Visual sensing manipulator type water surface garbage collection ship

Abstract

The utility model belongs to the technical field of water surface garbage cleaning and collecting, and relates to a visual sensing manipulator type water surface garbage collecting ship which comprises a ship body and a grabbing and collecting assembly installed on the front portion of the ship body, advancing driving assemblies are arranged on the two sides of the ship body respectively and used for driving the ship body to advance, retreat and steer, and a garbage storage bin is arranged on the rear portion of the ship body and used for storing garbage. A microcomputer is arranged on the ship body and used for controlling the grabbing and collecting assembly and the advancing driving assembly. Water surface garbage is grabbed through cooperation of a horizontal rotating motor, a first driving motor, a second driving motor and a third driving motor, the garbage grabbing precision is improved through cooperation of a visual sensor and a microcomputer, water surface garbage of different shapes and volumes can be stably grabbed through the structure of the mechanical arm, the application range is wider, and the mechanical arm is suitable for popularization and application. The cost of employment of workers and purchase of equipment is reduced, and the device is suitable for salvaging garbage in large lakes and high in efficiency; equipment does not need to be replaced, continuous work is achieved, and cost is low.

Description

Technical Field

[0001] The utility model belongs to the technical field of water surface garbage cleaning and collection, and in particular relates to a visual sensing manipulator type water surface garbage collection ship. Background Art

[0002] With the rapid development of the economy, people are traveling more and more, and the ecological environment of water bodies such as rivers and lakes has received more and more attention.

[0003] In response to the problem of surface garbage, traditional salvage methods are currently used. One is manual salvage, which is suitable for garbage of different sizes, but the cost of hiring workers and purchasing equipment is high, and salvage in large lakes is difficult and inefficient. The other is mechanical salvage, which uses manually driven fishing boats for salvage. Although this method can clean up a large amount of garbage in a short time, it also has limitations. For example, the equipment needs to be replaced to handle different types of garbage, and the boat driving space in smaller lakes is limited and the cost is high. In addition, there are devices that float on the water surface to filter garbage, but there are restrictions on the types of garbage collected, and the load-bearing capacity is limited, which makes it difficult to adapt to the diverse collection of surface garbage. For this reason, there is an urgent need for a new type of surface garbage collection device that is efficient, convenient, low-cost, and has a wide range of applications. Summary of the invention

[0004] The utility model aims to provide a visual sensing manipulator type surface garbage collection boat which has wide applicability, is easy to operate, is quick and effective, and has high garbage grabbing accuracy.

[0005] The technical solution adopted by the utility model to solve the technical problem is: a visual sensing manipulator type water surface garbage collection ship, comprising a hull and a grabbing and collecting assembly installed at the front of the hull, both sides of the hull are respectively provided with a traveling driving assembly for driving the hull forward, backward and turning, a garbage storage bin is provided at the rear of the hull, and a microcomputer is provided on the hull, and the microcomputer is used to control the grabbing and collecting assembly and the traveling driving assembly;

[0006] The grabbing and collecting assembly includes a horizontal rotating motor, a bending angle adjustment mechanism and a manipulator. The horizontal rotating motor is fixedly installed on the hull, and the output shaft of the horizontal rotating motor is fixedly connected to the lower end of the bending angle adjustment mechanism. Two groups of manipulators are symmetrically arranged. The manipulators are installed on the upper end of the bending angle adjustment mechanism. A visual sensor is also fixedly installed on the upper end of the bending angle adjustment mechanism. The visual sensor is electrically connected to a microcomputer. The horizontal rotating motor drives the bending angle adjustment mechanism and the manipulator to rotate horizontally to achieve horizontal angle adjustment of the manipulator. The bending angle adjustment mechanism drives the manipulator to rotate longitudinally to achieve longitudinal angle adjustment of the manipulator. The two groups of manipulators clamp the garbage on the water surface.

[0007] Furthermore, the bending angle adjustment mechanism includes a first drive motor, a second drive motor, a third drive motor, a first connecting plate, a second connecting plate, and an L-shaped plate. The output end of the first drive motor is connected to the bottom of the first connecting plate, the top of the first connecting plate is connected to the output end of the second drive motor, the second drive motor is fixedly connected to one end of the second connecting plate through the L-shaped plate, and the other end of the second connecting plate is fixedly connected to the third drive motor. The third drive motor is provided with two groups, and the output end of each group of the third drive motor is connected to the corresponding manipulator. The first drive motor drives the first connecting plate and the second drive motor to rotate longitudinally, the second drive motor drives the second connecting plate, the third drive motor, and the manipulator to rotate longitudinally, and the third drive motor drives the two groups of manipulators to rotate toward or away from each other.

