Water surface garbage fixed-point cruise automatic fishing device based on image recognition

Abstract

The utility model belongs to the technical field of hydraulic engineering, and provides a water surface garbage fixed-point cruise automatic salvaging device based on image recognition, which comprises an annular floating ship body, the garbage collecting device comprises a height monitoring part and gauze, the garbage collecting device further comprises a supporting ring arranged at the top of the inner ring of the annular floating ship body, the gauze is detachably connected to the supporting ring, and the gauze penetrates through the inner ring of the annular floating ship body and is immersed in the water body; the height monitoring part is used for monitoring whether the height of garbage in the gauze reaches the limited height or not. The salvage mechanism is used for salvaging garbage on the water surface and pouring the salvaged garbage into gauze; the camera is arranged on the annular floating ship body and is used for identifying the water surface garbage and positioning the position of the water surface garbage; and the solar panel is arranged on the annular floating ship body. The fishing device is simple and reasonable in structure, suitable for being used in small rivers and lakes, and capable of automatically recognizing garbage on the water surface and automatically fishing the garbage.

Description

Technical Field

[0001] The utility model belongs to the technical field of water conservancy engineering, and in particular relates to a fixed-point cruising automatic salvaging device for surface garbage based on image recognition. Background Art

[0002] The pollution of urban and domestic waste in the city’s rivers has a huge impact on the city’s appearance, polluting water sources. If the inland river is also navigable, floating garbage will pose a more serious threat to the safety of life and property of passing passengers and ships, and even affect the normal operation of power stations near hydropower stations and reservoirs.

[0003] At present, the cleaning of water surface garbage at home and abroad mainly adopts two methods: manual salvage and mechanical salvage. Manual salvage is completed by sanitation workers, with high labor intensity, poor working environment, and no guarantee of personal safety. It is not only difficult to clean up, but also has high comprehensive costs. It is also unable to control the water hyacinth and other marine pollution that breaks out during heavy rain and typhoon seasons. Mechanical salvage devices have obvious disadvantages such as intermittent, clumsy, and time-consuming, and cannot meet the needs of cleaning small rivers, lakes and other water surface garbage.

[0004] Patent CN202022708075.9 discloses an unmanned boat surface garbage salvage device, including an unmanned boat body, a cabin is arranged at the upper end of the unmanned boat body, a surface garbage collection mechanism extending above the cabin is installed obliquely at the front end of the unmanned boat body, and a balancing water chamber is arranged at the lower end of the unmanned boat body, which can adjust the draft of the unmanned boat according to the salvage needs, thereby adjusting the salvage depth of the salvage mechanism at the front side of the unmanned boat. However, the device still needs to be controlled manually, and cannot realize automatic garbage identification and accurate garbage absorption. At the same time, the length of the device is still long, which is not suitable for maneuvering in small rivers and has low flexibility. Utility Model Content

[0005] The purpose of the utility model is to provide a fixed-point cruising automatic salvaging device for surface garbage based on image recognition to solve the above-mentioned problems, achieve a simple and reasonable structure, be suitable for use in small rivers and lakes, and automatically identify surface garbage and automatically salvage it.

[0006] To achieve the above purpose, the utility model provides the following solution: a fixed-point cruise automatic salvage device for surface garbage based on image recognition, comprising:

[0007] Ring-shaped floating hull;

[0008] A garbage collection device, the garbage collection device comprising a height monitoring component and a gauze arranged inside the annular floating hull, and also comprising a plurality of brackets fixedly connected to the top of the inner ring of the annular floating hull, a support ring being fixedly connected between the tops of the plurality of brackets, the gauze being detachably connected to the support ring, the gauze passing through the inner ring of the annular floating hull and immersed in the water body, the height monitoring component being used to monitor whether the height of the garbage in the gauze reaches a limit height;

[0009] A salvaging mechanism, the salvaging mechanism is arranged on the outside of the annular floating hull, and the salvaging mechanism is used to salvage garbage on the water surface and pour the salvaged garbage into the gauze;

[0010] A camera, the camera being arranged on the annular floating hull, the camera being used to identify surface garbage and locate the position of the surface garbage;

[0011] A solar panel is arranged on the annular floating hull.

