Water surface cleaning device

Abstract

The utility model discloses a water surface cleaning device which comprises carriers, a first hook and a second hook, the first hook and the second hook are used for hanging a garbage recycling bag, through the design, the clearance space between the carriers is used for hanging the garbage recycling bag, in this way, space is saved, the garbage collection process is efficient and convenient, and the cleaning efficiency is improved. When the garbage recycling bag is full, a new garbage recycling bag can be rapidly replaced, cleaning work continues, the main control unit controls movement of the carrier, the main control unit can accurately control the moving path and speed of the carrier, it is ensured that the device can rapidly get close to and collect garbage on the water surface, and only the main control unit needs to be used for operation and control. The garbage collection work can be completed only by rotating the rotating shaft, the garbage can easily enter and adapt to various complex small-area water area environments, the number of cleaning personnel is remarkably reduced, the working time is remarkably shortened, the overall labor cost is reduced, and then the problem that the manual cleaning efficiency is low is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of ecological restoration and management, and more specifically, to a water surface cleaning device. Background Art

[0002] With the acceleration of the industrialization and urbanization processes, water pollution has become one of the key factors affecting the global ecological environment and human health. In China, although the water area treatment work has been continuously strengthened, the pollution indexes of water bodies such as rivers, lakes and reservoirs still show an increasing trend year by year, posing a severe challenge to the ecological balance and drinking water safety.

[0003] Traditionally, for the garbage cleaning of large water areas (such as rivers and oceans), mainly two methods of manual fishing and large hull fishing are adopted. Although these methods alleviate the pollution problem to a certain extent, their applicability is greatly reduced for park lakes and rivers with small areas and complex environments. First of all, large hulls are restricted in operation in narrow waters and it is difficult to operate flexibly. Secondly, manual fishing not only has a high labor intensity, but also has low efficiency. Especially when facing large-area and continuously generated water surface garbage, the labor cost is high and it is difficult to sustain.

[0004] In addition, relying on manual direct salvage or maintenance means such as water surface filters can keep the water surface clean to a certain extent, but also faces the problems of high cost and low efficiency. Manual salvage not only increases the labor cost expenditure, but also is limited by the physical strength and endurance of the operators and it is difficult to maintain a high-efficiency operation state for a long time. The water surface filter can automatically intercept some floating objects, but has a high maintenance cost and is easy to be blocked and needs to be cleaned frequently, further reducing the overall work efficiency. Content of the Utility Model

[0005] In order to overcome the deficiencies of the prior art, the utility model provides a water surface cleaning device to solve the problem of low efficiency of manual cleaning in small water areas.

[0006] The technical solution of the utility model is as follows: A water surface cleaning device includes:

[0007] Carriers, there are two carriers provided, the two carriers are arranged at intervals so that there is a gap between the two carriers, a first hook protruding into the gap is provided on one of the two carriers, and a second hook protruding into the gap is provided on the other of the two carriers, and the first hook and the second hook are used for hanging a garbage collection bag;

[0008] A main control unit, the main control unit is installed on the carrier, and the main control unit is used to drive the carrier to move to complete the operations of approaching the garbage and loading the garbage.

[0009] Further, the main control unit includes a main control chip, a camera module, and a power supply module. The main control chip, the camera module, and the power supply module are electrically connected. The camera module is used to obtain image information on the water surface and transmit the image information to the server. The main control chip is used to receive control instructions to control the movement of the carrier.

[0010] Further, a propeller thruster for driving the carrier to move on the water surface is provided at the rear end of each carrier. The propeller thruster is electrically connected to the power supply module.

[0011] Further, the carrier includes a floating board assembly, a support board, and a support frame. The support board is fixedly installed on the side surface of the floating board assembly. The support frame is erected on the upper ends of the two floating board assemblies. The main control unit is arranged on the upper end of the support frame.

[0012] Further, the floating board assembly includes a foam floating board, a bottom board, and a connecting board. The bottom board is arranged at the lower end of the foam floating board. The connecting board is arranged at the upper end of the foam floating board. The connecting board and the support board are fixedly connected by a right-angle connecting piece. The connecting board and the support frame are fixedly connected by a right-angle connecting piece.