[0008] Furthermore, the bending angle adjustment mechanism also includes a first bracket, a second bracket, a third bracket and a motor steering wheel, the bottom of the first bracket is connected to the output shaft of the horizontal rotation motor through the motor steering wheel, the first drive motor is fixedly installed on the first bracket, one end of the bottom of the first connecting plate is connected to the first drive motor through the motor steering wheel, and the other end of the bottom of the first connecting plate is rotatably connected to the first bracket;

[0009] The second drive motor is fixedly mounted on the second bracket, one end of the top of the first connecting plate is connected to the output shaft of the second drive motor through the motor steering wheel, the other end of the top of the first connecting plate is rotatably connected to the second bracket, one end of the L-shaped plate is fixedly connected to the second bracket, the other end of the L-shaped plate is fixedly connected to the rear of the second connecting plate, the two ends of the front part of the second connecting plate are respectively fixedly connected to a group of third brackets, the third drive motor is fixedly mounted on the corresponding third bracket, and the output shaft of the third drive motor is connected to the corresponding manipulator through the motor steering wheel.

[0010] Furthermore, the horizontal rotating motor, the first driving motor, the second driving motor and the third driving motor are respectively connected to a microcomputer through a driver, and the microcomputer controls the start, stop and forward and reverse rotation of the horizontal rotating motor, the first driving motor, the second driving motor and the third driving motor through the driver.

[0011] Furthermore, the robot includes a plurality of thin plates arranged longitudinally, which are connected and fixed by a plurality of columns, the middle part of the inner wall of each thin plate is concave to form a bending part, the inner wall of the middle thin plate is flat, the inner walls of the upper and lower thin plates are provided with serrations, and one end of the thin plate is provided with a bolt hole for connecting to a third drive motor.

[0012] Furthermore, the output shaft of the third driving motor is connected to the uppermost thin plate of the corresponding manipulator through the motor steering wheel, the lowermost thin plate is rotatably connected to the third bracket, and the length of the uppermost and lowermost thin plates is greater than that of other thin plates.

[0013] Furthermore, the travel drive assembly includes a travel drive motor, a paddle wheel, a motor fixing bracket and a coupling. The travel drive motor is fixedly mounted on the hull through the motor fixing bracket. The travel drive motor is connected to the paddle wheel through the coupling to drive the paddle wheel to rotate forward or reverse.

[0014] Furthermore, a motor fixing groove is provided at the front of the hull, and the horizontal rotating motor is fixedly installed in the motor fixing groove.

[0015] Furthermore, the visual sensor is fixedly mounted on the top of the third driving motor.

[0016] The utility model has the following beneficial effects: the surface garbage collection boat of the utility model can capture surface garbage through the cooperation of the horizontal rotating motor, the first driving motor, the second driving motor and the third driving motor, and the garbage capture accuracy is improved through the cooperation of the visual sensor and the microcomputer. The structure of the manipulator can firmly capture surface garbage of different shapes and volumes, and has a wider scope of application, reducing the cost of hiring workers and purchasing equipment, and is suitable for garbage salvage in large lakes with high efficiency; no equipment replacement is required, and it can work continuously with low cost. Compared with the existing surface garbage collection boat, the surface garbage collection boat of the utility model is efficient, simple, easy to operate, does not require much manpower, can flexibly collect different types of surface garbage, and is pollution-free. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The utility model is a schematic diagram of the overall structure of a manipulator type surface garbage collection ship.

[0018] Figure 2 The utility model is a schematic diagram of the hull structure of a manipulator type surface garbage collection ship.

[0019] Figure 3 It is a schematic diagram of the structure of the grabbing and collecting components of the manipulator type surface garbage collecting ship of the utility model.

[0020] Figure 4 The utility model is a schematic diagram of the structure of a manipulator of a manipulator type surface garbage collection ship.