[0012] Preferably, the plurality of brackets are respectively inclined toward the inner side of the annular floating hull, and the angle between the bracket and the axis of the annular floating hull is 45 degrees.

[0013] Preferably, the height monitoring device includes two groups of opposing photoelectric sensors fixedly connected to the support ring, the two groups of opposing photoelectric sensors are symmetrically arranged about the axis of the annular floating hull, and the two groups of opposing photoelectric sensors are used to monitor whether the height of the garbage accumulated in the gauze exceeds the support ring.

[0014] Preferably, the salvage mechanism includes a first motor drive box fixedly connected to the outside of the annular floating hull, a telescopic rod is fixedly connected to the rotating shaft of the first motor drive box, a salvage net is provided at one end of the telescopic rod away from the rotating shaft, and the first motor drive box pours the garbage in the salvage net into the gauze by rotating the telescopic rod.

[0015] Preferably, the telescopic rod is fixedly connected to an outer frame at one end away from the rotating shaft, and hinge seats are respectively hinged on two opposite side walls of the outer frame, the rotation axes of the two hinge seats are parallel to the axis of the rotating shaft, an inner frame is fixedly connected between the two hinge seats, the salvage net is fixedly connected between the inner frames, and a limiting member is arranged between the hinge seat and the outer frame. Before the outer frame rotates from a horizontal state to a vertical state around the rotating shaft driven by the telescopic rod, the inner frame is always in a horizontal state, and the outer frame continues to rotate around the rotating shaft driven by the telescopic rod, and the limiting member makes the outer frame and the inner frame relatively still, so that the garbage in the inner frame is poured into the gauze.

[0016] Preferably, a second supporting bracket is fixedly connected to the bottom of the annular floating hull, and a power supply mechanism and a control unit are fixedly connected to the bottom of the second supporting bracket.

[0017] Preferably, two groups of propellers are arranged at the bottom of the annular floating hull, and the two groups of propellers are symmetrically arranged about the axis of the annular floating hull. Two groups of motor drive assemblies are arranged in the annular floating hull, and the two groups of motor drive assemblies are respectively used to drive the two groups of propellers to rotate.

[0018] Compared with the prior art, the utility model has the following advantages and technical effects: since the gauze is in the middle of the annular floating hull and is submerged in water, the salvaged garbage floats together with the annular floating hull in the gauze, and the weight of the annular floating hull itself does not change as the salvage proceeds, which can greatly reduce the driving resistance and energy consumption; the main function of the height monitoring component is to monitor whether the garbage accumulated in the gauze has reached the restricted height; the main function of the image acquisition mechanism is to identify the surface garbage and locate the position of the surface garbage, so that the annular floating hull can automatically travel to the salvage position. On the whole, the salvage device of the utility model has a simple and reasonable structure, is energy-saving and environmentally friendly, and is suitable for use in small rivers and lakes. At the same time, it can automatically identify the surface garbage and automatically salvage it, and then automatically return after the surface garbage is salvaged to the set amount. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 It is a front sectional view of the salvage device of the utility model;

[0021] Figure 2 It is a rear view of the salvage device of the utility model;

[0022] Figure 3 It is a top view of the salvage device of the utility model;

[0023] Figure 4 It is a schematic diagram of the salvage mechanism of the utility model;

[0024] Figure 5 This is a schematic diagram of the connection between the outer frame and the inner frame of the utility model;

[0025] Figure 6 for Figure 5 A partial enlarged view in FIG.

[0026] Figure 7 This is a schematic diagram of the state of the inner frame when the outer frame of the utility model is in a vertical state;

[0027] Figure 8 for Figure 7 A partial enlarged view of B in FIG.