[0013] Further, the power supply module includes a solar panel and a lithium battery. The solar panel is connected to the lithium battery.

[0014] Further, the main control unit further includes a GPS module and a WiFi module. Both the GPS module and the WiFi module are connected to the main control chip. The GPS module is used to obtain coordinate data and transmit the coordinate data to the main control chip. The main control chip and the camera module are communicatively connected through the WiFi module.

[0015] Further, the main control chip is an STM32F103 microcontroller.

[0016] Further, the camera module includes an OpenMV machine vision camera. The OpenMV machine vision camera is electrically connected to the main control chip.

[0017] Further, both the first hook and the second hook are U-shaped hooks.

[0018] For the utility model according to the above solution, its beneficial effects are as follows:

[0019] (1) A water surface cleaning device provided by the present utility model includes carriers. There are two carriers, and the two carriers are arranged at intervals so that there is a gap between the two carriers. One of the two carriers is provided with a first hook protruding into the gap, and the other of the two carriers is provided with a second hook protruding into the gap. The first hook and the second hook are used for hanging a garbage collection bag. With such a design, the gap space between the carriers is utilized for hanging the garbage collection bag. This method not only saves space but also makes the garbage collection process efficient and convenient. When the garbage collection bag is full, a new garbage collection bag can be quickly replaced to continue the cleaning work. Secondly, the water surface cleaning device provided by the present utility model is small in volume and can easily enter and adapt to various complex small-area water environments, especially capable of carrying out cleaning activities in small-area waters such as narrow river channels and ponds.

[0020] (2) A water surface cleaning device provided by the present utility model controls the movement of the carriers through a main control unit. The main control unit can precisely control the movement path and speed of the carriers to ensure that the device can quickly approach and collect the garbage on the water surface. Compared with traditional cleaning methods, such as using a net or manually picking up garbage, the water surface cleaning device provided by the present utility model can complete the garbage collection work only by operating through the main control unit, significantly reducing the number of cleaning personnel and working hours, thereby reducing the overall labor cost and solving the problem of low efficiency of manual cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] Figure 1 It is a system block diagram of the water surface cleaning device in the embodiment of the present utility model;

[0023] Figure 2 It is a front view of the water surface cleaning device in the embodiment of the present utility model;

[0024] Figure 3 It is a schematic perspective structure diagram one of the water surface cleaning device in the embodiment of the present utility model;

[0025] Figure 4 It is a schematic perspective structure diagram two of the water surface cleaning device in the embodiment of the present utility model;

[0026] Figure 5 It is a circuit connection schematic diagram of the STM32F103 microcontroller in the embodiment of the present utility model;

[0027] Figure 6 Schematic diagram of the circuit connection of the WiFi module in the embodiment of the present utility model;

[0028] Figure 7 Schematic diagram of the circuit connection of the GPS module in the embodiment of the present utility model;

[0029] Figure 8 Schematic diagram of the circuit connection of the three - phase brushless electronic speed controller in the embodiment of the present utility model;

[0030] Figure 9 Schematic diagram of the circuit connection of the three - phase brushless motor in the embodiment of the present utility model;

[0031] In the figure, 1 is the carrier; 11 is the floating plate assembly, 111 is the foam floating plate, 112 is the bottom plate, 113 is the connecting plate; 12 is the support plate; 13 is the support frame; 2 is the first hook; 3 is the second hook; 4 is the main control unit; 5 is the propeller thruster; 6 is the right - angle connector; 7 is the solar panel; 8 is the OpenMV machine vision camera. Detailed implementation manners

[0032] The following further describes in detail the implementation manners of the present utility model in conjunction with the drawings and embodiments. The following detailed description of the embodiments and the drawings are used to exemplarily illustrate the principle of the present utility model, but cannot be used to limit the scope of the present utility model, that is, the present utility model is not limited to the described embodiments.