[0021] In the figure, 1, hull, 2, grabbing and collecting assembly, 3, traveling drive assembly, 4, microcomputer, 5, garbage storage bin; 101, motor fixing slot;

[0022] 301, travel drive motor, 302, paddle wheel, 303, motor fixing bracket, 304, coupling;

[0023] 201, horizontal rotation motor, 202, first drive motor, 203, second drive motor, 204, third drive motor, 205, first connecting plate, 206, second connecting plate, 207, visual sensor, 208, manipulator, 209, second bracket, 210, L-shaped plate, 211, third bracket, 212, motor steering disc, 213, first bracket;

[0024] 2081. thin plate, 2082. column, 2083. serration, 2084. bolt hole, 2085. bending portion. DETAILED DESCRIPTION

[0025] The utility model will now be described in further detail with reference to the accompanying drawings.

[0026] like Figure 1 As shown, a visual sensing manipulator-type surface garbage collection ship includes a hull 1 and a grabbing and collecting component 2 installed at the front of the hull 1, and travel drive components 3 are respectively provided on both sides of the hull 1 to drive the hull 1 forward, backward and turn. A garbage storage bin 5 is provided at the rear of the hull 1, and a microcomputer 4 is provided on the hull 1 to control the grabbing and collecting component 2 and the travel drive component 3.

[0027] like Figure 2 As shown, the front part of the hull 1 is provided with a motor fixing slot 101, and the horizontal rotation motor 201 is fixedly installed in the motor fixing slot 101. The travel drive assembly 3 includes a travel drive motor 301, a paddle wheel 302, a motor fixing bracket 303 and a coupling 304. The travel drive motor 301 is connected to the microcomputer 4. The travel drive motor 301 is fixedly installed on the hull 1 through the motor fixing bracket 303. The travel drive motor 301 is connected to the paddle wheel 302 through the coupling 304 to drive the paddle wheel 302 to rotate forward or reverse. The microcomputer 4 realizes the turning of the hull 1 by controlling the travel drive motors 301 on both sides respectively.

[0028] In a preferred embodiment of the utility model, two groups of travel drive components 3 are provided, which are symmetrically arranged on both sides of the hull 1. Multiple groups of travel drive components 3 can also be symmetrically arranged on both sides of the hull 1 as needed.

[0029] like Figure 3As shown, the grabbing and collecting assembly 2 includes a horizontal rotating motor 201, a bending angle adjustment mechanism and a manipulator 208. The horizontal rotating motor 201 is fixedly mounted on the hull 1. The output shaft of the horizontal rotating motor 201 is fixedly connected to the lower end of the bending angle adjustment mechanism. The manipulator 208 is symmetrically provided with two groups. The manipulator 208 is mounted on the upper end of the bending angle adjustment mechanism. The upper end of the bending angle adjustment mechanism is also fixedly mounted with a visual sensor 207. The visual sensor 207 is connected to a microcomputer 4 with a graphics processing function, and is used to obtain image information of the water surface in real time. After image processing by the microcomputer 4, it can detect whether there is garbage on the water surface and calculate the position and distance of the garbage on the water surface. The horizontal rotating motor 201 drives the bending angle adjustment mechanism and the manipulator 208 to rotate horizontally to achieve horizontal angle adjustment of the manipulator 208. The bending angle adjustment mechanism drives the manipulator 208 to rotate longitudinally to achieve longitudinal angle adjustment of the manipulator. The two groups of manipulators 208 clamp the garbage on the water surface.

[0030] The bending angle adjustment mechanism includes a first driving motor 202, a second driving motor 203, a third driving motor 204, a first connecting plate 205, a second connecting plate 206, and an L-shaped plate 210. The output end of the first driving motor 202 is connected to the bottom of the first connecting plate 205, the top of the first connecting plate 205 is connected to the output end of the second driving motor 203, the second driving motor 203 is fixedly connected to one end of the second connecting plate 206 through the L-shaped plate 210, and the other end of the second connecting plate 206 is connected to the third driving motor 20 4 is fixedly connected, the visual sensor 207 is fixedly installed on the top of the third driving motor 204, the third driving motor 204 is provided with two groups, the output end of each group of the third driving motor 204 is connected to the corresponding manipulator 208, the first driving motor 202 drives the first connecting plate 205 and the second driving motor 203 to rotate longitudinally, the second driving motor 203 drives the second connecting plate 206, the third driving motor 204, and the manipulator 208 to rotate longitudinally, and the third driving motor 204 drives the two groups of manipulators 208 to rotate toward or away from each other.

