公園湖泊水面垃圾清掃船設(shè)計(jì)-垃圾打撈收集作業(yè)（含6張CAD圖紙）,公園,湖泊,水面,垃圾,清掃,設(shè)計(jì),打撈,收集,作業(yè),CAD,圖紙 附錄一： 自動(dòng)清掃湖面漂浮物船 摘要---在許多國(guó)家水面漂浮物的污染越來(lái)越嚴(yán)重，有人提議可以設(shè)計(jì)一艘自動(dòng)清掃湖面漂浮物的船，這艘船是由太陽(yáng)能電池供電。電池系統(tǒng)的過(guò)多充放電保護(hù)回路已被使用。超聲波檢測(cè)系統(tǒng)已被安裝在船上并且能檢測(cè)到船到湖邊的距離。船的方向和位置是由在兩次連續(xù)控制船的行駛方向使其在離岸邊不遠(yuǎn)的環(huán)形區(qū)域內(nèi)自動(dòng)行駛的時(shí)間，船到岸邊的距離確定。船上已經(jīng)安裝一個(gè)可以識(shí)別障礙物并自動(dòng)避開(kāi)檢測(cè)到的障礙物的系統(tǒng)。在船的兩側(cè)安裝螺旋槳來(lái)驅(qū)動(dòng)船舶，可以使船舶靈活的改變方向。光敏電阻是用來(lái)確定它是在白天還是黑夜，船舶只有在夜晚環(huán)繞湖中一次就可以節(jié)省能量。無(wú)線遙控器是有用的，因?yàn)樗梢允褂么吒`活方便的控制船。實(shí)驗(yàn)證明了設(shè)計(jì)的適用性。 關(guān)鍵詞：自動(dòng)的，漂浮物，超聲波，清掃船，污染 I. 介紹 自然湖泊和所有的人工湖泊可以使人們的生活環(huán)境變得很美?，F(xiàn)在人們的生活水平越來(lái)越高，很多人逢年過(guò)節(jié)或者在假期間，都會(huì)選擇去一些景區(qū)游玩，但是有的人素質(zhì)略顯低，在公共場(chǎng)所亂丟垃圾。在一些河道以及湖泊的水面上我們可以看到許多漂浮物，這些漂浮物就會(huì)使水里的空氣供應(yīng)不足，從而導(dǎo)致水里的魚(yú)最終也是漂浮在水面上，最終形成惡性循環(huán)。然而，隨著人類(lèi)活動(dòng)的增加，湖面上漂浮物的污染越來(lái)越嚴(yán)重。對(duì)湖面上垃圾物的污染治理越來(lái)越迫切。[1] 由此可見(jiàn)湖泊里的水流速度很低，有時(shí)幾乎為零，大部分漂浮物垃圾分布在湖邊的一個(gè)區(qū)域。[2]目前，所有漂浮物垃圾經(jīng)常是人工清理。[3]工作量大，花費(fèi)時(shí)間久，成本貴，工作效率低。為了解決以上問(wèn)題，我們已經(jīng)設(shè)計(jì)了一艘自動(dòng)清掃湖面漂浮物垃圾船。如圖片1所示，一個(gè)模型船已經(jīng)被研制出來(lái)了，已進(jìn)行的實(shí)驗(yàn)證明了實(shí)驗(yàn)的適用性。 II. 清掃船的設(shè)計(jì) 清掃船主要由太陽(yáng)能電池供電，這非常經(jīng)濟(jì)性，能夠節(jié)約能源和保護(hù)環(huán)境。清掃船決定它自己的方向和位置可以以湖岸為參考系。清掃船主要是通過(guò)控制船在離湖邊不遠(yuǎn)預(yù)設(shè)的區(qū)域內(nèi)繞著湖邊運(yùn)轉(zhuǎn)。同時(shí)，清掃船可以自動(dòng)清掃垃圾。當(dāng)超聲波探測(cè)到前方有障礙物，清掃船就會(huì)自動(dòng)變更方向。也設(shè)計(jì)了識(shí)別白天還是黑夜的電路。清掃船只有在夜晚環(huán)繞湖面一圈就可以節(jié)省能量了。通過(guò)實(shí)際環(huán)境確定在白天清掃漂浮物垃圾循環(huán)時(shí)間。遙控電路的設(shè)計(jì)，手動(dòng)控制船舶的使用，這個(gè)在一些特殊的環(huán)境下極其有用，從而可以提高船舶的實(shí)用性。一種用于收集漂浮垃圾的機(jī)械設(shè)計(jì)，實(shí)現(xiàn)自動(dòng)收集漂浮垃圾。 為了實(shí)現(xiàn)以上提到的功能，垃圾清掃船需要通過(guò)微處理器來(lái)控制。它需要能源供應(yīng)系統(tǒng)，鍵盤(pán)和顯示器，障礙物檢測(cè)系統(tǒng)，船舶定位檢測(cè)系統(tǒng)，運(yùn)動(dòng)控制系統(tǒng)，用于識(shí)別白天和夜晚的電路，遠(yuǎn)程控制系統(tǒng)，在圖2中可以看出， 圖2：清掃船的結(jié)構(gòu) A：?jiǎn)纹瑱C(jī)微處理系統(tǒng)設(shè)計(jì) 清掃船主要SCM系統(tǒng)是由一個(gè)SCM，晶體振蕩器和一個(gè)監(jiān)視時(shí)鐘組成。SCM是AT89S52單片機(jī)，是愛(ài)特梅爾公司生產(chǎn)。它具有8K字節(jié)的芯片閃存，和256字節(jié)的RAM，兩個(gè)16位定時(shí)器/計(jì)數(shù)器，兩個(gè)外部中斷，一個(gè)全雙工UART。SCM的振蕩頻率是12MHZ，監(jiān)視時(shí)鐘在通電，斷電等其它故障時(shí)會(huì)清零。監(jiān)視時(shí)鐘是MAX813，是MAXIM公司生產(chǎn)的，這家公司專(zhuān)門(mén)生產(chǎn)集成電路的功率檢測(cè)和監(jiān)視時(shí)鐘定時(shí)器。 B：鍵盤(pán)和顯示組件的設(shè)計(jì) 在清掃船中，ZLG7289已應(yīng)用在鍵盤(pán)電路和顯示組件電路，這兩種電路是坐落在廣州的一家公司生產(chǎn)的。一個(gè)ZLG7289芯片可以驅(qū)動(dòng)7段LED管最高顯示8為數(shù)字，條形圖顯示，或64個(gè)發(fā)光二極管和64鍵的鍵盤(pán)。它通過(guò)串行外接口[SPI]與單片機(jī)通信，并且只需要三個(gè)I/O引腳的單片機(jī)可以節(jié)約有限的資源。當(dāng)按鍵被按時(shí)，ZLG7289的鍵栓就會(huì)變低。當(dāng)讀取低電平信號(hào)時(shí)，SCM可以通過(guò)SPI總線確定鍵盤(pán)的按鍵數(shù)量。將會(huì)有八個(gè)LED數(shù)碼管顯示和六個(gè)按鍵。系統(tǒng)可以獲取LED數(shù)碼管顯示的距離值的距離檢測(cè)。六個(gè)功能鍵主要用于設(shè)置的清掃船的控制參數(shù)。 C：運(yùn)動(dòng)控制系統(tǒng)設(shè)計(jì) 運(yùn)動(dòng)控制系統(tǒng)控制清掃船在湖泊里運(yùn)動(dòng)。從屬系統(tǒng)可以探測(cè)到清掃船距離湖邊的距離，并通過(guò)異步串行口發(fā)送到主控制系統(tǒng)上。