Unmanned ship capable of greatly improving cleaning efficiency

Abstract

The unmanned ship capable of greatly improving the cleaning efficiency comprises a ship body and a propeller arranged at the tail of the ship body, a garbage basket device capable of automatically ascending and descending is installed in the middle of the ship body, a garbage containing opening is formed in the front portion of the ship body, the garbage containing opening is located in front of the garbage basket device, and the propeller is arranged at the tail of the ship body. And a foldable floating extension arm is arranged on each of the two sides of the garbage storage opening. According to the unmanned ship, the foldable floating extension arms are arranged on the two sides of the garbage storage opening respectively, the garbage collection range of the unmanned ship can be enlarged, and therefore the cleaning efficiency can be greatly improved; in addition, the garbage basket device can be automatically lifted, and when garbage needs to be cleaned ashore, the garbage basket device is automatically lifted to be separated from the water surface, so that a worker can clean the garbage more conveniently, and the problem that the garbage in the garbage basket is difficult to take out is solved.

Description

Technical Field

[0001] The utility model relates to the field of surface garbage cleaning, in particular to an unmanned ship that can greatly improve the cleaning efficiency. Background Art

[0002] The cleaning of garbage in existing rivers and lakes mostly relies on the operation mode of manually driving a boat to fish with a scoop net. The existing unmanned cleaning boats generally have the problem of narrow garbage collection range, resulting in low cleaning efficiency; at the same time, the existing unmanned cleaning boats also have the problem that the garbage in the garbage basket is difficult to take out. Summary of the Invention

[0003] The technical problem to be solved by the utility model is to provide an unmanned ship that can greatly improve the cleaning efficiency, and solve the problems of narrow garbage collection range and difficult removal of garbage in the garbage basket existing in the existing unmanned cleaning boats.

[0004] To solve the above technical problems, the utility model adopts the following technical scheme:

[0005] An unmanned ship that can greatly improve the cleaning efficiency, which includes a hull and a propeller arranged at the tail of the hull, and is characterized in that: an automatically liftable garbage basket device is installed in the middle of the hull, a garbage receiving port is arranged at the front of the hull, the garbage receiving port is located in front of the garbage basket device, and a foldable floating extension arm is arranged on each side of the garbage receiving port.

[0006] Preferably, the garbage basket device includes a garbage basket, a front support arm, a rear support arm and an electric push rod are arranged on each side of the garbage basket, one end of the front support arm is rotatably connected to the garbage basket, the other end of the front support arm is rotatably connected to the hull, one end of the rear support arm is rotatably connected to the garbage basket, the other end of the rear support arm is rotatably connected to the hull, the front support arm, the garbage basket, the rear support arm and the hull on each side of the garbage basket are connected to form a parallelogram linkage mechanism, the electric push rod is rotatably installed on the garbage basket or the hull, and the push rod of each electric push rod is correspondingly rotatably connected to a front support arm.

[0007] Preferably, two symmetrically arranged switch doors are installed at the opening position of the head of the garbage basket, and the switch doors are rotatably connected to the garbage basket through spring hinges; a rear door that can be rotated outward to open is installed at the opening position of the tail of the garbage basket.

[0008] Preferably, the floating extension arm includes an extension arm bracket, a first-stage rotary joint, a first-stage water surface floating extension arm, a second-stage rotary joint, a second-stage water surface floating extension arm, and a buffer rubber plate, which are connected in sequence. Among them, the first-stage water surface floating extension arm is rotatably connected to the extension arm bracket through the first-stage rotary joint, and the second-stage water surface floating extension arm is rotatably connected to the first-stage water surface floating extension arm through the second-stage rotary joint.

[0009] Preferably, the first-stage rotary joint includes a motor, a speed reducer, a rotary extension arm, and an angle encoder. The motor, the speed reducer, and the angle encoder are fixedly installed on the extension arm bracket. The rotary extension arm is fixedly connected to the first-stage water surface floating extension arm. The output shaft of the motor is connected to the rotary extension arm through the output shaft of the speed reducer. A driving gear is installed at the shaft end of the rotary extension arm, and a driven gear is installed on the output shaft of the angle encoder. The driving gear and the driven gear are meshed, and the angle encoder is communicatively connected to the main control box of the unmanned ship.

[0010] Preferably, the first-stage water surface floating extension arm includes a metal square tube, a foaming elastic floating body installed below the metal square tube, and an interception net installed below the foaming elastic floating body.

