Intelligent river bank cleaning device based on multi-modal sensing

Abstract

The invention relates to the technical field of cleaning equipment, and discloses an intelligent river bank cleaning device based on multi-modal perception, which comprises a floating body, a vector propulsion mechanism, a plurality of collection mechanisms and a plurality of harvesting mechanisms, the vector propulsion mechanism is arranged on the floating body; the floating body is provided with a storage cabin and a grating door, the storage cabin is used for storing garbage, the front end of the floating body is provided with a water inlet hole, the water inlet hole is communicated with the storage cabin, the grating door is located at the rear end of the floating body, and the grating door is used for intercepting the garbage in the storage cabin; the intelligent river bank cleaning device based on multi-modal sensing is suitable for complex water areas where aquatic plant flooding and garbage accumulation coexist, and efficient and sustainable water area cleaning operation is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning equipment, and particularly relates to an intelligent riverbank cleaning device based on multimodal perception. Background Art

[0002] Currently, the treatment of floating impurities on the riverbank mostly uses manual salvage or related equipment to assist manual salvage. This method is only applicable to small-scale rivers and cannot be applied to the situation of a long riverbank. Moreover, the speed at which floating impurities gather towards the riverbank is relatively slow, the effect of manual salvage is not good, the labor cost of salvage is high, and it is time-consuming and laborious. Summary of the Invention

[0003] The purpose of the present invention is to provide an intelligent riverbank cleaning device based on multimodal perception, which has broad application prospects in scenarios such as rivers, lakes, ports, etc., and is particularly suitable for complex waters with coexisting overgrown waterweeds and garbage accumulation, realizing the high efficiency and sustainability of water area cleaning operations.

[0004] To achieve the above purpose, the present invention adopts the following technical solutions:

[0005] An intelligent riverbank cleaning device based on multimodal perception includes a floating body, a vector propulsion mechanism, a plurality of collection mechanisms, and a plurality of harvesting mechanisms.

[0006] The vector propulsion mechanism is arranged on the floating body and is used to drive the floating body.

[0007] The collection mechanism includes a first adjustment mechanism and a first filter screen. The first adjustment mechanism is fixedly connected to the floating body, and the first adjustment mechanism is used to adjust the position of the first filter screen.

[0008] The harvesting mechanism includes a second adjustment mechanism and a lawn mower. The second adjustment mechanism is fixedly connected to the floating body, and the second adjustment mechanism is used to adjust the position of the lawn mower.

[0009] A storage compartment and a grid door are arranged on the floating body. The storage compartment is used to store garbage. An inlet hole is arranged at the front end of the floating body, and the inlet hole is communicated with the storage compartment. The grid door is located at the rear end of the floating body, and the grid door is used to intercept the garbage in the storage compartment.

[0010] In the intelligent riverbank cleaning device provided by at least one embodiment of the present disclosure, it further includes: a radar, a control device, and a force sensing array.

[0011] The force sensing array is fixedly arranged on the floating body.

[0012] The first adjustment mechanism, the second adjustment mechanism, the lawn mower, the radar, and the force sensing array are all electrically connected to the control device.

[0013] The control device controls the first adjustment mechanism, the second adjustment mechanism and the lawn mower according to the detection information of the radar and the force sensing array.

[0014] In the intelligent riverbank cleaning device based on multi-modal perception provided by at least one embodiment of the present disclosure, it further includes: a second filter screen and a lifting mechanism.

[0015] The second filter screen is located in the storage compartment, and the lifting mechanism is used to drive the second filter screen to lift and lower.

[0016] The lifting mechanism is electrically connected to the control device.

[0017] In the intelligent riverbank cleaning device based on multi-modal perception provided by at least one embodiment of the present disclosure, an H-shaped anti-overturning air chamber and a ramp sink are provided at the bottom of the floating body.

[0018] The ramp sink is located behind the H-shaped anti-overturning air chamber, and a tail fin is provided in the middle of the ramp sink.

[0019] In the intelligent riverbank cleaning device based on multi-modal perception provided by at least one embodiment of the present disclosure, dynamic buoyancy compensation chambers are provided on both sides of the ramp sink.

[0020] The dynamic buoyancy compensation chambers are electrically connected to the control device.

[0021] In the intelligent riverbank cleaning device based on multi-modal perception provided by at least one embodiment of the present disclosure, the cross-section of the dynamic buoyancy compensation chamber is arranged in a D shape.

