pump (17) and the water flow guide pipe (10) cooperate to generate suction to suck the garbage into the collection area (2); A garbage collection box (18) for temporarily storing the collected garbage; The water flow outlet pipe (19) leads the water pumped out by the suction pump (17) out of the robot.

2. A pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The main control area (1) realizes intelligent navigation and operation control by integrating a sensor group (11), a GPS module and a power module.

3. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The collection area (2) achieves accurate collection of garbage through a suction arm (6), a waterproof steering gear (7), a steering gear (8) and a suction pump (17).

4. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The collection area (2) also includes a visual detection module for detecting and identifying the underwater environment so that the robot can perform effective garbage cleaning work.

5. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The adjustment area (3) realizes posture adjustment and buoyancy control through an electric push rod (12), a water tank (13) and an air chamber (14).

6. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The propeller (4) provides forward movement and steering power, and the side propellers (5) achieve lifting and attitude adjustment.

7. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The suction pump (17) cooperates with the water flow guide pipe (10) to generate suction to suck the garbage into the collection area (2).

8. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The suction pump (17) generates negative pressure inside the collection area (2) to assist in collecting garbage.

9. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The garbage collection box (18) is used to store the collected garbage. The surface of the garbage collection box (18) is provided with a plurality of mesh holes for filtering the collected garbage, so that water leaks out of the mesh holes and is discharged from the housing (9) through the water flow guide pipe (10).

10. The pollution-cleaning robot with underwater detection function according to claim 1, characterized in that: The water outlet pipe (19) guides out the water pumped out by the suction pump (17) to maintain the continuity of garbage collection.

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