Sand beach garbage cleaning vehicle

Abstract

The utility model provides a beach garbage cleaning vehicle, which comprises a vehicle main body and a garbage cleaning device arranged on the vehicle main body, and further comprises an environment sensing module used for sensing topographic information and / or obstacle position information on the surface of a beach, and a garbage cleaning module arranged on the vehicle main body, the driving module is used for driving the vehicle main body to move and driving the garbage cleaning device to clean garbage; the environment sensing module is connected with the main controller, and sends terrain information of the surface of the sand beach and / or obstacle position information to the main controller; the main controller is connected with the driving module and controls the driving module to drive the vehicle body to move and / or drive the garbage cleaning device to clean garbage, the garbage temporary storage box is arranged on the vehicle body, and the driving module drives the garbage cleaning device to convey the garbage into the garbage temporary storage box. The sand beach garbage cleaning vehicle can effectively clean sand garbage.

Description

Technical Field

[0001] The utility model relates to the field of garbage collection vehicles, in particular to a beach garbage cleaning vehicle. Background Art

[0002] With the rapid development of my country's economy and society and the accelerated pace of moving towards the ocean, in recent years, the public's awareness of seaside beach leisure has developed rapidly, and coastal beaches have become more and more prominent in the Chinese people's tourism and vacation demands. While this has driven the development of related industries, expanded domestic demand, and enhanced economic vitality, it has also brought new problems, that is, the impact on the beach environment.

[0003] As a natural public leisure tourism resource, the beach attracts a large number of tourists, but it also has very obvious environmental fragility. With the increase in tourists and the need to improve the public's awareness of environmental protection, the increase in garbage on the beach has become a problem that needs to be solved urgently.

[0004] Traditional marine debris cleaning operations are mainly completed manually, which is time-consuming and labor-intensive, and increases the labor intensity of sanitation workers. Existing marine debris cleaning vehicles have disadvantages such as large size, high emissions, high noise, and single function. They can only clean marine debris and cannot collect beach debris. Utility Model Content

[0005] In order to overcome the defects in the above-mentioned prior art, the purpose of the utility model is to provide a beach garbage cleaning vehicle.

[0006] In order to achieve the above-mentioned purpose of the utility model, the utility model provides a beach garbage cleaning vehicle, including a vehicle body and a garbage cleaning device arranged on the vehicle body, and also including:

[0007] An environmental perception module, used to perceive terrain information of the beach surface and / or obstacle location information;

[0008] A driving module, used for driving the vehicle body to move and driving the garbage cleaning device to clean up garbage;

[0009] A main controller, the environment sensing module is connected to the main controller, and sends the terrain information of the beach surface and / or the obstacle location information to the main controller; the main controller is connected to the driving module, and controls the driving module to drive the vehicle body to move and / or drive the garbage cleaning device to clean up garbage;

[0010] The garbage temporary storage box is arranged on the vehicle body, and the driving module drives the garbage cleaning device to send the garbage into the garbage temporary storage box.

[0011] The beach garbage cleaning vehicle can effectively clean up beach garbage and protect the beach environment, and has a simple structure and low cost.

[0012] In an optional scheme of the beach garbage cleaning vehicle, the garbage cleaning device includes a raking and sweeping cleaning module, the raking and sweeping cleaning module includes a conveyor belt arranged on the vehicle body and capable of closed-loop circulation through a motor-driven rotating shaft, the driving module controls the rotation of the motor, the conveyor belt includes a raking and sweeping part arranged at the bottom of the vehicle body, a transport part which extends upward obliquely from the end of the raking and sweeping part and whose top is above the garbage temporary storage box, and a circulation part which returns from the transport part to the raking and sweeping part, and a plurality of raking claws are arranged on the outer sides of the raking and sweeping part in the same direction and at intervals, and the arrangement direction of the raking claws is consistent with the oblique upward direction of the transport part.

[0013] The raking and sweeping cleaning module in this optional solution can effectively clean up beach garbage, and can also effectively clean up garbage buried in the sand.

[0014] In an optional solution of the beach garbage cleaning vehicle, the garbage temporary storage box includes a cleaning chamber and a compression chamber. In this optional solution, the garbage can be cleaned in the cleaning chamber first, and then compressed in the compression chamber to reduce the occupied space and facilitate subsequent transportation and processing.

[0015] In an optional solution of the beach garbage cleaning vehicle, the bottom of the cleaning chamber is a screen. In this optional solution, the screen can be used to clean up the garbage, so that the sand and fine particles in the garbage remain on the beach.