通過(guò)兩清掃船距離值主控制系統(tǒng)可以確定清掃船的位置和方向。在系統(tǒng)中超聲波是用來(lái)測(cè)量距離的。超聲波測(cè)距是利用反射式測(cè)距方法[5]，要測(cè)量的距離是根據(jù)在系統(tǒng)發(fā)出的超聲波和系統(tǒng)接收到回波的時(shí)間計(jì)算的。每一個(gè)測(cè)距系統(tǒng)是是由一個(gè)獨(dú)立的單片機(jī)控制發(fā)射超聲波和接收超聲波[6]。專(zhuān)用集成電路LM1812完成了超聲波發(fā)送任務(wù)。當(dāng)接收回波的任務(wù)由紅外接收模塊CX20106完成。當(dāng)超聲波的傳輸控制信號(hào)，單片機(jī)內(nèi)部定時(shí)器被同時(shí)啟動(dòng)。集成電路CX20106在接收到回波時(shí)，外部中斷器將會(huì)停止讀取時(shí)間信號(hào)，此時(shí)會(huì)發(fā)送一個(gè)低電平信號(hào)，清掃船和物體之間的距離可以通過(guò)定時(shí)器的數(shù)據(jù)計(jì)算。清掃船上設(shè)有兩個(gè)超聲波測(cè)距系統(tǒng)，其中一個(gè)安裝在船的前面，被記為A，另一個(gè)是放置在船的右側(cè)，被標(biāo)記為B。 這兩個(gè)傳感器每隔兩秒就會(huì)測(cè)量一次船和湖邊的距離，根據(jù)兩個(gè)連續(xù)時(shí)間段內(nèi)的距離可以確定清掃船的位置和方向。有幾種不同的情況如下所述： 第一種情況是：通過(guò)A傳感器第一次和第二次測(cè)量的距離超出了額定范圍，也就是說(shuō)超過(guò)3m以上，和用傳感器B所測(cè)結(jié)果是一樣的，約60厘米，此時(shí)此刻，清掃船被認(rèn)為是和湖邊是平行的。 第二種情況是：通過(guò)A傳感器第一次和第二次測(cè)量的距離超出了額定范圍，因此，說(shuō)明前面沒(méi)有障礙物，然而，用傳感器B測(cè)量時(shí)，第一次測(cè)量距離比第二次測(cè)量距離小，這就表明向右轉(zhuǎn)才能到達(dá)湖岸。 第三種情況是：通過(guò)A傳感器第一次和第二次測(cè)量的距離超出了額定范圍，而采用B傳感器測(cè)量時(shí)，第一次測(cè)量距離要大于第二次測(cè)量距離，這時(shí)候表明向左轉(zhuǎn)就可以抵達(dá)湖岸邊，（參見(jiàn)圖3 time4）。最后一種情況是：采用傳感器A的測(cè)量值不到2m，但是采用傳感器B測(cè)量時(shí)，測(cè)量值是相同的。在這種情況下，障礙可能存在于清掃船前或者湖岸邊直角方向向左。（參見(jiàn)圖3 time5）電機(jī)將控制相應(yīng)的功能使船在湖岸邊移動(dòng)。 圖3 清掃船運(yùn)動(dòng)控制策略 D：避開(kāi)障礙物系統(tǒng)設(shè)計(jì) 當(dāng)清掃船在湖泊上行駛時(shí)，清掃船可能會(huì)遇到障礙物，因此有可能它就會(huì)自動(dòng)地避開(kāi)障礙物，然后回到原來(lái)的行駛軌道。是否存在障礙在兩次超聲波測(cè)量的距離之內(nèi)，遇到障礙物或者在清掃船前面選擇靠近湖岸邊在方法上是與決定直角向左轉(zhuǎn)的方法是相似的。這也就是說(shuō)通過(guò)傳感器A測(cè)量的距離是2m和通過(guò)傳感器B測(cè)得的距離是一樣的。在這種情況下，遇到障礙或者靠岸這兩種情況應(yīng)該事先被考慮，所以這艘清掃船應(yīng)該被控制直角左轉(zhuǎn)（參見(jiàn)圖4 time1）。當(dāng)使用傳感器A測(cè)得的距離值大于3米并且采用傳感器B測(cè)得的距離值是60厘米時(shí)，船舶開(kāi)始直線行走。如果清掃船從直角向左轉(zhuǎn)時(shí)，用傳感器B測(cè)得的距離值不會(huì)改變的(參見(jiàn)圖4 time 5)，如果清掃船遇到障礙，采用傳感器B測(cè)得的距離會(huì)比之前測(cè)得的距離大，因?yàn)檎系K是長(zhǎng)方形的或者是弧形的。因此船會(huì)向右轉(zhuǎn)（請(qǐng)見(jiàn)圖4 time3）。直到采用傳感器B測(cè)得的距離是60厘米，這個(gè)時(shí)候清掃船會(huì)直著行駛。當(dāng)探測(cè)到要靠近湖岸邊的時(shí)候，清掃船將會(huì)在直角區(qū)域內(nèi)向左轉(zhuǎn)（請(qǐng)見(jiàn)圖4 time3）。最后由于用傳感器A測(cè)得的距離值大于3米并且采用傳感器B測(cè)得的距離值是60厘米，清掃船回到自己的特定軌道。 圖4 ：避開(kāi)障礙物船的戰(zhàn)略設(shè)計(jì) E: 辨別白天或者黑夜的電路設(shè)計(jì) 使用一個(gè)在不同的關(guān)照強(qiáng)度條件下，有不同的電阻值的光敏電阻，該系統(tǒng)能夠識(shí)別白天或者黑夜。當(dāng)光線較強(qiáng)時(shí)，電阻值較小。相反，在光線較弱時(shí)，電阻值反而很大。在辨別電路中，固定電阻器和光敏電阻器是用來(lái)區(qū)分固定電壓和被采用的參考電壓的。電壓比較器是用來(lái)確定輸出電壓的，如果被劃分的電壓比參考電壓小時(shí)，白天和夜間的識(shí)別系統(tǒng)會(huì)會(huì)決定它是在夜間，否則被認(rèn)為在白天。在白天時(shí)，可以設(shè)置清洗循環(huán)頻率，而在夜間清掃船只循環(huán)一次。 F：電機(jī)控制系統(tǒng)設(shè)計(jì) 清掃船的動(dòng)力包括垃圾收集傳送帶和傳動(dòng)裝置，傳輸裝置和垃圾存儲(chǔ)裝置都具有一定的獨(dú)特設(shè)計(jì)。還有驅(qū)使清掃船行駛和靈活地變更方向的兩個(gè)螺旋槳。這些裝置全都是直流電機(jī)供能的。兩高速直流電機(jī)用于驅(qū)動(dòng)兩個(gè)螺旋槳，并且編號(hào)為T(mén)A8050P專(zhuān)用集成電路用于控制驅(qū)動(dòng)齒輪箱皮帶傳動(dòng)的電機(jī)。五種控制方案的設(shè)計(jì)包括：直走，左轉(zhuǎn)彎，右轉(zhuǎn)彎，直角彎左轉(zhuǎn)，直角彎右轉(zhuǎn)。當(dāng)兩個(gè)高速電機(jī)速度控制以同樣的速度運(yùn)轉(zhuǎn)時(shí)，清掃船要直線行駛。當(dāng)右邊電機(jī)加速時(shí)，清掃船將會(huì)左轉(zhuǎn)。當(dāng)左邊電機(jī)的速度保持不變時(shí)，這時(shí)清掃船會(huì)向右轉(zhuǎn)，而且會(huì)有較大的轉(zhuǎn)彎半徑。