Primary-secondary cooperative floating object cleaning device
By using a mother-daughter cooperative floating debris removal device, the problem of frequent shore-based handling of floating debris removal vessels in existing technologies is solved by utilizing the coordinated work of the collection vessel and the daughter vessel, thus achieving a highly efficient floating debris removal effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- ZHONGKE WUJING (HANGZHOU) ROBOT CO LTD
- Filing Date
- 2026-04-29
- Publication Date
- 2026-06-12
AI Technical Summary
Existing floating debris removal vessels need to frequently dock to handle floating debris when their collection bins are full, which affects salvage efficiency and makes continuous operation impossible.
Design a mother-daughter collaborative floating debris removal device, including a collection vessel and two towing robots. The robot uses an interception arm to gather floating debris to the collection vessel. The daughter vessel can independently navigate to process the floating debris and return to the mother vessel to share the storage task. The mother vessel can continuously salvage the debris.
This improved the salvage efficiency of the floating debris cleanup vessel, reduced the frequency of docking for processing, and enabled continuous and efficient floating debris cleanup.
Smart Images
Figure CN122190209A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of water surface cleaning, and more particularly to a mother-daughter cooperative floating debris cleaning device. Background Technology
[0002] With societal development, the amount of floating debris on scenic waterways and urban and rural rivers is increasing, seriously impacting people's daily lives. Currently, most of the floating debris on these small bodies of water is removed using traditional manual methods, which are not only inefficient and ineffective but also labor-intensive. To address this, the applicant has independently developed a floating debris removal vessel, as detailed in invention patent ZL201410606202.0. Furthermore, continuous research and development have been conducted, with ongoing updates to both the collection vessel and the towing vessel. Invention patents ZL201720585132.4 and ZL201720584658.0 can be used as examples for reference. Although these floating debris removal vessels significantly improve the efficiency of debris retrieval compared to manual retrieval, the applicant found that due to the limited capacity of the collection bins inside the vessels, when there is a large amount of floating debris in the river, the collection bins quickly fill up, causing the vessels to be unable to continue working. They can only return to the uncollected waters after processing the collected debris at the shore. During the process of processing the floating debris at the shore and returning to the uncollected waters, the collection of floating debris cannot continue, thus indicating that there is still much room for improvement in the efficiency of debris retrieval.
[0003] Therefore, designing a floating debris cleanup vessel that avoids the impact of frequent docking for handling floating debris and returning to uncollected waters on the debris retrieval process, and further improves retrieval efficiency, has become an urgent technical problem to be solved. Summary of the Invention
[0004] Based on this, and in response to the above problems, the present invention provides a mother-daughter cooperative floating debris cleaning device, comprising: a collection vessel, two towing robots and two intercepting arms, one end of each of the two intercepting arms being connected to the front sides of the collection vessel, and the other end being connected to the two towing robots respectively. The collection vessel includes a mother vessel and a daughter vessel. The front sides of the mother vessel are connected to the two intercepting arms respectively, and the rear end of the mother vessel is detachably connected to the daughter vessel. The daughter vessel has independent power.
[0005] With this setup, when floating debris is gathered between two traction robots and fed to the collection vessel via the interception arm, once the debris accumulates to a certain level in the collection vessel, the sub-vessel can detach from the mother vessel and independently sail to shore to process the floating debris. When the sub-vessel is empty, it can independently return to dock with the mother vessel to share the storage of floating debris in the mother vessel. The mother vessel can then continuously salvage floating debris, further improving salvage efficiency.
[0006] Alternatively, both the mother ship and the daughter ship have a double-compartment symmetrical structure. The mother ship has two first enclosed compartments on its left and right sides, which are connected by a first connecting plate. The daughter ship has two second enclosed compartments on its left and right sides, which are connected by a second connecting plate.
[0007] This symmetrical dual-compartment structure allows the central channel above the connecting plate between the two compartments to serve as a core area for collecting and storing floating debris, thus ensuring a large storage area for the debris. The debris can flow from the mother ship to the daughter ship along the forward and backward water flow. Alternatively, the mother ship may be provided with a first movable baffle above the rear end of the first connecting plate, the daughter ship may be provided with a second movable baffle above the front end of the second connecting plate, and the daughter ship may be provided with a third movable baffle above the rear end of the second connecting plate.
[0008] With this setup, the core function of the baffles is to prevent debris from escaping. When the dhow detaches from the mother ship, the first movable baffle closes to prevent floating debris collected by the mother ship from escaping from the rear. The second and third movable baffles also close to prevent floating debris collected by the dhow from escaping. When the dhow is docked with the mother ship, the first and second movable baffles open, allowing floating debris from the mother ship to flow into the dhow along with the forward and backward water flow. Alternatively, the first movable baffle, the second movable baffle, and the third movable baffle may all be perforated baffles.
