Full-automatic remote control type river water surface garbage collection and treatment ship

Abstract

A full-automatic remote control type river water surface garbage collecting and treating ship comprises a ship body, a garbage collecting and conveying device arranged on the ship body, a smashing and treating device, a ship body propelling device, a control system, a power supply device and a positioning device. The garbage collecting and conveying device is composed of a set of collecting and conveying mechanisms which are arranged on the left side and the right side of the head of the ship body in a splayed mode and a collecting and conveying mechanism which is clamped on the rear portion of the collecting and conveying mechanisms and arranged in an upwards-inclined mode. The crushing treatment device is arranged at the upper part of the ship body along the central axis of the ship body and is close to the lower part of the tail end of the collecting and conveying mechanism; the crushing treatment device is formed by combining a funnel crushing mechanism arranged at the upper part of the ship body and an extrusion blocking mechanism arranged at the lower part of the funnel crushing mechanism; the hull propelling device is arranged on the central axis of the rear portion of the hull. The power supply device is arranged on one side of the crushing treatment device at the upper part of the hull; the positioning device is composed of two sets of laser radars.

Description

Technical Field

[0001] The utility model relates to a garbage collection device, in particular to a fully automatic remote control river surface garbage collection and treatment ship, belonging to the method for collecting and treating river surface garbage. Background Technique

[0002] When collecting floating garbage on the river surface, the traditional method is that the on-board operators use manual retrieval tools such as mesh bags to retrieve the floating objects on the river surface and transfer them to the collection cabin on the garbage collection ship. This manual operation method not only has a high labor intensity, is laborious to operate, but also has low work efficiency; at the same time, when collecting waterborne garbage, the garbage is generally directly salvaged and stored in the ship's hull. Due to the irregular shape, different sizes, and high water content of the garbage, and the limited storage capacity and load-bearing capacity of the ship, the efficiency of collecting floating garbage in water is affected.

[0003] To solve this problem, with the progress of technology, some river garbage collection ships with mechanized operations have gradually emerged in this industry, enabling the industry to gradually enter the development stage of mechanized collection of river surface garbage.

[0004] For example, the garbage collection ship disclosed in CN206606326U published by the Chinese patent literature realizes the collection of river surface garbage by setting a collection device that can be inserted into the water surface in an inclined shape at the front of the hull, and putting the river surface garbage collected during the hull's travel into the empty cabin of the hull through a conveying device and a translation device located behind the conveying device.

[0005] In addition, with the development and progress of the times, some unmanned garbage collection ships have also emerged. For example, the floating garbage collection ship disclosed in CN201604784U published by the Chinese patent literature is provided with a front baffle at the front end between the two floating bodies of the hull, a garbage recovery cabin fixed on the two floating bodies of the hull at the rear of the front baffle, and a camera equipped with a signal transmitting device and a display with a signal receiving device at the front end of the hull, enabling the entire garbage collection ship to automatically complete the collection of garbage floating on the water surface without human control.

[0006] However, according to the analysis of relevant technologies by the applicant: Although various types of river surface garbage collection ships that have been popularized and used can free users from heavy physical labor through various mechanical designs and the implementation of automation and intelligent solutions, there are still some problems that have not been effectively solved as follows:

[0007] I. Due to the limited garbage loading capacity of the hull, only the centralized collection of garbage into the garbage collection compartment of the hull has been solved, but the large amount of water contained in this garbage has not been processed in a timely manner. Due to the limited loading capacity, it is unable to maintain the removal of surface garbage for a long time.

[0008] II. The remote control capabilities currently adopted are too simple and very limited, and there is also a need to further improve them.

[0009] Therefore, there is a need to provide a garbage collection ship for fully automatic collection and treatment of floating objects on the river surface, which can not only collect various garbage floating in the water onto the hull in a timely manner according to established requirements, but also be able to crush and compress the collected garbage in a timely manner, not only maintaining the full automation of cleaning the floating objects on the river surface, but also achieving the purpose of improving its loading capacity and facilitating the later garbage treatment efficiency. Summary of the Utility Model

[0010] The purpose of the present utility model: aims to provide a device that is controlled by means of GPS positioning and lidar and is operated by onshore staff through a control center to achieve: it can not only complete the navigation of the ship and garbage collection, but also simultaneously compress and remove water from the garbage fished onto the ship in a timely manner. It not only achieves labor intensity reduction by saving labor, but also avoids the defect that the collection efficiency of garbage is affected due to the irregular shape, large volume and high water content of the garbage, and the limited storage capacity and load-bearing capacity of the ship.

[0011] This fully automatic remotely controlled river surface garbage collection and treatment ship includes a hull 3, a garbage collection and conveying device, a crushing and treatment device 7, a hull propulsion device 6, a control system, a power supply device 9 and a positioning device arranged on the hull 3. The garbage collection and conveying device consists of a group of collection and conveying mechanisms 2 arranged in an outer eight-shaped opening on the left and right of the hull head, and an upwardly inclined converging conveying mechanism 8 clamped and connected to the rear of the eight-shaped collection and conveying mechanism 2; the crushing and treatment device 7 is arranged at the position along the central axis of the upper part of the hull 3 and is arranged right below the end of the converging conveying mechanism 8; the crushing and treatment device 7 is composed of a funnel crushing mechanism arranged on the upper part of the hull and an extrusion and forming mechanism placed below the funnel crushing mechanism; the hull propulsion device 6 is arranged on the central axis at the rear of the hull 3; the power supply device 9 is arranged on one side of the crushing and treatment device 7 on the upper part of the hull 3; the positioning device consists of two groups of lidar.

