CN110306504B - Intelligent water surface floating garbage collection device and control method - Google Patents
Intelligent water surface floating garbage collection device and control method Download PDFInfo
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- CN110306504B CN110306504B CN201910602052.9A CN201910602052A CN110306504B CN 110306504 B CN110306504 B CN 110306504B CN 201910602052 A CN201910602052 A CN 201910602052A CN 110306504 B CN110306504 B CN 110306504B
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- 239000010813 municipal solid waste Substances 0.000 title claims abstract description 133
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 64
- 238000007667 floating Methods 0.000 title claims abstract description 28
- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000005484 gravity Effects 0.000 claims description 9
- 238000007789 sealing Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 claims description 3
- 238000005260 corrosion Methods 0.000 claims description 3
- 230000001934 delay Effects 0.000 claims description 2
- 230000003111 delayed effect Effects 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims 1
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 238000005265 energy consumption Methods 0.000 abstract description 3
- 230000003749 cleanliness Effects 0.000 abstract description 2
- 238000001914 filtration Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 5
- 208000034699 Vitreous floaters Diseases 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000003796 beauty Effects 0.000 description 1
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- 230000015556 catabolic process Effects 0.000 description 1
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- 239000002344 surface layer Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 238000004078 waterproofing Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/046—Collection of oil using vessels, i.e. boats, barges
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F03—MACHINES OR ENGINES FOR LIQUIDS; WIND, SPRING, OR WEIGHT MOTORS; PRODUCING MECHANICAL POWER OR A REACTIVE PROPULSIVE THRUST, NOT OTHERWISE PROVIDED FOR
- F03D—WIND MOTORS
- F03D15/00—Transmission of mechanical power
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
- H02S10/10—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power including a supplementary source of electric power, e.g. hybrid diesel-PV energy systems
- H02S10/12—Hybrid wind-PV energy systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sustainable Energy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Environmental & Geological Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Cleaning Or Clearing Of The Surface Of Open Water (AREA)
- Processing Of Solid Wastes (AREA)
Abstract
The invention discloses an intelligent water surface floating garbage collection device and a control method thereof. The collecting device comprises a ship body supporting structure, an energy driving system, a piston reciprocating structure, a garbage collecting and dumping structure and a controller. The energy driving system comprises a wind power driving device and a light energy driving device, the light energy driving device provides operation power, the piston reciprocating structure is used for guiding water flow to be separated from garbage, and the wind power driving device is connected with the piston push rod. The garbage collection dumping structure is used for dumping the separated garbage into the garbage collection frame. The invention can automatically realize the filtration and collection of the garbage and the dumping of the garbage, and compared with the belt transmission on the conventional ship-shaped collection device, the invention greatly reduces the volume of the device and realizes the flexibility and the miniaturization of the device. The mode of combining wind power driving and light energy driving is adopted, so that the cleanliness of the device energy is effectively realized, and the energy consumption is greatly reduced.
Description
Technical Field
The invention relates to an intelligent water surface floating garbage collection device and a control method thereof, in particular to a small unmanned water surface floating garbage collection device capable of realizing intelligent operation and a control method thereof, and belongs to the technical field of water surface garbage cleaning.
Background
Along with the dependence of people on plastic products, serious plastic floating garbage appears on the lake surface, river channels and even ocean areas of numerous tourist attractions, which not only seriously affects the environmental beauty, but also seriously threatens the survival of aquatic organisms due to the difficult degradation of the plastic and the characteristics of the position of the plastic, thereby affecting the life and health of people. Therefore, how to remove the floating garbage on the water surface has become a problem to be solved urgently in all countries of the world.
From the current garbage cleaning means, china mainly depends on the manual salvaging mode: the boat is manually driven to carry the long bamboo net for salvaging. The mode mainly depends on manpower, and greatly increases the working intensity and potential safety hazard of workers due to the difficulty of water operation. From the existing automated garbage collection devices of various countries, there are mainly two forms: firstly, in the form of a ship-mounted water pump, a barrel-shaped water pump is hung on the edge of a ship and is submerged below the water surface, water is promoted to have fluidity by pumping water, and floating garbage is introduced into the water pump, so that the garbage on the water surface can be effectively collected, but the garbage collection cost and the energy consumption are greatly increased because the garbage collection system needs the ship to carry; secondly, the device is in a catamaran structure form, and the whole device comprises a garbage collection device, a garbage transportation device and a garbage treatment device, wherein the device is used for transporting garbage from the water surface to the garbage collection device, a belt transmission form with a point of inclined installation is often adopted, the transmission form occupies a large space and has a huge size, and the device is especially unsuitable for treating garbage in scenic lakes and river channels in a small range. Therefore, the development of an energy-saving, intelligent and small-sized water surface floating garbage cleaning device is an effective means for treating water surface environment in the current society.
Disclosure of Invention
The invention aims to solve the technical problem of providing an intelligent water surface floating garbage collection device which can effectively utilize wind energy and light energy as a driving system to collect and dump garbage.
