Double-body unmanned ship for garbage cleaning

Abstract

The utility model belongs to the technical field of unmanned ship equipment, and particularly relates to a double-body unmanned ship for garbage cleaning, which comprises two ship bodies, the two ship bodies are connected through a connecting device, and the distance between the two ship bodies is adjusted by the connecting device; a camera visual sensor, a GPS wireless communication sensor and a sonar sensor are installed on the two ship bodies respectively. A garbage cleaning device is arranged at the front ends of the two ship bodies, a garbage bin detachably connected to the ship bodies is arranged behind the garbage cleaning device, and the tail portions of the two ship bodies are driven through a power device. The connecting device, the camera vision sensor, the GPS wireless communication sensor, the sonar sensor, the garbage cleaning device and the power device are electrically connected with a control system arranged in the two ship bodies. And the garbage cleaning capacity of the unmanned ship is further improved by adjusting the distance between the two ship bodies and the obstacle avoidance width and extending and retracting the garbage cleaning device of the two ship bodies.

Description

Technical Field

[0001] The utility model belongs to the technical field of unmanned boat equipment, and in particular relates to a catamaran unmanned boat for garbage cleaning. Background Art

[0002] With the continuous advancement of the "Beautiful China" initiative, pollution control in coastal areas and lakes is becoming increasingly important, and the concept of environmental protection is becoming increasingly popular. However, waste removal on the water is often done manually, which poses significant safety risks, is inefficient, and is costly. Unmanned boats are currently one method for marine waste removal, but due to technological limitations and the specific conditions of river channels, existing unmanned boats are often unable to accurately locate and clean waste, requiring significant labor costs. Furthermore, due to the complex geography of some locations, operations are unsafe and dangerous for workers.

[0003] Currently, unmanned boats are one of the methods used for garbage cleaning. Most existing unmanned boats are single-hulled. However, the single hull makes the boat's utilization rate low and its stability poor, which increases the cost of use and makes it impossible to achieve efficient garbage cleaning with a single boat. Utility Model Content

[0004] In response to the shortcomings of the existing technology, the utility model provides a catamaran unmanned boat for garbage cleaning, which can realize marine garbage cleaning and adjust the hull posture according to the sea surface conditions to ensure the obstacle avoidance width and solve the problem of poor passability caused by garbage and obstacles that are too high.

[0005] A catamaran unmanned boat for garbage cleaning comprises two hulls, which are connected by a connecting device that adjusts the distance between the two hulls; a camera visual sensor, a GPS wireless communication sensor, and a sonar sensor are respectively installed on the two hulls; a garbage cleaning device is provided at the front end of the two hulls, and a garbage bin detachably connected to the hull is provided at the rear of the garbage cleaning device; the tails of the two hulls are driven by a power device, and the connecting device, the camera visual sensor, the GPS wireless communication sensor, the sonar sensor, the garbage cleaning device, and the power device are electrically connected to a control system arranged in the two hulls.

[0006] The control system includes a main controller, a main driver, an image processing module, an information transmission module and a power module. The camera visual sensor is electrically connected to the image processing module; the GPS wireless communication sensor, the sonar sensor, and the image processing module are electrically connected to the main controller. The main controller is connected to the control pan / tilt via the information transmission module. The main controller acts on the garbage cleaning device, the connecting device and the power device via the main driver; the power module supplies power to the main controller, the main driver, the image processing module, the information transmission module, the camera visual sensor, the GPS wireless communication sensor, the sonar sensor, the power device, the garbage cleaning device and the connecting device.

[0007] The connecting device includes two folding rods, one end of the two folding rods is respectively connected to the universal joint, the universal joints are respectively connected to the rotating motor and the folding motor, and the rotating motor is fixed on the hull; the two folding rods are hinged, and the rotating motor and the folding motor are driven by the main drive.

[0008] The garbage cleaning device includes a conveyor belt, a telescopic rod, a conveyor belt adjusting motor, and a telescopic rod adjusting motor. The conveyor belt is arranged at the front end of the hull and is driven by the conveyor belt adjusting motor. One end of the telescopic rod is fixed to the conveyor belt, and the other end is fixed to the hull through the telescopic rod adjusting motor. The conveyor belt adjusting motor and the telescopic rod adjusting motor are driven by the main driver.

[0009] A gravity detector is provided at the bottom of the garbage bin, an infrared detector is provided on the side wall of the garbage bin, the infrared detector is connected to the image processing module, and the gravity detector is connected to the main controller.