[0033] For a better understanding of the present utility model, the present utility model will be further described below in conjunction with the drawings and the implementation manners:

[0034] See Figures 1 to 4 As shown, a water surface cleaning device provided by an embodiment of the present utility model includes two carriers 1. The two carriers 1 are arranged at intervals so that there is a gap between the two carriers 1. One of the two carriers 1 is provided with a first hook 2 protruding into the gap, and the other of the two carriers 1 is provided with a second hook 3 protruding into the gap. The first hook 2 and the second hook 3 are used for hanging a garbage collection bag. In this embodiment, there are two first hooks 2, and the two first hooks 2 are arranged vertically. Similarly, there are two second hooks 3, and the two second hooks 3 are arranged vertically. Both the first hook 2 and the second hook 3 are U - shaped hooks. With such a design, when the bag mouths of the garbage collection bags are respectively hung on the two first hooks 2 and the two second hooks 3, it can ensure that the bag mouths of the garbage collection bags are always in an open state, thus facilitating the collection of garbage on the water surface into the garbage collection bags.

[0035] See Figure 1As shown, in the embodiment, the water surface cleaning device includes a main control unit 4, which is installed on the carrier 1. The main control unit 4 is used to drive the carrier 1 to move to complete the operations of approaching and loading garbage. Specifically, the main control unit 4 includes a main control chip, a camera module, a power supply module, a GPS module, and a WiFi module. The main control chip, the camera module, and the power supply module are electrically connected. The camera module is used to obtain image information on the water surface and transmit the image information to the server. The main control chip is used to receive control instructions to control the movement of the carrier 1; both the GPS module and the WiFi module are connected to the main control chip. The GPS module is used to obtain coordinate data and transmit the coordinate data to the main control chip. The main control chip and the camera module are communicatively connected through the WiFi module.

[0036] Preferably, the main control chip is an STM32F103 microcontroller, and the camera module includes an OpenMV machine vision camera 8, and the OpenMV machine vision camera 8 is electrically connected to the main control chip.

[0037] For further explanation, the embodiment of the present invention also provides a circuit diagram of the water surface cleaning device, which is as follows:

[0038] In this embodiment, the main control chip uses an STM32F103 microcontroller as the core controller, and realizes remote communication between the WiFi module and a mobile phone or a computer through the MQTT protocol. Two devices A and B are created in the server, and the two devices are subscribed to each other, so that the data uploaded by device A is automatically sent to device B after being uploaded. Device B is responsible for receiving the data uploaded by device A and parsing it to achieve remote image transmission and remote control.

[0039] See Figure 5 As shown, the PB0 pin and the PA1 pin of the STM32F103 microcontroller are connected to a three-phase brushless electronic speed controller, and the three-phase brushless underwater thruster is controlled by outputting the frequency and duty cycle within the motor drive range. The three-phase brushless underwater thruster obtains a reaction force by rotating the propeller, so that the carrier 1 can move on the water surface. The PA9 pin and the PA10 pin of the STM32F103 microcontroller are connected to the GPS module, so that the STM32F103 microcontroller and the GPS module perform serial communication. The GPS module transmits the current coordinate data to the STM32F103 microcontroller. After obtaining the coordinate data, the STM32F103 microcontroller analyzes it through an algorithm to obtain the current coordinate information.

[0040] In this embodiment, the main control unit 4 further includes an OpenMV vision recognition module. The OpenMV vision recognition module identifies floating objects by training a neural network. When a target piece of garbage is recognized, the OpenMV vision recognition module determines the target distance based on the change in the target pixel points captured by the OpenMV machine vision camera 8 and transmits an instruction to the STM32F103 microcontroller through the serial port to control the water surface cleaning device to approach the target garbage. In the cruise mode, the OpenMV vision recognition module actively sends an instruction to the WiFi module to transmit this data to the STM32F103 microcontroller, and controls the rotation speeds of the left and right three-phase brushless motors through the STM32F103 microcontroller to complete the operations of approaching the garbage and loading the garbage.

[0041] See Figure 2 and Figure 4 As shown, a propeller 5 for driving the carrier 1 to move on the water surface is provided at the rear end of each carrier 1, and the propeller 5 is electrically connected to the power supply module.

