CN-121976507-A - Water surface floater classification cleaning robot for hydropower station water storage reservoir and work subarea setting method

CN121976507ACN 121976507 ACN121976507 ACN 121976507ACN-121976507-A

Abstract

The invention provides a water surface floating object classification cleaning robot for a hydropower station water storage reservoir and a working subarea setting method. The robot comprises a large garbage collector, a small garbage collector and a movable connecting structure, wherein a water pump is arranged in the large garbage collector to provide suction, and a filter screen is arranged in the large garbage collector and the small garbage collector. After the robot enters water, the openings of the large collector and the small collector are positioned under the water surface, under the suction action of the water pump, the water body and the garbage enter the corresponding collectors respectively, the garbage is trapped by the filter screen, and the water is discharged. The small garbage collector is provided with a garbage identification camera, and the outer side of the large garbage collector is provided with a driving propeller. The invention can collect large and small garbage in a classified way, the collection angle is adjusted through a plurality of sleeves, the feeding effect is improved, a weighted Voronoi distribution mechanism is adopted on the basis of grid discrete calculation, a plurality of optimal working subareas are generated, and the multi-robot high-efficiency operation is realized.

Inventors

GU YICHENG
WANG YUTONG
GU MINGZHE
TAO AIFENG
XUE FEIFEI
Yu Shangwen
LI HONGYI
LI TONG
LIU YUYU

Assignees

河海大学

Dates

Publication Date: 20260505
Application Date: 20260309

Claims (6)