[0009] This design, with its perforated structure, allows for drainage and flow, reducing the resistance experienced by the mother-daughter co-operating floating debris cleaning device during the collection of floating debris.
[0010] Optionally, the rear ends of both first enclosed compartments are provided with mounting holes, and the front ends of both second enclosed compartments are provided with mounting posts; or the rear ends of both first enclosed compartments are provided with mounting posts, and the front ends of both second enclosed compartments are provided with mounting holes.
[0011] With this setup, assembly and disassembly between the mother ship and the daughter ship are simple, and can be accomplished by the difference in draft between the mother ship and the daughter ship.
[0012] Optionally, the first enclosed chamber is provided with a first water storage tank, the first water storage tank is provided with a first water filling valve / water filling pump, and the first water storage tank is also provided with a first drainage pump; the second enclosed chamber is provided with a second water storage tank, the second water storage tank is provided with a second water filling valve / water filling pump, and the second water storage tank is also provided with a second drainage pump.
[0013] This setup allows for separate control of the draft of the mother ship and the daughter ship, enabling the assembly and disassembly of the mother ship and the daughter ship in conjunction with the mounting bollards and mounting holes.
[0014] Alternatively, the mother-daughter cooperative floating debris removal device may further include a floating debris transfer device, which can transfer floating debris on the first connecting plate to the second connecting plate.
[0015] This setup allows for the rapid transfer of floating debris from the mother ship to the daughter ship.
[0016] Optionally, a first reinforcing connecting plate is provided above the two first enclosed compartments, and a second reinforcing connecting plate is provided above the two second enclosed compartments.
[0017] This configuration strengthens the connection between the first and second enclosed compartments.
[0018] Optionally, the first enclosed compartment is equipped with a first power source, and the second enclosed compartment is equipped with a second power source. Both the first and second power sources can supply power to the electrical equipment of the mother-daughter collaborative floating debris removal device.
[0019] With this setup, the dual power supplies can be rationally allocated and efficiently utilized, avoiding the rapid depletion of power from a single source and increasing battery life.
[0020] Alternatively, the sub-boat may be equipped with a propeller at its rear end.
[0021] With this configuration, the sub-boat can navigate independently via the rear-end propulsion unit. Attached Figure Description
[0022] To more clearly illustrate the technical solutions in the embodiments of this application or the conventional technology, the drawings used in the description of the embodiments or the conventional technology will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0023] Figure 1 This is a schematic diagram of one state of the mother-daughter cooperative floating debris cleaning device of the present invention; Figure 2 This is a schematic diagram of another state of the mother-daughter cooperative floating debris cleaning device of the present invention; Figure 3 This is a schematic diagram of the separation process between the mother and daughter vessels in the mother-daughter cooperative floating debris removal device of the present invention; Figure 4 This is a schematic diagram of the mother ship structure of the mother ship collaborative floating debris cleaning device of the present invention; Figure 5 This is a structural schematic diagram of the daughter vessel of the mother-daughter cooperative floating debris cleaning device of the present invention from one perspective. Figure 6 This is a structural schematic diagram of the daughter vessel of the mother-daughter cooperative floating debris cleaning device of the present invention from another perspective; Reference numerals: 1. Collection vessel; 11. Mother ship; 111. First enclosed compartment; 112. First connecting plate; 113. First movable baffle; 114. Mounting hole; 115. First reinforcing connecting plate; 12. Sub-vessel; 121. Second enclosed compartment; 122. Second connecting plate; 123. Second movable baffle; 124. Third movable baffle; 125. Mounting column; 126. Second reinforcing connecting plate; 127. Thruster; 2. Traction robot; 3. Interception arm. Detailed Implementation
[0024] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.
[0025] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on the other component or there may be an intermediate component. When a component is considered to be "connected to" another component, it can be directly connected to the other component or there may be an intermediate component present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application's specification are for illustrative purposes only and do not represent the only possible implementation.
[0026] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.
[0027] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature and the second feature are in indirect contact through an intermediate medium. Furthermore, "above," "over," and "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.
[0028] Unless otherwise defined, all technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and / or" as used in this application includes any and all combinations of one or more of the associated listed items.
[0029] like Figure 1-6 As shown, the present invention provides a mother-daughter cooperative floating debris cleaning device, including: a collection boat 1, two towing robots 2 and two interception arms 3. One end of each of the two interception arms 3 is connected to the front two sides of the collection boat 1, and the other end is connected to the two towing robots 2. The collection boat 1 includes a mother boat 11 and a daughter boat 12. The front two sides of the mother boat 11 are connected to the two interception arms 3, and the rear end of the mother boat 11 is detachably connected to the daughter boat 12. The daughter boat 12 has independent power.
