Double-track three-dimensional detection light energy storage water pollution cleaning device

Abstract

This invention provides a dual-tracked, three-dimensional detection, photovoltaic-energy-storage-based waterborne waste removal device, relating to the field of environmental protection equipment. It includes a hull and triangular track frames connected to both sides via a rotating shaft system. The track frames are equipped with tracks, track wheels, and servo motors. The rotating shaft system includes an auxiliary motor with bidirectional limiters and a ratchet mechanism consisting of switches and spring-loaded teeth. Airbags connected to an air pump via air pipes are located on the lower outer part of the track frames and at the bottom of the hull. A propeller propeller is located at the bottom of the hull. A photovoltaic panel and a tethered drone are mounted on the upper part of the hull via support columns, with the drone's cable threaded within the support columns. The hull also features a waste collection bin with sliding rails. This device can autonomously rotate between water and land states and land on shore to prevent waste from slipping, through the inflation and deflation of the airbags and the bidirectional locking mechanism of the ratchet in conjunction with the auxiliary motor. The track frames have an obstacle avoidance function with upward rotational freedom. Combined with photovoltaic energy storage and three-dimensional detection, this device improves the waste removal efficiency in complex waterways.

Description

Technical Field

[0001] This invention relates to the field of environmental protection equipment, specifically a dual-track three-dimensional detection light-storage water pollution cleaning device. Background Technology

[0002] Currently, most conventional surface debris removal equipment uses a single hull structure and can only operate on the surface. These devices have extremely limited shore-landing capabilities, making debris collection in shallow waters or along the shore very difficult. Especially when the vessel is fully loaded with debris or completely aground, the equipment itself usually lacks the ability to move ashore on its own, often requiring manual lifting or the use of additional lifting equipment, reducing the efficiency of debris removal operations and increasing labor costs and safety risks. Furthermore, existing debris removal equipment generally requires close-range manual operation, lacks three-dimensional detection capabilities, and relies heavily on fuel or external cables for power, resulting in limited endurance and environmental friendliness. When encountering complex wave environments or landing in shallow waters, traditional fixed tracked or wheeled structures struggle to adapt to undulations, easily leading to slippage or collision damage to the front of the tracks. Summary of the Invention

[0003] To overcome the aforementioned shortcomings of existing technologies, this invention provides a dual-tracked three-dimensional detection and light-storage waterborne pollution cleaning device. This device has two sets of triangular track frames, which can freely switch between water and land configurations via airbags, a rotating shaft system, and a drive mechanism.

[0004] The technical solution adopted by this invention to solve its technical problem is:

[0005] A dual-tracked, three-dimensional detection, light-storage, energy-efficient waterborne waste removal device includes a hull, two triangular track frames located on the left and right sides of the hull respectively, a rotating shaft system, airbags, an air pump, and a waste collection device. Each triangular track frame has tracks, track wheels, and servo motors. The tracks are wound around the track wheels, and the servo motors are connected to the tracks and track wheels for transmission. The end of the triangular track frame closest to the hull is connected to the hull via the rotating shaft system, which drives the triangular track frame to rotate relative to the hull. Airbags are installed on the triangular track frames and at the bottom of the hull. The air pump is located inside the hull and connected to the airbags via an air pipe. The waste collection device is located on the hull for loading waste.

[0006] Furthermore, the aforementioned rotating shaft system includes an auxiliary motor, a ratchet mechanism, and a limit switch. Two auxiliary motors are provided and coaxially connected, and the limit switch is located between the two auxiliary motors. Both the auxiliary motors and the limit switch are connected to the rotating shaft of the triangular track frame.

[0007] Furthermore, the aforementioned ratchet mechanism consists of a switch, spring-loaded teeth on both sides of the switch, and a spring. The switch has two positions. The toggle switch controls the triangular track frame to lock in one or both directions in a horizontal or tilted state. An auxiliary motor can provide additional power when the triangular track frame has not reached its maximum rotation position, assisting it in rotating to the limit position and locking it via the ratchet mechanism. The limit switch is a two-way limit switch used to restrict the rotation angle of the triangular track frame.