[0011] Preferably, two floating balls are provided below the second-stage rotary joint, and one floating ball is provided below the connection between the second-stage water surface floating extension arm and the buffer rubber plate.

[0012] Preferably, the hull includes a left hull, a right hull, and a ship head fixedly connected to the left hull and the right hull respectively. The left hull and the right hull are each divided into a battery compartment and a filling compartment for filling anti-sinking EPE from top to bottom. The buoyancy formed by the anti-sinking EPE filled in the filling compartment of the left hull is greater than the weight of the left hull, and the buoyancy formed by the anti-sinking EPE filled in the filling compartment of the right hull is greater than the weight of the right hull.

[0013] Preferably, a lidar, a millimeter-wave radar, a GPS antenna, a camera, and an electronic compartment are provided on the hull. A main control box is provided in the electronic compartment. The main control box is communicatively connected to the lidar, the millimeter-wave radar, the GPS antenna, and the camera respectively.

[0014] Preferably, the hull includes a left hull, a right hull, and a ship head fixedly connected to the left hull and the right hull respectively. A steerable vector thruster and a fixed-angle thruster are installed at the tail of the left hull and the tail of the right hull respectively.

[0015] The beneficial technical effects of the present utility model are as follows: For the above-mentioned unmanned ship that can greatly improve the cleaning efficiency, by arranging a foldable floating extension arm on each side of the garbage collection opening, the garbage collection range of the unmanned ship can be increased, thereby greatly improving the cleaning efficiency; in addition, the garbage basket device can be automatically lifted. When the garbage needs to be cleaned ashore, the garbage basket device automatically lifts out of the water, which makes it more convenient for the staff to clean the garbage and solves the problem that it is difficult to take out the garbage in the garbage basket. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 FIG. is a schematic structural view of the unmanned ship that can greatly improve the cleaning efficiency of the present utility model;

[0017] Figure 2 FIG. is a schematic structural view of the floating extension arm of the present utility model;

[0018] Figure 3 FIG. is a schematic structural view of the extension arm bracket, the first-stage rotary joint and the first-stage water surface floating extension arm of the present utility model;

[0019] Figure 4 is Figure 3 partial enlarged view of;

[0020] Figure 5 FIG. is a schematic structural view of the garbage basket device of the present utility model. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] To enable those of ordinary skill in the art to more clearly understand the purpose, technical solutions and advantages of the present utility model, the following further elaborates the present utility model in conjunction with the drawings and embodiments.

[0022] The present utility model provides an unmanned ship that can greatly improve the cleaning efficiency.

[0023] As Figure 1 shown, in an embodiment of the present utility model, the unmanned ship that can greatly improve the cleaning efficiency includes a hull 100 and a propeller arranged at the tail of the hull 100. An automatically liftable garbage basket device 300 is installed in the middle of the hull 100. A garbage collection opening 111 is provided at the front of the hull 100. The garbage collection opening 111 is located in front of the garbage basket device 300. A foldable floating extension arm 200 is provided on each side of the garbage collection opening 111.

[0024] As Figure 1As shown in the figure, electronic components such as lidar, millimeter-wave radar, GPS antenna, and camera are integrated on the hull 100 to provide information data such as obstacle avoidance and positioning for the ship. In this embodiment, the hull 100 adopts a catamaran structure, that is, the hull 100 includes a left hull 130, a right hull 120, and a bow 110 fixedly connected to the left hull 130 and the right hull 120 respectively. The garbage collection port 111 is arranged at the front of the bow 110. A steerable vector thruster and a fixed-angle thruster are installed at the tail of each of the left hull 130 and the right hull 120. In this embodiment, a vector thruster is installed inside the tail of the left hull 130 (on the side close to the garbage basket device 300), and a fixed-angle thruster is installed outside the tail of the left hull 130; a vector thruster is installed inside the tail of the right hull 120 (on the side close to the garbage basket device 300), and a fixed-angle thruster is installed outside the tail of the right hull 120.