[0031] The microcomputer 4 is connected to the horizontal rotating motor 201, the first driving motor 202, the second driving motor 203, and the third driving motor 204 through the driver respectively, and the microcomputer 4 controls the start, stop, and forward and reverse rotation of the horizontal rotating motor 201, the first driving motor 202, the second driving motor 203, and the third driving motor 204 through the driver.

[0032] In a preferred embodiment of the utility model, the bending angle adjustment mechanism also includes a first bracket 213, a second bracket 209, a third bracket 211 and a motor steering disc 212. The bottom of the first bracket 213 is connected to the output shaft of the horizontal rotation motor 201 through the motor steering disc 212. The first drive motor 202 is fixedly installed on the first bracket 213. One end of the bottom of the first connecting plate 205 is connected to the first drive motor 202 through the motor steering disc 212. The other end of the bottom of the first connecting plate 205 is rotatably connected to the first bracket 213. The second drive motor 203 is fixedly installed on the second bracket 209. One end of the top of the connecting plate 205 is connected to the output shaft of the second drive motor 203 through the motor steering wheel 212, the other end of the top of the first connecting plate 205 is rotatably connected to the second bracket 209, one end of the L-shaped plate 210 is fixedly connected to the second bracket 209, the other end of the L-shaped plate 210 is fixedly connected to the rear of the second connecting plate 206, the two ends of the front part of the second connecting plate 206 are respectively fixedly connected to a group of third brackets 211, the third drive motor 204 is fixedly installed on the corresponding third bracket 211, and the output shaft of the third drive motor 204 is connected to the corresponding manipulator 208 through the motor steering wheel 212.

[0033] like Figure 4 As shown, the manipulator 208 includes a plurality of thin plates 2081 arranged longitudinally, and the thin plates 2081 are connected and fixed by a plurality of columns 2082. The middle part of the inner wall of each thin plate 2081 is concave to form a bending part 2085. The inner wall of the middle thin plate 2081 is flat, and the inner walls of the upper and lower thin plates 2081 are provided with saw teeth 2083. One end of the thin plate 2081 is provided with a bolt hole 2084 for connecting to the third drive motor 204.

[0034] In a preferred embodiment of the utility model, the output shaft of the third driving motor 204 is connected to the uppermost thin plate 2081 of the corresponding manipulator 208 through the motor steering wheel 212, the lowermost thin plate 2081 is rotatably connected to the third bracket 211, and the lengths of the uppermost and lowermost thin plates 2081 are greater than those of other thin plates 2081.

[0035] In a preferred embodiment of the utility model, the manipulator 208 includes five thin plates 2081, the inner wall of the third thin plate 2081 is flat, which can increase the volume of the manipulator, facilitate the grabbing of larger volumes of garbage, and improve the applicability of the manipulator; the inner walls of the remaining four thin plates are irregularly serrated, which can increase the contact area with the garbage on the water surface, increase the friction effect on the original motor torque, and effectively prevent the grabbed garbage from falling into the water surface for the second time.

[0036] When grabbing smaller garbage, such as plastic bags, the front end of the manipulator 208 can be used for grabbing, the two manipulators 208 are closed, and the irregular serrations at the front end can clamp the plastic bag; when grabbing larger garbage, such as mineral water bottles, the middle part of the manipulator 208 can be used for grabbing, the two manipulators 208 are closed, and the irregular serrations in the middle can clamp the mineral water bottle; when grabbing larger garbage that is easy to deform, such as foam fast food boxes and instant noodle boxes, the concave space in the middle of the manipulator 208 is larger, and the grabbing can also be completed.

[0037] The working method of the visual sensing manipulator type surface garbage collection ship of the utility model comprises the following steps:

[0038] 1) The two travel drive motors 301 on both sides of the hull 1 drive the two paddle wheels 302 to rotate through the coupling 304, driving the boat to travel on the water surface. The visual sensor 207 obtains the water surface image. Based on the machine vision technology, the water surface image is processed by the microcomputer 4 with image processing function, and then it is detected whether there is garbage on the water surface ahead.