[0022] In the intelligent riverbank cleaning device based on multi-modal perception provided by at least one embodiment of the present disclosure, both the first adjustment mechanism and the second adjustment mechanism include: a servo motor, a connecting rod and a connecting frame.

[0023] The servo motor is fixedly connected to the connecting frame, and the output shaft of the servo motor is fixedly connected to one end of the connecting rod.

[0024] The connecting frame is fixedly arranged on the floating body.

[0025] In the intelligent riverbank cleaning device based on multi-modal perception provided by at least one embodiment of the present disclosure, the lifting mechanism includes: a reduction motor and a rack.

[0026] The rack is fixedly arranged on the second filter screen, an outlet is provided on the floating body, and the outlet is in clearance fit with the second filter screen.

[0027] The reduction motor is fixedly connected to the floating body, a driving gear is arranged on the output shaft of the reduction motor, and the driving gear meshes with the rack.

[0028] In at least one embodiment of the present disclosure, the intelligent riverbank cleaning device based on multi-modal perception further includes: a storage battery.

[0029] The vector propulsion mechanism, the collection mechanism, the harvesting mechanism, the radar, the control device, and the force sensing array are all electrically connected to the storage battery.

[0030] In at least one embodiment of the present disclosure, an oil-repellent coating is provided on the outer surface of the second filter screen of the intelligent riverbank cleaning device based on multi-modal perception.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1. Reduce water pollution and promote ecological restoration.

[0033] 2. Reduce operation and maintenance costs and improve the operation return rate.

[0034] 3. Reduce the labor intensity of manual work and promote the automation upgrade of water area governance.

[0035] 4. It has broad application prospects in scenarios such as rivers, lakes, ports, etc., and is especially suitable for complex water areas with co-existing overgrown waterweeds and garbage accumulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1 It is the front view of an intelligent riverbank cleaning device based on multi-modal perception of the present invention.

[0038] Figure 2 It is the top view of an intelligent riverbank cleaning device based on multi-modal perception of the present invention.

[0039] Figure 3 It is the three-dimensional view of an intelligent riverbank cleaning device based on multi-modal perception of the present invention.

[0040] Figure 4 It is the three-dimensional view of an intelligent riverbank cleaning device based on multi-modal perception of the present invention.

[0041] Figure 5 It is the partial structural schematic diagram of an intelligent riverbank cleaning device based on multi-modal perception of the present invention.

[0042] Figure 6 It is the internal structural schematic diagram of the dynamic buoyancy compensation chamber.

[0043] Figure 7 This is a partial structural schematic diagram of an intelligent riverbank cleaning device based on multi-modal perception according to the present invention.

[0044] In the figure:

[0045] 10. Floating body; 11. Storage cabin; 12. Grille door; 13. Water inlet hole; 14. H-shaped anti-overturning air cabin; 15. Slope sunken platform; 16. Tail fin; 17. Dynamic buoyancy compensation cabin; 111. U-shaped buoyancy member; 112. Bottom; 113. First covering part; 114. Second covering part; 171. Water pump; 172. Drain pipe;

[0046] 20. Vector propulsion mechanism;

[0047] 30. Collection mechanism; 31. First adjustment mechanism; 32. First filter screen;

[0048] 40. Harvesting mechanism; 41. Second adjustment mechanism; 42. Lawn mower; 43. Steering gear; 44. Connecting rod; 45. Connecting frame;

[0049] 50. Second filter screen;

[0050] 60. Lifting mechanism; 61. Reducing motor; 62. Rack;

[0051] 70. Force sensing array. Detailed implementation manners

[0052] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments. Obviously, the described embodiments are only a part of the embodiments, rather than all the embodiments.

[0053] Embodiment

[0054] As Figures 1 to 7 shown, this embodiment provides an intelligent riverbank cleaning device based on multi-modal perception, including: a floating body 10, a vector propulsion mechanism 20, a collection mechanism 30, and a harvesting mechanism 40.

[0055] Specifically, the vector propulsion mechanism 20 is arranged on the floating body 10, and the vector propulsion mechanism 20 is used to drive the floating body 10 to navigate. A storage cabin 11 and a grille door 12 are arranged on the floating body 10. The storage cabin 11 is used to store garbage. A water inlet hole 13 is arranged at the front end of the floating body 10, and the water inlet hole 13 is communicated with the storage cabin 11. The grille door 12 is located at the rear end of the floating body 10, and the grille door 12 is used to intercept the garbage in the storage cabin 11.