[0042] In this embodiment, the carrier 1 includes a floating board assembly 11, a support board 12, and a support frame 13. The support board 12 is fixedly installed on the side of the floating board assembly 11, the support frame 13 is erected on the upper ends of the two floating board assemblies 11, and the main control unit 4 is arranged on the upper end of the support frame 13. Specifically, the floating board assembly 11 includes a foam floating board 111, a bottom board 112, and a connecting board 113. The bottom board 112 is arranged at the lower end of the foam floating board 111, the connecting board 113 is arranged at the upper end of the foam floating board 111, and the connecting board 113 and the support board 12 are fixedly connected by a right-angle connector 6, and the connecting board 113 and the support frame 13 are fixedly connected by a right-angle connector 6.

[0043] It is worth mentioning that the foam floating board 111 in this embodiment is preferably a rigid floating board. Of course, those skilled in the art can also use a hollow microsphere composite material to replace the foam floating board 111. The hollow microsphere composite material is a porous material with low density and high strength, usually formed by compounding a buoyancy adjustment medium (such as hollow microspheres) with a high-strength resin. The hollow microspheres are filled with gas and can be divided into organic composite microspheres and inorganic composite microspheres according to the materials.

[0044] In this embodiment, the bottom plate 112 is arranged at the lower end of the foam floating plate 111, playing a role in reinforcement and stability. The bottom plate 112 can increase the structural strength of the floating plate assembly 11, preventing deformation or damage caused by water flow impact or external forces. Specifically, in order to enhance the connection firmness of the foam floating plate 111, the bottom plate 112 and the connecting plate 113, first, the foam floating plate 111, the bottom plate 112 and the connecting plate 113 are bonded together by a special resin, and then fixed by fixing screws. The special resin includes but is not limited to polyurethane glue, epoxy resin glue or waterproof adhesive designed specifically for the marine environment. Polyurethane glue and epoxy resin glue can ensure a seamless and durable bond between the foam floating plate 111, the bottom plate 112 and the connecting plate 113. After bonding and fixing, these special resins penetrate into the tiny gaps of each component, forming intermolecular forces, thereby firmly fixing the connecting plate 113 and the bottom plate 112 on the upper and lower end faces of the foam floating plate 111.

[0045] In this embodiment, a groove is cut in the foam floating plate 111 by a cutting method. A part of the propeller thruster 5 is embedded in the groove, and the propeller thruster 5 is fixed to the bottom plate 112 by screws.

[0046] In this embodiment, the power supply module includes a solar panel 7 and a lithium battery, and the solar panel 7 is connected to the lithium battery.

[0047] See Figure 5 and Figure 6 As shown, in this embodiment, the wireless control and image transmission are specifically as follows: Connect the PA3 pin of the STM32F103 microcontroller to the TXD pin of the WiFi module, and connect the RXD pin of the WiFi module to the TXD pin of the OpenMV machine vision camera 8. By sending instructions to devices subscribing to the same server topic, the WiFi module receives instructions from the server and conveys them to the STM32F103 microcontroller to execute relevant operations. The OpenMV machine vision camera 8 and the WiFi module transmit image information to the server through serial communication. The camera image of the current water surface cleaning device can be obtained by accessing the mirror browser of the image on the server.

[0048] In this embodiment, the driving method of the propeller thruster 5 is as follows: Connect the three-phase power supply of the propeller thruster 5 to the three-phase brushless electronic speed controller. The signal terminals of the three-phase brushless electronic speed controller A and B are respectively connected to the PB0 pin and the PA1 pin of the STM32F103 microcontroller. The STM32F103 microcontroller drives the rotation of the propeller thruster 5 (three-phase brushless motor) by continuously outputting PWM waves with frequencies and duty cycles within the driving range. When controlling the water surface cleaning device, only by controlling the PWM waves with different frequencies for the two three-phase brushless electronic speed controllers A and B can the speed difference of the left and right propeller thrusters 5 be controlled, thereby completing the control of the moving direction of the carrier 1.

[0049] See Figure 5 and Figure 7 As shown, in this embodiment, the RXD terminal of the GPS module is connected to the PA9 pin of the STM32F103 microcontroller, and the TXD terminal of the GPS module is connected to the PA10 pin of the STM32F103 microcontroller. The GPS module continuously sends the coordinate information of the current position to the STM32F103 microcontroller, and the STM32F103 microcontroller parses it after receiving the coordinate information.