[0028] Fig. 9 This is a schematic diagram of the control unit of the utility model;

[0029] Among them, 1. annular floating hull; 2. camera; 3. solar panel; 4. salvage mechanism; 5. first support bracket; 6. second support bracket; 7. power supply mechanism; 8. controller; 9. bracket; 10. support ring; 11. garbage collection device; 12. propeller; 13. through-beam photoelectric sensor; 14. first motor drive box; 15. rotating shaft; 16. first hydraulic rod; 17. second hydraulic rod; 18. salvage net; 19. gauze; 21. outer frame; 22. inner frame; 23. hinged seat; 24. arc groove; 25. barrier rod. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0031] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0032] Reference Figure 1-Figure 9 The utility model provides a fixed-point cruise automatic salvaging device for surface garbage based on image recognition, comprising:

[0033] annular floating hull 1;

[0034] The garbage collecting device 11 includes a height monitoring component and a gauze 19 arranged on the inner side of the annular floating hull 1, and also includes a plurality of brackets 9 fixedly connected to the top of the inner circle of the annular floating hull 1, a support ring 10 is fixedly connected between the tops of the plurality of brackets 9, the gauze 19 is detachably connected to the support ring 10, the gauze 19 passes through the inner circle of the annular floating hull 1 and is immersed in the water body, and the height monitoring component is used to monitor whether the height of the garbage in the gauze 19 reaches the limit height;

[0035] A salvaging mechanism 4 is arranged outside the annular floating hull 1, and is used to salvage garbage on the water surface and pour the salvaged garbage into the gauze 19;

[0036] Camera 2, the camera 2 is arranged on the annular floating hull 1, and the camera 2 is used to identify the garbage on the water surface and locate the position of the garbage on the water surface;

[0037] The solar panel 3 is arranged on the annular floating hull 1 .

[0038] The annular floating hull 1 adopts a swimming ring type, which can increase buoyancy and facilitate overall force balance. The main function of the gauze 19 is to hold the salvaged surface garbage; because the gauze 19 is in the middle of the annular floating hull 1 and is immersed in water, the salvaged garbage floats together with the annular floating hull 1 in the gauze 19. As the salvage proceeds, the weight of the annular floating hull 1 itself will not change, which can greatly reduce the driving resistance and energy consumption; the main function of the height monitoring component is to monitor whether the garbage accumulated in the gauze 19 reaches the limit height; the main function of the salvage mechanism 4 is to salvage the garbage floating on the water surface into the gauze 19; the main function of the camera 2 is to identify the surface garbage and locate the position of the surface garbage, so that the annular floating hull 1 can automatically travel to the salvage position. On the whole, the salvage device of the utility model has a simple and reasonable structure, is energy-saving and environmentally friendly, and is suitable for use in small rivers and lakes. At the same time, it can automatically identify the surface garbage and automatically salvage it. After the surface garbage is salvaged to a set amount, it can automatically return.

[0039] A further optimized solution further includes a control unit, which is used to control the operation of the annular floating hull 1 and the salvaging mechanism 4. The control unit includes a controller 8 and a signal transceiver module.

[0040] According to a further optimization scheme, a plurality of brackets 9 are respectively inclined toward the inner side of the annular floating hull 1, and the angle between the brackets 9 and the axis of the annular floating hull 1 is 45 degrees.

[0041] To further optimize the solution, the height monitoring device includes two groups of opposing photoelectric sensors 13 fixedly connected to the support ring 10, the two groups of opposing photoelectric sensors 13 are symmetrically arranged about the axis of the annular floating hull 1, and the two groups of opposing photoelectric sensors 13 are used to monitor whether the height of the garbage accumulated in the gauze 19 exceeds the support ring 10.