[0008] The waste recycling system specifically includes a waste recycling bin, with a sliding rail at the bottom and a sliding track on the hull that cooperates with the sliding rail. The waste recycling bin is connected to the hull via the sliding engagement of the sliding rail and the sliding track. When the bin is full, it can be directly pulled out for replacement.

[0009] In terms of space optimization, support columns extend outward from the hull, with photovoltaic panels connected to the top of the columns; tethered drones are mounted above the photovoltaic panels. The self-convolution cables of the tethered drones are arranged below the photovoltaic panels and extend along the interior of the support columns into the hull, thus avoiding direct sunlight and external moisture, optimizing the space layout.

[0010] The airbags are positioned on the lower outer side of the triangular track frame. This outer-side arrangement ensures sufficient buoyancy torque when on the water surface, making the triangular track frame rotate more smoothly.

[0011] In addition, the triangular track frame has the freedom to rotate upwards relative to the hull. When encountering obstacles while traveling underwater or on land, the triangular track frame can be flipped upwards by an auxiliary motor to achieve obstacle crossing or emergency obstacle avoidance.

[0012] To prevent the device from getting stuck in silt or to adapt to sandy terrain when traveling in shallow waters, the tracks can be used directly as walking tracks, or walking wheels can be coaxially fixed on the outer end of the track wheels and driven by a servo motor.

[0013] To enable the device to navigate independently in water, a propeller thruster facing all four directions is installed on the underside of the hull to provide propulsion for surface navigation.

[0014] Furthermore, the hull is equipped with a battery pack and a control circuit board to power the device and charge it via photovoltaic panels.

[0015] The beneficial effects of this invention are as follows:

[0016] Amphibious autonomous landing reduces reliance on manual labor: By inflating and deflating airbags in conjunction with gravity and buoyancy, as well as the linkage and locking of auxiliary motors, ratchet mechanisms and limiters, autonomous switching between water and land states and landing can be achieved without manual lifting, significantly improving the efficiency of cleanup operations and reducing labor costs.

[0017] Equipped with wave adaptive capability to reduce debris slippage: Utilizing the damping spring structure at the rotating shaft, it automatically absorbs wave vibrations in a partially rigid locked state, allowing the front end of the track to keep in contact with the water surface, effectively preventing debris from slipping off the track edge due to water flow fluctuations and avoiding hard impact damage to the device.

[0018] Flexible obstacle crossing and avoidance, adaptable to complex environments: The triangular track frame has the freedom to rotate upward relative to the hull, and can automatically lift when encountering obstacles on land or water, enabling emergency collision avoidance or obstacle crossing, greatly improving the adaptability to operations in complex waters and on the shore.

[0019] With a reasonable spatial layout and strong endurance and detection capabilities: The photovoltaic panels are placed on the top by supporting columns, and the self-convoluted cable of the tethered UAV is stored inside the supporting columns. This not only optimizes the spatial layout, but also enables long-term endurance and three-dimensional aerial monitoring and detection through photovoltaic power generation in conjunction with the internal battery pack.

[0020] The garbage can be easily replaced, reducing labor intensity: The garbage recycling device adopts a pull-out structure with sliding rails and tracks. After the operation is completed, the operator can directly pull out the garbage recycling bin along the track for replacement. The operation is simple and saves time and effort. Attached Figure Description

[0021] Figure 1 This is an overall exploded view of the present invention.

[0022] Figure 2 This is a front view of the invention in a water surface state.

[0023] Figure 3 This is a side view of the invention in its land-based, ashore state.

[0024] Figure 4 This is a partial structural schematic diagram of the ratchet mechanism of the triangular track frame shaft of the present invention.

[0025] Figure 5 This is a schematic diagram of the limiter of the present invention.

[0026] Figure 6 This is a schematic diagram of the overall structure of the rotating shaft system of the present invention.

[0027] Figure 7 This is a schematic diagram of the slide rail and slide channel of the waste recycling device of the present invention.