[0050] See Figure 6 As shown, the OpenMV machine vision camera 8 is connected to the WiFi module. The image data obtained by the OpenMV machine vision camera 8 is transmitted to the user side through the WiFi module. In this embodiment, the camera has 1.28 million pixels, and the transmission protocol uses the MQTT protocol. The WIFI module is responsible for receiving the local picture collected from the camera, scaling the picture to 240*320, encoding it into the PEG format, transcoding it into base64, combining it into an MQTT message and uploading it to the server. The receiving end subscribes to the data uploaded by the WiFi module, parses the source format data after obtaining the data and renders the picture, and the user side can display the current image.

[0051] In this embodiment, the water surface cleaning device can achieve remote control, and the specific control process is as follows:

[0052] The PA3 pin of the TM32F103 microcontroller is connected to the TXD pin of the WiFi module. The user side sends instructions to the server through the control handle. The WiFi module receives the instructions from the server and transmits the instructions to the TM32F103 microcontroller. After receiving the instructions, the TM32F103 microcontroller performs related operations, outputs a PWM wave with a specific frequency and duty cycle to the three-phase brushless electronic speed controller, and then drives the three-phase brushless motor through the three-phase brushless electronic speed controller, so as to realize the remote control of the movement of the water surface cleaning device.

[0053] It is worth mentioning that the OpenMV vision recognition module completes the recognition of the floating garbage on the water surface through the database trained by the neural recognition network. The OpenMV vision recognition module analyzes the recognized water surface garbage pixel blocks to judge the position and distance of the water surface garbage. The OpenMV vision recognition module actively sends instructions to the WiFi module in the cruise mode to transmit the data to the main control to control the rotation speed of the left and right three-phase brushless motors to complete the operation of approaching the garbage and loading the garbage.

[0054] For further explanation, the embodiment of the present invention also provides the working process of the water surface cleaning device, which is specifically as follows:

[0055] After the GPS module obtains the coordinate information, the GPS module transmits the coordinate information to the TM32F103 microcontroller through the serial port. After receiving the data, the TM32F103 microcontroller parses it to obtain the current coordinates. The user terminal sends the cruise coordinate range. The TM32F103 microcontroller continuously compares the current coordinates with the target cruise coordinates, and continuously adjusts the speeds of the motors of the left and right propeller thrusters 5. And within the inspection range of the target center point set by the user, it performs an O-shaped trace from the target center point. After completing one circle of cruising, it adjusts the speed difference between the motors of the two propeller thrusters 5, thereby expanding the radius range of the O-shaped trace. If water surface garbage is recognized during the cruising process, the TM32F103 microcontroller will save the coordinates of the current water surface cleaning device and drive the water surface cleaning device to clean the recognized water surface garbage. After no water surface garbage is recognized within the visual range, the TM32F103 microcontroller will compare the current coordinates with the saved coordinates and return to the initial position. It should be noted that the water surface cleaning device provided by the embodiment of the present invention does not involve algorithm improvement, and the automatic control technology is common knowledge in the art. Therefore, it will not be elaborated here.

[0056] It is worth mentioning that the water surface cleaning device provided by the embodiment of the present invention has two modes: automatic cruise recognition and remote control cruise. The user terminal sends an instruction to start automatic cruise to the server through the WiFi module in the handle. After receiving the instruction, the TM32F103 microcontroller continuously obtains the coordinate information provided by the GPS module and compares it with the coordinate information of the set cruise center point. According to the coordinate difference between the two, the TM32F103 microcontroller calculates the shortest route to the center point through an algorithm, and continuously adjusts the frequency of the PWM wave output to the motors of the left and right propeller thrusters 5 to control the speed difference between the left and right propeller thrusters 5, so as to complete the control in the left and right directions. After reaching the cruise center point range, the water surface cleaning device will perform an O-shaped cruise in the set area range. After completing one circle of cruising, the water surface cleaning device will adjust the speed difference between the left and right propeller thrusters 5 again to expand the cruise radius within the range. If the camera recognizes water surface garbage during the cruising process, the TM32F103 microcontroller will save the current position coordinates. In visual recognition, the OpenMV visual recognition module will judge the distance position between the water surface garbage and the water surface cleaning device according to the continuously obtained pixel information of the recognized object, and adjust the speed difference between the left and right propeller thrusters 5 to complete the recovery of the water surface garbage. If no water surface garbage is recognized within the camera range, the TM32F103 microcontroller will compare the saved coordinate information with the information obtained by the current GPS module, and drive the two propeller thrusters 5 back to the saved coordinate position to continue the cruise operation.