當(dāng)左側(cè)電機(jī)停止轉(zhuǎn)動(dòng)，右側(cè)電機(jī)保持原來(lái)速度行駛，這時(shí)清掃船在直角轉(zhuǎn)彎時(shí)將會(huì)向左轉(zhuǎn)。相反的情況下，清掃船將會(huì)在直角轉(zhuǎn)彎向右轉(zhuǎn)。 G：遙控系統(tǒng)設(shè)計(jì) 除了鍵盤(pán)和顯示電路，遙控系統(tǒng)的設(shè)計(jì)也實(shí)現(xiàn)了手動(dòng)控制清掃船的效果。無(wú)線電頻信號(hào)可以輻射四周并且中間不可有障礙物抵擋，是作為航空公司運(yùn)輸遠(yuǎn)程控制消息。遙控器可以控制距離達(dá)到500米的船，它有8個(gè)按鍵，手動(dòng)模式和自動(dòng)模式之間的切換鍵、控制移動(dòng)方向鍵、控制驅(qū)動(dòng)傳送帶的電機(jī)鍵。 H：供電系統(tǒng)設(shè)計(jì) 控制系統(tǒng)需要一個(gè)12伏電源，主要用來(lái)驅(qū)動(dòng)超聲波發(fā)射器和直流電機(jī)。它還需要一個(gè)用于供電的單片機(jī)控制系統(tǒng)的5伏電源。動(dòng)力來(lái)自太陽(yáng)能輸出的額定功率15瓦，用來(lái)收取一個(gè)12伏/7AH免維護(hù)鉛酸蓄電池。后者是用于電力系統(tǒng)。充電過(guò)程中，電池電壓是被電力系統(tǒng)監(jiān)控的避免過(guò)放電和過(guò)充電。對(duì)于單片機(jī)的5伏的電源由一三穩(wěn)壓器穩(wěn)壓，為了避免電動(dòng)機(jī)起動(dòng)停止操作影響控制電路，直流與直流功率電路的設(shè)計(jì)是為了提供電源隔離。 I:程序設(shè)計(jì) 根據(jù)清掃船的工作過(guò)程，主要的SCM系統(tǒng)的程序和距離測(cè)量系統(tǒng)是模塊化結(jié)構(gòu)設(shè)計(jì)。供應(yīng)鏈管理系統(tǒng)的程序的主要包含以下模塊:項(xiàng)目管理電力系統(tǒng),遠(yuǎn)程控制的程序,距離測(cè)量程序交流，控制移動(dòng)方向程序，控制電機(jī)程序。圖5可以顯示供應(yīng)鏈管理系統(tǒng)流程圖，這兩個(gè)從動(dòng)裝置的單片機(jī)系統(tǒng)的主要工作是實(shí)現(xiàn)超聲波測(cè)距和發(fā)送到主機(jī)的測(cè)量距離串行通信。 圖5：掌握單片機(jī)的流程圖 工作過(guò)程如下：首先是電池能量的檢測(cè)，如果電壓低于閥值，這時(shí)候船將會(huì)停下來(lái)，一個(gè)低能信號(hào)將通過(guò)LED閃過(guò)燈發(fā)出信號(hào)，如果電源電壓是正常的，它會(huì)檢查是否有按鍵被按下。被設(shè)計(jì)的鍵盤(pán)可以設(shè)定清掃船的清洗循環(huán)頻率，如果工作模式是自動(dòng)的，相應(yīng)的LED燈也會(huì)自動(dòng)顯示工作狀態(tài)。之后，系統(tǒng)會(huì)檢查是否有從動(dòng)裝置的單片機(jī)系統(tǒng)發(fā)出數(shù)據(jù)和接受數(shù)據(jù)。接收到的數(shù)據(jù)將會(huì)有主計(jì)算機(jī)系統(tǒng)計(jì)算控制。如果這艘船在手動(dòng)模式下工作，它將顯示手動(dòng)狀態(tài)，并執(zhí)行控制清掃船按照鍵盤(pán)的按鍵的遙控器。 III. 清掃船的試驗(yàn)性研究 我們已經(jīng)進(jìn)行了試驗(yàn)，包括超聲波測(cè)距，手動(dòng)操作和自動(dòng)操作測(cè)試。與標(biāo)準(zhǔn)的機(jī)械測(cè)量表相比，超聲波的測(cè)量精度約為1厘米時(shí)，測(cè)量距離則在25厘米和300厘米之間，自船舶運(yùn)行路徑周?chē)纬傻幕A(chǔ)上測(cè)量距離,船不能離開(kāi)遠(yuǎn)離湖的岸邊。實(shí)驗(yàn)表明,該傳感器實(shí)現(xiàn)清掃船的運(yùn)行過(guò)程。對(duì)于清掃船的運(yùn)行不需要跟高精度。此外，這艘清掃船可以通過(guò)手動(dòng)或自動(dòng)方式實(shí)現(xiàn)向左轉(zhuǎn)，向右轉(zhuǎn)，直行，直角彎左轉(zhuǎn)，直角彎右轉(zhuǎn)。并且能夠成功執(zhí)行檢測(cè)障礙物和避開(kāi)障礙物這種功能。然而，仍存在一些不足之處。一方面，這艘船的功能比較先進(jìn)。另一方面，如果湖的岸邊曲率半徑較大時(shí)，船首先還是會(huì)慢慢地向左轉(zhuǎn)彎，然后再慢慢地直角向左轉(zhuǎn)。這時(shí)就有可能這艘船會(huì)撞到岸邊。因此，清掃船行駛的道路可能不是一帆風(fēng)順。 IV. 結(jié)束語(yǔ) 在這篇文章中，主要是根據(jù)湖面漂浮物垃圾的結(jié)構(gòu)和工作原理提出了垃圾清掃船。而且清掃垃圾船既可以通過(guò)手動(dòng)方式來(lái)實(shí)現(xiàn)運(yùn)動(dòng)又可以通過(guò)自動(dòng)方式達(dá)到目的。同時(shí)也提出了超聲波測(cè)距的方法。通過(guò)對(duì)湖面上的漂浮物垃圾的分布特征進(jìn)行分析，提出一種方法清掃湖岸周?chē)暮嫫±?。兩個(gè)超聲波測(cè)距系統(tǒng)主要是用來(lái)獲取定位的，第一定位是清掃船的方向，第二定位是清掃船的位置定位。只有在五種情況下才被編程，這艘船的運(yùn)動(dòng)路徑不是很順利。在更多的情況基礎(chǔ)上分析，以上五種情況可以使船的行駛情況更完美，更平行于湖岸邊。實(shí)驗(yàn)已經(jīng)證明，自動(dòng)清掃湖面上漂浮物垃圾船的設(shè)計(jì)是非常適用的。經(jīng)過(guò)這樣的分析設(shè)計(jì)我們將會(huì)得到一艘可以自動(dòng)避開(kāi)障礙物，并且能夠打撈湖面上的漂浮垃圾。這樣在效率上，就會(huì)比以前的人工打撈既省力又省時(shí)。另外，我們可以在一些惡劣天氣下照?？梢酝瓿刹僮?，因?yàn)檫@艘垃圾清掃船不僅可以通過(guò)手動(dòng)方式完成清掃情況，而且也可以通過(guò)自動(dòng)方式達(dá)到目的。這艘船的到來(lái)，在今后應(yīng)該會(huì)給我們帶來(lái)很多方面，我們就能引用干凈的水源，以及我們的水源得到良好的保護(hù)。一些動(dòng)植物也能很好地生存下來(lái)。