[0025] As Figure 1 shown in the figure, an electronic compartment 104 is configured on the top of the bow 110. A lidar 101 is installed in front of the electronic compartment 104. A millimeter-wave radar 103 and a camera 112 are arranged in front of the bow 110 above the garbage collection port 111. A millimeter-wave radar 105 is arranged on the outside of each of the left hull 130 and the right hull 120. Among them, the camera 112 is used to detect the distance between the garbage on the water surface in front of the unmanned ship and the unmanned ship. The lidar 101, millimeter-wave radar 103, and millimeter-wave radar 105 cooperate to collect map data of the ship's surrounding environment in real time, providing data support for operations such as path planning and obstacle avoidance. The bow 110 is also provided with 2 GPS antennas 102 and a seat 106. The 2 GPS antennas 102 are correspondingly located on both sides behind the electronic compartment 104 to provide real-time positioning for the ship; the seat 106 is installed behind the electronic compartment 104 to provide a seating position for the preliminary debugging of the ship and the later conversion to manned driving. A main control box is arranged in the electronic compartment 104. The main control box is respectively communicatively connected to the lidar 101, millimeter-wave radar 103, millimeter-wave radar 105, GPS antenna 102, and camera 112 to collect data and issue control instructions for the entire ship to perform unmanned operations in real time.

[0026] Both the left hull 130 and the right hull 120 are divided into a battery compartment and a filling compartment for filling anti-sinking EPE from top to bottom. A battery, a power line and a signal line running through the front and back are installed in the battery compartment. See Figure 1, the battery compartment of the right hull 120 is provided with a front hatch 107 and a rear hatch 108, which can be manually opened to maintain the internal wiring harness of the battery compartment; the battery compartment of the left hull 130 has the same structure as the battery compartment of the right hull 120 and is also provided with a front hatch and a rear hatch. The buoyancy formed by the anti-sinking EPE filled in the filling compartment of the left hull 130 is greater than the weight of the left hull 130. Its function is that when the bottom of the left hull 130 is damaged and water enters, it can still float on the water surface and continue to sail; the buoyancy formed by the anti-sinking EPE filled in the filling compartment of the right hull 120 is greater than the weight of the right hull 120. Its function is that when the bottom of the right hull 120 is damaged and water enters, it can still float on the water surface and continue to sail.

[0027] As Figures 2 - 4 shown, the floating extension arm 200 includes a sequentially connected extension arm bracket 201, a first-stage rotary joint 210, a first-stage water surface floating extension arm 220, a second-stage rotary joint 230, a second-stage water surface floating extension arm 240, and a buffer rubber plate 250. Among them, the first-stage water surface floating extension arm 220 is rotatably connected to the extension arm bracket 201 through the first-stage rotary joint 210, and the second-stage water surface floating extension arm 240 is rotatably connected to the first-stage water surface floating extension arm 220 through the second-stage rotary joint 230. The first-stage water surface floating extension arm 220 includes a metal square tube 221, a foamed elastic floating body 222 installed below the metal square tube 221, and an interception net 223 installed below the foamed elastic floating body 222. In this embodiment, the metal square tube 221 is formed by connecting 2 sections of stainless steel square tubes. The stainless steel square tube has a certain weight and requires the buoyancy of the foamed elastic floating body 222 to support it, so that the entire first-stage water surface floating extension arm 220 remains floating on the water surface. The structure of the second-stage water surface floating extension arm 240 is the same as that of the first-stage water surface floating extension arm 220 and will not be elaborated here. The floating extension arm 200 can perform actions such as stretching and opening / folding and retracting according to the working conditions. When the floating extension arm 200 stretches and opens, the extension arm bracket 201, the first-stage rotary joint 210, the first-stage water surface floating extension arm 220, the second-stage rotary joint 230, the second-stage water surface floating extension arm 240, and the buffer rubber plate 250 can be connected in series to form a straight long arm with a length of more than 7 meters. By arranging a foldable floating extension arm 200 on both sides of the garbage collection port 111, the garbage collection range of the unmanned ship can be increased, thereby greatly improving the cleaning efficiency.

[0028] In a preferred embodiment of the utility model, the first-stage water-floating extension arm 220 can be divided into multiple short extension arms, which are connected by axle pins and can rotate with each other, so that they can naturally bend on the water surface in accordance with the waves on the water surface to prevent garbage leakage; a cylindrical float is installed at the bottom of the extension arm to provide buoyancy for the extension arm to float on the water surface; an interception net is installed at the bottom of the cylindrical float with a certain depth to prevent garbage from overflowing and leaking from the bottom of the extension arm.

[0029] like Figure 3 As shown, two floats 231 are provided under the second-stage rotating joint 230, and the buoyancy of the two floats 231 is used to support the second-stage rotating joint 230 so that it floats on the water surface; a float 250 is provided under the connection between the second-stage water surface floating extension arm 240 and the buffer rubber plate 250, and the buoyancy of the float 250 is used to support the buffer rubber plate 250 so that it floats on the water surface.