[0012] Further, the collection and conveying mechanism 2 is arranged between the bows of the left and right split hulls of the split hull, and is vertically arranged with respect to the water surface; each set of the collection and conveying mechanism 2 is composed of a base 2.1, main drive rotating shafts 2.3, rotating shafts 2.9 respectively arranged at the front and rear ends of the base, an endless conveyor belt 2.6, four bearing seats 2.2, and a reduction motor 2.4; the endless conveyor belt 2.6 is wound around the main drive rotating shaft 2.3 and the rotating shaft 2.9, and a drive structure of the endless conveyor belt is formed by the reduction motor A 2.4 arranged at one end of the main drive rotating shaft 2.3, and a number of anti-slip baffles 2.7 perpendicular to the belt surface are arranged on the belt surface of the endless conveyor belt 2.6 at intervals; at the same time, segmented edge baffles 2.8 are arranged on both side edges of the endless conveyor belt 2.6; and a front lidar 1 is arranged on one bearing seat 2.2 provided with the rotating shaft 2.9.

[0013] Further, the collection and conveying mechanism 8 is composed of a conveying base 8.1, drive rotating shafts 8.3, conveying rotating shafts 8.9 respectively arranged at the front and rear ends of the conveying base, four conveying bearing seats 8.2, an endless conveyor belt 8.6, and a reduction motor B 8.4 connected to the drive rotating shaft; the endless conveyor belt 8.6 is wound around the drive rotating shaft 8.3 and the conveying rotating shaft 8.9, and a drive structure of the endless conveyor belt is formed by the reduction motor B 8.4 arranged at one end of the drive rotating shaft 8.3, and anti-slip baffles B 8.7 perpendicular to the belt surface are arranged on the belt surface of the endless conveyor belt 8.6 at intervals; at the same time, segmented edge baffles B 8.8 are arranged on both side edges of the endless conveyor belt 8.6.

[0014] Further, the funnel crushing mechanism is composed of a rectangular funnel cabin 7.1 and a set of cooperating roller cutters 7.2 located inside the rectangular funnel cabin 7.1, and each of the set of roller cutters 7.2 is driven by a reduction motor D 7.3 arranged outside one side cabin wall of the rectangular funnel cabin 7.1.

[0015] Further, the extrusion and forming mechanism is composed of an extrusion and dewatering and forming cabin 7.7 arranged below the funnel crushing mechanism and provided with a funnel placement slot hole 7.6, reduction motors E 7.4 and F 7.5 arranged outside two adjacent cabin walls of the extrusion and dewatering and forming cabin, and screw push rod mechanisms 7.9 respectively arranged at the output shaft ends of the reduction motors E 7.4 and F 7.5; at the same time, one set of screw push rod mechanisms 7.9 faces the inner cabin wall on one side of the extrusion and dewatering and forming cabin 7.7, and the other set of screw push rod mechanisms 7.9 faces the dewatered and formed waste discharge port 7.11 at the edge of the extrusion and dewatering and forming cabin.

[0016] Further, the spiral push rod mechanism 7.9 is composed of a spiral outer sleeve 7.91 fixedly connected to the output shafts of two reduction motors E 7.4 and F 7.5 respectively, and a spiral inner push rod 7.93 arranged inside the spiral outer sleeve. The end of the spiral inner push rod 7.93 is fixedly connected to a pressing plate 7.92. A spiral groove 7.95 is provided on the inner wall of the spiral outer sleeve 7.91, and a spiral external thread 7.94 matching the spiral groove is provided on the spiral inner push rod 7.93, thus forming an extrusion type spiral push rod mechanism driven and controlled by the forward and reverse rotation of the reduction motor, which can both extrude forward and retract backward.

[0017] Further, on one side of the extrusion and dewatering and forming chamber 7.7 at the lower part of the formed dry garbage discharge port 7.11, another garbage storage frame 7.15 for receiving the garbage falling from the formed dry garbage discharge port 7.11 is provided. Drainage holes 7.14 are provided at the bottom of the garbage storage frame 7.15.

[0018] Further, the hull 3 is composed of two independent left and right sub-hulls, and the left and right sub-hulls are connected into one body by several horizontally connected ship decks 3.1, and there is a certain distance between the left hull and the right hull.

[0019] Further, the hull propulsion device 6 is composed of a reduction motor C 6.3, a double-blade water wheel 6.2, and an outer cover 6.1. The reduction motor C 6.3 is arranged on a motor mounting plate 6.5 fixed to one end of the outer cover. The double-blade water wheel 6.2 is arranged inside the outer cover 6.1 through a rotating shaft 6.4 and is connected to one end of the output shaft of the reduction motor C 6.3 through one end of the rotating shaft.

[0020] Further, the control system includes an on-board control system 4 and a shore control system B set on the shore; the on-board control system 4 is set on the other side of the crushing and processing device on the upper part of the hull corresponding to the power supply device 9; it includes: a positioning device composed of four lidars, and a GPS communication module 4.5, a data processing module 4.6, a power supply device 9, and a conveyor belt control module 4.9 for controlling the collection device, a crushing and pressing machine control module 4.8 for controlling the crushing and processing device, and a thruster control module 4.7 for controlling the propulsion mechanism set on the ship; the shore control system B is composed of a commercial wireless communication system B1 and a shore control device B2.

[0021] Further, the positioning device is composed of a front lidar 1 respectively arranged at the front ends of two collection and conveying mechanisms 2 which are arranged between the bows of the left and right sub-hulls of the split hull in a trumpet-shaped opening, and two rear lidars 5 respectively arranged on the left and right sides of the middle part of the hull outside the on-board control system 4 and the power supply system 9.

[0022] Further, the battery 9.1 in the on-board control system 4 is electrically connected to the power module 4.3 through the switch controller 4.2, and is respectively electrically connected to the front lidar 1, the rear lidar 5, the on-board radio communication system 4.1, the navigator 4.4, the GPS communication module 4.5, and the data processing module 4.6 through the power module 4.3 to form a power supply closed loop. At the same time, the power module 4.3 respectively forms another power supply closed loop with the hull propulsion device 6, the crushing and briquetting machine control module 4.8, and the crushing treatment device 7. In addition, the output end of the data processing module 4.6 is respectively electrically connected to the conveyor belt control module 4.9, the crushing and briquetting machine control module 4.8, and the thruster control module 4.7; and are respectively electrically connected to the driving endless conveyor belt 2.6 in the corresponding collection and conveying mechanism 2, the driving endless conveyor belt 8.6 in the converging and conveying mechanism 8, a plurality of reduction motors in the crushing treatment device 7, and the reduction motor in the hull propulsion device 6 through the output ends of the conveyor belt control module 4.9, the crushing and briquetting machine control module 4.8, and the thruster control module 4.7.