[0042] like Figure 2 and Figure 3As shown, the mesh holes on the gauze 19 can prevent the garbage from leaking out while allowing water to enter the gauze 19, so that the water level in the gauze 19 is at the same height as the water level of the river. The opening of the gauze 19 is at the same height as the support ring 10. The salvaged garbage enters the gauze 19 and floats on the water surface, moving with the annular floating hull 1. Different from the conventional method of stacking garbage into the hull, this method of dragging garbage can reduce the driving resistance of the annular floating hull 1. The inward-inclined bracket 9 can prevent the garbage in the gauze 19 from leaking out of the support ring 10 during the drifting process.

[0043] like Figure 3 As shown, when there is less garbage in the gauze 19, it will not block the transmission of optical signals between the two photoelectric sensors 13. When the salvage mechanism 4 dumps the garbage, the time when the garbage falls and blocks the signal of the photoelectric sensor 13 is short. When the two photoelectric sensors 13 do not receive signals for a long time, it means that the garbage has been piled up to the same plane as the support ring 10. At this time, the garbage blocks the transmission and reception of optical signals between the two photoelectric sensors 13. After that, the controller 8 controls the annular floating hull 1 to return.

[0044] To further optimize the solution, the support ring 10 can be provided with a plurality of clips to clamp the gauze 19, and can also be provided with a plurality of penetration rods, which are passed through the mesh holes on the gauze 19 to fix the gauze 19. At the same time, the above solution can also ensure that the gauze 19 can be quickly removed from the support ring 10.

[0045] A further optimized solution is that the salvage mechanism 4 includes a first motor drive box 14 fixedly connected to the outside of the annular floating hull 1, a telescopic rod is fixedly connected to the rotating shaft 15 of the first motor drive box 14, a salvage net 18 is provided at one end of the telescopic rod away from the rotating shaft 15, and the first motor drive box 14 pours the garbage in the salvage net 18 into the gauze 19 by rotating the telescopic rod.

[0046] A further optimization scheme is that the end of the telescopic rod away from the rotating shaft 15 is fixedly connected to the outer frame 21, and hinge seats 23 are hinged on the two opposite side walls of the outer frame 21, and the rotation axes of the two hinge seats 23 are parallel to the axis of the rotating shaft 15. An inner frame 22 is fixedly connected between the two hinge seats 23, and the salvage net 18 is fixedly connected between the inner frames 22. A limiting member is arranged between the hinge seat 23 and the outer frame 21. Before the outer frame 21 rotates from a horizontal state to a vertical state around the rotating shaft 15 driven by the telescopic rod, the inner frame 22 is always in a horizontal state. The outer frame 21 continues to rotate around the rotating shaft 15 driven by the telescopic rod, and the limiting member makes the outer frame 21 and the inner frame 22 relatively still, so that the garbage in the inner frame 22 is poured into the gauze 19.

[0047] In a further optimized solution, the stopper includes a blocking rod 25 fixedly connected to the outer frame 21, an arc groove 24 is provided on a hinge seat 23, the axis around which the arc groove 24 is arranged coincides with the axis of the hinge seat 23, and the blocking rod 25 is slidably connected in the hinge seat 23. When the outer frame 21 is in a horizontal state, the blocking rod 25 fits with one end of the arc groove 24, and when the outer frame 21 is in a vertical state, the blocking rod 25 fits with the other end of the arc groove 24.

[0048] like Figure 4-Figure 6 As shown, in the non-salvage state, the telescopic rod is in a vertical state, and the outer frame 21 is located underwater and in a horizontal state. When the annular floating hull 1 drives the salvage net 18 to run to the garbage to be salvaged, the first motor drive box 14 drives the outer frame 21 to rotate around the rotating shaft 15 through the telescopic rod. Before the outer frame 21 rotates to the vertical state, the blocking rod 25 slides relatively in the arc groove 24. Since the blocking rod 25 does not contact the edge of the arc groove 24, the inner frame 22 can always rotate relative to the outer frame 21, so that the inner frame 22 is always in a horizontal state under the action of gravity. As the outer frame 21 continues to flip toward the direction of the gauze 19, the blocking rod 25 abuts against one end of the arc groove 24. At this time, the hinge seat 23 abuts against the blocking rod 25. At this time, the outer frame 21 continues to increase the angle of flipping, and the inner frame 22 will flip synchronously toward the direction of the gauze 19, so that the garbage in the salvage net 18 is smoothly poured into the gauze 19.

