River floating object intercepting device

Abstract

The utility model discloses a river floating object intercepting device, and belongs to the field of river floating object cleaning, and the device comprises a camera shooting unit which is used for carrying out the video data collection of river floating objects; the intercepting unit is used for acquiring the data acquired by the camera shooting unit, intercepting the floating objects in the river channel and conveying the floating objects to a slag collecting net; the slag collecting net can receive and fix the floating objects conveyed by the intercepting unit, the slag collecting net is fixed on the river surface, and an opening is formed in the upstream face of the slag collecting net; the intercepting unit comprises a control cabinet, a mechanical arm fixed to the control cabinet and an intercepting assembly located at the tail end of the mechanical arm. The control cabinet can control the intercepting assembly through the mechanical arm to intercept and convey the river channel floating objects. The intercepting assembly comprises an intercepting net telescopic rod, an angle adjuster and an intercepting net, and the angle adjuster is located between the intercepting net telescopic rod and the intercepting net and can control the angle between the intercepting net telescopic rod and the intercepting net.

Description

Technical Field

[0001] The present application relates to the field of floating object interception. Background Art

[0002] Floating objects in rivers mainly include household garbage, fallen leaves, packaging bags, wrapping paper and small animal carcasses. These materials floating in rivers not only affect water quality and damage the water ecology, but also affect the survival of fish, shrimp, aquatic plants and other organisms. At the same time, some plastic waste and toxic substances that are difficult to degrade naturally will be carried downstream by the water flow, affecting the ecological environment of the river basin, and even washed into the ocean, causing harm to marine life. Therefore, how to intercept and clean up floating objects in rivers is an important issue in modern water ecology protection.

[0003] In current production applications, various cleaning equipment and interception equipment are used in the cleaning of floating objects in rivers. For example, manual salvage, cleaning with various boats with trawl facilities, small automatic cleaning boats, river interception nets and interception buoys, etc. Although the investment in manual salvage is simple, it has the highest cost and the lowest efficiency, and it is impossible to achieve 24-hour interception and cleaning, so it is difficult to clean up the floating objects; although the cleaning boats with trawl nets and the automatic cleaning boats developed in recent years are more efficient, the investment is also large, and they cannot operate day and night, and it is difficult to achieve a thorough cleaning effect; interception nets and interception buoys have low investment costs, but they can only achieve interception, and the cleaning work must rely on manual water operations to complete, and the later labor costs are high. At the same time, for rivers with navigation needs or flood seasons, interception will hinder shipping or facilities will be damaged by floods.

[0004] As human society becomes more and more aware of and demands higher requirements for water ecological environment, the need for river floating debris management is becoming more and more urgent. However, as labor costs are getting higher and higher, the method of investing human resources to clean up river floating debris is not only costly, but also has safety hazards. Therefore, it is particularly important for the market to develop a river floating debris cleaning equipment with low labor input and low operating costs. Some existing interception devices have problems such as low interception efficiency and easy to miss interception. Summary of the invention

[0005] The purpose of this application is to solve the problems in the prior art and disclose a river floating object interception device, including:

[0006] A camera unit, which is used to collect video data of floating objects in the river;

[0007] An interception unit, which obtains the data collected by the camera unit, and is capable of intercepting floating objects in the river and transporting them to a slag collection network;

[0008] The slag collecting net can receive and fix the floating objects transported by the interception unit. The slag collecting net is fixed on the river surface, and the water-facing surface of the slag collecting net has an opening.

[0009] In a preferred embodiment, the interception unit includes a control cabinet, a manipulator fixed on the control cabinet, and an interception component located at the end of the manipulator. The control cabinet can control the interception component through the manipulator to intercept and transport floating objects in the river; the interception component includes an interception net telescopic rod, an angle adjuster and an interception net. The angle adjuster is located between the interception net telescopic rod and the interception net, and can control the angle between the interception net telescopic rod and the interception net.

[0010] In a preferred solution, the control cabinet is fixed to the river bank by bolts and cement.

[0011] In a preferred embodiment, the robot comprises a base fixed on a control cabinet, a power assembly connected to the base, a mechanical shoulder, and a mechanical forearm. The mechanical shoulder is connected to the power assembly via a connecting rotating shaft, so that the mechanical shoulder can rotate relative to the power assembly; the mechanical shoulder and the mechanical forearm are connected via a connecting rotating shaft, and the mechanical forearm can rotate relative to the mechanical shoulder.