[0023] The steps of collecting and treating the water surface garbage of this fully automatic remote control type river water surface garbage collection and treatment ship are as follows:

[0024] 1) After the garbage ship reaches the operation area according to the shore control instruction, the shore control system sends the set parameters as a working instruction.

[0025] 2) After receiving the start work instruction, the on-board control system 4 on the ship enters the cyclic start-up stage. The information data around the hull is transmitted to the data collector through the electromagnetic waves emitted by the two groups of lidars, and the data analysis is performed by the data processing module 4.6. Information such as the heading angle, longitude and latitude, speed, direction, and time of the unmanned collection ship is received by the GPS communication module 4.5 and sent to the data processing module through the serial port, and the received information is calculated and analyzed by the data processing module 4.6.

[0026] 3) Then, the parsed position and attitude, speed and other information are sent to the shore control system B through the wireless serial port through the serial port. The shore control system completes the calculation of the control parameters according to the received navigation state information, the set navigation task, and the set control algorithm, and converts the control parameters into control instructions and sends them to the on-board control system again.

[0027] 4) The on-board control system 4 converts the received control instructions into motor control signals and outputs them to control the operation of the reduction motor C 6.3 in the hull propulsion device 6, driving the hull 3 to sail; at the same time, it drives the collection and conveying mechanisms 2 installed on the left and right sides of the bow of the hull 3 into the working state, causing the two reduction motors A 2.4 in the collection and conveying mechanism 2 to operate, driving the endless conveyor belt 2.6 in the collection and conveying mechanism 2 into the working state, and conveying the surface garbage collected between the left and right collection and conveying mechanisms 2 to the lower end of the collection and conveying mechanism 8 at the rear of the two collection and conveying mechanisms 2; with the start of the collection and conveying mechanism 8, under the drive of the reduction motor B 8.4 in the collection and conveying mechanism 8, as the reduction motor B 8.4 in the collection and conveying mechanism 8 rotates, the endless conveyor belt 8.6 in the mechanism conveys the surface garbage located at the lower part of the collection and conveying mechanism 8 and delivered by the left and right collection and conveying mechanisms 2 to the upper end of the conveyor belt under the action of the collection and conveying mechanism 8; until the garbage falls into the rectangular funnel cabin 7.1 of the crushing and processing device 7 composed of the lower part of the endless conveyor belt 8.6 of the collection and conveying mechanism 8; the surface garbage entering the rectangular funnel cabin 7.1 of the crushing and processing device 7 is crushed by the relative rotation of a set of roller cutters 7.2 driven by two reduction motors D 7.3 arranged in the rectangular funnel cabin 7.1; then the crushed garbage falls downward into the extrusion and dewatering cabin 7.7 of the airtight briquetting device located at the lower part of the crushing and processing device 7, and under the action of the reduction motor E 7.4 arranged on the outer wall of one side of the extrusion and dewatering and forming cabin 7.7, drives the screw push rod mechanism 7.9 arranged at the output shaft end of the reduction motor E 7.4 to push forward towards the inner wall of the cabin on the opposite side, achieving squeezing out the water in the garbage to form a compacted garbage block; the compacted garbage block moves towards the formed dry garbage outlet 7.11 under the action of being pushed forward by another reduction motor F 7.5 arranged on the outer wall of the adjacent side cabin and the screw push rod mechanism 7.9 driven by the output shaft end of the reduction motor F 7.5 until the compacted garbage block is pushed out of the discharge port and falls into the garbage storage frame 7.15; subsequently, both sets of screw push rod mechanisms 7.9 after pushing and pushing out return to their original starting positions and enter the next garbage collection, crushing and briquetting process.

[0028] This fully automatic remote-controlled river surface garbage collection and treatment ship proposed according to the above technical solution has the following major characteristics compared with the commonly used ordinary surface garbage collection ships at present:

[0029] 1) The operation of the entire garbage collection and treatment realizes unmanned automatic operation, enabling the operator to be completely liberated from heavy physical labor;

[0030] 2) After the garbage is collected from the water surface, it can be directly crushed and extruded into a compressed block; greatly reducing the occupied volume of the collected garbage and greatly improving the operation effect of the treatment ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of the overall structure of the present utility model;

[0032] Figure 2 is Figure 1 the left view structure schematic diagram of;

[0033] Figure 3 is Figure 1 the top view structure schematic diagram of;

[0034] Figure 4 is Figure 1 the right view structure schematic diagram of;

[0035] Figure 5 is a schematic diagram of the overall structure of the collection conveyor belt;

[0036] Figure 6 is Figure 5 the schematic diagram of the right side electric drive mechanism structure;

[0037] Figure 7 is Figure 5 the partial enlarged structure schematic diagram of the left side A;

[0038] Figure 8 is a schematic diagram of the overall structure of the converging conveying mechanism;

[0039] Figure 9 is Figure 8 the schematic diagram of the right side electric drive mechanism structure;

[0040] Figure 10 is Figure 8 the partial enlarged structure schematic diagram of the B part of;

[0041] Figure 11 is a schematic diagram of the overall structure of the collection and treatment chamber;

[0042] Figure 12 is Figure 11 the sectional structure schematic diagram of the A-A direction of;

[0043] Figure 13 is Figure 11 the up and down decomposition schematic diagram of;

[0044] Figure 14 is Figure 11 the horizontal sectional view of the B-B direction of;

[0045] Figure 15 is a schematic diagram of the structure of the spiral push rod mechanism;

[0046] Figure 16 is a schematic diagram of the structure of the hull drive device;

[0047] Figure 17 is Figure 15 a schematic diagram of the structural decomposition and composition;

[0048] Figure 18 is a schematic diagram of the hull structure;

[0049] Figure 19 is the schematic diagram of the composition principle of the control system of the present utility model.