[0016] In an optional solution of the beach garbage cleaning vehicle, an eccentric motor is installed below the screen, and the output shaft of the eccentric motor is connected to the screen through a connecting rod. The setting of the eccentric motor is more helpful to make sand and fine particles fall off from the garbage.

[0017] In an optional solution of the beach garbage cleaning vehicle, a camera module is further included that is communicatively connected to the main controller, and the camera module is used to obtain beach surface image information and send it to the main controller. This optional solution enables the beach garbage cleaning vehicle to more clearly grasp the real-time scene of the beach.

[0018] In an optional solution of the beach garbage cleaning vehicle, a beach environment monitoring module and / or a seawater quality monitoring module are also included; the beach environment monitoring module and the seawater quality monitoring module are respectively connected to the main controller. This optional solution can sense the quality and pollution of seawater, as well as the real-time climate conditions, weather changes and environmental conditions of the beach in real time.

[0019] In an optional solution of the beach garbage cleaning vehicle, the beach environment monitoring module includes one or any combination of a temperature sensor, a humidity sensor, and an air pressure sensor;

[0020] The seawater quality monitoring module includes a water quality sensor for monitoring the pH value, dissolved oxygen content and salinity of seawater.

[0021] In an optional solution of the beach garbage cleaning vehicle, a communication module is further included, and the main controller communicates with the intelligent terminal or the remote server through the communication module. This optional solution can realize remote monitoring, command transmission and data transmission of the beach garbage cleaning vehicle.

[0022] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 It is a principle block diagram of this application;

[0025] Figure 2 It is a structural schematic diagram of a rake-sweeping cleaning module. DETAILED DESCRIPTION

[0026] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0027] In the description of the present utility model, unless otherwise specified and limited, it should be noted that the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a mechanical connection or an electrical connection, or it can be the internal connection of two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0028] like Figure 1As shown, the utility model provides a beach garbage cleaning vehicle, including a vehicle body, the vehicle body including a chassis and wheels, the chassis is the main structure of the robot, and supports other components of the entire robot. It has sufficient strength and stability to withstand the movement and cleaning work of the robot under different terrains. The wheels are designed to be anti-skid and anti-corrosion materials to ensure that the robot can travel stably on the beach. The wheels are connected to the chassis through a suspension system, which plays a role in shock absorption and the internal structure of the vehicle. The suspension system includes components such as springs and shock absorbers, which can absorb the impact caused by uneven terrain and collisions and protect the electronic equipment in the vehicle.

[0029] The vehicle body is provided with an environment sensing module, a driving module, a garbage cleaning device, a garbage temporary storage box and a main controller.

[0030] The environment sensing module is used to sense the terrain information and / or obstacle location information of the beach surface. The environment sensing module is electrically connected to the main controller and sends the terrain information and / or obstacle location information of the beach surface to the main controller. In this embodiment, the environment sensing module includes various sensors mounted on the vehicle body, including but not limited to laser radar and / or distance sensor. Distance sensor and laser radar can help the robot detect obstacles in the surrounding environment to avoid collision or jamming.

[0031] The driving module is used to drive the wheels to move the vehicle body and drive the garbage cleaning device to clean up the garbage. In this embodiment, the main controller is connected to the driving module to control the driving module to drive the vehicle body to move and / or drive the garbage cleaning device to clean up the garbage. The driving module includes but is not limited to one or any combination of a motor driver, a hydraulic driver, and a pneumatic driver, which receive the control signal sent by the main controller, generate corresponding power and movement, so as to realize the beach garbage cleaning vehicle's travel, steering, cleaning and other operations. When the distance sensor or laser radar detects that there is an obstacle in the driving direction of the beach garbage cleaning vehicle, the main controller controls the driving module to act and drives the wheels to change the driving direction. In order to enable the beach garbage cleaning vehicle to better change the driving direction, the wheels are preferably but not limited to universal wheels. In this embodiment, the technology for driving the wheels to travel and turn by the driving module can adopt the existing technology.

[0032] In this embodiment, it is preferred but not limited to use the STM32F103RCT6 single-chip microcomputer as the core controller of the driving module. With its excellent performance and rich peripheral interfaces, the stability and efficiency of the driving module are ensured. Its main task is to receive motion instructions from the main controller and communicate with the main controller through the SPI communication interface to achieve real-time transmission of information. Once the instruction is received, the STM32RCT6 single-chip microcomputer will parse the instruction and control the movement of the car according to the instruction content. ST MThe powerful performance and flexible programming ability of 32RCT6 microcontroller provide reliable guarantee for the successful operation of the whole project.