In order to solve the problems, the invention adopts the following technical scheme:
an intelligent water surface floating garbage collection device comprises a ship body supporting structure, an energy driving system, a piston reciprocating structure, a garbage collection dumping structure and a controller,
The hull supporting structure comprises a float platform, an upper platform and a lower platform which are arranged at the upper end and the lower end of the float platform, a signal receiving antenna is arranged on the upper platform,
The float platform is provided with a cavity and a lower concave cavity serving as a water flow duct, the front end and the tail part of the float platform are respectively provided with a rotating wheel driven by a first motor and a garbage collection frame, the outside of the float platform is provided with a propeller driven by a second motor, the garbage collection frame is internally provided with a second weight sensor,
The energy driving system comprises a wind power driving device and a light energy driving device which are arranged on the upper platform, the light energy driving device provides running power for the ship body supporting structure, the piston reciprocating structure is arranged in the lower platform and used for guiding water flow and garbage to be separated, the wind power driving device is connected with the piston push rod,
The garbage collection dumping structure comprises a hollow garbage collection basket placed in a lower concave cavity body and 6 lead screws arranged between an upper platform and a lower platform, wherein each lead screw is respectively controlled by a motor arranged at a corresponding position on the upper platform, the 6 lead screws are divided into three groups of left, middle and right, each group of front and rear two,
Each screw rod is provided with a nut, a first weight sensor is arranged in the garbage collection basket, the garbage collection basket comprises a left basket body and a right basket body,
The left basket body and the right basket body are respectively connected between nuts of two adjacent rows of screw rods, round holes for push rods to pass through are formed between the two basket bodies, two limit switches are respectively arranged on each screw rod, the positions of the limit switches at the upper ends of the three groups of screw rods are sequentially lowered, the positions of the limit switches at the lower ends are in a V shape with lower middle and higher two sides,
The controller is respectively connected with the optical energy driving device, the first motor, the second motor, all motors for controlling the screw rods, the limit switch and the two weight sensors.
Above-mentioned intelligent surface of water floats garbage collection device, first motor work, and the runner of float platform front end is with the leading-in lower cavity internal as the rivers duct of rubbish, then rivers follow the garbage collection basket and flow into the piston reciprocating structure in the lower platform, and at this moment, the rubbish that floats in water will stay in the garbage basket. The wind power driving device drives the piston push rod to reciprocate, and water entering the piston reciprocating structure is discharged. The initial position of the garbage collection basket is V-shaped. When the motor for controlling the screw rod is reversed, the nuts on the screw rod drive the positions of the left basket body and the right basket body to change, and finally the garbage falls down to the garbage collection frame along with the gravity factor. When the motor controlling the screw rod rotates positively, the position of the garbage collection basket is restored to the V shape in the initial state. When the second weight sensor at the bottom of the garbage collection frame reaches a set value, the second motor is triggered to rotate, and then the propeller is driven to return to the shore along a specified path, after the garbage collection frame is replaced manually, the garbage collection frame is initialized again, and the garbage collection frame leaves the shore station to collect garbage.
Further, the wind power driving device comprises a fan and a gear system, the gear system comprises a gear box and a gear rack structure, the gear box is arranged on the upper platform through a hollow upright post,
The gear rack structure comprises a main gear coaxially connected with the fan, a left driven gear, a right driven gear and a double-sided straight rack, wherein the left driven gear and the right driven gear are positioned at two sides of the main gear and meshed with the main gear, the double-sided straight rack is vertically arranged in the hollow upright post, the double-sided straight rack is connected with the top end of the piston push rod through a coupling, the left driven gear and the right driven gear are respectively coaxially provided with a left sector gear and a right sector gear, the double-sided straight rack is positioned between the left sector gear and the right sector gear, the initial positions of the two sector gears are staggered by a certain angle, when the main gear rotates, the two sector gears are intermittently meshed with one side of the double-sided straight rack to drive the double-sided straight rack to reciprocate, and then drive the piston push rod to reciprocate,
The light energy driving device comprises a storage battery, a photovoltaic controller, a first motor, a second motor and a solar panel, wherein the storage battery, the photovoltaic controller, the first motor, the second motor and the solar panel are arranged in the cavity, the solar panel and the photovoltaic controller are arranged on the upper platform, the input end of the storage battery is sequentially connected with the input end of the storage battery, and the output end of the storage battery is connected with the controller positioned in the cavity.
Further, the piston reciprocating structure contains piston cylinder, piston push rod, upper end cover and square platform, the piston cylinder is located the below of lower cavity body, upper end cover and piston cylinder fixed fit, square platform sets up on the piston cylinder and is hollow structure, first electromagnetic check valve is installed to the upper end cover, and piston cylinder upper chamber lateral wall passes through the pipeline and is connected with the second electromagnetic check valve, and two electromagnetic check valves are respectively by different relay control, and the stopper is installed respectively to piston cylinder upper chamber lateral wall and piston cylinder bottom, and the piston cylinder lower chamber passes through the pipeline and is connected with the elastic air bag that sets up in the lower platform, the bottom of lead screw is installed on square platform.