[0050] In the figure:

[0051] 1 - front lidar;

[0052] 2 - collection and conveying mechanism; 2.1 - base; 2.2 - bearing seat; 2.3 - main driving rotating shaft; 2.4 - reduction motor A; 2.5 - motor fixing bracket; 2.6 - endless conveyor belt;

[0053] 2.7 - anti-slip baffle; 2.8 - edge baffle; 2.9 - rotating shaft;

[0054] 3 - hull; 3.1 - ship deck;

[0055] 4 - on-board control system; 4.1 - on-board wireless communication system; 4.2 - switch controller;

[0056] 4.3 - power supply system; 4.4 - navigator; 4.5 - GPS communication module;

[0057] 4.6 - data processing module; 4.7 - thruster control module;

[0058] 4.8 - shredding and briquetting machine control module; 4.9 - conveyor belt control module;

[0059] 5 - rear lidar;

[0060] 6 - hull propulsion device; 6.1 - outer cover; 6.2 - double impellers; 6.3 - reduction motor C;

[0061] 6.4 - rotating shaft; 6.5 - motor mounting plate;

[0062] 7 - shredding and processing device; 7.1 - rectangular hopper cabin; 7.2 - roller cutter;

[0063] 7.3 - reduction motor D; 7.4 - reduction motor E; 7.5 - reduction motor F;

[0064] 7.6 - hopper placement slot; 7.7 - extrusion and dewatering forming cabin; 7.8 - garbage extrusion and dewatering bin;

[0065] 7.9 - spiral push rod mechanism; 7.91 - spiral outer sleeve; 7.92 - pressing plate;

[0066] 7.93 - Helical inner push rod; 7.94 - Helical external thread; 7.95 - Helical internal thread;

[0067] 7.10 - Garbage extrusion chamber; 7.11 - Dry garbage outlet; 7.12 - Outlet support plate;

[0068] 7.13 - Dry garbage block; 7.14 - Drain hole; 7.15 - Garbage storage frame;

[0069] 8 - Converging and conveying mechanism; 8.1 - Conveying base; 8.2 - Conveying bearing seat;

[0070] 8.3 - Main drive rotating shaft; 8.4 - Reduction motor B; 8.5 - Motor fixing bracket;

[0071] 8.6 - Ring conveyor belt; 8.7 - Anti-slip baffle B; 8.8 - Edge baffle B;

[0072] 8.9 - Conveying rotating shaft;

[0073] 9 - Power supply device; 9.1 - Storage battery;

[0074] B - Shore control equipment; B1 - Wireless communication system; B2 - Shore control equipment. Detailed implementation mode

[0075] The present invention will be further described below in conjunction with the accompanying drawings of the specification, and embodiments of the present invention will be given.

[0076] This fully automatic remote control type river surface garbage collection and treatment ship proposed according to the above technical solution, the core of its creation lies in:

[0077] Firstly, it realizes all-round automatic remote operation and management, liberating the water surface garbage treatment from the traditional heavy physical labor.

[0078] Secondly, it integrates the operations of water surface garbage, crushing, and squeezing to remove water and form a shape, which can greatly improve the treatment and carrying capacity of the ship's hull.

[0079] The present invention will be further described below in conjunction with the accompanying drawings of the specification, and embodiments of the present invention will be given.

[0080] Figure 1 It is a schematic diagram of the overall structure of this fully automatic remote control type river surface garbage collection and treatment ship proposed by the present invention; Figures 2 - 4 Then it comprehensively shows its overall structure from three aspects: left, right, and top views.

[0081] From Figures 1 - 4 it can be seen that:

[0082] This fully automatic remote-controlled river surface garbage collection and treatment ship includes a hull 3, a garbage collection and conveying device, a crushing and treatment device 7, a hull propulsion device 6, a control system, a power supply device 9, and a positioning device arranged on the hull 3. The garbage collection and conveying device consists of a set of collection and conveying mechanisms 2 arranged in an outward V-shaped pattern on the left and right sides of the hull head, and a converging and conveying mechanism 8 that is upwardly inclined and clamped and connected to the rear of the V-shaped collection and conveying mechanism 2. The crushing and treatment device 7 is arranged at the position along the central axis of the upper part of the hull 3 and is closely arranged below the end of the converging and conveying mechanism 8. The crushing and treatment device 7 is composed of a funnel crushing mechanism arranged on the upper part of the hull and an extrusion and forming mechanism arranged below the funnel crushing mechanism. The hull propulsion device 6 is arranged on the central axis at the rear of the hull 3. The power supply device 9 is arranged on one side of the crushing and treatment device 7 on the upper part of the hull 3. The positioning device consists of two sets of lidar.

[0083] Figures 5 - 7 Shown is the overall structure diagram of a set of collection and conveying mechanisms 2 for collecting garbage on the water surface and an enlarged schematic diagram of local components.

[0084] This set of collection conveyor belts. The collection and conveying mechanism 2 is arranged between the left and right split bow parts of the split hull and is vertically arranged with the water surface. Each set of collection and conveying mechanisms 2 consists of a base 2.1, main drive rotating shafts 2.3 arranged at the front and rear ends of the base, rotating shafts 2.9, an endless conveyor belt 2.6, four bearing seats 2.2, and a reduction motor 2.4. The endless conveyor belt 2.6 is wound around the main drive rotating shaft 2.3 and the rotating shaft 2.9, and a drive structure of the endless conveyor belt is formed by a reduction motor A 2.4 arranged at one end of the main drive rotating shaft 2.3. A number of anti-slip baffles 2.7 perpendicular to the belt surface are arranged on the belt surface of the endless conveyor belt 2.6 at intervals. At the same time, segmented edge baffles 2.8 are arranged on both side edges of the endless conveyor belt 2.6. A front lidar 1 is arranged on one bearing seat 2.2 where the rotating shaft 2.9 is arranged.