[0028] Figure 8 This is a schematic diagram of the overall three-dimensional structure of the present invention.

[0029] For example: 1. Hull; 2. Triangular track frame; 21. Track; 22. Track wheel; 23. Walking wheel; 3. Rotating shaft system; 31. Auxiliary motor; 32. Ratchet mechanism; 321. Switch; 322. Spring clip; 33. Limiter; 34. Rotating shaft; 4. Air pump; 5. Airbag; 6. Waste recycling device; 61. Waste recycling bin; 62. Slide rail; 63. Slide track; 9. Support column; 10. Photovoltaic panel; 11. Tethered drone; 12. Propeller propeller. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] like Figure 1 The overall exploded view shown is Figure 2 The water surface state diagram, and Figure 8 The overall three-dimensional structural diagram shows that the main body of the dual-tracked three-dimensional detection optical energy storage waterborne pollution cleaning device in this embodiment includes a hull 1. Two triangular track frames 2 are symmetrically distributed on the left and right sides of the hull 1. Each triangular track frame 2 includes a track 21, track wheels 22, and a servo motor (not shown). The track 21 is wound around the outside of multiple track wheels 22. The servo motor is connected to the track wheels 22 and is used to drive the track 21 and track wheels 22 to rotate.

[0032] A rotating shaft system 3 is provided at the inner connection between the hull 1 and the triangular track frame 2. The end of the triangular track frame 2 closest to the hull 1 is movably connected to the hull 1 via a rotating shaft 34. The arrangement of the rotating shaft system 3 ensures that the triangular track frame 2 can be rotated relative to the hull 1.

[0033] For the specific structure of rotating shaft system 3, please refer to Figure 4 and Figure 6 The rotating shaft system 3 includes an auxiliary motor 31, a ratchet mechanism 32, and a limiter 33. In this embodiment, there are two auxiliary motors 31, which are located on the same axis, and the rotating shaft 34 passes through the two auxiliary motors 31. The limiter 33 is disposed between the two auxiliary motors 31. The limiter 33 is a bidirectional limiter, which can limit the maximum upward or downward rotation of the triangular track frame 2.

[0034] like Figure 4As shown, the ratchet mechanism 32 is located at the end of the rotating shaft system 3. The ratchet mechanism 32 consists of a switch 321 and spring-loaded teeth 322 located on both sides of the switch 321. The switch 321 has two toggle positions. By toggling the switch 321, the operator or control system can control the triangular track frame 2 to lock in one direction or in both directions in a horizontal or inclined state. Specifically, when the switch 321 is in the first position, the ratchet mechanism 32 is locked in one direction by the spring-loaded teeth 322 through the spring 323 when rotating in the forward direction, and can rotate freely when rotating in the reverse direction; when the switch 321 is toggled to the second position, the locking direction is reversed. When the steering angle reaches or exceeds the limit position of the limiter 33, the limiter 33 cooperates with the ratchet mechanism 32 to form a two-way lock, ensuring the support strength of the triangular track frame 2.

[0035] like Figure 2 and Figure 3 As shown, an airbag 5 is fixedly installed on the lower outer side of the triangular track frame 2. The airbag 5 is connected to an air pump 4 located inside the hull 1 via an air pipe. The air pump 4, under the command of the control system, inflates or deflates the airbag 5. Because the airbag 5 is installed on the outer side of the triangular track frame 2, when inflated, the airbag 5 can provide sufficient buoyancy torque to help the triangular track frame 2 lift up and expand, maintaining water surface balance. Airbag 5 is also located on the lower inner side of the hull 1, serving to support the hull and its upper structure. The rotation angle of the triangular track frame 2 can be controlled via the airbag 5 on the lower side of the triangular track frame 2 and the airbag 5 on the lower part of the hull 1. Specifically, when the device is in the water, the airbag 5 on the lower side of the triangular track frame 2 can be inflated. After the ratchet mechanism 32 is released and locked, the triangular track frame 2 rotates upwards, bringing it to a position on the water surface. When the device needs to be taken ashore, the gas in the airbag 5 on the lower side of the triangular track frame 2 can be released. After the ratchet mechanism 32 is released and locked, the rotation angle is controlled by... Under its own weight, the triangular track frame 2 rotates downwards, so that the bottom of the triangular track frame 2 and the traveling wheel 23 are lower than the height of the propeller propeller 12 at the bottom of the hull. After the ratchet mechanism 32 locks again, the entire device can move by the traveling wheel 23. When the triangular track frame 2 is not able to rotate into position due to insufficient gravity, the air in the airbag 5 at the bottom of the hull 1 can be increased to increase the buoyancy of the hull 1, thereby reducing the overall buoyancy of the triangular track frame 2 and increasing the downward rotation angle of the triangular track frame 2. The servo motor can also drive the rotation of the traveling wheel 23, thereby realizing self-movement on land.