[0010] The power device includes a turbine motor and a turbine. The turbine motor arranged inside the hull is used to drive the turbine, and the turbine motor is driven by a main driver.

[0011] The beneficial effects of the utility model are:

[0012] 1. The utility model is provided with a double hull, which is connected by a connecting device, and a garbage cleaning device is provided on the double hull. The utility model not only realizes the garbage cleaning function, but also further improves the garbage cleaning ability of the unmanned boat of this application and its passability when facing obstacles by realizing the adjustable distance between the double hulls and the obstacle avoidance width and the retractable garbage cleaning device of the double hull. In this way, the automation and multi-kinetic energy of the unmanned boat are realized, and it has a good management effect, reduces cost investment, and improves the utilization rate of the unmanned boat.

[0013] 2. The garbage cleaning device of the utility model ensures the adaptability to garbage of different sizes and the passability of the unmanned boat during the obstacle avoidance process through the cooperation of the conveyor belt and the garbage bin. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1This is a schematic diagram of the structure of the unmanned boat of the utility model;

[0015] Figure 2 This is a side view of the unmanned boat of the present invention;

[0016] Figure 3 This is a diagram of the garbage cleaning device of the unmanned boat of the present invention in the dumping state;

[0017] Figure 4 This is a location diagram of the control system of the unmanned boat of the present invention;

[0018] Figure 5 This is a schematic diagram of the horizontal folding of the connecting device of the unmanned boat of the utility model;

[0019] Figure 6 This is a schematic diagram of the vertical folding structure of the connecting device of the unmanned boat of the utility model;

[0020] Figure 7 This is a control diagram of the unmanned boat control system of the utility model;

[0021] Figure numbers: 1. Hull; 2. Control system; 3. Connecting device; 301. Folding rod; 302. Rotating motor; 303. Folding motor; 304. Universal joint; 4. Camera visual sensor; 5. GPS wireless communication sensor; 6. Sonar sensor; 7. Garbage cleaning device; 701. Telescopic rod; 702. Conveyor belt; 703. Conveyor belt adjustment motor; 704. Telescopic rod adjustment motor; 705. Garbage bin; 706. Gravity detector; 707. Infrared detector; 8. Power unit; 801. Turbine motor; 802. Turbine. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0023] like Figure 1-7As shown, a catamaran unmanned boat for garbage cleaning includes two hulls 1, which are connected by a connecting device 3, and the connecting device 3 adjusts the distance between the two hulls 1; the connecting device 3 includes two folding rods 301, one end of the two folding rods 301 is respectively connected to a universal joint 304, the universal joint 304 is respectively connected to a rotating motor 302 and a folding motor 303, and the rotating motor 302 is fixed on the hull 1; the two folding rods 301 are hinged, and the rotating motor 302 and the folding motor 303 are driven by the main drive of the control system 2. The folding motor 303 adjusts the folding angle of the folding rod 301 to change the distance between the left and right hulls 1, and the rotating motor 302 adjusts the folding direction of the folding rod 301. By combining the folding rod 301 with the universal joint 304, the width of garbage cleaning and obstacle avoidance is guaranteed, and the problem of poor passability caused by excessive garbage or obstacles can be avoided by the vertical working state;

[0024] The two hulls 1 are respectively mounted with a camera visual sensor 4, a GPS wireless communication sensor 5, and a sonar sensor 6. The camera visual sensor 4 is fastened to the hull 1 by screws. The GPS wireless communication sensor 5 is mounted at the center of the hull 1 to ensure measurement of the acceleration, angular velocity, and direction of the vessel and to ensure smooth communication with the ground control station or other vessels. The sonar sensor 6 is placed underwater to facilitate underwater depth measurement and terrain detection.

[0025] A garbage cleaning device 7 is provided at the front end of the two hulls 1, and a garbage bin 705 detachably connected to the hull 1 is provided at the rear of the garbage cleaning device 7. The garbage bin 705 can be removed and replaced in time after the garbage is full; the garbage cleaning device 7 includes a conveyor belt 702, a telescopic rod 701, a conveyor belt adjusting motor 703, and a telescopic rod adjusting motor 704. The conveyor belt 702 is arranged at the front end of the hull 1 and is driven by the conveyor belt adjusting motor 703. One end of the telescopic rod 701 is fixed on the conveyor belt 702, and the other end is fixed to the hull 1 through the telescopic rod adjusting motor 704. The conveyor belt adjusting motor 703 and the telescopic rod adjusting motor 704 are driven by the main driver of the control system 2.