[0039] 2) If no garbage on the water surface is detected, the boat continues to move on the water surface until garbage is detected on the water surface ahead. The microcomputer 4 processes the collected images and calculates the distance L between the manipulator 208 and the garbage on the water surface. The microcomputer 4 adjusts the rotation of the two driving motors 301 according to the distance L between the manipulator 208 and the garbage on the water surface, and transmits the adjustment parameters to the driver. The driver adjusts the two driving motors 301 according to the adjustment parameters, controls the moving direction and speed of the hull 1, and keeps the manipulator 208 at an appropriate distance from the garbage on the water surface;

[0040] 3) The microcomputer 4 processes the collected images and calculates the angle α between the manipulator 208 and the garbage on the water surface. The microcomputer 4 makes an adjustment parameter for adjusting the rotation of the horizontal rotating motor 201 according to the angle α between the manipulator 208 and the garbage on the water surface, and transmits it to the driver. The driver adjusts the horizontal rotating motor 201 according to the adjustment parameter, and drives the manipulator 208 to rotate in the horizontal plane, so that the manipulator 208 can face the garbage on the water surface.

[0041] 4) The microcomputer 4 processes the collected images and calculates the vertical height H of the manipulator 208 to the garbage on the water surface. The microcomputer 4 makes an adjustment parameter for adjusting the rotation of the first drive motor 202 according to the vertical height H of the manipulator 208 to the garbage on the water surface, and transmits it to the driver. The driver adjusts the first drive motor 202 according to the adjustment parameter. The first drive motor 202 drives the first connecting plate 205 to move, driving the manipulator 208 to rise and fall and the bending angle adjustment mechanism to extend and contract, thereby adjusting the position of the manipulator 208 to maintain an appropriate height from the garbage on the water surface, making it easier for the manipulator to grab the garbage, while avoiding interference between the bending angle adjustment mechanism and the hull.

[0042] 5) The microcomputer 4 processes the collected images and calculates the vertical height H' from the manipulator 208 to the garbage on the water surface again. The microcomputer 4 makes an adjustment parameter for adjusting the rotation of the second drive motor 203 according to the vertical height H' from the manipulator 208 to the garbage on the water surface, and transmits it to the driver. The driver adjusts the second drive motor 203 according to the adjustment parameter, controls the second connecting plate 206, the third drive motor 204 and the manipulator 208 at the front of the hull 1 to rise and fall, and adjusts the distance and height between the manipulator 208 and the garbage on the water surface, so that the manipulator 208 can pick up the garbage.

[0043] 6) The microcomputer 4 processes the collected images and calculates the opening angle β of the manipulator 208. The microcomputer 4 makes adjustment parameters for adjusting the rotation of the two third drive motors 204 according to the opening angle β of the manipulator 208, and transmits them to the driver. The driver adjusts the two third drive motors 204 according to the adjustment parameters, thereby controlling the opening and closing of the two manipulators 208 to complete the action of grabbing the garbage on the water surface.

[0044] 7) After processing the collected images, the microcomputer 4 calculates the angle γ and the distance L' between the garbage grabbed by the manipulator 208 and the center of the garbage storage bin 4. The microcomputer 4 adjusts the adjustment parameters of the horizontal rotating motor 201, the first drive motor 202, the second drive motor 203, and the third drive motor 204 according to the angle γ and the distance L' between the garbage grabbed by the manipulator 208 and the center of the garbage storage bin 5, and transmits them to the driver. The driver adjusts the horizontal rotating motor 201, the first drive motor 202, the second drive motor 203, and the third drive motor 204 according to the adjustment parameters, and the manipulator 208 rotates to the top of the garbage storage bin 5, and the manipulator 208 opens to put the garbage into the garbage storage bin 5.

[0045] The above-described embodiments are merely descriptions of preferred implementations of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made by ordinary persons in the art to the technical solution of the present invention shall fall within the scope of protection of the present invention.

[0046] The technology, shape and structure parts not described in detail in the present invention are all known technologies.

Claims

1. A visual sensing manipulator-type surface garbage collection ship, comprising a hull and a grabbing and collecting assembly installed at the front of the hull, characterized in that: The two sides of the hull are respectively provided with a travel drive assembly for driving the hull forward, backward and turning. The rear part of the hull is provided with a garbage storage bin. The hull is provided with a microcomputer for controlling the grabbing and collecting assembly and the travel drive assembly. The grabbing and collecting assembly includes a horizontal rotating motor, a bending angle adjustment mechanism and a manipulator. The horizontal rotating motor is fixedly installed on the hull, and the output shaft of the horizontal rotating motor is fixedly connected to the lower end of the bending angle adjustment mechanism. Two groups of manipulators are symmetrically arranged. The manipulators are installed on the upper end of the bending angle adjustment mechanism. A visual sensor is also fixedly installed on the upper end of the bending angle adjustment mechanism. The visual sensor is electrically connected to a microcomputer. The horizontal rotating motor drives the bending angle adjustment mechanism and the manipulator to rotate horizontally to achieve horizontal angle adjustment of the manipulator. The bending angle adjustment mechanism drives the manipulator to rotate longitudinally to achieve longitudinal angle adjustment of the manipulator. The two groups of manipulators clamp the garbage on the water surface.