今后，應(yīng)該會(huì)有個(gè)翻天覆地的變化，會(huì)讓我們看不到成片成片的垃圾漂浮在湖泊以及河道的水面上。 主要參考資料 [1] 黎啟柏，肖長(zhǎng)周;水面垃圾打撈機(jī)械手及其液壓驅(qū)動(dòng)系統(tǒng);華南理工大學(xué)學(xué)報(bào)(自然科學(xué)版);1996年02期 [2]天津海河漂浮物調(diào)查 [3] 賈秀杰;多功能全自動(dòng)抓取器的應(yīng)用; 新技術(shù)新工藝;1999年04期 [4] 張玉新;王帥;水面垃圾清理船的仿真設(shè)計(jì)與研究; ];機(jī)械設(shè)計(jì)與制造;2011年04期 [5]浸水裝置，水力學(xué)以及氣體力學(xué) [6]袁勝發(fā);許德昌;譚桂斌;王柏雨;氣動(dòng)式水面垃圾清理裝置的研究;液壓與氣動(dòng);2008年12期 附錄二：An Autonomous Ship for Cleaning the Garbage Floating on a Lake Abstract—Water pollution with floating garbage is getting more and more serious in many countries. The design of an autonomous ship for cleaning the garbage floating on a lake has been proposed. The ship is powered by a solar battery. Circuit for protection of the excessive charge and discharge of the battery system has been used. Ultrasonic sensors have been equipped to detect the distance between the ship and the bank of the lake. The position and the orientation of the ship can be determined by measuring the distance between the ship and the bank at two successive time, which is used for controlling the running direction of the ship to make the ship autonomously run in an annular zone of a short distance away from the bank. The ship has also been equipped with a system to detect the occurrence of obstacles and to bypass the detected obstacles. Two screw propellers have been installed at the two sides of the ship to drive the ship, which makes the ship change its direction nimbly. A photo-resistance has been used to determine if it is in daytime or nighttime. The ship circulates the lake only one time at nighttime to save power energy. Wireless remote control is also available, which makes the ship user friendly. Experiments have demonstrated the applicability of the design。 Keywords: autonomous; floating garbage; ultrasonic; cleaning ship; pollution I. INTRODUCTION Natural lakes and all kinds of artificial lakes make the living environment beautiful. However, with the increase of the activities of human being, the pollution of the floating garbage on the surface of the lake is more and more serious. Governing the pollution of the floating garbage on the surface of the lake is more and more urgent [1]. It can be seen by observation that the velocity of the water flow in the lake is very low. Sometimes it is almost zero. Most of the floating garbage distribute over an area near the bank of the lake [2]. At present, almost all these floating garbage is cleaned manually [3], which is time consuming, expensive in cost, and low in efficiency. To solve the abovementioned problem, we have designed an autonomous ship for cleaning the garbage floating on a lake. As shown in Fig.1, a model ship has been developed. Experiments have been conducted to demonstrate the applicability of the design. II. DESIGN OF THE CLEANING SHIP The cleaning ship is powered by solar battery, which is economic, and can save energy and protect environment. The cleaning ship