[0056] Exemplarily, two grille doors are provided, and the two grille doors are fixed by electromagnetic latches. The distance between adjacent grille bars is 10 mm; the grille doors are connected to the floating body through a crank-slider mechanism, and the opening angle of the grille doors is limited to 120 - 135°.

[0057] Specifically, the floating body 10 includes a U-shaped buoyancy member 111, a bottom 112, a first covering portion 113, and a second covering portion 114. The first covering portion 113 and the second covering portion 114 are both arranged in a semi-tubular shape. There is a gap between the first covering portion 113 and the second covering portion 114, and this gap serves as an outlet. The storage compartment 11 is formed between the U-shaped buoyancy member 111, the bottom 112, and the grille door 12.

[0058] Specifically, the vector propulsion mechanism 20 adopts a podded azimuth thruster. The podded azimuth thruster has a shroud (not shown). The shroud is formed by stamping 304 stainless steel. The aperture ratio of the shroud body is 40%, and the aperture distribution satisfies that the aperture in the front part of the shroud body is larger than the aperture in the rear part of the shroud body.

[0059] Specifically, two collecting mechanisms 30 are provided, and the two collecting mechanisms 30 are symmetrically distributed. The collecting mechanism 30 includes a first adjusting mechanism 31 and a first filter screen 32. The first adjusting mechanism 31 is fixedly connected to the floating body 10, and the first adjusting mechanism 31 is used to adjust the position of the first filter screen 32.

[0060] Specifically, two harvesting mechanisms 40 are provided, and the two harvesting mechanisms 40 are symmetrically distributed. The harvesting mechanism 40 includes a second adjusting mechanism 41 and a lawn mower 42. The second adjusting mechanism 41 is fixedly connected to the floating body 10, and the second adjusting mechanism 41 is used to adjust the position of the lawn mower 42. The unfolding angle range of the second adjusting mechanism 41 is 0 - 90°.

[0061] Exemplarily, the lawn mower adopts a disc mower. Its cutter disc base body is SKD11 die steel (hardness is HRC60), and the surface is plated with a hard chromium layer (thickness is 20 μm). The curved knife-shaped saw teeth are arranged on both sides of the disc motor (tooth pitch is 8 mm, tooth height is 12 mm).

[0062] In this embodiment, the intelligent riverbank cleaning device based on multi-modal perception further includes: a radar (not shown), a control device (not shown), and a force sensing array 70.

[0063] Specifically, the force sensing array 70 is fixedly arranged on the floating body 10.

[0064] Specifically, the first adjusting mechanism 31, the second adjusting mechanism 41, the lawn mower 42, the radar, and the force sensing array 70 are all electrically connected to the control device. The control device controls the first adjusting mechanism 31, the second adjusting mechanism 41, and the lawn mower 42 according to the detection information of the radar and the force sensing array 70.

[0065] In this embodiment, the intelligent riverbank cleaning device based on multimodal perception further includes: a second filter screen 50 and a lifting mechanism 60.

[0066] Specifically, the second filter screen 50 is located inside the storage cabin 11, and the second filter screen 50 is located between the first covering part 113 and the second covering part 114.

[0067] Specifically, the lifting mechanism 60 is used to drive the second filter screen 50 to lift and lower. The lifting mechanism 60 is electrically connected to the control device.

[0068] Specifically, the materials of the first filter screen 32 and the second filter screen 50 are both carbon fiber composite materials, and the aperture of the second filter screen 50 is 3 mm. A rubber sealing strip is provided at the edge of the second filter screen 50.

[0069] In this embodiment, an H-shaped anti-overturning air cabin 14 and a ramp sink 15 are provided at the bottom 112 of the floating body 10. The ramp sink 15 is located behind the H-shaped anti-overturning air cabin 14, and a tail fin 16 is provided in the middle of the ramp sink 15.

[0070] Exemplarily, the H-shaped anti-overturning air cabin 14 includes two horizontally opposed airtight cabins and a lateral adjustment cabin connecting the two airtight cabins, and the cabins are communicated through a high-pressure air pipe.

[0071] In this embodiment, dynamic buoyancy compensation cabins 17 are provided on both sides of the ramp sink 15. The dynamic buoyancy compensation cabins 17 are electrically connected to the control device.