[0030] Understandably, when floating debris converges from between the two towing robots 2 through the intercepting arm 3 to the collection vessel 1, and the floating debris in the collection vessel 1 accumulates to a certain level, the sub-vessel 12 can detach from the mother vessel 11 and sail independently to shore to handle the floating debris. When the sub-vessel 12 is empty, it can return independently to dock with the mother vessel 11 to share the storage of floating debris in the mother vessel 11. The mother vessel 11 can continuously salvage floating debris, further improving salvage efficiency.
[0031] It should be noted that the specific structures of the traction robot 2 and the intercepting arm 3 are similar to the applicant's prior art and are not improvements in this application. Therefore, they will not be described in detail here. Those skilled in the art can refer to the structures related to the traction vessel and fence in patents ZL201410606202.0, ZL201720585132.4, and ZL201720584658.0 to determine the specific structures of the traction robot 2 and the intercepting arm 3. Floating objects inside the mother ship 11 may enter the daughter ship 12 in the following ways: for example, the mother ship 11 may be directly connected to the collection compartment of the daughter ship 12, allowing floating objects from the mother ship 11 to directly enter the daughter ship 12 due to the water flow direction; or, for example, floating objects from the collection compartment of the mother ship 11 may enter the collection compartment of the daughter ship 12 via a grabber, bucket, or tracked conveyor.
[0032] Furthermore, both the mother ship 11 and the daughter ship 12 have a double-compartment symmetrical structure. The mother ship 11 has two first enclosed compartments 111 on its left and right sides, and the two first enclosed compartments 111 are connected by a first connecting plate 112. The daughter ship 12 has two second enclosed compartments 121 on its left and right sides, and the two second enclosed compartments 121 are connected by a second connecting plate 122.
[0033] Understandably, the symmetrical structure of the two-compartment design allows the central channel above the connecting plate between the two compartments to serve as the core area for collecting and storing floating debris, thereby ensuring a large storage area for floating debris. Floating debris can flow from the mother ship 11 into the daughter ship 12 along the forward and backward water flow.
[0034] Furthermore, the mother ship 11 is provided with a first movable baffle 113 above the rear end of the first connecting plate 112, the daughter ship 12 is provided with a second movable baffle 123 above the front end of the second connecting plate 122, and the daughter ship 12 is provided with a third movable baffle 124 above the rear end of the second connecting plate 122.
[0035] Understandably, the core function of the baffle is to block debris. When the sub-boat 12 separates from the mother boat 11, the first movable baffle 113 can be closed to prevent the floating debris collected by the mother boat 11 from escaping from the rear. The second movable baffle 123 and the third movable baffle 124 can be closed to prevent the floating debris collected by the sub-boat 12 from escaping. When the sub-boat 12 is connected to the mother boat 11, the first movable baffle 113 and the second movable baffle 123 can be opened, and the floating debris in the mother boat 11 can flow from the mother boat 11 into the sub-boat 12 along the forward and backward water flow.
[0036] Furthermore, the first movable baffle 113, the second movable baffle 123, and the third movable baffle 124 are all perforated baffles.
[0037] Understandably, the perforated design allows for drainage and flow, reducing the resistance experienced by the mother-daughter co-operating floating debris cleaning device during the floating debris collection process.
[0038] Furthermore, such as Figure 3-5 As shown, each of the two first enclosed compartments 111 has a mounting hole 114 at its rear end and each of the two second enclosed compartments 121 has a mounting post 125 at its front end; or each of the first enclosed compartments 111 has a mounting post at its rear end and each of the two second enclosed compartments 121 has a mounting hole at its front end.
[0039] Understandably, the fit between the mounting bollard and the mounting hole makes the assembly and disassembly between the mother ship 11 and the daughter ship 12 simple, and the assembly and disassembly can be completed by the difference in draft between the mother ship 11 and the daughter ship 12.
[0040] Furthermore, the first enclosed compartment 111 is equipped with a first water storage tank, the first water storage tank is equipped with a first water filling valve / water filling pump, and the first water storage tank is also equipped with a first drainage pump. The second enclosed compartment 121 is equipped with a second water storage tank, the second water storage tank is equipped with a second water filling valve / water filling pump, and the second water storage tank is also equipped with a second drainage pump.
[0041] Understandably, such a setting, such as Figure 3As shown, the draft of the mother ship 11 and the daughter ship 12 can be controlled separately, and thus can be assembled and disassembled with the mounting bollards and mounting holes.
[0042] Furthermore, the mother-daughter cooperative floating debris removal device also includes a floating debris transfer device, which can transfer the floating debris on the first connecting plate 112 to the second connecting plate 122.
[0043] Understandably, this setup allows for the rapid transfer of floating debris from the mother ship 11 to the daughter ship 12.