1. A water surface floater classification cleaning robot for a hydropower station water storage reservoir is characterized by comprising a large garbage collector, a plurality of small garbage collectors and a plurality of movable connection structures, wherein the small garbage collectors are connected and communicated with the large garbage collector through the movable connection structures, water pumps for generating suction force are arranged in the large garbage collector and the small garbage collectors respectively, when the cleaning robot sinks into a water body, openings of the large garbage collectors are positioned below the water surface, partial openings of the small garbage collectors are positioned below the water surface, garbage and water in an external water body respectively enter the large garbage collector and the small garbage collectors under the suction force of the water pumps, after the garbage is filtered by the two water screens respectively, the water is discharged to the outside, cameras for identifying the garbage are arranged on the small garbage collectors, and propellers for driving the robot are arranged outside the large garbage collectors.
2. The classified cleaning robot for the water surface floats facing the hydropower station water storage reservoir according to claim 1, wherein the movable connecting structure comprises a water outlet hole formed in a large garbage collector, a plurality of sections of sleeves and a water inlet hole formed in a small garbage collector, the plurality of sections of sleeves comprise a first sleeve, a second sleeve, a first electric telescopic rod, a third sleeve, a turnover motor, a fourth sleeve, a fifth sleeve and a second electric telescopic rod, the first sleeve is fixedly arranged at the water outlet hole and communicated with the large garbage collector through the water outlet hole, the second sleeve penetrates through the first sleeve and slides relative to the first sleeve, a non-telescopic end of the first electric telescopic rod is fixedly arranged on the first sleeve, the telescopic end is fixedly connected with the second sleeve and is used for enabling the second sleeve to slide along the axial direction of the first sleeve, the third sleeve is sleeved outside the second sleeve and is coaxially arranged with the second sleeve, one end of the third sleeve far away from the second sleeve is sealed, the third sleeve is rotationally connected with the second sleeve through a bearing, a circumferential motor which is exposed on the outer wall of the first sleeve, the second sleeve is fixedly provided with a motor, a third sleeve is fixedly arranged at the circumferential end of the third motor which is arranged at the fourth sleeve, and is radially arranged relative to the fourth sleeve through the fourth sleeve, the fourth sleeve is fixedly arranged at the end of the turnover motor, the fourth sleeve is fixedly arranged at the axial end of the fourth sleeve is rotatably opposite to the fourth sleeve through the fourth sleeve, the fourth sleeve is fixedly arranged at the axial end of the fourth sleeve, and is fixedly arranged at the fourth sleeve, and fixedly arranged at the end of the fourth sleeve is rotatably opposite to the fourth sleeve, and fixedly arranged at the end is fixedly arranged along the axial end of the fourth sleeve, and is rotatably arranged through the fourth sleeve, and is fixedly arranged at the sleeve, and can be rotatably and axially arranged in and can be rotatably and axially arranged through the sleeve, and can be arranged, the fifth sleeve slides along the axial direction of the fourth sleeve, the non-telescopic end of the second electric telescopic rod is fixedly arranged on the fourth sleeve, the telescopic end is fixedly connected with the fifth sleeve, and one end of the fifth sleeve, which is far away from the fourth sleeve, is connected and communicated with the water inlet.
3. The classified cleaning robot for the water surface floats facing the hydropower station water storage reservoir is characterized in that a filter screen in a large garbage collector comprises a first filter part and a second filter part, the first filter part is funnel-shaped, the diameter of the upper end round surface is small, the diameter of the lower end round surface is large, the lower end of the first filter part is fixedly arranged on a partition plate in the large garbage collector, upper filter holes of the first filter part are uniformly distributed on the peripheral surface of the first filter part, the second filter part is positioned at the upper end of the first filter part, the first filter part and the second filter part are coaxially welded and fixed and communicated with each other, a connecting part adopts sealing treatment, the upper end of the second filter part is closed, the lower end of the second filter part is communicated with the first filter part, the upper filter holes of the second filter part are distributed on the peripheral surface of the second filter part, and the axes of the filter holes are radially arranged along the second filter part.
4. The classified cleaning robot for the water surface floats facing the hydropower station water storage reservoir is characterized by comprising a collecting box, baffle plates and a driving mechanism, wherein the collecting box is integrally formed into a rectangular box body and made of low-density materials, one side surface of the collecting box is open and is used as a channel for collecting the small floats, the baffle plates are respectively and rotatably connected to the upper side and the lower side of the collecting box, the baffle plates are fixedly connected with rotating shafts of the baffle plates and synchronously rotate, the two rotating shafts extend outwards from the side walls of the collecting box, the driving mechanism comprises a motor bin fixedly arranged on the side surface of the collecting box, the motor bin is arranged on one side of the rotating shaft penetrating out of the collecting box, sealing glue is adopted between the motor bin and the side surface of the collecting box, the end part of a rotating shaft of the baffle plate extends into the motor bin, a driving motor is fixedly arranged in the motor bin, a driving gear and a driven gear are respectively fixedly arranged on the output shaft of the driving motor and the rotating shaft of the baffle plates, and the two gears are meshed with each other, and the rotating shafts of the baffle plates are driven by the driving motor through a gear pair.
5. A hydropower station water storage reservoir-oriented water surface float classification cleaning robot as claimed in claim 3, wherein a plurality of gravity sensors are mounted on the partition plates in the large garbage collector, and the gravity sensors are positioned outside the filter screen in the large garbage collector.
6. A working subarea setting method of a water surface floater classification cleaning robot for a hydropower station water storage reservoir is characterized by comprising the following steps: S1, acquiring an image omega of a region to be operated based on a satellite image, discretizing, dividing the image omega into a plurality of regular grid units, and adopting the following formula: C={c 1 , c 2 ,……c n } Wherein C n represents the nth grid unit, and C represents a set of all grid units; S2, acquiring the center coordinates of each grid unit, and determining whether each grid unit can pass or not in a manual marking mode to obtain the passing grid units; S3, calculating the weighted distance between each robot and the central coordinate of the ith grid unit capable of passing through, wherein the formula is as follows: ; Wherein D i,k represents the weighted distance from the kth robot to the ith grid unit, D (c i ,p k ) represents the shortest grid path from the current position p k of the kth robot to the ith grid unit, and w k represents the capability weight of the kth robot; S4, comparing weighted distances from all robots to the same grid unit, and taking the grid unit as a working subarea of the robot with the smallest weighted distance, wherein the formula is as follows: ; Where V j denotes the work subregion of the j-th robot.