determines the position and the direction of it’s own by taking the lake bank as the frame of reference. The ship runs around the lake bank by controlling itself running in a predefined distance away from the lake bank. At the same time, it automatically cleans the floating garbage. The ship can change direction if the equipped ultrasonic sensors have detected obstacles. Circuits for recognizing the daytime and the nighttime are designed too. The ship runs only once at nighttime to save electric energy. The circulating times of cleaning floating garbage at daytime can be determined according to the practical environment. A remote control circuit is designed, which makes manual control of the ship applicable. This is useful in some special circumstances, and thus can increase the practicability of the ship. A mechanism for collecting floating garbage is designed to realize automatic collecting floating garbage. To realize the functions mentioned above, the designed cleaning ship should be controlled by a microprocessor. It should also have power supply system, keyboard and display, obstacles detecting system, ship position and orientation detection system, motion controlling system, circuit for recognizing daytime and nighttime, and remote control system, as can be seen in Fig.2. Figure 2. The structure of the cleaning ship A. Design of the single-chip microcomputer (SCM) system The main SCM system of the cleaning ship is made up of a SCM, a crystal oscillator, a watchdog timer. The SCM is AT89S52, produced by Atmel Corporation. It features 8k bytes of on-chip flash memory, 256 Bytes of on-chip RAM, two 16-bit timers/counters, two external interrupt, and one full duplex UART .The oscillating frequency of the SCM is 12 MHz. The Watchdog timer reset the computer system on power up, power failure, and other abnormity. The Watchdog circuit is MAX813, produced by Maxim Corporation, which is dedicated to production of integrated circuits for power-detection and Watchdog timer B. Design of the keyboard and display module ZLG7289 has been applied in both the keyboard circuit and the display circuit in our cleaning ship, which was produced by Zhouligong Corporation situated in Guangzhou. A ZLG7289 chip can drive 7-segment numeric LED displays of up to 8 digits, bar-graph displays, or 64 individual LEDS, and a keyboard of up to 64 keys. It communicates with the SCM through the serial peripheral interface (SPI) [4], which takes only three I/O pins of the SCM to save its limited resources. The key pin of the ZLG7289 becomes low when a key is pressed. The SCM identifies the number of the keystroke by SPI bus when reading the low level signal. There are eight 7-segment numeric LED displays and six keys. 7-segment numeric LED display the distance value obtained from the distance-detection system. Six function keys are used for setting the control parameters of the cleaning ship. C. Design of the motion control