[0012] In a preferred embodiment, the angle adjuster and the interception net are fixedly connected, the telescopic rod of the interception net can rotate axially relative to the angle adjuster, the angle adjuster is provided with a first gear, the telescopic rod of the interception net is fixed with a second gear, the first gear and the second gear can mesh, the first gear can be driven to rotate, and the second gear and the telescopic rod of the interception net can rotate relative to the angle adjuster.

[0013] In a preferred embodiment, the interception net is an arc-shaped mesh made of fine steel wire and has an arc-shaped concave surface.

[0014] In a preferred embodiment, the interception net is 80-100 cm wide and 30-50 cm high.

[0015] In a preferred embodiment, the slag collecting net is made of a fine steel wire mesh with a pore size of 2-4 cm.

[0016] The interception device provided by the present application can operate fully automatically and around the clock, and the manipulator can also be on standby and in operation 24 hours a day, which solves the problem of high manual cleaning costs and incomplete cleaning caused by the inability to intercept 24 hours a day. The accuracy rate is high and the number of missed catches is small. The equipment can adjust the parameters at any time according to the water flow speed and water level, and the interception net is designed with room for width, so floating objects can be accurately intercepted and caught. It does not affect flood discharge and navigation during the flood season. The device occupies a small space in the river channel. For areas with flood discharge functions or heavy rain, since the equipment does not form an obstacle to the water surface, it will neither damage the equipment nor affect flood discharge. For rivers where ships pass through, it does not affect the navigation function. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the utility model;

[0018] Figure 2 is a schematic diagram of the interception unit;

[0019] Figure 3 is a schematic diagram of a camera unit;

[0020] Figure 4 It is a schematic diagram of the control cabinet;

[0021] Figure 5 It is a schematic diagram of the slag collection network;

[0022] Figure 6 It is a schematic diagram of the telescopic rod of the interception net;

[0023] Figure 7 It is a schematic diagram of the interception network;

[0024] Figure 8 is a schematic diagram of the angle adjuster;

[0025] Markings in the figure: 100 - camera unit, 200 - interception unit, 210 - control cabinet, 220 - manipulator, 221 - base, 222 - power assembly, 223 - mechanical shoulder, 224 - mechanical forearm, 230 - interception assembly, 231 - interception net telescopic rod, 232 - angle adjuster, 2321 - first gear, 2322 - second gear, 233 - interception net, 300 - slag collection net. DETAILED DESCRIPTION

[0026] The present application is described in detail below in conjunction with the accompanying drawings.

[0027] like Figure 1As shown, this embodiment discloses a river floating object interception device, including a camera unit 100, an interception unit 200, and a slag collection net 300; the camera unit 100 is used to collect video data of river floating objects; the interception unit 200 obtains the data collected by the camera unit, and can intercept the river floating objects and transport them to the slag collection net 300; the slag collection net 300 can receive and fix the floating objects transported from the interception unit, and the slag collection net 300 is fixed on the river surface, and the water-facing surface of the slag collection net 300 has an opening.

[0028] Specifically, Figure 3 As shown, the camera unit 100 is preferably an AI video probe, which is located 10-10 meters upstream of the interception unit 200. 3 About 20 meters, the specific position is determined according to the flow rate and width of the river. The wider the river, the longer the reaction time of the manipulator. The distance between the position detected by the AI ​​video probe and the operation of the manipulator should be sufficient so that the manipulator has enough reaction time. Taking the river flow rate of 1M / s, the river width of 12 meters, and the manipulator extension speed of 1.5M / s as an example, the manipulator starts from the standby area 1.5M away from the river bank and reaches the other side of the river 0.5M away from the shore. The extension time is 6.7 seconds. The AI ​​video system detects the floating objects flowing down the opposite bank of the manipulator, and then instructs the manipulator to extend to the opposite bank. It takes at least more than 6.7 seconds. We set it to 8 seconds, that is, the manipulator has 1.3 seconds to wait for the floating objects in place. In this way, the installation location of the AI ​​video system should be greater than or equal to 8 meters away from the downstream manipulator. Therefore, it is more appropriate to set it at a conservative distance of 10 meters. Generally speaking, the equipment should not be installed in areas with irregular shapes in the river channel. Therefore, floating objects on the river surface will maintain a relatively stable distance from the river bank while drifting with the waves for 10 meters, allowing the robot to accurately intercept and pick up the floating objects.