Description

Water surface floater classification cleaning robot for hydropower station water storage reservoir and work subarea setting method Technical Field The invention belongs to the technical field of water surface garbage cleaning, and particularly relates to a water surface floater classification cleaning robot for a hydropower station water storage reservoir and a work subarea setting method. Background The problem of pollution of floats in water areas such as rivers, lakes, ports and the like not only affects the water landscape, but also threatens the shipping safety and the water ecology. At present, the cleaning of the floating objects on the water surface mainly depends on manual salvaging or semi-automatic mechanical devices. The semi-automatic mechanical device needs to manually give the actual position of the garbage on the water surface, lacks autonomous navigation and path planning capability, and cannot realize accurate and efficient cruising cleaning according to a designated area or a preset path. Disclosure of Invention The invention provides a water surface floater classification cleaning robot for a hydropower station water storage reservoir and a working subarea setting method, which realize accurate and efficient cruising cleaning. In order to achieve the above object, the present invention provides the following technical matters: A water surface floater classification cleaning robot for a hydropower station water storage reservoir comprises a large garbage collector, a plurality of small garbage collectors and a plurality of movable connection structures, wherein the small garbage collectors are connected and communicated with the large garbage collector through the movable connection structures, water pumps for generating suction force are arranged in the large garbage collector, filter screens are respectively arranged in the large garbage collector and the small garbage collector, when the cleaning robot is submerged in a water body, an opening of the large garbage collector is positioned under the water surface, part of the opening of the small garbage collector is positioned under the water surface, garbage and water in an external water body respectively enter the large garbage collector and the small garbage collector under the suction force of the water pumps, the water is discharged to the outside after the garbage is filtered by the two filter screens, a camera for identifying the garbage is arranged on the small garbage collector, and a screw propeller for driving the robot is arranged outside the large garbage collector. Further, the movable connecting structure comprises a water outlet hole formed in the large garbage collector, a plurality of sections of sleeves and a water inlet hole formed in the small garbage collector; the multi-section sleeve comprises a first sleeve, a second sleeve, a first electric telescopic rod, a third sleeve, a turnover motor, a fourth sleeve, a fifth sleeve and a second electric telescopic rod, wherein the first sleeve is fixedly arranged at a water outlet and is communicated with the big garbage collector through the water outlet; the second sleeve penetrates through the first sleeve and slides relative to the first sleeve, the non-telescopic end of the first electric telescopic rod is fixedly arranged on the first sleeve, the telescopic end is fixedly connected with the second sleeve and used for enabling the second sleeve to slide along the axial direction of the first sleeve, the third sleeve is sleeved outside the second sleeve and coaxially arranged with the second sleeve, one end of the third sleeve, which is far away from the second sleeve, is closed, the third sleeve is rotationally connected with the second sleeve through a bearing, a motor box is fixedly arranged on the circumferential outer wall of the second sleeve, which is exposed outside the first sleeve, the end part of the third sleeve penetrates through the motor box, when the third sleeve rotates relative to the second sleeve, the third sleeve and a hole of the motor box realize dynamic seal through a sealing ring, a turnover motor is fixedly arranged on the inner wall of the motor box, an output shaft of the turnover motor is fixedly provided with a first gear, the third sleeve is fixedly provided with a second gear, the first gear and the second gear is meshed with the second gear, the fourth sleeve is fixedly arranged on the circumferential side surface of the third sleeve and is positioned outside the motor box, the axial line of the fourth sleeve is radially arranged along the third sleeve and communicated with the third sleeve, the end of the fourth sleeve penetrates through the fifth sleeve, the fourth sleeve penetrates through the fourth sleeve and is fixedly arranged on the hole of the fourth sleeve along the axial direction of the fourth sleeve, the telescopic end is fixedly connected with the fifth sleeve, and one end of the fifth sleeve, which is far away from the f