湖泊水面杂物收集机器人-打捞河面垃圾

0装配图

本文设计了一种湖泊水面杂物收集机器人，该机器人采用左右双船体结构，以蓄电池为整个系统提供动力来源，螺旋桨推进器为船的前进与转向提供推进力。通过带传动驱动打捞传送带，打捞传送带把杂物从水面运到杂物收集箱，杂物收集箱装满了后，机器人返回指定地点人工倾倒杂物，从而完成杂物的收集。机器人通过杂物收集装置采集远距离水面杂物及障碍物影像，用基于STM32单片机的控制系统进行方向、速度的控制。该湖泊水面杂物收集机器人可以减轻水域的环境污染问题，将人力解放出来。目前针对小型水域水面杂物收集的发展前景是用机器人取替人工的收集水面杂物。

关键词:自动化；智能化；传感器；杂物收集

Abstract

In modern life, the cleaning of sundries on the water surface, especially the cleaning of floating sundries in small water areas. It is an urgent problem to be solved. In order to effectively solve the problem of floating debris cleaning in small water area, it is of great significance to develop a low-cost surface cleaning robot capable of collecting debris. In this paper, a kind of sundry collection robot on the surface of lake is designed. This robot adopts the structure of left and right hulls, and is powered by batteries. It drives the dc motor and propeller respectively, and the propeller drives the forward and steering of the ship. The salvage conveyor belt is driven by a belt drive, which transports the sundries from the surface of the water to the sundries collection box. When the sundries collection box is full, the robot returns to the designated place to manually dump the sundries, thus completing the collection of sundries. The robot collects images of sundries and obstacles on the water surface at a distance through the graph transmission system, and controls the direction and speed with the control system based on STM32 single chip microcomputer. It can reduce the environmental pollution of the water area, reduce the labor cost, and has a good prospect of industrial application. At present, the cleaning of small waters mainly adopts manual cleaning. The cleaning boats on the market are mainly for large waters. As present, the development prospect of small water surface sundries collection is to replace manual sundries collection by robot.

Keywords: robotization ; intelligentialize ; Sensor; Collection of sundries

目录

第一章绪论1
1.1课题研究的背景和意义1
1.2国内外发展状况2
1.3主要设计内容3
第二章总体方案设计5
第三章机械系统设计7
3.1机械本体设计7
3.2动力驱动部分设计8
3.3收集装置电动机选择10
3.4蓄电池选择10
3.5执行机构设计10
3.5.1同步带轮的选择10
3.5.2轴的计算11
3.6杂物收集箱设计12
第四章控制系统设计13
4.1控制方案选择13
4.2单片机的介绍及选型14
4.2.1单片机的介绍14
4.2.2单片机的选型14
4.3检测传感部分设计15
4.3.1图像收集装置选型15
4.3.2光束遮断式传感器选型16
4.4继电器模块设计17
4.5电机驱动模块设计17
4.6程序设计17
结束语19
致谢20
参考文献21
附录22

第一章绪论
1.1课题研究的背景和意义
最近几年，虽然我们国家越来越重视对于环境的保护，但是环境污染问题特别是水域污染问题依旧严重，这是因为人们在重视其经济发展的同时却往往会忽略对环境的保护，譬如，在水面上飘浮着的各种垃圾日益增多。这些漂浮杂物，不仅会污染相关水域的生态环境，危害该水域生存的各类植物、鱼类以及藻类等生物，更是会危害到在该水域附近生活人民群众的身体健康和生活质量。甚至在某些水域，大量的杂物堆积会堵塞航道，不利于船只的通行。如果杂物堆积在水库等重要水域，不仅会影响人们的日常用水，甚至会危害大坝的安全。当大坝的安全受到危害，轻者造成大量财产损失，更有甚至会危害到人民群众的人身安全。因此，水域杂物收集(就本文而言是湖泊水面杂物收集)已经成为美化环境和促进社会可持续、高效发展的重要内容之一。

机械结构图

同步带轮

杂物收集箱