[0029] Continue, such as Figure 2 As shown, the interception unit 200 includes a control cabinet 210, a manipulator 220 fixed on the control cabinet 210, and an interception assembly 230 located at the end of the manipulator 220. The control cabinet 210 can control the interception assembly 230 through the manipulator 220 to intercept and transport floating objects in the river; in a preferred solution, the control cabinet 210 is fixed to the river bank by bolts and cement to ensure the stable operation of the entire equipment. Preferably, the control cabinet is a box body, including a program control system, an AI host, a power system, etc., which can be an existing control cabinet.

[0030] The manipulator 220 includes a base 221 fixed on the control cabinet 210, a power assembly 222 connected to the base 221, a mechanical shoulder 223, and a mechanical forearm 224. The mechanical shoulder 223 is connected to the power assembly 222 through a connecting rotating shaft, so that the mechanical shoulder 223 can rotate relative to the power assembly 222; the mechanical shoulder 223 and the mechanical forearm 224 are connected through a connecting rotating shaft, and the mechanical forearm 224 can rotate relative to the mechanical shoulder 223. Usually, the manipulator is used to intercept small floating objects on the water surface with a mass of less than 3KG, so it is made of light hard materials such as aluminum alloy and carbon fiber as much as possible to reduce costs and increase the telescopic speed. When the manipulator receives the command issued by the AI ​​host, it immediately telescopes to the specified position according to the command to implement the interception. The program can be set to intercept X times, or if no new command is received, the manipulator must return to the standby position, release the intercepted floating objects and standby until the command is received again.

[0031] Continue as Figure 2 As shown, the interception assembly 230 includes an interception net telescopic rod 231, an angle adjuster 232 and an interception net 233. The interception net telescopic rod 231 can be automatically adjusted and extended according to the water level of the water surface; the angle adjuster 232 is located between the interception net telescopic rod 231 and the interception net 233, and can control the angle between the interception net telescopic rod 231 and the interception net 233. The angle adjuster is responsible for synchronously adjusting the angle of the interception net according to the extended position of the manipulator; more specifically, the angle adjuster 232 is fixedly connected to the interception net 233, and the interception net telescopic rod 231 can adjust the angle relative to the interception net. The adjuster 232 rotates axially, and the angle adjuster 232 is provided with a first gear 2321, and the interception net telescopic rod 231 is fixed with a second gear 2322, and the first gear 2321 and the second gear 2322 can mesh, and the first gear 2321 can be driven to rotate, thereby causing the second gear 2322 and the interception net telescopic rod 231 to rotate relative to the angle adjuster 232. Specifically, the first gear 2321 is connected to a motor fixed on the angle adjuster 232, and the motor can be remotely controlled by the control cabinet to adjust the angle between the interception net telescopic rod 231 and the angle adjuster 232. The angle adjuster can be fixedly connected to the interception net 233 by connecting bolts, etc.

[0032] like Figure 2 As shown, the interception net is an arc-shaped mesh, made of fine steel wire material, and has an arc-shaped concave surface. In a preferred embodiment, the interception net is 80-100 cm wide and 30-50 cm high, and two-thirds of it is under the water surface and one-third is on the water surface during operation.

[0033] like Figure 1 and Figure 2As shown, the slag collecting net 300 is made of a fine steel wire mesh with an aperture of 2-4 cm, and the opening is in a trumpet shape.

[0034] For example, in a more specific scenario, the AI ​​video probe of this embodiment detects floating objects on the river surface. The image recognition algorithm of the AI ​​host determines whether it is an interception target. Then, using the river bank at the end of the video probe as a reference, it calculates that the exact distance from the river bank is 6 meters and the movement speed is 1 meter per second, and then issues an interception command.