[0030] like Figure 4 As shown, the first-stage rotating joint 210 is used to provide rotating power and angle data feedback for the first-stage floating extension arm 220. The first-stage rotating joint 210 includes a motor 211, a reducer 212, a rotating extension arm 216 and an angle encoder 213. The motor 211, the reducer 212 and the angle encoder 213 are fixedly mounted on the extension arm bracket 201. The rotating extension arm 216 is fixedly connected to the first-stage floating extension arm 220. The output shaft of the motor 211 is connected to the rotating extension arm 216 through the output shaft of the reducer 212, providing power for the rotating movement of the first-stage floating extension arm 220. The rotating extension arm 216 is equipped with bearings 217 (such as stainless steel deep groove ball bearings) at the top and bottom, with an inner diameter of the bearing of more than 50 mm and a bearing span of more than 200 mm, which provide support and limit for the rotating extension arm 216 and improve the rotation flexibility. A driving gear 215 is mounted on the shaft end of the rotating extension arm 216, and a driven gear 214 is mounted on the output shaft of the angle encoder 213. The driving gear 215 and the driven gear 214 are meshed with each other at a ratio of 1:1. When the rotating extension arm 216 rotates, the driving gear 215 rotates accordingly, and at the same time drives the driven gear 214 to rotate. The driven gear 214 drives the shaft of the angle encoder 213 to rotate, thereby transmitting the angle signal to the main control box for real-time angle data feedback.

[0031] The second-stage rotating joint 230 is used to provide rotating power and angle data feedback for the second-stage floating extension arm 240. The structure of the second-stage rotating joint 230 is the same as that of the first-stage rotating joint 210, and will not be described in detail here.

[0032] like Figure 5As shown in the figure, the trash basket device 300 includes a trash basket 302. On each side of the trash basket 302, there is a front support arm 305, a rear support arm 304, and an electric push rod 301. One end of the front support arm 305 is rotatably connected to the trash basket 302, and the other end of the front support arm 305 is rotatably connected to the hull 100. One end of the rear support arm 304 is rotatably connected to the trash basket 302, and the other end of the rear support arm 304 is rotatably connected to the hull 100. The front support arm 305, the trash basket 302, the rear support arm 304, and the hull 100 on each side of the trash basket 302 are connected to form a linkage mechanism of a parallelogram. The electric push rod 301 is rotatably installed on the trash basket 302 or the hull 100, and the push rod of each electric push rod 301 is correspondingly rotatably connected to a front support arm 305.

[0033] In this embodiment, the front support arms 305, the rear support arms 304, and the electric push rods 301 on both sides of the trash basket 302 are symmetrically distributed left and right. The trash basket 302 is supported by the electric push rods 301 and can perform lowering and lifting actions: during normal operation, the push rods of the electric push rods 301 retract, driving the trash basket 300 to descend to a depth of about 20 cm below the water surface for garbage collection; when the garbage needs to be cleaned ashore, the push rods of the electric push rods 301 extend, driving the trash basket 302 to move upward and backward, lifting the trash basket 302 out of the water to facilitate cleaning by personnel.

[0034] As Figure 5 shown in the figure, two symmetrically distributed switch doors 306 are installed at the head opening position of the trash basket 302. The switch doors 306 are rotatably connected to the trash basket 302 through spring hinges, so that the switch doors 306 have the function of self-resetting: when the trash basket 302 sinks underwater to collect garbage, the impact of the water flow causes the switch doors 306 to open, and the garbage enters the trash basket 302 with the water flow; when the ship stops, due to the action of the spring hinges, the switch doors 306 automatically close to prevent the garbage from leaking out of the hull. A rear door 303 is also installed at the tail opening position of the trash basket 302, which can be manually rotated outward to open, naturally forming a bottom tray to facilitate manual cleaning of the garbage.

[0035] The unmanned ship of the present utility model that can greatly improve the cleaning efficiency can increase the garbage collection range of the unmanned ship by arranging a foldable floating extension arm 200 on each side of the garbage receiving opening, thereby greatly improving the cleaning efficiency; in addition, the trash basket device 300 can be automatically lifted and lowered. When the garbage needs to be cleaned ashore, the trash basket device 300 automatically lifts out of the water, which can make it more convenient for the staff to clean the garbage and solve the problem that it is difficult to take out the garbage in the trash basket.