[0026] The tails of the two hulls 1 are driven by a power unit 8, which includes a turbine motor 801 and a turbine 802. The turbine motor 801 arranged inside the hull 1 is used to drive the turbine 802 to propel the hull 1 forward. The turbine motor 801 is driven by the main drive of the control system 2.

[0027] The connecting device 3, the camera visual sensor 4, the GPS wireless communication sensor 5, the sonar sensor 6, and the garbage cleaning device 7 are electrically connected to the control system 2 arranged in the two hulls 1. The control system 2 is used for the overall control of the unmanned boat of the present invention.

[0028] The control system 2 includes a main controller, a main driver, an image processing module, an information transmission module and a power module. The camera visual sensor 4 is electrically connected to the image processing module; the GPS wireless communication sensor 5, the sonar sensor 6, and the image processing module are electrically connected to the main controller. The main controller is connected to the control pan / tilt via the information transmission module. A global path planner and a local path planner are provided in the main controller for global and local path planning; the main controller acts on the garbage cleaning device 7, the connecting device 3 and the power device 8 via the main driver; the power module supplies power to the main controller, the main driver, the image processing module, the information transmission module, the camera visual sensor 4, the GPS wireless communication sensor 5, the sonar sensor 6, the connecting device 3, the garbage cleaning device 7 and the power device 8.

[0029] Specifically, the GPS wireless communication sensor is turned on to achieve preliminary positioning and publish the radar point cloud, and the main controller starts the mapping algorithm and the automatic exploration algorithm; the automatic exploration algorithm collects the point cloud data generated by the unmanned ship's route in a certain area into the mapping algorithm to become map data distribution points, and the mapping algorithm integrates comprehensive global loop map detection. When the unmanned ship's mapping forms a loop, the map will be self-tuned. At the same time, the GPS wireless communication sensor signal is used to perform front-end optimization and back-end optimization respectively to perform global self-positioning adjustment, and by sensing the point cloud density in the point cloud data preprocessing stage, the point cloud density signal is distributed to the mapping algorithm. The algorithm is based on According to the density signal, the size of the time factor is dynamically adjusted. When the automatic exploration algorithm detects that the constructed map has become a closed structure, it automatically stops building the map and completes the map construction. During the navigation process, when the target point is released by controlling the gimbal or the unmanned boat automatically recognizes the target point, the global path planner runs the global planning algorithm. The algorithm performs self-detection and calculation within the map and plans a global optimal path. The unmanned boat travels along this path to the target point. The local path planner determines the distance between the hull and the obstacle, adjusts the hull's posture, and slightly modifies the global path in the local area to achieve the obstacle avoidance effect. Finally, navigation is achieved through the global path planner and the local path planner.

[0030] A method for operating a catamaran unmanned boat for garbage cleaning comprises the following steps:

[0031] Step 1: Create a global path map and navigation update:

[0032] When the unmanned boat of the utility model enters an unfamiliar environment, the main controller sends an unmanned boat cruise instruction to the main driver, and the main driver starts the power device 8 to realize the full-path cruise and environmental exploration of the unmanned boat;

[0033] The staff activates the mapping function by controlling the gimbal. The GPS wireless communication sensor 5 performs preliminary positioning and starts generating point cloud data in the main controller. At the same time, the mapping algorithm and the automatic exploration mapping algorithm are simultaneously launched. The unmanned boat uses the automatic mapping algorithm to achieve full coverage of the point cloud data of the GPS wireless communication sensor 5. When the point cloud map forms a closed-loop structure, the unmanned boat stops mapping and saves the established high-precision point cloud map.

[0034] Step 2: Connect the Device

[0035] After the map is built, the navigation function can be turned on. When the unmanned boat needs to go to the target point, the unmanned boat uses the global planner in the map to plan the optimal path from the hull to the target point and drives the hull to go there. During the navigation process, the sonar sensor 6 is turned on at the same time and navigates according to the global path map established above. When encountering an obstacle, the main controller judges the distance and size of the obstacle based on the GPS wireless communication sensor 5 and the camera visual sensor 4. If the size and height of the obstacle are within a certain set value, the rotating motor 302 rotates the universal joint 304 to change the folding The folding direction of the rod 301 is to rotate the folding rod 301 upward, and then the folding motor 303 is used to fold the folding rod 301, so that higher obstacles can pass between the two hulls 1, ensuring that the unmanned boat passes smoothly; if passing through a building such as a bridge hole with restrictions on height and width, the rotating motor 302 rotates the universal joint 304 to make the folding rod 301 horizontal, and then the folding motor 303 is used to fold the folding rod 301 horizontally, at this time, the height of the folding rod 301 is too high when folding upward, and the distance between the two hulls 1 is too large, which will cause the overall width to be too large;