[0033] In order to achieve precise control of the garbage sweeper, the drive module also integrates a motor drive circuit. These circuits are responsible for converting the control signal of the single-chip microcomputer into a drive signal that the motor can recognize, thereby driving the movement of the sweeper. In this embodiment, the motor drive circuit can use an existing conventional drive circuit.

[0034] The garbage cleaning device is installed on the vehicle body through the cleaning device bracket. In this embodiment, the cleaning device bracket is a structural frame installed on the front of the vehicle body. The main bracket of the beach cleaning robot is built with aluminum alloy profiles, which has the advantages of lightness, corrosion resistance, and easy processing. By selecting appropriate profile specifications and bolting, a stable and reliable frame structure can be constructed. The design takes into account lightweight, structural strength, anti-corrosion treatment and modularization, and uses CAD software and finite element analysis software for auxiliary design and verification. Processing methods include cutting, bending, welding and surface treatment. In the end, a sturdy and durable main bracket that meets the functional requirements of the robot can be created to help it efficiently complete cleaning tasks in a beach environment.

[0035] The garbage cleaning device includes a rake-sweeping cleaning module, such as Figure 2 As shown, the rake-sweep cleaning module includes a conveyor belt arranged on the vehicle body and capable of driving a rotating shaft 2 for closed-loop circulation through a motor 3. The conveyor belt includes a rake-sweep part 1 arranged at the bottom of the vehicle body, a transport part 6 which is inclined upward from the end of the rake-sweep part 3 and whose top is above the temporary garbage storage box, and a circulation part 5 which is returned from the transport part 6 to the rake-sweep part 3. The rake-sweep part 1, the transport part 6 and the outer side of the circulation part 5 are all arranged in the same direction and at intervals, and the arrangement direction of the rake-claw 4 is consistent with the inclined upward direction of the transport part 6. The rotation direction of the rotating shaft 2 is opposite to the rotation direction of the wheels when the robot moves forward. The rake-claw 4 will move with the conveyor belt, insert into the surface of the beach, and separate the garbage from the sand. When the rake-claw 4 hooks up the garbage, the garbage will fall on the conveyor belt, and the operation of the conveyor belt will transport the garbage upward and finally send it into the temporary garbage storage box.

[0036] The temporary garbage storage box is arranged on the vehicle body, and the main controller controls the driving module to drive the garbage cleaning device to send the garbage into the temporary garbage storage box. In this embodiment, the temporary garbage storage box includes a cleaning chamber and a compression chamber. Among them, the bottom of the cleaning chamber is a screen, which can screen out sand, fine particles, etc. In order to better screen out sand, fine particles, etc. in the garbage, an eccentric motor is installed under the screen, and the output of the eccentric motor is connected to the screen through a connecting rod. When the eccentric motor rotates, the centrifugal force generated will drive the screen to vibrate left and right. Through the vibration of the screen, sand and fine particles fall off the garbage and are left on the beach through the holes of the screen, and the garbage remains in the cleaning chamber.

[0037] A spiral conveyor is arranged above the screen, and the garbage in the cleaning bin is rotated by the spiral conveyor and sent into the compression bin. The compression bin is equipped with a compression device to compress the garbage to reduce the occupied space and facilitate subsequent transportation and processing. The compressed garbage can be stored and processed more efficiently.

[0038] In this embodiment, the main controller is preferably but not limited to Raspberry Pi.

[0039] In order to better protect the beach environment, this embodiment has a preferred solution: a beach environment monitoring module and / or a seawater quality monitoring module are also provided; the beach environment monitoring module and the seawater quality monitoring module are respectively connected to the main controller. Among them, the beach environment monitoring module includes one or any combination of a temperature sensor, a humidity sensor, and an air pressure sensor, which can sense the climate conditions, weather changes and environmental conditions of the beach in real time, and send them to the main controller; the seawater quality monitoring module includes a pH sensor, a dissolved oxygen content sensor, and a salinity sensor for monitoring seawater, which can sense the quality and pollution level of seawater in real time to help assess the health of the marine environment. In this embodiment, the temperature sensor is preferably but not limited to DS18B20, the humidity sensor is preferably but not limited to BME280, the air pressure sensor is preferably but not limited to BMP280; the pH sensor is preferably but not limited to Atlas Scientific pH Sensor-EZO TM -pH Circuit, the dissolved oxygen content sensor is preferably but not limited to Atlas Scientific Dissolved Oxygen Sensor-EZO TM -DOCircuit, the salinity sensor is preferably but not limited to Atlas Scientific Conductivity Sensor-EZO TM -EC Circuit. When the pH value of seawater exceeds the safe range or the dissolved oxygen content is too low, the main controller will sound an alarm and record relevant data. The main controller can also record and store beach environment monitoring data and water quality monitoring data for generating monitoring reports and analysis. These reports can help relevant departments understand the quality of seawater and take timely measures to protect the marine environment. A human-computer interaction display screen electrically connected to the main controller can also be set on the main body of the vehicle. The human-computer interaction display screen can provide real-time beach environment monitoring data and water quality monitoring data to the operator. The operator can understand the climate conditions and environmental status of the beach at any time to adjust the cleaning strategy and task plan.