system The motion control system controls the cleaning ship to move in a lake. Two slave systems detect the distances between the bank and the cleaning ship, and sent the distance values to the main control system through the asynchronous serial port. The main control system determines the position and orientation of the cleaning ship according to the two distance values. Ultrasonic range sensors are used to measure the distance in the system. Ultrasonic ranging is a method that uses reflective ranging method [5]. The distances to be measured are calculated according to the time period between the time at which the system transmits ultrasound waves and that at which the system receives the echo. Every ranging system is controlled by an independent SCM to transmit the ultrasound and to receive its echo [6]. The dedicated integrated circuit LM1812 fulfills the task of transmitting ultrasound waves. While the task of receiving the echo is fulfilled by the infrared receiver module CX20106. When the control signal of the transmission of the ultrasound is sent, the internal timer of the SCM is being started at the same time. The integrated circuit CX20106 will send a low-level signal through which the external interrupt of the SCM is triggered to stop the timer when the echo is received. The distance between the ship and objects can be calculated from the data in the timer. The ship is equipped with two ultrasonic ranging systems. One of which is at the front of the ship, marked as “A”. Another is placed at the ship’s right side, marked as “B”. The two sensors measure the distance between the ship and the bank of the lake once every two seconds. The position and orientation of the ship relates to the bank of the lake are determined according to the distances at two successive times. There are several different situations as described in the following The first situation is that the distances measured by A at both the first and the second times are over range. That is to say that the distance is more than 3 meters. And the distances measured by B are the same, about 60 centimeters, at this time, the ship is considered to be parallel to the bank of the lake, (see Fig. 3 time 2). The second situation is that the distances measured by A at both the first and the second times are over range. Therefore, there are no obstacles in front. However, the first distance measured by B is smaller than the second one, which suggests that the bank turns to the right, (see Fig.3 time 3). The third situation is that the distances measured by A at both the first and the second times are over range. While the first distance measured by B is lager than the second, which suggests that the bank turns to the left, (see Fig.3 time 4). The last situation is that the distances measured by A are less than two meters while the distances measured by B are the same. In this situation, obstacles may exist in front of the ship or