2. The visual sensing manipulator type surface garbage collection ship according to claim 1, characterized in that: The bending angle adjustment mechanism includes a first drive motor, a second drive motor, a third drive motor, a first connecting plate, a second connecting plate, and an L-shaped plate. The output end of the first drive motor is connected to the bottom of the first connecting plate, and the top of the first connecting plate is connected to the output end of the second drive motor. The second drive motor is fixedly connected to one end of the second connecting plate through the L-shaped plate, and the other end of the second connecting plate is fixedly connected to the third drive motor. The third drive motor is provided with two groups, and the output end of each group of the third drive motor is connected to the corresponding manipulator. The first drive motor drives the first connecting plate and the second drive motor to rotate longitudinally, the second drive motor drives the second connecting plate, the third drive motor, and the manipulator to rotate longitudinally, and the third drive motor drives the two groups of manipulators to rotate toward or away from each other.

3. The visual sensing manipulator type surface garbage collection ship as claimed in claim 2, characterized in that: The bending angle adjustment mechanism also includes a first bracket, a second bracket, a third bracket and a motor steering wheel, the bottom of the first bracket is connected to the output shaft of the horizontal rotation motor through the motor steering wheel, the first drive motor is fixedly installed on the first bracket, one end of the bottom of the first connecting plate is connected to the first drive motor through the motor steering wheel, and the other end of the bottom of the first connecting plate is rotatably connected to the first bracket; The second drive motor is fixedly mounted on the second bracket, one end of the top of the first connecting plate is connected to the output shaft of the second drive motor through the motor steering wheel, the other end of the top of the first connecting plate is rotatably connected to the second bracket, one end of the L-shaped plate is fixedly connected to the second bracket, the other end of the L-shaped plate is fixedly connected to the rear of the second connecting plate, the two ends of the front part of the second connecting plate are respectively fixedly connected to a group of third brackets, the third drive motor is fixedly mounted on the corresponding third bracket, and the output shaft of the third drive motor is connected to the corresponding manipulator through the motor steering wheel.

4. The visual sensing manipulator type surface garbage collection ship as claimed in claim 2, characterized in that: The horizontal rotating motor, the first driving motor, the second driving motor and the third driving motor are respectively connected to the microcomputer through the driver, and the microcomputer controls the start, stop and forward and reverse rotation of the horizontal rotating motor, the first driving motor, the second driving motor and the third driving motor through the driver.

5. The visual sensing manipulator type surface garbage collection ship according to any one of claims 2 to 4, characterized in that: The robot includes a plurality of thin plates arranged longitudinally, which are connected and fixed by a plurality of columns. The middle part of the inner wall of each thin plate is concave to form a bending part, the inner wall of the middle thin plate is flat, the inner walls of the upper and lower thin plates are provided with serrations, and one end of the thin plate is provided with a bolt hole for connecting to a third drive motor.

6. The visual sensing manipulator type surface garbage collection ship according to claim 5, characterized in that: The output shaft of the third driving motor is connected to the uppermost thin plate of the corresponding manipulator through the motor steering wheel, and the lowermost thin plate is rotatably connected to the third bracket. The length of the uppermost and lowermost thin plates is greater than that of other thin plates.

7. The visual sensing manipulator type surface garbage collection ship according to claim 1, characterized in that: The travel drive assembly comprises a travel drive motor, a paddle wheel, a motor fixing bracket and a coupling. The travel drive motor is fixedly mounted on the hull through the motor fixing bracket. The travel drive motor is connected to the paddle wheel through the coupling to drive the paddle wheel to rotate forward or reverse.

8. The visual sensing manipulator type surface garbage collection ship according to claim 1, characterized in that: The front part of the hull is provided with a motor fixing groove, and the horizontal rotating motor is fixedly installed in the motor fixing groove.

9. The visual sensing manipulator type surface garbage collection ship as claimed in claim 2, characterized in that: The visual sensor is fixedly mounted on the top of the third driving motor.

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