水面智能保洁机器人的研究与设计  

Research and Design of Intelligent Cleaning Robot for Water Surface

作　　者：石银安 陈启春 袁宽 李强 龚慧 陈智文 于漪丁 吕林活 SHI Yin’an;CHEN Qichun;YUAN Kuan;LI Qiang;GONG Hui;CHEN Zhiwen;YU Yiding;LYU Linhuo(Dongfang Water Conservancy Intelligent Technology Co.Ltd.,Deyang 618000,Sichuan,China)

机构地区：[1]东方水利智能科技股份有限公司,四川德阳618000

出　　处：《科技和产业》2023年第24期238-244,共7页Science Technology and Industry

摘　　要：中小型水库、湖泊、城市河道及公园、景区、特色建筑、生活小区等场所的景观水面,因气候变换及人类活动,水面常会产生树木枝叶、水草、浮萍及各种生活垃圾,需要开展常态化的清污保洁工作才能保证水面的清洁卫生,但这些水域的水面漂浮污物存在种类繁多、形状各异、位置分散、大小不一以及形成时间、位置不确定等情况,给清污保洁工作带来较大的难度。东方水利研发团队对水面智能保洁机器人的浮体、漂浮污物收集舱、动力装置、打捞机构、电气控制舱、控制系统、导航传感器系统、智能控制系统、动力系统、通信系统进行了大量的研究与试验,本文重点介绍了水面保洁机器人的主要智能化功能。结果表明,能够通过图像视觉系统自主识别水面漂浮污物,自主搜寻漂浮污物,对水面漂浮污物精准定位,并可进行路径规划、GNSS自主导航、自动避障、自动收集、自动返航、自动充电的水面智能保洁机器人,完全可以实现机器取代人工应用场景,值得在各种水域环境智能化治理中进行推广应用。In order to landscape water surfaces of small and medium-sized reservoirs,lakes,urban rivers and parks,scenic spots,characteristic buildings,living communities,and other places often produce tree branches,leaves,aquatic plants,duckweed,and various household waste due to climate change and human activities.Regular cleaning and upkeep work is required to ensure the cleanliness and hygiene of the water surface.However,there are various types,shapes,and dispersed positions of floating pollutants on the water surface of these water areas.The varying sizes,as well as the uncertainty of formation time and location,pose significant challenges to the cleaning and upkeep work.A large number of experiments and designs were conducted on the floating body,floating debris collection cabin,power device,fishing mechanism,control cabin,control system,navigation sensor system,intelligent control system,power system,and communication system of the intelligent water surface cleaning robot.This article was focused on introducing the intelligent functions of the surface robot.The results indicate that it is possible to autonomously identify and search for floating debris on the water surface through an image vision system.A water surface intelligent cleaning robot that accurately locates floating debris on the water surface and can perform path planning,GNSS autonomous navigation,automatic obstacle avoidance,automatic collection,automatic return,and automatic charging.It is concluded that realizing machine replacement of manual application scenarios is worth promoting and applying in various water environment intelligent governance.

关 键 词：水面 漂浮污物 智能保洁 机器人 自主导航 

分 类 号：X524[环境科学与工程—环境工程] X522[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]