[0036] Reference Figure 1 and Figure 2A support column 9 extends outward from the hull 1. A large-area photovoltaic panel 10 is connected to the top of the support column 9. A tethered drone 11 is mounted above the photovoltaic panel 10 via brackets. The self-convolution cable of the tethered drone 11 is arranged below the photovoltaic panel 10, extending downward along the interior of the support column 9 into the interior of the hull 1. This arrangement not only prevents the cable from being tangled by the wind, but also allows the photovoltaic panel 10 to provide energy storage and power to the tethered drone 11 above and the hull equipment below, thus optimizing space utilization and providing solar energy storage.

[0037] Reference Figure 7 The hull 1 is equipped with a garbage collection device 6. The garbage collection device 6 includes a garbage bin 61 with mesh openings. The bottom of the garbage bin 61 is equipped with a slide rail 62, and correspondingly, the hull 1 is equipped with a slide track 63 that mates with the slide rail 62. The garbage bin 61 is slidably connected to the hull 1 through a gap between the bottom slide rail 62 and the slide track 63. After the work on shore is completed, the operator can directly pull the full garbage bin 61 out of the hull 1 along the slide track 63 for replacement.

[0038] To enable navigation in water, a propeller 12 is installed on the underside of the hull 1. The propeller 12 is arranged in all directions and is used to control the forward, backward and turning movements of the hull 1 on the water surface.

[0039] The interior of the hull 1 is equipped with a battery pack and a control circuit board (not shown). The photovoltaic panel 10 generates electricity and stores it in the battery pack, which powers the entire device. The control circuit board controls all the actions of the entire device.

[0040] Reference Figure 2 , Figure 3 and Figure 4 The complete working process of this invention is briefly described below:

[0041] When in a water surface state, the air pump 4 inflates the air bag 5, and the triangular track frame 2 is lifted upward and in a horizontal state under the action of buoyancy. The device relies on the propeller propeller 12 at the bottom of the hull 1 to navigate in the water. At this time, the servo motor and auxiliary motor 31 are in standby state, the track wheel 22 rotates, and the track 21 can collect horizontal garbage into the garbage recycling bin 61.

[0042] As the device moves from the water towards land, the air pump 4 then expels air into the airbag 5 located under the triangular track frame 2, causing the airbag 5 to gradually inflate. Under its own weight, the triangular track frame 2 gradually tilts downwards. During this process, the auxiliary motor 31 and the airbag 5 at the bottom of the hull can also assist in rotating the shaft 34 downwards. Once the triangular track frame 2 has tilted to a certain angle, the switch 321 is activated, and the spring teeth 322 of the ratchet mechanism 32 engage and lock, working in conjunction with the limit switch 33 to lock the triangular track frame 2 in the tilted state.

[0043] At this point, the traveling wheel 23 or track 21, coaxially fixed to the outer end of the track wheel 22, first contacts the ground. The servo motor starts, driving the track wheel 22 to rotate inward one revolution and lock in place. The servo motor drives the track 21 and track wheel 22 to rotate synchronously, providing forward propulsion for the device to land. After fully landing on land, the device can move on the shore like a pushcart or a remote-controlled car.