[0085] Figures 8 - 10 Shown is the overall mechanism of the converging and conveying mechanism and an enlarged schematic diagram of its local mechanism.

[0086] The described collection and conveying mechanism 8 is composed of a conveying base 8.1, driving rotating shafts 8.3 arranged at the front and rear ends of the base respectively, conveying rotating shafts 8.9, four conveying bearing seats 8.2, an annular conveyor belt 8.6, and a reduction motor B 8.4 connected to the driving rotating shaft; the annular conveyor belt 8.6 is wound around the driving rotating shaft 8.3 and the conveying rotating shaft 8.9, and a driving structure of the annular conveyor belt is formed by the reduction motor B 8.4 arranged at one end of the driving rotating shaft 8.3, and anti-slip baffles B 8.7 perpendicular to the belt surface are arranged on the belt surface of the annular conveyor belt 8.6 at intervals; at the same time, segmented edge baffles B 8.8 are arranged on both side edges of the annular conveyor belt 8.6.

[0087] The described collection and conveying mechanism 8 is arranged at the eight-shaped ends of two collection and conveying mechanisms 2 for connecting and conveying the water surface garbage collected here. This mechanism is arranged in a slope state, and its composition structure is completely similar to that of the collection and conveying mechanism 2, except that no photoelectric radar is provided; and in actual use, the end where the reduction motor B 8.4 is arranged should be in the upper position of this collection and conveying mechanism to prevent the motor from directly contacting the water-containing garbage in the collection.

[0088] In actual use, with the start of the reduction motor B 8.4, the annular conveyor belt 8.6 in this mechanism will convey the garbage collected at the front ends of the two collection and conveying mechanisms 2 from bottom to top along with the annular conveyor belt 8.6 in the collection and conveying mechanism 8, and send the garbage to the garbage collection and treatment cabin at its upper end.

[0089] Figure 11 Schematic diagram of the overall structure of the crushing treatment device;

[0090] Figure 12 For Figure 11 Schematic sectional view of the A-A direction of

[0091] Figure 13 For Figure 11 Upper and lower decomposition schematic diagram of

[0092] Figure 14 For Figure 11 Horizontal sectional view of the B-B direction of

[0093] The described crushing treatment device 7 is composed of a funnel crushing mechanism arranged on the upper part of the ship hull and an extrusion and forming mechanism placed below the funnel crushing mechanism. The funnel crushing mechanism is composed of a rectangular funnel cabin 7.1 and a set of mutually cooperating roller cutters 7.2 located in the rectangular funnel cabin 7.1, and each of the set of roller cutters 7.2 is driven by a reduction motor D 7.3 arranged outside the side cabin wall of the rectangular funnel cabin 7.1.

[0094] The described extrusion and forming mechanism consists of an extrusion and dewatering and forming chamber 7.7 with a funnel placement groove 7.6 provided at the lower part of the funnel crushing mechanism, a reduction motor E 7.4 and a reduction motor F 7.5 provided outside two adjacent cabin plates of the extrusion and dewatering and forming chamber 7.7, and a spiral push rod mechanism 7.9 respectively provided at the output shaft ends of the reduction motor E 7.4 and the reduction motor F 7.5; at the same time, one set of the spiral push rod mechanisms 7.9 faces the inner cabin wall on the other side of the extrusion and dewatering and forming chamber 7.7, and the other set of the spiral push rod mechanisms 7.9 faces the dewatered and formed garbage discharge port 7.11 at the edge of the extrusion and dewatering and forming chamber.

[0095] Attached Figure 15 The structural schematic diagram of the spiral push rod mechanism 7.9 is given. It can be seen from this figure that: the described spiral push rod mechanism 7.9 consists of a spiral outer sleeve 7.91 fixedly connected to the output shafts of the two reduction motors E 7.4 and the reduction motor F 7.5 respectively, and a spiral inner push rod 7.93 provided inside the spiral outer sleeve. The end of the spiral inner push rod 7.93 is fixedly connected to a pressing plate 7.92. A spiral groove 7.95 is provided on the inner wall of the spiral outer sleeve 7.91, and a spiral external thread 7.94 matching the spiral groove is provided on the spiral inner push rod 7.93. Thus, an extrusion type spiral push rod mechanism driven and controlled by the forward and reverse rotation of the reduction motor, which can both extrude forward and retract and recycle, is formed.

[0096] Another garbage storage frame 7.15 for receiving the garbage falling from the formed dry garbage discharge port 7.11 is provided on one side of the cabin edge of the extrusion and dewatering and forming chamber 7.7 below the formed dry garbage discharge port 7.11. Drainage holes 7.14 are provided at the bottom of the garbage storage frame 7.15.

[0097] Its working principle is as follows: After the shredded garbage is cut by a set of roller cutters 7.2 in the rectangular hopper cabin 7.1 and then extruded into the dewatering and forming cabin 7.7, the water-containing garbage that falls into the dewatering and forming cabin 7.7, under the action of a reduction motor E 7.4 arranged on one side outside the dewatering and forming cabin, as the reduction motor rotates, the screw push rod mechanism 7.9 arranged at the front end of the rotating shaft of the reduction motor enters the working state: The screw outer sleeve 7.91 fixed to the reduction motor E 7.4 rotates synchronously with the motor rotating shaft, which causes the screw inner push rod 7.93 matching the spiral groove 7.95 on the inner wall of the screw outer sleeve 7.91 to advance synchronously, thereby causing the pressing plate 7.92 arranged at the front end of the screw inner push rod 7.93 to advance synchronously, and pushing the falling shredded water-containing garbage in front of the pressing plate to move forward synchronously until the water-containing garbage is pushed all the way to the inner wall of the opposite dewatering and forming cabin, squeezing out the water contained in the garbage. After the reduction motor E 7.4 arranged in this direction completes the extrusion process, as long as the rotation direction of the reduction motor E 7.4 is changed through the controller, the screw inner push rod 7.93 in the spiral groove 7.95 can drive the pressing plate to recover to the starting state.