[0036] Step 3: Junk Cleanup:

[0037] After the garbage cleaning command is issued to the unmanned boat through the control pan-tilt platform, the camera visual sensor 4 is first turned on for real-time image monitoring, and the image data information is uploaded to the main controller through the image processing module. The main controller remotely transmits the image data information to the control pan-tilt platform through the information transmission module. The staff specifies the surface garbage to be cleaned through the control pan-tilt platform or the remote control;

[0038] The main driver starts the telescopic rod adjustment motor 704 to adjust the telescopic rod 701, thereby adjusting the angle of the conveyor belt 702. By adjusting the conveyor belt adjustment motor 703, the garbage is transported to the garbage bin 705 through the conveyor belt 702, and the gravity detector 706 and infrared detector 707 at the bottom of the garbage bin 705 detect the situation of the garbage bin 705. When it is detected that there is too much or too heavy garbage in the garbage bin 705, the data information of the gravity detector 706 is uploaded to the main controller, and the infrared detector 707 analyzes the situation through the image processing module and transmits the information to the main controller. The main controller transmits the information to the control gimbal through the information transmission module to remind the staff to replace it in time; when no staff instructions are received within the set interval, the unmanned boat automatically returns to the default garbage collection point set by the system, waits for the garbage bin 705 to be cleaned, and sends the specific location information to the control gimbal.

Claims

1. A catamaran unmanned boat for garbage cleaning, characterized in that: The invention comprises two hulls, which are connected by a connecting device, and the connecting device adjusts the distance between the two hulls; a camera visual sensor, a GPS wireless communication sensor, and a sonar sensor are respectively installed on the two hulls; a garbage cleaning device is provided at the front end of the two hulls, and a garbage bin detachably connected to the hull is provided at the rear of the garbage cleaning device; the tails of the two hulls are driven by a power device, and the connecting device, the camera visual sensor, the GPS wireless communication sensor, the sonar sensor, the garbage cleaning device, and the power device are electrically connected to the control system arranged in the two hulls.

2. The catamaran unmanned boat for garbage cleaning according to claim 1, characterized in that: The control system includes a main controller, a main driver, an image processing module, an information transmission module and a power module. The camera visual sensor is electrically connected to the image processing module; the GPS wireless communication sensor, the sonar sensor, and the image processing module are electrically connected to the main controller. The main controller is connected to the control pan / tilt via the information transmission module. The main controller acts on the garbage cleaning device, the connecting device and the power device via the main driver; the power module supplies power to the main controller, the main driver, the image processing module, the information transmission module, the camera visual sensor, the GPS wireless communication sensor, the sonar sensor, the power device, the garbage cleaning device and the connecting device.

3. The catamaran unmanned boat for garbage cleaning according to claim 2, characterized in that: The connecting device includes two folding rods, one end of the two folding rods is respectively connected to the universal joint, the universal joints are respectively connected to the rotating motor and the folding motor, and the rotating motor is fixed on the hull; the two folding rods are hinged, and the rotating motor and the folding motor are driven by the main drive.

4. The catamaran unmanned boat for garbage cleaning according to claim 2, characterized in that: The garbage cleaning device includes a conveyor belt, a telescopic rod, a conveyor belt adjusting motor, and a telescopic rod adjusting motor. The conveyor belt is arranged at the front end of the hull and is driven by the conveyor belt adjusting motor. One end of the telescopic rod is fixed to the conveyor belt, and the other end is fixed to the hull through the telescopic rod adjusting motor. The conveyor belt adjusting motor and the telescopic rod adjusting motor are driven by the main driver.

5. The catamaran unmanned boat for garbage cleaning according to claim 2, characterized in that: A gravity detector is provided at the bottom of the garbage bin, an infrared detector is provided on the side wall of the garbage bin, the infrared detector is connected to the image processing module, and the gravity detector is connected to the main controller.

6. The unmanned catamaran boat for garbage cleaning according to claim 2, characterized in that: The power device includes a turbine motor and a turbine. The turbine motor arranged inside the hull is used to drive the turbine, and the turbine motor is driven by a main driver.

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