[0044] Furthermore, on water surfaces with large waves, the ratchet mechanism 32 at the pivot 34 of the rotating shaft system 3 is not completely rigidly locked. The damping spring mechanism between the pivot 34 and the auxiliary motor 31 automatically absorbs the vibrations generated by the wave impact, ensuring that the front end of the triangular track frame 2 always maintains a slight contact force with the water surface. In this way, even if the water flow is turbulent, debris will not slip off the edge of the track 21, nor will it damage the device due to hard contact.

[0045] When encountering obstacles while walking on land or working on water, the two auxiliary motors 31 can be controlled to work synchronously to drive the triangular track frame 2 to rotate and lift relative to the hull 1, thereby achieving the function of avoiding or crossing obstacles in case of emergency collision.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dual-tracked three-dimensional detection and photoelectric energy storage waterborne pollution cleaning device, characterized in that, include: hull(1); Two triangular track frames (2) are provided, and the two triangular track frames (2) are located on the left and right sides of the hull (1) respectively. Each triangular track frame (2) has a track (21), a track wheel (22) and a servo motor. The track (21) is wrapped around the track wheel (22), and the servo motor is connected to the track (21) and the track wheel (22) for transmission. Rotating shaft system (3), the end of the triangular track frame (2) near the hull (1) is connected to the hull (1) through the rotating shaft system (3), the rotating shaft system (3) is used to drive the triangular track frame (2) to rotate relative to the hull (1); Airbag (5), the airbag (5) is installed on the triangular track frame (2) and the bottom of the hull; An air pump (4) is located inside the hull (1) and is connected to the airbag (5) via an air pipe. And a waste recycling device (6), which is located on the hull (1).

2. The dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, The rotating shaft system (3) includes an auxiliary motor (31), a ratchet mechanism (32), and a limiter (33). There are two auxiliary motors (31), which are coaxially connected. The limiter (33) is located between the two auxiliary motors (31). Both the auxiliary motors (31) and the limiter (33) are connected to the rotating shaft (34) of the triangular track frame (2).

3. The dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 2, characterized in that, The ratchet mechanism (32) consists of a switch (321), spring clips (322) on both sides of the switch, and a spring (323). The switch (321) has two positions. By moving the switch (321), the triangular track frame (2) can be locked in one direction or in two directions in a horizontal or inclined state. The auxiliary motor (31) is used to supplement power when the triangular track frame (2) has not rotated to the correct position, and assist the triangular track frame (2) to rotate to the limit position and lock through the ratchet mechanism (32). The limiter (33) is a two-way limiter, used to limit the rotation angle of the triangular track frame (2).

4. The dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, The garbage recycling device (6) includes a garbage recycling bin (61), the bottom of which is provided with a slide rail (62), and the hull (1) is provided with a slide rail (63) that cooperates with the slide rail (62). The garbage recycling bin (61) is slidably connected to the hull (1) through the cooperation between the slide rail (62) and the slide rail (63).

5. The dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, The airbag (5) is located on the lower outer side of the triangular track frame (2).

6. The dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, A support column (9) extends outward from the hull (1), and a photovoltaic panel (10) is connected to the top of the support column (9); a tethered drone (11) is provided above the photovoltaic panel (10), and the self-convolution cable of the tethered drone (11) is arranged below the photovoltaic panel (10) and extends along the inside of the support column (9) into the hull (1).

7. A dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, The triangular track frame (2) has the degree of freedom to rotate upward relative to the hull (1) for crossing obstacles or emergency obstacle avoidance.

8. The dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, The track (21) is a walking track or a walking wheel (23) is coaxially fixed on the outer end side of the track wheel (22).

9. A dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, A propeller thruster (12) facing all four directions is provided on the lower side of (1).

10. A dual-tracked three-dimensional detection photoelectric energy storage waterborne pollution cleaning device according to claim 1, characterized in that, The hull (1) is equipped with a battery pack and a control circuit board.

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