[0098] Subsequently, under the action of a reduction motor F 7.5 arranged on the other side outside the dewatering and forming cabin, as the reduction motor rotates, the screw push rod mechanism 7.9 arranged at the front end of the rotating shaft of the reduction motor enters the working state: The screw outer sleeve 7.91 fixed to the reduction motor E rotates synchronously with the motor rotating shaft, which causes the screw inner push rod 7.93 matching the spiral groove 7.95 on the inner wall of the screw outer sleeve 7.91 to advance synchronously, thereby causing the pressing plate 7.92 arranged at the front end of the screw inner push rod 7.93 to advance synchronously, and pushing the falling dehydrated formed garbage block in front of the pressing plate to move forward until the garbage block is discharged from the dry garbage discharge port 7.11 and falls into the garbage storage frame 7.15.

[0099] The squeezed water is discharged through the drain hole 7.14 arranged at the bottom of the garbage storage frame 7.15.

[0100] Figure 16 、 17 What is given is the basic structure of the driving device of this garbage collection ship.

[0101] The hull propulsion device 6 described above is composed of a reduction motor C 6.3, a double-blade water wheel 6.2, and a housing 6.1. The reduction motor C 6.3 is arranged on a motor mounting plate 6.5 whose one end is fixed to the housing, and the double-blade water wheel 6.2 is arranged in the housing 6.1 through a rotating shaft 6.4 and is connected to one end of the output shaft of the reduction motor C 6.3 through one end of the rotating shaft.

[0102] The above-mentioned hull propulsion device 6 is arranged inFigure 16 On the connecting plate 3.1 at the rear of the hull of the given garbage collection ship.

[0103] Figure 18 Shown is a structural schematic diagram of the garbage hull. The hull is composed of two independent left and right sub-hulls. The left and right sub-hulls are integrated by several horizontally connected ship decks and are spaced a certain distance apart between the left hull and the right hull.

[0104] Figure 19 Shown is the composition and control principle diagram of the control system of this fully automatic remote-controlled river surface garbage collection and treatment ship.

[0105] The remote control system of the garbage collection ship: includes an onshore control system B and an on-board control system 4. The onshore control system B is composed of a wireless communication system B1 and an onshore control device B2; the on-board control system 4 is arranged on the other side of the crushing and treatment device on the upper part of the hull corresponding to the power supply device 9; it includes: a positioning device composed of four lidar, and settings (including one front lidar 1 at each end of the two collection and conveying mechanisms 2, a set of rear lidar 5 arranged on the outer surfaces of the remote control device 4 and the power supply system 9, and a GPS communication module 4.5, a data processing module 4.6, a power supply device 9, and a conveyor belt control module 4.9 for controlling the collection device respectively, a crusher control module 4.8 for controlling the crushing and treatment device, and a thruster control module 4.7 for controlling the propulsion mechanism; the onshore control system B is composed of a commercial radio communication system B1 and an onshore control device B2. The onshore control device therein includes a display screen of the control center, a computer control system, etc.

[0106] The switch controller 4.1, power supply system 4.2, wireless communication module 4.3, navigator 4.4, GPS communication module 4.5, data processing module 4.6, actuator control module 4.7, crusher module 4.8, thruster control module 4.9 in the on-board control system 4.

[0107] Among them: The storage battery 9.1 in the on-board control system 4 is electrically connected to the power supply module 4.3 through the switch controller 4.2, and is respectively electrically connected to the front lidar 1, the rear lidar 5, the on-board radio communication system 4.1, the navigator 4.4, the GPS communication module 4.5, and the data processing module 4.6 through the power supply module 4.3 to form a power supply closed loop; At the same time, the power supply module 4.3 is respectively and simultaneously connected to the hull propulsion device 6, the crushing and briquetting machine control module 4.8, and the crushing processing device 7 to form another power supply closed loop; In addition, the output end of the data processing module 4.6 is respectively electrically connected to the conveyor belt control module 4.9, the crushing and briquetting machine control module 4.8, and the thruster control module 4.7; And respectively through the output ends of the conveyor belt control module 4.9, the crushing and briquetting machine control module 4.8, and the thruster control module 4.7, they are respectively electrically connected to the driving endless conveyor belt 2.6 in the corresponding collection and conveying mechanism 2, the driving endless conveyor belt 8.6 in the collecting and conveying mechanism 8, and a plurality of reduction motors in the crushing processing device 7, and the reduction motor in the hull propulsion device 6.

[0108] In actual operation: The control device B1 (such as a computer and a monitoring screen) in the onshore control system issues various instructions through the monitoring operator with the help of a wireless communication system.

[0109] The control system set on the ship receives the radio instructions sent from the shore through the four lidars and the wireless communication system set on the ship. In addition to sending positioning signals, it also receives the operation instructions sent from the shore. And according to the requirements of the operation instructions, start the switch controller 4.2 to make the entire power supply device 9 in a working state, and at the same time deliver power to the wireless communication system 4.1, the navigator 4.3, the GPS communication module 4.5, the data processing module 4.6, the hull propulsion device 6, and the crushing and briquetting machine control module 4.8 and the crushing processing module 7; At the same time, the data processing module 4.6 and the crushing and briquetting machine control module 4.8 and the crushing processing module 7, and the thruster control module 4.7 enter the working state in a timely manner.