The principle of the piston reciprocating structure is that the piston push rod is driven by the bilateral straight racks to move up and down, when the piston touches a limiting block on the side wall of the upper chamber, the first electromagnetic one-way valve is opened, water flow enters the upper chamber of the piston cylinder, and air in the lower chamber is compressed and retracted into the elastic air bag along with the downward movement of the piston push rod; when the piston touches the limiting block at the bottom, the second electromagnetic one-way valve is opened, the first electromagnetic one-way valve is closed, water flows out from the pipeline connected with the side wall of the upper chamber, then the piston push rod moves upwards, water above the piston continuously flows out, and gas of the elastic air bag enters the lower cavity. Thus, the water flow is continuously discharged by continuously reciprocating motion.
Further, the float platform comprises two long cylindrical cavity floats which are symmetrically arranged, the middle section of each cavity float is provided with a square platform at the periphery, the front end and the rear end of the two cavity floats are respectively provided with a baffle and a steel wire mesh baffle, the cavity is positioned in the cavity float, the lower cavity body is surrounded by the two cavity floats, the baffle and the steel wire baffle,
The rotating wheel is positioned above the baffle, when rotating, the rotating wheel guides the garbage on the water surface into the lower concave cavity body, and when the rotating wheel stops rotating, the garbage in the lower concave cavity body is blocked from overflowing.
Further, the runner includes the major axis, installs the major axis cover on the major axis and along the length direction three rectangle blades of fixing on long axle sleeve global, hull bearing structure's maximum draft is located the intermediate position when rectangle blade rotates the top and is vertical state. By adopting the structure, when the rotating wheel rotates, the outside garbage can be collected into the water flow bypass area by a harvester method; when the rotating wheel stops rotating, the collected garbage can be prevented from flowing outwards.
Further, the lower platform is of an inverted prismatic table structure and comprises an upper plate, 4 side plates and a bottom plate, wherein the middle of the upper plate is provided with an opening, the center of the inside of the lower platform is provided with a cylindrical side wall, the space of the lower platform is divided into a piston chamber for placing a piston cylinder and a sealing chamber outside the piston chamber by the cylindrical side wall, an elastic air bag is positioned in the sealing chamber, and a balancing weight is filled in the sealing chamber.
Further, in order to facilitate the installation of motor to fix and consolidate the upper platform, the upper platform comprises upper plate and 2 baffles of vertical rigid coupling upper plate bottom both sides, the upper surface of upper plate sets gradually 3 sets of motor boss that are used for installing the motor according to left side, well, right, and the outside of every baffle is fixedly connected 3 stands respectively, the stand is installed on the float platform.
Further, the garbage collection frame is of a double-layer sleeving structure and comprises a hollow square outer box and a square inner box without an upper cover, the outer box is sleeved outside the inner box, a garbage inlet is arranged at one side of the top end of the outer box, which is close to the float platform, the periphery of the outer box and the periphery of the inner box are of hollow structures,
The second weight sensor is arranged at the bottom of the inner box, the limiting block is further arranged at the bottom of the inner box, and the second weight sensor and the limiting block are coated by a flexible anti-corrosion film.
The invention also discloses a control method of the intelligent water surface floating garbage collection device, which comprises the following steps:
s1, a signal receiving antenna reads a signal sent by a shore signal source and transmits the signal to a controller, the controller plans a cruising line, a second motor works according to a cruising instruction,
S2, the controller sends out a working instruction, the first motor works, the rotating wheel is controlled to guide garbage on the water surface into the garbage collection basket, the relay KM is electrified, the motors of the screw rod are controlled to rotate positively, when nuts on the screw rod touch the limiting block at the lower end of the screw rod, all the motors of the screw rod are controlled to stop rotating, and at the moment, the garbage collection basket is in a V shape, and the step S3 is entered;
S3, a controller sends out a delayed power-on instruction, a relay delays power on, then, each motor of a screw rod is controlled to rotate reversely, when a nut on the screw rod touches a limiting block at the upper end of the screw rod, each motor of the first motor and the motor of the screw rod is controlled to stop rotating, at the moment, a garbage collection basket is unfolded and is in a left-high right-low shape, garbage in the basket rolls down into the garbage collection frame under the action of gravity, the value of a first gravity sensor is reset to zero, if the value of a second weight sensor is smaller than a set threshold value, the step S2 is repeated, and if the value of the second weight sensor reaches the set threshold value, the step S4 is entered;
s4, the second motor reads the information of the return route and pushes the ship body supporting structure to return to the shore for garbage disposal.
Further, in order to guide the propeller to cruise according to a planned route, the signal sources are distributed in a V shape at positions on two sides of the river bank.
In summary, compared with the prior art, the invention has the beneficial effects that:
1. The intelligent water surface floating garbage collection device can automatically filter the floating garbage on the surface layer of the water surface in the garbage collection basket, can automatically realize the filtration and collection of the garbage and the dumping of the garbage, and greatly reduces the volume of the device compared with the belt transmission on the conventional ship-shaped collection device, and realizes the flexibility and the miniaturization of the device.
2. The energy driving system adopts a mode of combining wind power driving and light energy driving, so that the cleanliness of the device energy is effectively realized, and the principle similar to a pump is realized by adopting a driving structure of combining a fan, a gear rack structure and a piston reciprocating type, but the energy consumption is greatly reduced.