the bank takes a right-angle turn to the left (see Fig.3 time 5). The motors will be controlled correspondingly to make the ship move around the bank of the lake. Figure 3. Ship motion control strategy D. Design of the bypassing obstacles system When moving in the lake, the cleaning ship may encounter obstacles. Therefore, it should be able to automatically bypass obstacles, and then return to its original orbit. Whether there exist obstacles or not is determined based on the data the two ultrasonic sensors measured. The preliminary decision of an obstacle or a turning of the bank in front of the ship is similar to the method for deciding the right-angle turn to the left. That is to say that the distances measured by A are two meters, and the distances measured by B are the same. In this situation, an obstacle or a turning of the bank is considered to be in the front, and therefore the ship should be controlled to make a right-angle left turn (see Fig.4 time 1). When the distances measured by A are larger than 3 meters and the distances measured by B are 60 centimeters, the ship starts to go straightly. If the ship has made a right-angle turn to the left, the distances measured by B will not change (see Fig.4 time 5).If the ship has encountered an obstacle, the distances measured by B will become bigger than the distances measured before. The reason is that obstacles are arc-shaped or rectangular-shaped. The ship will turn to right accordingly (see Fig.4 time 3). Not until that the distances measured by B are 60 centimeters, will the ship go straight. The ship will turn left at right angles after the bank of the lake is detected (see Fig.4 time 3). Finally, the ship will go back to the confined orbit as the distances measured by A are lager than 3 meters and the distances measured by B are 60 centimeters. Figure 4. Strategy for the ship to bypass an obstacle E. Design of the circuit for recognizing daytime/nighttime Using a photosensitive resistance, which will have different resistance values under different light intensity, the system is able to recognize daytime and nighttime. When light is strong, its resistance value is small. On the contrary, resistance value will increase at low light. In the recognizing circuit, fixed resistors and photosensitive resistor are used to divide up the fixed voltage, and referenced voltage has been adopted. A voltage comparator is used to determine the output voltage. If the voltage divided up is smaller than the referenced voltage, the recognizing daytime and nighttime system determines it is at nighttime, otherwise it is considered at daytime. During the daytime, the frequency of the cleaning circulation can be set. While at nighttime, the cleaning ship circulates only one time. F. Design of the motor control system The power of the cleaning ship, including the conveyor belt of the refuse collection and transmission, and the two propellers which drive