[0110] After the entire system enters the working state, under the drive of the remote control instruction, the entire hull enters the driving state, and its control method is as follows:

[0111] 1) After the garbage ship reaches the operation area, the onshore control system B sends the set parameters as work instructions;

[0112] 2) After receiving the instruction to start working, the on-board control system 4 on the ship enters the cyclic startup phase. The electromagnetic waves emitted by the two sets of lidar transmit the information data around the hull to the data collector, and the data analysis is carried out by the data processing module 4.6. The information such as the heading angle, longitude and latitude, speed, direction, and time of the unmanned collection ship is received by the GPS communication module 4.5 and sent to the data processing module through the serial interface. The data processing module 4.6 calculates and analyzes the received information;

[0113] 3) Then, the parsed information such as position and attitude, speed, etc. is sent to the onshore control system B through the wireless serial port via the serial interface; the onshore control system B completes the solution of the control parameters according to the received navigation state information, the set navigation tasks, and the set control algorithms, and converts the control parameters into control instructions and sends them to the on-board control system 4 again;

[0114] 4) The on-board control system 4 converts the received control instructions into motor control signals and outputs them to control the operation of the reduction motor C 6.3 in the hull propulsion device 6, driving the hull 3 to sail; at the same time, it drives the collection and conveying mechanisms 2 installed on the left and right sides of the bow of the hull 3 into the working state, causing the two reduction motors A 2.4 in the collection and conveying mechanism 2 to operate, driving the annular conveyor belt 2.6 in the collection and conveying mechanism 2 into the working state, and conveying the water surface garbage collected between the left and right collection and conveying mechanisms 2 to the lower end of the collection and conveying mechanism 8 at the rear of the two collection and conveying mechanisms 2; with the start of the collection and conveying mechanism 8, under the drive of the reduction motor B 8.4 in the collection and conveying mechanism 8, as the reduction motor B 8.4 in the collection and conveying mechanism 8 rotates, the annular conveyor belt 8.6 in this mechanism conveys the water surface garbage located at the lower part of the collection and conveying mechanism 8 and delivered by the left and right collection and conveying mechanisms 2 to the upper end of the conveyor belt under the action of the collection and conveying mechanism 8; until the garbage falls into the rectangular funnel cabin 7.1 in the crushing treatment device 7 composed of the lower part of the annular conveyor belt 8.6 of the collection and conveying mechanism 8; the water surface garbage entering the rectangular funnel cabin 7.1 of the crushing treatment device 7 is crushed by the relative rotation of a set of roller cutters 7.2 driven by two reduction motors D 7.3 arranged in the rectangular funnel cabin 7.1; then the crushed garbage falls downward into the extrusion and dewatering cabin 7.7 in the airtight briquetting device at the lower part of the crushing treatment device 7. Under the action of the reduction motor E 7.4 arranged on the outer wall of one side of the extrusion and dewatering and forming cabin 7.7, it drives the screw push rod mechanism 7.9 arranged at the output shaft end of the reduction motor E 7.4 to push forward towards the inner wall of the cabin on the opposite side, squeezing out the water in the garbage to form a compacted garbage block; the compacted garbage block moves towards the formed dry garbage outlet 7.11 under the action of the forward propulsion of another reduction motor F 7.5 arranged on the outer wall of the adjacent side cabin and the screw push rod mechanism 7.9 driven by the output shaft end of the reduction motor F 7.5 until the compacted garbage block is pushed out of the discharge port and falls into the garbage storage frame 7.15; subsequently, both sets of screw push rod mechanisms 7.9 after pushing and pushing return to their original starting positions and enter the next garbage collection, crushing, and briquetting process.

[0115] Actual use has shown that this fully automatic remotely controlled river water surface garbage collection and treatment ship using the above technology can not only automatically collect the garbage floating on the water surface, freeing the operators from heavy physical labor, but also timely compress and dehydrate the garbage containing water collected in the cabin; it can greatly improve the collection and treatment efficiency.

[0116] The above is only the basic implementation mode of the present invention given by the applicant according to the technical solution. Any improvement made by ordinary technical personnel in this industry with reference to the above technical solution without substantial creativity shall be regarded as belonging to the protection scope of the present invention.

Claims

1. A fully automatic remotely controlled river surface garbage collection and treatment ship, comprising a hull (3), a garbage collection and conveying device arranged on the hull (3), a crushing and treatment device (7), a hull propulsion device (6), a control system, a power supply device (9) and a positioning device; characterized in that: The described garbage collection and conveying device consists of a set of collection and conveying mechanisms (2) arranged in an outward V shape on the left and right sides of the ship's bow, and a converging conveying mechanism (8) inclined upward and clamped at the rear of this set of collection and conveying mechanisms (2); the described crushing and processing device (7) is arranged at the position along the central axis of the ship's upper part and is set right below the end of the converging conveying mechanism (8); the described crushing and processing device (7) is composed of a funnel crushing mechanism arranged on the upper part of the ship and an extrusion and forming mechanism placed below the funnel crushing mechanism; the ship propulsion device (6) is arranged on the central axis at the rear of the ship body (3); the power supply device (9) is arranged on one side of the crushing and processing device on the upper part of the ship body (3); the positioning device consists of two sets of lidar.

2. The fully automatic remote-controlled river surface garbage collection and treatment ship according to claim 1, characterized in that: The described collection and conveying mechanism (2) is arranged between the left and right split bow parts of the separated ship body and is vertically arranged with respect to the water surface; each collection and conveying mechanism (2) consists of a base (2.1), a main driving rotating shaft (2.3), a rotating shaft (2.9), an endless conveyor belt (2.6), four bearing seats (2.2), and a reduction motor (2.4); the endless conveyor belt (2.6) is wound around the main driving rotating shaft (2.3) and the rotating shaft (2.9), and a driving structure of the endless conveyor belt is formed by the reduction motor (2.4) arranged at one end of the main driving rotating shaft (2.3), and a number of anti-slip baffles (2.7) perpendicular to the belt surface are arranged on the belt surface of the endless conveyor belt (2.6) at intervals; at the same time, segmented edge baffles (2.8) are arranged on both side edges of the endless conveyor belt (2.6); and a front lidar (1) is arranged on one bearing seat (2.2) where the rotating shaft (2.9) is arranged.

3. The fully automatic remote-controlled river surface garbage collection and treatment ship according to claim 1, characterized in that: The described converging conveying mechanism (8) consists of a conveying base (8.1), driving rotating shafts (8.3) arranged at the front and rear ends of the conveying base, a conveying rotating shaft (8.9), four conveying bearing seats (8.2), an endless conveyor belt (8.6), and a reduction motor B (8.4) connected to the driving rotating shaft; the endless conveyor belt (8.6) is wound around the driving rotating shaft (8.3) and the conveying rotating shaft (8.9), and a driving structure of the endless conveyor belt is formed by the reduction motor B (8.4) arranged at one end of the driving rotating shaft (8.3), and anti-slip baffles B (8.7) perpendicular to the belt surface are arranged on the belt surface of the endless conveyor belt (8.6) at intervals; at the same time, segmented edge baffles B (8.8) are arranged on both side edges of the endless conveyor belt (8.6).