[0049] A further optimized solution is that the telescopic rod includes two groups of parallelly arranged first hydraulic rods 16 and two groups of parallelly arranged second hydraulic rods 17, one end of the two groups of first hydraulic rods 16 are respectively fixedly connected to the rotating shaft 15, the other end of the two groups of first hydraulic rods 16 are respectively fixedly connected to one end of the two groups of second hydraulic rods 17, and the other end of the two groups of second hydraulic rods 17 are respectively fixedly connected to the outer frame 21.

[0050] The depth of the outer frame 21 from the water surface can be adjusted by the first hydraulic rod 16 and the second hydraulic rod 17 to better meet the needs of garbage disposal.

[0051] According to a further optimized solution, the bottom of the annular floating hull 1 is fixedly connected to a second supporting bracket 6, and the bottom of the second supporting bracket 6 is fixedly connected to a power supply mechanism 7 and a control unit.

[0052] like Figure 1 As shown, the controller 8, the signal transceiver module and the power supply mechanism 7 are all made of sealed plastic as the outer shell to prevent the influence of flowing water on the power supply mechanism 7 and the controller 8. At the same time, the controller 8, the signal transceiver module and the power supply mechanism 7 are arranged at the lower part of the annular floating hull 1, which can improve the stability during the driving process.

[0053] According to a further optimization scheme, two sets of propellers 12 are arranged at the bottom of the annular floating hull 1, and the two sets of propellers 12 are symmetrically arranged about the axis of the annular floating hull 1. Two sets of motor drive components are arranged in the annular floating hull 1, and the two sets of motor drive components are respectively used to drive the two sets of propellers 12 to rotate.

[0054] like Figure 2 As shown, two groups of motor drive components (not shown in the figure) respectively control the rotation of two groups of propellers 12, so as to realize the control of the annular floating hull 1 to move forward, backward and turn.

[0055] According to a further optimization scheme, a first supporting frame 5 is fixedly connected to the annular floating hull 1 , and a solar panel 3 is fixedly connected to the first supporting frame 5 . The solar panel 3 is used to charge the power supply mechanism 7 .

[0056] like Figure 3 As shown, the solar panel 3 can charge the power supply mechanism 7 during the salvaging process to extend the use time.

[0057] The working process of this embodiment is as follows:

[0058] The operator inputs the geographical information of the river into the controller 8 through the signal transceiver module, and the controller 8 takes typical points to determine the movement route.

[0059] After the route is determined, the controller 8 drives the propeller 12 to rotate through two sets of motor drive components, so that the annular floating hull 1 starts to move. At the same time, the camera 2 identifies the surface garbage, determines the location of the surface garbage, and transmits the location information to the controller 8. The controller 8 controls the two sets of motor drive components to drive the annular floating hull 1 to the surface garbage, so that the salvage net 18 is below the surface garbage. After that, the controller 8 controls the first motor drive box 14 to operate, and drives the outer frame 21 and the inner frame 22 to flip through the first hydraulic rod 16 and the second hydraulic rod 17, and pours the garbage into the gauze 19.

[0060] When the garbage in the gauze 19 accumulates to the point where it blocks the signal received by the photoelectric sensor 13, it means that the garbage height has reached the height limit. At this time, the controller 8 controls the annular floating hull 1 to return. The operator removes the gauze 19 filled with garbage from the support ring 10 and replaces it with a new gauze 19 to continue garbage salvaging.