3. The control method of the invention realizes unmanned operation by intelligently collecting garbage and intelligently cruising and returning.
Drawings
Fig. 1 is a schematic diagram of the overall structure of the intelligent water surface floating garbage collection device.
Fig. 2a is a top view of the intelligent water surface floating garbage collection device of the present invention.
Fig. 2b is a cross-sectional view of fig. 2a taken along A-A.
Fig. 3a is a schematic structural view of the float platform 1 according to the present invention.
Fig. 3b is a top view of fig. 3 a.
Fig. 3c is a schematic view of the internal structure of the long cylindrical hollow float 11 according to the present invention.
Fig. 4 is a schematic structural view of a rotor according to the present invention.
Fig. 5a is a schematic structural view of the lower platform according to the present invention.
Fig. 5b is a schematic view of the internal structure of the lower platform according to the present invention.
FIG. 6 is a schematic view of the upper platform of the present invention.
Fig. 7a is a schematic structural diagram of a wind power driving device according to the present invention.
Fig. 7b is a schematic structural diagram of a fan and rack and pinion structure in a wind driven device.
Fig. 7c is a top view of fig. 7 b. 671-left axis; 672-right axis.
Fig. 7d is a schematic view of a combination of a left (right) driven gear and a left (right) sector gear in a wind power driving apparatus.
FIG. 8a is a schematic view of the garbage collection basket according to the present invention.
FIG. 8b is a schematic view of the assembly of the garbage collection basket of the present invention.
FIG. 8c is a schematic view of the garbage collection basket of the present invention in a garbage collection state.
Fig. 8d is a schematic view of the garbage collection basket of the present invention in a garbage dumping state.
Fig. 9a is a schematic diagram of a reciprocating piston structure according to the present invention.
Fig. 9b is a perspective view of a piston reciprocating structure (inelastic air bag) in the present invention.
FIG. 10a is a schematic view of the structure of the outer box of the garbage collection frame.
FIG. 10b is a schematic diagram of the overall structure of a garbage collection frame.
Fig. 11a is a schematic diagram of the control of the piston reciprocating structure of the present invention.
Figure 11b is a schematic diagram of the control of the dumping structure of the garbage collection in the invention. Three groups of motors b are shown.
Figure 11c is a schematic diagram of cruise and return control of the hull support structure of the present invention. T2 is a comparator.
Figure 12 is a flow chart of the operation of the present invention. Three groups of motors b are shown.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. The objects, technical solutions and advantages of the present invention will become more apparent from the following description. It should be noted that the described embodiments are preferred embodiments of the invention, and not all embodiments.
Referring to fig. 1 to 3c, an intelligent water surface floating garbage collection device comprises a ship body supporting structure, an energy driving system, a piston reciprocating structure 8, a garbage collection dumping structure 9 and a controller H.
As shown in fig. 1 and 2a, the hull support structure includes a float platform 1, an upper platform 3 and a lower platform 2 mounted on the upper and lower ends of the float platform 1, and a signal receiving antenna f2 is mounted on the upper platform 3.
As shown in fig. 3a, 3b, 3c, the main function of the float platform 1 is to provide buoyancy support and instrument storage space for the whole device. The device comprises a cavity A and a lower concave cavity B serving as a water flow duct, wherein a rotating wheel 13 and a garbage collection frame 10 driven by a first motor B1 are respectively arranged at the front end and the tail part of a float platform 1, a propeller 17 driven by a second motor B2 is arranged outside the float platform 1, the start and stop of the second motor B2 are controlled, and the functions of advancing, retreating, turning and the like of the whole device are realized. A second weight sensor P2 (see fig. 10 b) is installed in the garbage collection frame 10.
Preferably, the float platform 1 comprises two long cylindrical hollow floats 11 symmetrically arranged, the middle section of each hollow float 11 is provided with a square platform 12 at the periphery, and the two square platforms can be connected through a connecting rod 15. The front ends and the rear ends of the two cavity floaters 11 are respectively provided with a baffle plate 14 and a steel wire mesh baffle plate 16, the cavity A is positioned in the cavity floaters 11, and the lower cavity B is surrounded by the two cavity floaters 11, the baffle plates 14 and the steel wire baffle plates 16.
The rotating wheel 13 is positioned above the baffle 14, when the rotating wheel 13 rotates, the water surface garbage 7 is guided into the lower concave cavity B, and when the rotating wheel 13 stops rotating, the garbage in the lower concave cavity B is blocked from overflowing. The cavity a may also be divided into several chambers, such as a front chamber, a middle chamber and a rear chamber, for placing different devices or weights, as the case may be. Referring to fig. 4, as a preferred embodiment, the rotating wheel 13 includes a long shaft 131, a long shaft sleeve 132 mounted on the long shaft, and three rectangular blades 133 fixed on the circumference of the long shaft sleeve 132 in the length direction, and the maximum draft line of the hull supporting structure is located at a middle position when the rectangular blades 133 are rotated to an upper vertical state. When the rotating wheel 13 rotates, the outside garbage can be collected into the lower concave cavity B serving as a water flow duct; when the rotation of the rotating wheel 13 is stopped, the garbage can be prevented from flowing outwards.