[0035] The manipulator is in standby mode. After receiving the command from the AI ​​host, it will immediately respond to the extension. At the same time, the interception net originally in the standby angle (the angle with the water flow direction is preferably 95-105 degrees, and the convex part faces the water flow) starts to rotate to the working angle (perpendicular to the water flow direction, the concave part faces the water flow, and the rotation speed is preferably 1 week / 12 seconds) under the action of the slow motor. After turning to the working angle, the program continues to control the motor rotation so that the interception net is in the interception angle at any position where the manipulator is extended. The manipulator extends to the designated position to intercept the floating objects. After staying for 1 second, it starts to shrink and return to the standby mode. When it returns to the position 3 meters away from the shore, the AI ​​host indicates that there are floating objects 10 meters away from the shore. The AI ​​commands the manipulator to stop returning, and according to the distance 3 meters from the shore, it stops for 2 seconds and then starts to extend. It extends to the position 10 meters away from the shore to wait for the interception of floating objects. After intercepting the floating objects, it stays for 1 second, and the manipulator starts again to return to the standby mode. One second after the manipulator returns to the standby position, the AI ​​host instructs the interception net to return to the standby angle. At this time, the floating objects intercepted twice in the interception net leave the interception net and enter the slag collection net under the push of the water flow, and the manipulator waits for the next instruction. The slag collection net is partially on the water surface and partially below the surface. The opening faces the water flow. Once the floating objects enter, they will no longer be pushed out of the net by the water flow. When a certain amount of floating objects accumulate in the slag collection net, they are centrally cleaned. In practice, if the width of the river is within the range of 2-18 meters, the length of the mechanical shoulder, the length of the mechanical arm and the size of the interception net can be increased or decreased to meet the operational needs of different river widths. If the width of the river is between 19-36 meters, a set of equipment can be installed on each bank of the cross-section of the river surface, and floating objects can be intercepted through joint operations on both banks. If the river exceeds 36 meters, it is recommended to use this interception system as an auxiliary tool to intercept some floating objects, and other means can be used to intercept the remaining floating objects.

[0036] The above description is only 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 shall be included in the protection scope of the present invention.

Claims

1. A river floating object interception device, characterized in that: Included are: A camera unit (100) for collecting video data of floating objects in a river; An interception unit (200) acquires data collected by the camera unit and is capable of intercepting floating objects in the river channel and transporting them to a slag collection net (300); The slag collecting net (300) is capable of receiving and fixing floating objects delivered by the interception unit. The slag collecting net (300) is fixed on the river surface. The water-facing surface of the slag collecting net (300) has an opening. The interception unit (200) comprises a control cabinet (210), a manipulator (220) fixed on the control cabinet (210), and an interception assembly (230) located at the end of the manipulator (220); the control cabinet (210) can control the interception assembly (230) through the manipulator (220) to intercept and transport floating objects in the river; the interception assembly (230) comprises an interception net telescopic rod (231), an angle adjuster (232), and an interception net (233); the angle adjuster (232) is located between the interception net telescopic rod (231) and the interception net (233), and can control the angle between the interception net telescopic rod (231) and the interception net (233).

2. The river floating object interception device according to claim 1 is characterized in that: The control cabinet (210) is fixed on the river bank by means of bolts and cement.

3. The river floating object interception device according to claim 1, characterized in that: The manipulator (220) comprises a base (221) fixed on a control cabinet (210), a power assembly (222) connected to the base (221), a mechanical shoulder (223), and a mechanical forearm (224); the mechanical shoulder (223) is connected to the power assembly (222) via a connecting rotating shaft, so that the mechanical shoulder (223) can rotate relative to the power assembly (222); the mechanical shoulder (223) and the mechanical forearm (224) are connected via a connecting rotating shaft, and the mechanical forearm (224) can rotate relative to the mechanical shoulder (223).

4. The river floating object interception device according to any one of claims 1 to 3, characterized in that: The angle adjuster (232) and the intercepting net (233) are fixedly connected, and the intercepting net telescopic rod (231) can axially rotate relative to the angle adjuster (232). The angle adjuster (232) is provided with a first gear (2321), and the intercepting net telescopic rod (231) is fixed with a second gear (2322). The first gear (2321) and the second gear (2322) can be meshed, and the first gear (2321) can be driven to rotate, thereby causing the second gear (2322) and the intercepting net telescopic rod (231) to rotate relative to the angle adjuster (232).

5. The river floating object interception device according to claim 4, characterized in that: The interception net is an arc-shaped mesh made of fine steel wire and has an arc-shaped concave surface.

6. The river floating object interception device according to claim 4, characterized in that: The interception net is 80-100 cm wide and 30-50 cm high.

7. The river floating object interception device according to claim 4, characterized in that: The slag collecting net (300) is made of a fine steel wire mesh with a hole diameter of 2-4 cm.

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