[0072] Specifically, the cross-section of the dynamic buoyancy compensation cabin 17 is D-shaped. The inside of the dynamic buoyancy compensation cabin 17 is hollow, a water pump 171 is provided inside the dynamic buoyancy compensation cabin 17, a water level sensor (not shown) is provided outside the dynamic buoyancy compensation cabin 17, a water suction pipe (not shown) and a drain pipe 172 are provided on the dynamic buoyancy compensation cabin 17, one ends of the water suction pipe and the drain pipe 172 are both communicated with the outside, and the other ends of the water suction pipe and the drain pipe 172 are respectively connected to the water suction port and the drain port of the water pump 171. The water level sensor and the water pump 171 are both electrically connected to the control device.

[0073] During use, the water level inside the dynamic buoyancy compensation cabin 17 can be adjusted in real time by controlling the pumping and drainage volume of the water pump 171 to achieve dynamic buoyancy compensation. When used in conjunction with the programming of the control device, the buoyancy can be automatically adjusted according to the hull attitude and mission requirements to ensure stable navigation.

[0074] In this embodiment, both the first adjustment mechanism 31 and the second adjustment mechanism 41 include: a servo motor 43, a connecting rod 44, and a connecting frame 45.

[0075] Specifically, the steering gear 43 is fixedly connected to the connecting frame 45, and the output shaft of the steering gear 43 is fixedly connected to one end of the connecting rod. The connecting frame 45 is fixedly arranged on the floating body 10.

[0076] In this embodiment, the lifting mechanism 60 includes a reduction motor 61 and a rack 62.

[0077] Specifically, the rack 62 is fixedly arranged on the second filter screen 50, and the outlet is in clearance fit with the second filter screen 50. The second filter screen 50 can move outwards through the outlet storage cabin 11. The reduction motor 61 is fixedly connected to the floating body 10, and a driving gear (not shown) is arranged on the output shaft of the reduction motor 61. The driving gear meshes with the rack 62.

[0078] In some embodiments not shown, the intelligent riverbank cleaning device based on multi-modal perception further includes: a storage battery (not shown).

[0079] The vector propulsion mechanism, the collection mechanism, the harvesting mechanism, the radar, the control device, and the force sensing array are all powered by the storage battery.

[0080] In some embodiments not shown, an oil-repellent coating (not shown) is provided on the outer surface of the second filter screen. The second filter screen can be lifted by the reduction motor to achieve flushing. The surface of the ramp sunken platform is covered with a polytetrafluoroethylene non-stick layer to prevent oil stains from adhering.

[0081] Next, the working modes of some components in the embodiment will be disclosed to further illustrate the working principle of the intelligent riverbank cleaning device based on multi-modal perception provided by the embodiment.

[0082] Force sensing array:

[0083] Four M3816C type six-axis force sensors are adopted. The six-axis force sensors are wrapped with rubber to achieve the purpose of shock absorption and are fixed on the outer wall of the U-shaped buoyancy member 111 in a quadrilateral topological layout. The distance between adjacent six-axis force sensors is 0.4 m.

[0084] The sensor signal conditioning circuit includes a temperature compensation module (compensation range: -20°C to 60°C) and a digital filter (cut-off frequency: 500 Hz, attenuation slope: -60 dB / dec).

[0085] The radar adopts dual-band detection technology, specifically including the following two radars:

[0086] 1) 1550 nm long-wave lidar:

[0087] The transmitting power is 2 W, the beam divergence angle is 0.5 mrad, and the receiving end adopts an InGaAs detector (response bandwidth: 100 MHz);

[0088] Adopt a waterweed recognition algorithm based on an improved YOLOv5 model (input resolution is 1280×720, confidence threshold is 0.9).

[0089] 2) 905nm short-wave lidar:

[0090] The scanning frequency is 20Hz, the angular resolution is 0.1°, and the point cloud stitching adopts the ICP algorithm (the number of iterations ≤ 50 times, the matching error < 1cm);

[0091] The riverbank plane fitting module calculates the coefficients of the plane equation based on the least squares method, and the residual threshold is set to σ ≤ 1.5cm.

[0092] Control device:

[0093] The hardware platform is NVIDIA Jetson AGX Xavier (computing power 32TOPS), with a built-in real-time operating system (kernel cycle ≤ 1ms). Using the force-position hybrid control algorithm, the following functions are realized:

[0094] Harvesting mode: Based on the grass recognition technology of dual-band radar (millimeter wave + infrared), combined with a disc motor, it can quickly cut waterweeds and avoid the problem of traditional propeller entanglement.