The energy driving system comprises a wind power driving device 5 and a light energy driving device 4, the light energy driving device 4 provides running power for a ship body supporting structure, a piston reciprocating structure is arranged in the lower platform 2 and used for guiding water flow to be separated from garbage, and the wind power driving device 5 is connected with a piston push rod 82.
Referring to fig. 8a, 8B, 8c, 8d, the garbage collection dumping structure comprises a hollow garbage collection basket 90 placed in a lower concave cavity body B and 6 screws 91,6 installed between an upper platform 3 and a lower platform 2, wherein the screws comprise a left group, a middle group and a right group, the front part and the rear part of each group are respectively provided with a motor B corresponding to each screw on the upper platform 3, and the motors B are used for controlling the operation of each screw 91.
Each screw 91 is provided with a nut 92, the garbage collection basket 9 is internally provided with a first weight sensor P1, and the garbage collection basket 90 comprises a left basket body 90a and a right basket body 90b which are semi-I-shaped.
The apex angles of the left basket body and the right basket body are respectively connected between the nuts 92 of two adjacent rows of screw rods, the four apex angles of the bottoms of the two basket bodies are respectively connected on the nuts 92, a round hole 6c for the piston push rod 82 to pass through is formed between the two basket bodies, two limiting blocks S Upper part 、S Lower part(s) are respectively arranged on each screw rod 91, and the mounting positions of the limiting blocks on the front screw rod and the rear screw rod of each group are consistent in height. The positions of the limiting blocks S Upper part at the upper ends of the three groups of screw rods from left to right are in a shape of a V with the middle low and the two sides high, and the positions of the limiting blocks S Lower part(s) at the lower ends are in a shape of an inclined plane which descends in sequence.
As a preferred solution, the left basket body 90a and the right basket body 90b are each formed by two hollow baskets 901 with a half-i-shaped structure, wherein two sides of the bottom of one hollow basket are provided with guide rods 902, two sides of the bottom of the other hollow basket are provided with guide rod grooves 903 matched with the guide rods 902, the length of the guide rods 902 is consistent with the guide rod grooves 903, and when the angle of the hollow basket 901 changes along with the operation of a screw rod, the guide rods 902 move along the guide rod grooves 903.
The controller H is respectively connected with the optical energy driving device 4, the first motor b1, the second motor b2, all motors b for controlling the screw rods, the limit switch S and the two weight sensors P1 and P2.
Referring to fig. 1, 2a and 3c, the optical energy driving device 4 includes a storage battery c, a photovoltaic controller e, a first motor b1, a second motor b2 and a solar panel 4a installed on the upper platform 3, wherein an input end of the storage battery c is sequentially connected with the photovoltaic controller e and the solar panel 4a, and an output end of the storage battery c is connected with a controller H located in the cavity a. A balancing weight 27 can be placed in the cavity A according to the situation.
Referring to fig. 7a-7d, the wind driven device 5 comprises a wind turbine 50 and a gear system 6, the gear system 6 comprising a gear box 62 and a rack and pinion arrangement within the gear box 62, the gear box 62 being mounted on the upper platform 3 by means of a hollow upright 63.
The rack and pinion structure includes a main gear 64 coaxially connected with the blower 50, a left driven gear 641, a right driven gear 642 which are positioned at both sides of the main gear 64 and engaged with the same, and a double-sided rack 66 vertically installed in the hollow upright 63. The left and right driven gears 641,642 are the same type of gears as the main gear 64. The double sided spur rack 66 is connected to the top end of the piston push rod 82 via a coupling 68. The left and right driven gears are coaxially mounted with left and right sector gears 651, 652, respectively. The double-sided straight rack 66 is positioned between the left and right sector gears, and the tooth shapes of the two sides of the double-sided straight rack 66 are matched with the left and right sector gears 651 and 652.
The initial positions of the left and right sector gears are staggered by a certain angle, and when the main gear 64 rotates, the two sector gears intermittently mesh with one side of the double-sided straight rack 66, that is, only one side of the double-sided straight rack 66 just meshes with one of the sector gears during the rotation of the main gear 64, that is, when the left sector gear 651 and the double-sided straight rack 66 enter into a meshing state, the right sector gear 652 just breaks away from the double-sided straight rack 66. The left sector gear 651 and the right sector gear 652 move in opposite directions with respect to the double-sided rack 66. The double-sided straight rack 66 drives the piston push rod 82 to reciprocate.
Referring to fig. 5a and 5B, the lower platform 2 is an inverted prismatic platform structure, and is composed of an upper plate 21 with a circular opening in the middle, 4 side plates 22 and a bottom plate 23, a cylindrical side wall 24 is arranged at the center of the interior of the lower platform, the cylindrical side wall 24 divides the interior space of the lower platform into a piston chamber B1 for placing a piston cylinder 81 and a sealing chamber B2 located outside the piston chamber B1, the elastic air bag 26 is located in the sealing chamber B2, a balancing weight 27 is filled at the bottom of the sealing chamber B2, and the elastic air bag 26 is filled with air.