[0040] The main controller can also communicate with the intelligent terminal or remote server through the communication module to realize data transmission and remote control. The communication module includes but is not limited to one or any combination of Wi-Fi, Bluetooth, Zigbee.

[0041] The beach garbage cleaning vehicle is equipped with a high-efficiency solar panel installed on the upper surface of the vehicle body to maximize the reception of sunlight energy. The solar panel is electrically connected to a battery storage module, which is used to store the electrical energy converted by the solar panel and power the beach garbage cleaning vehicle.

[0042] The beach garbage cleaning vehicle is also equipped with a global positioning system GPS and / or a Beidou satellite navigation system BDS electrically connected to the main controller to determine the position and direction of the robot. At the same time, an inertial navigation system IMU is also provided, which is electrically connected to the main controller and can help the robot monitor its own motion status in real time.

[0043] In order to better identify the garbage, a camera module is also set on the vehicle body to communicate with the main controller. The camera module is used to obtain beach surface image information and send it to the main controller. The main controller identifies the garbage based on existing machine learning methods. It also helps to provide accurate targets and guidance for the cleaning operation, which makes the cleaning process more efficient and accurate, and also reduces the demand for human resources.

[0044] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0045] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A beach garbage cleaning vehicle, comprising a vehicle body and a garbage cleaning device arranged on the vehicle body, characterized in that: Also included are: An environmental perception module, used to perceive terrain information of the beach surface and / or obstacle location information; A driving module, used for driving the vehicle body to move and driving the garbage cleaning device to clean up garbage; A main controller, the environment sensing module is connected to the main controller and sends the terrain information of the beach surface and / or the obstacle location information to the main controller; The main controller is connected to the driving module, and controls the driving module to drive the vehicle body to move and / or drive the garbage cleaning device to clean up garbage; The garbage temporary storage box is arranged on the vehicle body, and the driving module drives the garbage cleaning device to send the garbage into the garbage temporary storage box.

2. The beach garbage cleaning vehicle according to claim 1, characterized in that: The garbage cleaning device includes a raking and sweeping cleaning module, which includes a conveyor belt arranged on the vehicle body and can be driven by a motor to rotate the shaft for closed-loop circulation, the driving module controls the rotation of the motor, the conveyor belt includes a raking and sweeping part arranged at the bottom of the vehicle body, a transport part which extends upward obliquely from the end of the raking and sweeping part and whose top is above the garbage temporary storage box, and a circulation part which returns from the transport part to the raking and sweeping part, and a plurality of raking claws are arranged on the outer sides of the raking and sweeping part in the same direction and at intervals, and the arrangement direction of the raking claws is consistent with the oblique upward direction of the transport part.

3. The beach garbage cleaning vehicle according to claim 1, characterized in that: The garbage temporary storage box comprises a cleaning bin and a compression bin.

4. The beach garbage cleaning vehicle according to claim 3, characterized in that: The bottom of the cleaning bin is a screen.

5. The beach garbage cleaning vehicle according to claim 4, characterized in that: An eccentric motor is installed below the screen, and the output shaft of the eccentric motor is connected to the screen through a connecting rod.

6. The beach garbage cleaning vehicle according to claim 1, characterized in that: It also includes a camera module which is communicatively connected to the main controller, and the camera module is used to obtain beach surface image information and send it to the main controller.

7. The beach garbage cleaning vehicle according to claim 1, characterized in that: It also includes a beach environment monitoring module and / or a seawater quality monitoring module; the beach environment monitoring module and the seawater quality monitoring module are respectively connected to the main controller.

8. The beach garbage cleaning vehicle according to claim 7, characterized in that: The beach environment monitoring module includes one or any combination of a temperature sensor, a humidity sensor, and an air pressure sensor; The seawater quality monitoring module includes a water quality sensor for monitoring the pH value, dissolved oxygen content and salinity of seawater.

9. The beach garbage cleaning vehicle according to claim 1, characterized in that: It also includes a communication module, and the main controller communicates with the intelligent terminal or the remote server through the communication module.

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