[0057] It should be noted that the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is customarily placed during use, or the orientation or positional relationship commonly understood by those skilled in the art, or the orientation or positional relationship in which the product of this application is customarily placed during use. It is only for the convenience of describing this application and simplifying the description, rather than indicating or implying 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 construed as a limitation to this application.

[0058] It should be understood that those of ordinary skill in the art can make improvements or transformations according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of this utility model.

[0059] The above has made an exemplary description of this utility model patent in conjunction with the drawings. Obviously, the implementation of this utility model patent is not limited by the above methods. As long as various improvements are made by adopting the method concept and technical solution of this utility model patent, or the concept and technical solution of this utility model patent are directly applied to other occasions without improvement, they are all within the protection scope of this utility model.

Claims

1. A water surface cleaning device, characterized in that: include: A carrier (1), wherein two carriers (1) are provided, the two carriers (1) are spaced apart so that there is a gap between the two carriers (1), one of the two carriers (1) is provided with a first hook (2) protruding into the gap, and the other of the two carriers (1) is provided with a second hook (3) protruding into the gap, and the first hook (2) and the second hook (3) are used for hanging garbage recycling bags; A main control unit (4) is installed on the carrier (1), and the main control unit (4) is used to drive the carrier (1) to move so as to complete the operation of approaching the garbage and loading the garbage.

2. A water surface cleaning device as claimed in claim 1, characterized in that: The main control unit (4) comprises a main control chip, a camera module and a power supply module. The main control chip, the camera module and the power supply module are electrically connected. The camera module is used to obtain image information on the water surface and transmit the image information to a server. The main control chip is used to receive control instructions to control the movement of the carrier (1).

3. A water surface cleaning device as claimed in claim 2, characterized in that: A propeller propeller (5) for driving the carrier (1) to move on the water surface is provided at the rear end of each carrier (1), and the propeller propeller (5) is electrically connected to the power supply module.

4. A water surface cleaning device as claimed in claim 1, characterized in that: The carrier (1) comprises a floating plate assembly (11), a support plate (12) and a support frame (13); the support plate (12) is fixedly mounted on a side surface of the floating plate assembly (11); the support frame (13) is mounted on the upper ends of the two floating plate assemblies (11); and the main control unit (4) is arranged on the upper end of the support frame (13).

5. A water surface cleaning device as claimed in claim 4, characterized in that: The floating plate assembly (11) comprises a foam floating plate (111), a bottom plate (112) and a connecting plate (113); the bottom plate (112) is arranged at the lower end of the foam floating plate (111); the connecting plate (113) is arranged at the upper end of the foam floating plate (111); the connecting plate (113) and the support plate (12) are fixedly connected via a right-angle connector (6); and the connecting plate (113) and the support frame (13) are fixedly connected via a right-angle connector (6).

6. A water surface cleaning device as claimed in claim 3, characterized in that: The power supply module comprises a solar panel (7) and a lithium battery, and the solar panel (7) and the lithium battery are connected.

7. A water surface cleaning device as claimed in claim 3, characterized in that: The main control unit (4) further comprises a GPS module and a WiFi module, both of which are connected to the main control chip, the GPS module is used to obtain coordinate data and transmit the coordinate data to the main control chip, and the main control chip and the camera module are connected in communication via the WiFi module.

8. A water surface cleaning device as claimed in claim 3, characterized in that: The main control chip is a STM32F103 microcontroller.

9. A water surface cleaning device as claimed in claim 3, characterized in that: The camera module comprises an OpenMV machine vision camera (8), and the OpenMV machine vision camera (8) is electrically connected to the main control chip.

10. A water surface cleaning device as claimed in claim 3, characterized in that: The first hook (2) and the second hook (3) are both U-shaped hooks.

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