Referring to fig. 6, the upper platform 3 is composed of an upper plate 31 and 2 hollow baffles 33 vertically fixedly connected to two sides of the bottom of the upper plate 31, the upper plate 31 is hollow and is used for reciprocating motion of a piston push rod 82, 3 groups of motor bosses 34 for installing a motor b are sequentially arranged on the upper surface of the upper plate according to left, middle and right directions, 3 upright posts 32 are fixedly connected to the outer sides of each baffle 33 respectively, and the upright posts are installed on the float platform 1.
Referring to fig. 9a and 9B, the reciprocating piston structure comprises a piston cylinder 81, a piston push rod 82, an upper end cover 83 and a square table 84, wherein the piston cylinder 81 is located below the lower concave cavity B, the upper end cover 83 is matched with the piston cylinder 81, the square table 84 is arranged on the piston cylinder 81 and is of a hollow structure, the periphery of the square table 84 is high, the hollow part is low, and inclined surfaces 842 extending towards the middle are formed in the periphery of the square table 84, so that water flow can enter the piston cylinder 81 conveniently. The upper end cover 83 is fitted with a first electromagnetic check valve Q1, and is covered with a flexible waterproof film 86 for waterproofing. The side wall of the upper chamber of the piston cylinder is connected with a second electromagnetic one-way valve Q2 through a rigid pipeline 85, the two electromagnetic one-way valves are respectively controlled by different relays, a first limiting block S1 is arranged on the side wall of the upper chamber of the piston cylinder, a second limiting block S2 is arranged at the bottom of the piston cylinder, the lower chamber of the piston cylinder is connected with an elastic air bag 26 arranged in the lower platform 2 through a pipeline, and the bottom end of the screw rod is arranged on a square table 84. The height between the first limiting block S1 and the second limiting block S2 is consistent with the height of the double-sided straight rack 66 in the gear box, which can run.
Referring to fig. 11a, a first stopper S1/second stopper S2 is touched by a piston, and a solenoid check valve Q1/second solenoid check valve Q2 is controlled by an associated first relay KM 1/second relay KM 2.
The piston push rod 82 is driven by the bilateral straight racks 66 to move up and down, when the piston touches the second limiting block S2 on the side wall of the upper chamber, the first electromagnetic one-way valve Q1 is opened, water flow enters the upper chamber of the piston cylinder, and air in the lower chamber of the piston is compressed and retracted into the elastic air bag 26 along with the downward movement of the piston push rod 82; when the piston touches the second limiting block S2 at the bottom, the second electromagnetic one-way valve Q2 is opened, the first electromagnetic one-way valve Q1 is closed, water flows out from the pipeline 85 connected with the side wall of the upper chamber, then the piston push rod 82 moves upwards, water above the piston continuously flows out, and meanwhile, gas of the elastic air bag 26 enters the lower cavity. Thus, the water flow is continuously discharged by continuously reciprocating motion.
Referring to fig. 10a and 10b, the garbage collection frame 10 is a double-layer sleeving structure, and comprises a hollow square outer box 101 and a square inner box 102 without an upper cover, the outer box 101 is sleeved outside the inner box 102, a garbage inlet 104 is formed in one side, close to the float platform 1, of the top end of the outer box 101, the periphery of the outer box and the periphery of the inner box are hollow structures, a second weight sensor P2 is mounted at the bottom of the inner box 102, a limiting block S is further arranged at the bottom of the inner box 102, and the second weight sensor P2 and the limiting block S are coated by a flexible anti-corrosion film 103.
The control method of the intelligent water surface floating garbage collection device comprises the following steps:
S1, a signal receiving antenna f1 reads a signal sent by a shore signal source f2 and transmits the signal to a controller H, the controller H plans a cruising line, a second motor b2 works according to a cruising instruction,
S2, a controller H sends out a working instruction, a first motor b1 works, a rotating wheel 13 is controlled to guide garbage on the water surface into a garbage collection basket 9, a relay KM of each motor b is controlled to be electrified, each motor b rotates positively, when nuts 92 on a screw rod touch a limiting block S Lower part(s) at the lower end of the screw rod, all motors b controlling the screw rod stop rotating, and at the moment, the garbage collection basket 9 is V-shaped, and the step S3 is entered;
S3, a controller H sends out a time delay power-on instruction, controls relays KM of all motors b to carry out time delay power-on, then controls all motors b of a screw rod to reversely rotate, when nuts 92 on the screw rod touch a limiting block S Upper part at the upper end of the screw rod, the first motor b1 and all motors b stop rotating, at the moment, a waste collection basket 9 which is originally in a V shape is unfolded and is left-high and right-low, waste in the basket rolls into a waste collection frame 10 under the action of gravity, the value of a first gravity sensor P1 is reset to zero, if the value of a second weight sensor P2 is smaller than a set threshold value, the step S2 is repeated, and if the value of the second weight sensor P2 reaches the set threshold value, the step S4 is entered;
S4, the second motor b2 reads the information of the return route and pushes the ship body supporting structure to return to the shore for garbage disposal.