[0095] Garbage collection mode: Real-time monitor the contact force through a six-axis force sensor, control the servo to adjust the angle of the square filter screen, ensure that the filter screen is close to the hard riverbank, and achieve dead-angle-free garbage collection.

[0096] A single device can simultaneously solve the problems of waterweed overgrowth and riverbank garbage accumulation, reduce the frequency of manual intervention, and has high operation efficiency.

[0097] The control device controls each component according to the radar + force perception feedback, which can reduce the risk of misoperation and adapt to complex water environments.

[0098] Although the embodiments of the present application have been shown and described above, the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be thought of without creative work should be covered within the protection scope of the present invention; unless otherwise specified, any element, action or instruction used in this article should not be construed as critical or necessary.

Claims

1. An intelligent riverbank cleaning device based on multimodal perception, characterized in that, Including: A floating body, a vector propulsion mechanism, a plurality of collection mechanisms and a plurality of harvesting mechanisms; The vector propulsion mechanism is arranged on the floating body and is used to drive the floating body; The collection mechanism includes a first adjustment mechanism and a first filter screen. The first adjustment mechanism is fixedly connected to the floating body, and the first adjustment mechanism is used to adjust the position of the first filter screen; The harvesting mechanism includes a second adjustment mechanism and a lawn mower. The second adjustment mechanism is fixedly connected to the floating body, and the second adjustment mechanism is used to adjust the position of the lawn mower; A storage cabin and a grid door are arranged on the floating body. The storage cabin is used to store garbage. A water inlet hole is arranged at the front end of the floating body, and the water inlet hole is communicated with the storage cabin. The grid door is located at the rear end of the floating body, and the grid door is used to intercept the garbage in the storage cabin.

2. The intelligent riverbank cleaning device based on multimodal perception according to claim 1, characterized in that, It further includes: A radar, a control device and a force sensing array; The force sensing array is fixedly arranged on the floating body; The first adjustment mechanism, the second adjustment mechanism, the lawn mower, the radar and the force sensing array are all electrically connected to the control device; The control device controls the first adjustment mechanism, the second adjustment mechanism and the lawn mower according to the detection information of the radar and the force sensing array.

3. The intelligent riverbank cleaning device based on multi-modal perception according to claim 2, characterized in that, It further includes: A second filter screen and a lifting mechanism; The second filter screen is located in the storage cabin, and the lifting mechanism is used to drive the second filter screen to lift; The lifting mechanism is electrically connected to the control device.

4. The intelligent riverbank cleaning device based on multi-modal perception according to claim 1, characterized in that, An H-shaped anti-overturning air cabin and a ramped sink are arranged at the bottom of the floating body; The ramped sink is located behind the H-shaped anti-overturning air cabin, and a tail fin is arranged in the middle of the ramped sink.

5. The intelligent riverbank cleaning device based on multi-modal perception according to claim 4, characterized in that, Dynamic buoyancy compensation cabins are arranged on both sides of the ramped sink; The dynamic buoyancy compensation cabins are electrically connected to the control device.

6. The intelligent riverbank cleaning device based on multimodal perception according to claim 5, wherein The cross-section of the dynamic buoyancy compensation cabin is arranged in a D shape.

7. An intelligent riverbank cleaning device based on multi-modal perception according to claim 1, characterized in that, Both the first adjustment mechanism and the second adjustment mechanism include: A servo motor, a connecting rod and a connecting frame; The servo motor is fixedly connected to the connecting frame, and the output shaft of the servo motor is fixedly connected to one end of the connecting rod; The connecting frame is fixedly arranged on the floating body.

8. The intelligent riverbank cleaning device based on multi-modal perception according to claim 3, characterized in that, The lifting mechanism includes: A reduction motor and a rack; The rack is fixedly arranged on the second filter screen, and an outlet is arranged on the floating body. The outlet is in clearance fit with the second filter screen; The reduction motor is fixedly connected to the floating body, and a driving gear is arranged on the output shaft of the reduction motor. The driving gear meshes with the rack.

9. The intelligent riverbank cleaning device based on multimodal perception according to claim 2, wherein, It further includes: A storage battery; The vector propulsion mechanism, the collection mechanism, the harvesting mechanism, the radar, the control device and the force sensing array are all electrically connected to the storage battery.

10. The intelligent riverbank cleaning device based on multi-modal perception according to claim 3, characterized in that, An oil-repellent coating is arranged on the outer surface of the second filter screen.

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