[0061] In the description of the present invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0062] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A fixed-point cruise automatic salvage device for surface garbage based on image recognition, characterized in that: include: Ring-shaped floating hull (1); A garbage collection device (11), the garbage collection device (11) comprising a height monitoring component and a gauze (19) arranged on the inner side of the annular floating hull (1), and also comprising a plurality of brackets (9) fixedly connected to the top of the inner ring of the annular floating hull (1), a support ring (10) being fixedly connected between the tops of the plurality of brackets (9), the gauze (19) being detachably connected to the support ring (10), the gauze (19) passing through the inner ring of the annular floating hull (1) and immersed in the water body, and the height monitoring component being used to monitor whether the height of the garbage in the gauze (19) reaches a limit height; A salvaging mechanism (4), the salvaging mechanism (4) being arranged on the outside of the annular floating hull (1), the salvaging mechanism (4) being used to salvage garbage on the water surface and pour the salvaged garbage into the gauze (19); A camera (2), the camera (2) being arranged on the annular floating hull (1), the camera (2) being used to identify surface garbage and locate the position of the surface garbage; A solar panel (3), wherein the solar panel (3) is arranged on the annular floating hull (1).

2. According to claim 1, a fixed-point cruise automatic salvaging device for surface garbage based on image recognition is characterized in that: The plurality of brackets (9) are respectively inclined toward the inner side of the annular floating hull (1), and the angle between the brackets (9) and the axis of the annular floating hull (1) is 45 degrees.

3. According to claim 1, a fixed-point cruise automatic salvaging device for surface garbage based on image recognition is characterized in that: The height monitoring component comprises two groups of opposing photoelectric sensors (13) fixedly connected to the support ring (10), the two groups of opposing photoelectric sensors (13) being symmetrically arranged about the axis of the annular floating hull (1), and the two groups of opposing photoelectric sensors (13) being used to monitor whether the height of the garbage accumulated in the gauze (19) exceeds the support ring (10).

4. According to claim 1, a fixed-point cruise automatic salvaging device for surface garbage based on image recognition is characterized in that: The salvaging mechanism (4) comprises a first motor drive box (14) fixedly connected to the outside of the annular floating hull (1); a telescopic rod is fixedly connected to the rotating shaft (15) of the first motor drive box (14); a salvaging net (18) is provided at one end of the telescopic rod away from the rotating shaft (15); the first motor drive box (14) pours garbage in the salvaging net (18) into the gauze (19) by rotating the telescopic rod.

5. According to claim 4, a fixed-point cruise automatic salvaging device for surface garbage based on image recognition is characterized in that: An end of the telescopic rod away from the rotating shaft (15) is fixedly connected to an outer frame (21); two opposite side walls of the outer frame (21) are respectively hinged with hinge seats (23); the rotation axes of the two hinge seats (23) are parallel to the axis of the rotating shaft (15); an inner frame (22) is fixedly connected between the two hinge seats (23); the salvaging net (18) is fixedly connected between the inner frame (22); a limiting member is arranged between the hinge seat (23) and the outer frame (21); before the outer frame (21) rotates from a horizontal state to a vertical state around the rotating shaft (15) driven by the telescopic rod, the inner frame (22) is always in a horizontal state; the outer frame (21) continues to rotate around the rotating shaft (15) driven by the telescopic rod; the limiting member makes the outer frame (21) and the inner frame (22) relatively still, so that the garbage in the inner frame (22) is poured into the gauze (19).

6. According to claim 1, a fixed-point cruise automatic salvaging device for surface garbage based on image recognition is characterized in that: The bottom of the annular floating hull (1) is fixedly connected to a second supporting frame (6), and the bottom of the second supporting frame (6) is fixedly connected to a power supply mechanism (7) and a control unit.

7. According to claim 1, a fixed-point cruise automatic salvaging device for surface garbage based on image recognition, characterized in that: Two groups of propellers (12) are arranged at the bottom of the annular floating hull (1), and the two groups of propellers (12) are symmetrically arranged about the axis of the annular floating hull (1). Two groups of motor drive components are arranged inside the annular floating hull (1), and the two groups of motor drive components are respectively used to drive the two groups of propellers (12) to rotate.

Images