[0044] It should be noted that when no floating object transfer device is installed, the floating objects in the mother ship 11 can also flow to the daughter ship 12 along the forward and backward water flow. In order to improve efficiency, a floating object transfer device can also be installed, such as a tracked transfer device.
[0045] Furthermore, a first reinforcing connecting plate 115 is provided above the two first enclosed compartments 111, and a second reinforcing connecting plate 126 is provided above the two second enclosed compartments 121.
[0046] Understandably, this arrangement strengthens the connection between the first enclosed compartment 111 and the second enclosed compartment 121. In this application, there are two first reinforcing connecting plates 115, which are distributed at the front and rear of the mother ship 11, and two second reinforcing connecting plates 126, which are respectively distributed at the front and rear of the daughter ship 12.
[0047] Furthermore, a first power source is provided in the first enclosed compartment 111, and a second power source is provided in the second enclosed compartment 121. Both the first and second power sources can supply power to the various electrical devices of the mother-daughter collaborative floating debris cleaning device.
[0048] Understandably, dual power supplies allow for reasonable allocation and efficient utilization, avoiding the rapid depletion of power from a single source and increasing battery life.
[0049] Furthermore, the rear end of the sub-boat 12 is equipped with a propeller 127.
[0050] Understandably, with this configuration, the sub-boat 12 can navigate independently via the rear thruster 127.
[0051] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the scope of protection of this application. Therefore, the patent protection scope of this application should be determined by the appended claims.
Claims
1. A mother-daughter cooperative floating debris removal device, comprising: The collection vessel (1), two towing robots (2) and two intercepting arms (3) are provided. One end of each of the two intercepting arms (3) is connected to the front sides of the collection vessel (1), and the other end is connected to the two towing robots (2). The collection vessel (1) includes a mother ship (11) and a daughter ship (12). The front sides of the mother ship (11) are connected to the two intercepting arms (3), and the rear end of the mother ship (11) is detachably connected to the daughter ship (12). The daughter ship (12) has independent power.
2. The mother-daughter cooperative floating debris cleaning device according to claim 1, characterized in that, Both the mother ship (11) and the daughter ship (12) are double-compartment symmetrical structures. The mother ship (11) has two first enclosed compartments (111) on its left and right sides, which are connected by a first connecting plate (112). The daughter ship (12) has two second enclosed compartments (121) on its left and right sides, which are connected by a second connecting plate (122).
3. The mother-daughter cooperative floating debris cleaning device according to claim 2, characterized in that, The mother ship (11) is provided with a first movable baffle (113) above the rear end of the first connecting plate (112), the daughter ship (12) is provided with a second movable baffle (123) above the front end of the second connecting plate (122), and the daughter ship (12) is provided with a third movable baffle (124) above the rear end of the second connecting plate (122).
4. The mother-daughter cooperative floating debris cleaning device according to claim 3, characterized in that, The first movable baffle (113), the second movable baffle (123) and the third movable baffle (124) are all perforated baffles.
5. The mother-daughter cooperative floating debris cleaning device according to claim 2, characterized in that, The two first enclosed compartments (111) are provided with mounting holes (114) at their rear ends, and the two second enclosed compartments (121) are provided with mounting posts (125) at their front ends; or the two first enclosed compartments (111) are provided with mounting posts at their rear ends, and the two second enclosed compartments (121) are provided with mounting holes at their front ends.
6. The mother-daughter cooperative floating object cleaning device according to claim 5, wherein the first enclosed chamber (111) is provided with a first water storage tank, the first water storage tank is provided with a first water filling valve / water filling pump, the first water storage tank is also provided with a first drainage pump, the second enclosed chamber (121) is provided with a second water storage tank, the second water storage tank is provided with a second water filling valve / water filling pump, the second water storage tank is also provided with a second drainage pump.
7. The mother-daughter cooperative floating debris cleaning device according to claim 2, characterized in that, The mother-daughter cooperative floating debris cleaning device also includes a floating debris transfer device, which can transfer the floating debris on the first connecting plate (112) to the second connecting plate (122).
8. The mother-daughter cooperative floating debris cleaning device according to claim 2, characterized in that, A first reinforcing connecting plate (115) is provided above the two first enclosed compartments (111), and a second reinforcing connecting plate (126) is provided above the two second enclosed compartments (121).
9. The mother-daughter cooperative floating debris cleaning device according to claim 2, characterized in that, The first enclosed chamber (111) is equipped with a first power source, and the second enclosed chamber (121) is equipped with a second power source. Both the first power source and the second power source can supply power to the electrical equipment of the mother-daughter collaborative floating debris cleaning device.
10. The mother-daughter cooperative floating debris cleaning device according to claim 1, characterized in that, The sub-boat (12) is equipped with a propeller (127) at its rear end.