The above description is merely illustrative of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention, and it is obvious that any person skilled in the art can easily think of alternatives or modifications based on the above embodiments to obtain other embodiments, which are all covered by the scope of the present invention.
Claims (10)
1. An intelligent water surface floating garbage collection device which is characterized in that:
Comprises a ship body supporting structure, an energy driving system, a piston reciprocating structure, a garbage collection dumping structure and a controller,
The hull supporting structure comprises a float platform, an upper platform and a lower platform which are arranged at the upper end and the lower end of the float platform, a signal receiving antenna is arranged on the upper platform,
The float platform is provided with a cavity and a lower concave cavity serving as a water flow duct, the front end and the tail part of the float platform are respectively provided with a rotating wheel driven by a first motor and a garbage collection frame, the outside of the float platform is provided with a propeller driven by a second motor, the garbage collection frame is internally provided with a second weight sensor,
The energy driving system comprises a wind power driving device and a light energy driving device which are arranged on the upper platform, the light energy driving device provides running power for the ship body supporting structure, the piston reciprocating structure is arranged in the lower platform and used for guiding water flow and garbage to be separated, the wind power driving device is connected with the piston push rod,
The garbage collection dumping structure comprises a hollow garbage collection basket placed in a lower concave cavity body and 6 lead screws arranged between an upper platform and a lower platform, wherein each lead screw is respectively controlled by a motor arranged at a corresponding position on the upper platform, the 6 lead screws are divided into three groups of left, middle and right, each group of front and rear two,
Each screw rod is provided with a nut, a first weight sensor is arranged in the garbage collection basket, the garbage collection basket comprises a left basket body and a right basket body,
The left basket body and the right basket body are respectively connected between nuts of two adjacent rows of screw rods, round holes for the piston push rods to pass through are formed between the two basket bodies, two limit switches are respectively arranged on each screw rod, the positions of the limit switches at the upper ends of the three groups of screw rods are sequentially lowered, the position of the limit switch at the lower end is in a V shape with the middle lower than the position of the limit switch at the upper end and the two sides higher than the position of the limit switch at the lower end,
The controller is respectively connected with the optical energy driving device, the first motor, the second motor, all motors for controlling the screw rods, the limit switch and the two weight sensors.
2. The intelligent water surface floating garbage collection device according to claim 1, wherein:
The wind power driving device comprises a fan and a gear system, the gear system comprises a gear box and a gear rack structure, the gear box is arranged on an upper platform through a hollow upright post,
The gear rack structure comprises a main gear coaxially connected with the fan, a left driven gear, a right driven gear and a double-sided straight rack, wherein the left driven gear and the right driven gear are positioned at two sides of the main gear and meshed with the main gear, the double-sided straight rack is vertically arranged in the hollow upright post, the double-sided straight rack is connected with the top end of the piston push rod through a coupling, the left driven gear and the right driven gear are respectively coaxially provided with a left sector gear and a right sector gear, the double-sided straight rack is positioned between the left sector gear and the right sector gear, the initial positions of the two sector gears are staggered by a certain angle, when the main gear rotates, the two sector gears are intermittently meshed with one side of the double-sided straight rack to drive the double-sided straight rack to reciprocate, and then drive the piston push rod to reciprocate,
The light energy driving device comprises a storage battery, a photovoltaic controller, a first motor, a second motor and a solar panel, wherein the storage battery, the photovoltaic controller, the first motor, the second motor and the solar panel are arranged in the cavity, the solar panel and the photovoltaic controller are arranged on the upper platform, the input end of the storage battery is sequentially connected with the input end of the storage battery, and the output end of the storage battery is connected with the controller positioned in the cavity.
3. The intelligent water surface floating garbage collection device according to claim 1, wherein:
The reciprocating structure of the piston comprises a piston cylinder, a piston push rod, an upper end cover and a square table, wherein the piston cylinder is located below a lower concave cavity body, the upper end cover is fixedly matched with the piston cylinder, the square table is arranged on the piston cylinder and is of a hollow structure, the upper end cover is provided with a first electromagnetic check valve, the side wall of an upper chamber of the piston cylinder is connected with a second electromagnetic check valve through a pipeline, the two electromagnetic check valves are controlled by different relays respectively, limiting blocks are respectively arranged on the side wall of the upper chamber of the piston cylinder and the bottom of the piston cylinder, the lower chamber of the piston cylinder is connected with an elastic air bag arranged in the lower platform through a pipeline, and the bottom of the lead screw is arranged on the square table.
4. The intelligent water surface floating garbage collection device according to claim 1, wherein:
The float platform comprises two long cylindrical cavity floats which are symmetrically arranged, the middle section of each cavity float is provided with a square platform at the periphery, the front ends and the rear ends of the two cavity floats are respectively provided with a baffle and a steel wire mesh baffle, the cavity is positioned in the cavity float, the lower cavity body is formed by the two cavity floats, the baffle and the steel wire baffle,
The rotating wheel is positioned above the baffle, when rotating, the rotating wheel guides the garbage on the water surface into the lower concave cavity body, and when the rotating wheel stops rotating, the garbage in the lower concave cavity body is blocked from overflowing.