4. The fully automatic remote-controlled river surface garbage collection and treatment ship according to claim 1, characterized in that: The described funnel crushing mechanism consists of a rectangular funnel cabin (7.1) and a set of roller cutters (7.2) that cooperate with each other in the rectangular funnel cabin, and this set of roller cutters (7.2) are each driven by a reduction motor D (7.3) arranged outside the side cabin wall of the rectangular funnel cabin (7.1).

5. The fully automatic remote-controlled river surface garbage collection and treatment ship according to claim 1, characterized in that: The described extrusion and forming mechanism consists of an extrusion and dewatering and forming chamber (7.7) provided with a funnel placement slot hole (7.6) at the lower part of the funnel crushing mechanism, a reduction motor E (7.4) and a reduction motor F (7.5) arranged outside two adjacent chambers of the extrusion and dewatering and forming chamber, and a screw push rod mechanism (7.9) respectively arranged at the output shaft ends of the reduction motor E (7.4) and the reduction motor F (7.5); meanwhile, one set of the screw push rod mechanism (7.9) is facing the inner chamber wall on one side of the extrusion and dewatering and forming chamber (7.7), and the other set of the screw push rod mechanism (7.9) is facing the dewatered and formed garbage discharge port (7.11) at the edge of the extrusion and dewatering and forming chamber.

6. The fully automatic remotely controlled river surface garbage collection and treatment ship according to claim 5, characterized in that: The described screw push rod mechanism (7.9) consists of a screw outer sleeve (7.91) fixedly connected to the output shafts of the two reduction motors respectively and a screw inner push rod (7.93) arranged inside the screw outer sleeve. The end of the screw inner push rod (7.93) is fixedly connected to a pressing plate (7.92). The inner wall of the screw outer sleeve (7.91) is provided with a spiral groove (7.95), and the screw inner push rod (7.93) is provided with a spiral external thread (7.94) matching the spiral groove, thereby forming an extrusion type screw push rod mechanism driven and controlled by the forward and reverse rotation of the reduction motor, which can not only extrude forward but also retract and recycle.

7. The fully automatic remote-controlled river surface garbage collection and treatment ship according to claim 5, characterized in that: On one side of the chamber edge of the extrusion and dewatering and forming chamber (7.7) below the garbage discharge port (7.11), another garbage storage frame (7.15) for receiving the garbage falling from the discharge port is provided, and the bottom of the garbage storage frame is provided with a drainage hole (7.14).

8. The fully automatic remotely controlled river surface garbage collection and treatment ship according to claim 1, characterized in that: The described hull (3) consists of two independent left and right sub-hulls, and the left and right sub-hulls are connected into one body by several horizontally connected ship decks (3.1), and there is a certain distance between the left hull and the right hull.

9. The fully automatic remote-controlled river surface garbage collection and treatment ship according to claim 1, characterized in that: The described hull propulsion device (6) consists of a reduction motor C (6.3), a double-blade water wheel (6.2), and a housing (6.1). The reduction motor C (6.3) is arranged on a motor mounting plate (6.5) fixed to one end of the housing. The double-blade water wheel (6.2) is arranged inside the housing (6.1) through a rotating shaft (6.4) and is connected to one end of the output shaft of the reduction motor C (6.3) through one end of the rotating shaft.

10. The fully automatic remotely controlled river surface garbage collection and treatment ship according to claim 1, characterized in that: The described control system includes an on-board control system (4) and a shore control system (B); the on-board control system (4) is arranged on the other side of the crushing and processing device at the upper part of the hull (3) corresponding to the power supply device (9); it includes: a positioning device composed of four lidars, and a GPS communication module (4.5), a data processing module (4.6), a power supply device (9) arranged on the ship, and a conveyor belt control module (4.9) for controlling the collection device, a crushing and pressing machine control module (4.8) for controlling the crushing and processing device, and a thruster control module (4.7) for controlling the propulsion mechanism respectively; the shore control system (B) consists of a commercial wireless communication system (B1) and a shore control device (B2).

11. A fully automatic remotely controlled river surface garbage collection and processing ship according to claim 10, characterized in that: The battery (9.1) in the on-board control system (4) is electrically connected to the power supply module (4.3) through the switch controller (4.2), and is respectively electrically connected to the front lidar (1), the rear lidar (5), the on-board radio communication system (4.1), the navigator (4.4), the GPS communication module (4.5), and the data processing module (4.6) through the power supply module (4.3) to form a power supply closed loop. At the same time, the power supply module (4.3) also forms another power supply closed loop with the hull propulsion device (6) and the crushing and briquetting machine control module (4.8), and the crushing treatment device (7); in addition, the output end of the data processing module (4.6) is respectively electrically connected to the conveyor belt control module (4.9), the crushing and briquetting machine control module (4.8), and the thruster control module (4.7); and are respectively electrically connected to the drive endless conveyor belt (2.6) in the corresponding collection and conveying mechanism (2), the drive endless conveyor belt (8.6) in the converging and conveying mechanism (8), multiple reduction motors in the crushing treatment device (7), and the reduction motor in the hull propulsion device (6) through the output ends of the conveyor belt control module (4.9), the crushing and briquetting machine control module (4.8), and the thruster control module (4.7).

12. The fully automatic remotely controlled river surface garbage collection and treatment ship according to claim 10, wherein: The positioning device is composed of a front lidar (1) provided at the front ends of two collection and conveying mechanisms (2) respectively arranged between the left and right split bow parts of the split hull in a horn-shaped opening, and a rear lidar (5) respectively arranged on the left and right sides of the middle part of the hull outside the on-board control system (4) and the power supply device (9).

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