[0036] The above are only the preferred embodiments of the present utility model, rather than any form of limitation to the present utility model. Those skilled in the art can make various equivalent changes and improvements based on the above embodiments. Any equivalent changes or modifications made within the scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. An unmanned ship capable of greatly improving the cleaning efficiency, which includes a hull and a propeller arranged at the tail of the hull, and is characterized in that: An automatically liftable garbage basket device is installed in the middle of the hull. A garbage receiving opening is provided at the front of the hull, and the garbage receiving opening is located in front of the garbage basket device. A foldable floating extension arm is provided on each side of the garbage receiving opening.

2. The driverless boat capable of greatly improving the cleaning efficiency according to claim 1, characterized in that: The garbage basket device includes a garbage basket. A front support arm, a rear support arm and an electric push rod are provided on each side of the garbage basket. One end of the front support arm is rotatably connected to the garbage basket, and the other end of the front support arm is rotatably connected to the hull. One end of the rear support arm is rotatably connected to the garbage basket, and the other end of the rear support arm is rotatably connected to the hull. The front support arm, the garbage basket, the rear support arm and the hull on each side of the garbage basket are connected to form a parallelogram linkage mechanism. The electric push rod is rotatably installed on the garbage basket or the hull, and the push rod of each electric push rod is correspondingly rotatably connected to a front support arm.

3. The unmanned ship capable of greatly improving the cleaning efficiency according to claim 2, characterized in that: Two symmetrically arranged switch doors are installed at the opening position of the head of the garbage basket, and the switch doors are rotatably connected to the garbage basket through spring hinges; a rear door that can be rotated outward to open is installed at the opening position of the tail of the garbage basket.

4. The driverless boat capable of greatly improving the cleaning efficiency according to claim 1, wherein: The floating extension arm includes a sequentially connected extension arm bracket, a first-stage rotary joint, a first-stage water surface floating extension arm, a second-stage rotary joint, a second-stage water surface floating extension arm and a buffer rubber plate. Among them, the first-stage water surface floating extension arm is rotatably connected to the extension arm bracket through the first-stage rotary joint, and the second-stage water surface floating extension arm is rotatably connected to the first-stage water surface floating extension arm through the second-stage rotary joint.

5. The driverless boat capable of greatly improving the cleaning efficiency according to claim 4, wherein: The first-stage rotary joint includes a motor, a reducer, a rotary extension arm and an angle encoder. The motor, the reducer and the angle encoder are fixedly installed on the extension arm bracket. The rotary extension arm is fixedly connected to the first-stage water surface floating extension arm. The output shaft of the motor is connected to the rotary extension arm through the output shaft of the reducer. A driving gear is installed at the shaft end of the rotary extension arm, and a driven gear is installed on the output shaft of the angle encoder. The driving gear and the driven gear are engaged, and the angle encoder is communicatively connected to the main control box of the unmanned ship.

6. The driverless boat capable of greatly improving the cleaning efficiency according to claim 4, wherein: The first-stage water surface floating extension arm includes a metal square tube, a foamed elastic floating body installed below the metal square tube, and an interception net installed below the foamed elastic floating body.

7. The driverless ship capable of greatly improving the cleaning efficiency according to claim 4, characterized in that: Two floating balls are provided below the second-stage rotary joint, and one floating ball is provided below the connection between the second-stage water surface floating extension arm and the buffer rubber plate.

8. The driverless ship capable of greatly improving the cleaning efficiency according to claim 1, characterized in that: The hull includes a left hull, a right hull and a ship head fixedly connected to the left hull and the right hull respectively. The left hull and the right hull are each divided into a battery compartment and a filling compartment for filling anti-sinking pearl cotton from top to bottom. The buoyancy formed by the anti-sinking pearl cotton filled in the filling compartment of the left hull is greater than the weight of the left hull, and the buoyancy formed by the anti-sinking pearl cotton filled in the filling compartment of the right hull is greater than the weight of the right hull.

9. The driverless ship capable of greatly improving the cleaning efficiency according to claim 1, wherein: A lidar, a millimeter-wave radar, a GPS antenna, a camera and an electronic compartment are provided on the hull. A main control box is arranged in the electronic compartment, and the main control box is communicatively connected to the lidar, the millimeter-wave radar, the GPS antenna and the camera respectively.

10. The unmanned ship capable of greatly improving the cleaning efficiency according to any one of claims 1-9, characterized in that: The hull includes a left hull, a right hull and a bow fixedly connected to the left hull and the right hull respectively. A steerable vector thruster and a fixed-angle thruster are installed at the tail of the left hull and the tail of the right hull respectively.

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