5. The intelligent water surface floating garbage collection device according to claim 4, wherein:
The rotating wheel comprises a long shaft, a long shaft sleeve arranged on the long shaft and three rectangular blades fixed on the peripheral surface of the long shaft sleeve along the length direction, and the maximum draft line of the ship body supporting structure is positioned in the middle position when the rectangular blades rotate to the upper side to be in a vertical state.
6. The intelligent water surface floating garbage collection device according to claim 1, wherein:
The lower platform is of an inverted prismatic table structure and comprises an upper plate, 4 side plates and a bottom plate, wherein the middle of the upper plate is provided with an opening, the center of the inside of the lower platform is provided with a cylindrical side wall, the space of the lower platform is divided into a piston chamber for placing a piston cylinder and a sealing chamber outside the piston chamber by the cylindrical side wall, an elastic air bag is positioned in the sealing chamber, and a balancing weight is filled in the sealing chamber.
7. The intelligent water surface floating garbage collection device according to claim 1, wherein:
The upper platform comprises an upper plate and 2 baffles vertically fixedly connected to two sides of the bottom of the upper plate, 3 groups of motor bosses for installing motors are sequentially arranged on the upper surface of the upper plate according to the left, middle and right, 3 upright posts are fixedly connected to the outer sides of each baffle respectively, and the upright posts are arranged on the float platform.
8. The intelligent water surface floating garbage collection device according to claim 1, wherein:
The garbage collection frame is of a double-layer sleeving structure and comprises a hollow square outer box and a square inner box without an upper cover, the outer box is sleeved outside the inner box, a garbage inlet is arranged at one side of the top end of the outer box, which is close to the float platform, the periphery of the outer box and the periphery of the inner box are of hollow structures,
The second weight sensor is arranged at the bottom of the inner box, the limiting block is further arranged at the bottom of the inner box, and the second weight sensor and the limiting block are coated by a flexible anti-corrosion film.
9. A control method of an intelligent water surface floating garbage collection device according to claim 1, comprising the steps of:
s1, a signal receiving antenna reads a signal sent by a shore signal source and transmits the signal to a controller, the controller plans a cruising line, a second motor works according to a cruising instruction,
S2, the controller sends out a working instruction, the first motor works, the rotating wheel is controlled to guide garbage on the water surface into the garbage collection basket, the relay KM is electrified, the motors of the screw rod are controlled to rotate positively, when nuts on the screw rod touch the limiting block at the lower end of the screw rod, all the motors of the screw rod are controlled to stop rotating, and at the moment, the garbage collection basket is in a V shape, and the step S3 is entered;
s3, a controller sends out a delayed power-on instruction, a relay delays power on, then, each motor of a screw rod is controlled to rotate reversely, when a nut on the screw rod touches a limiting block at the upper end of the screw rod, each motor of the first motor and the motor of the screw rod is controlled to stop rotating, at the moment, a garbage collection basket is unfolded and is in a left-high right-low shape, garbage in the basket rolls down into the garbage collection frame under the action of gravity, the value of a first gravity sensor is reset to zero, if the value of a second gravity sensor is smaller than a set threshold, the step S2 is repeated, and if the value of the second gravity sensor reaches the set threshold, the step S4 is entered;
s4, the second motor reads the information of the return route and pushes the ship body supporting structure to return to the shore for garbage disposal.
10. The control method of the intelligent water surface floating garbage collection device according to claim 9, wherein:
The signal sources f1 are distributed at the two sides of the river bank in a V shape.
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| CN110758657B (en) * | 2019-11-07 | 2024-07-30 | 哈尔滨理工大学 | Novel automatic recovery water surface garbage catamaran |
| CN110872833A (en) * | 2019-12-02 | 2020-03-10 | 张宇昊 | Non-electric control water surface floating garbage collecting barrel |
| CN110847136A (en) * | 2019-12-02 | 2020-02-28 | 张宇昊 | Water surface garbage can near shore |
| CN110979576B (en) * | 2019-12-31 | 2023-10-31 | 上海海洋大学 | Integrated device for harvesting aquatic weeds and cleaning garbage on water surface and control method |
| CN111392288A (en) * | 2020-04-11 | 2020-07-10 | 山西尚风科技股份有限公司 | Garbage bin on water |
| CN112636674B (en) * | 2020-12-22 | 2021-11-02 | 山东润马光能科技有限公司 | Photovoltaic installation equipment and method suitable for water |
| CN113373885B (en) * | 2021-06-15 | 2022-11-11 | 安徽清溪水利工程有限公司 | River course floating garbage drags for removing equipment for ecological construction based on fluid assembles |
| CN113955859B (en) * | 2021-11-15 | 2022-07-01 | 中建中环工程有限公司 | Automatically regulated ecological landscape body with sewage purification function |
| CN114190321B (en) * | 2021-12-22 | 2022-08-26 | 上海海洋大学 | Floating garbage collection and automatic feeding intelligent robot for aquaculture |
| CN119435301B (en) * | 2024-12-20 | 2025-06-24 | 中国电建集团中南勘测设计研究院有限公司 | A multifunctional micro wind power generation device |
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