the ship and change its direction nimbly, are all powered by DC motors. The two high speed DC motors used to drive two propellers, and the motor used to drive the conveyor belt with gear case, are all controlled by special ICs Numbered TA8050P. Five controlling scenarios are designed which include going straight, turning to the left, turning to the right, turning to the left at rightangle and turning to the right at right-angle. The speeds of the two high-speed motors are controlled running at the same speed when the ship is going straight. The ship is turning left when the right side motor speeds up while the speed of the left side motor remains unchanged The left side motor speeds up while the speed of the right side motor keeps unchanged will lead to the ship turning right, which can result to a larger turning radius. The ship is turning left at right angle when the left side motor stops while the right side motor runs at the original speed. In the opposite situation, the ship is turning right at right angle. G. Design of the remote control system Besides the keyboard and display circuit, the remote control system is also designed to achieve manual control of the cleaning ship. Radio frequency signal, which can be radiated around and cannot be warded off by obstacles, is used as carriers to transport the remote control message. The remote controller can control the ship in a distance of up to 500 meters. It has 8 keys, including the key to switch between the manual mode and automatic mode, the keys to control the moving directions, and the key to control the motor that drives the conveyor belt. H. Design of the power supply systems The control system needs a 12-volt power supply, which is used for powering the ultrasonic transmitter and the DC motors. It also needs a 5-volt power supply used for powering the single-chip control system. The power comes from a solar battery of 15Watts rated output, which is used to charge a 12V/7AH maintenance-free lead acid battery. The latter is then used to power the system. During charge process, the battery voltage is monitored by the power system to avoid overcharge and over-discharge. The 5-volt power supply for the SCM is stabilized by a three-terminal voltage regulator. In order to avoid the motor starting/stopping operations influencing the control circuit, a DC-DC power conversion circuit is designed for power supply isolation. I. Design of programs According to the process of the work of the cleaning ship, the programs of the main SCM system and distance measurement systems are designed in a modular structure. The programs of the main SCM system consist of the following modules: the program for managing the power system, the program for the remote control, the program for communicating with slave distance measurement systems, the program for controlling the moving directions, and the program for controlling the motors. The flow chart of the main