A water area cleaning method, device and storage medium

Abstract

The present invention relates to the field of garbage cleaning technology, and in particular to a water area cleaning method and its equipment and storage medium, which can improve the processing efficiency of water area cleaning. The water area cleaning method of the present invention is applied to water area cleaning equipment, and the water area cleaning equipment includes a mother ship and an underwater cleaning device. In the water area cleaning method, the delivery instruction sent by the control center is first obtained, and the underwater cleaning device is dropped from the mother ship into the target water area according to the delivery instruction. When the underwater cleaning device dives under the water surface of the target water area, an operation preparation signal is sent to the control center to obtain an operation start instruction, and then according to the operation start instruction, the underwater cleaning device is controlled to detect the underwater environment of the target water area, obtain underwater image information, and identify and collect underwater garbage in the target water area according to the underwater image information. The water area cleaning method in the present invention can automatically complete the cleaning of underwater garbage, liberate labor costs, and thus improve the processing efficiency of water area cleaning.

Description

Technical Field

[0001] The invention relates to the technical field of garbage cleaning, and in particular to a water area cleaning method and equipment and a storage medium thereof. Background Art

[0002] As people's living standards improve, they pay more and more attention to environmental sanitation. In related technologies, in order to free up manpower, unmanned driving technology has gradually been applied to garbage collection ships, but the degree of intelligence and automation still has great limitations. At the same time, many garbage collection ships are not only expensive, but also require a lot of workers to work on them. The operation intensity is high and the processing efficiency is also low. Therefore, how to further improve the processing efficiency of water cleaning has become an urgent problem to be solved by industry insiders. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a water area cleaning method and equipment and a storage medium, which can improve the processing efficiency of water area cleaning.

[0004] According to the water area cleaning method of the first aspect of the present invention, the water area cleaning equipment includes a mother ship and an underwater cleaning device, and the method includes:

[0005] Obtaining a delivery instruction sent by a control center, and delivering the underwater cleaning device from the mother ship into a target water area according to the delivery instruction;

[0006] When the underwater cleaning device dives under the water surface of the target water area, it sends an operation preparation signal to the control center to obtain an operation start instruction;

[0007] According to the operation start instruction, the underwater cleaning device is controlled to detect the underwater environment of the target water area to obtain underwater image information;

[0008] Based on the underwater image information, underwater garbage in the target water area is identified and collected.

[0009] Optionally, according to some embodiments of the present invention, the method further includes:

[0010] Acquire the positioning information of the mother ship, and send the positioning information of the mother ship to the control center so that the control center plans the target navigation path;

[0011] The navigation instruction sent by the control center is obtained, and the mother ship is controlled to sail along the target navigation path toward the target waters according to the navigation instruction.

[0012] Optionally, according to some embodiments of the present invention, acquiring the navigation instruction sent by the control center, and controlling the mother ship to sail along the target navigation path toward the target waters according to the navigation instruction, includes:

[0013] Detecting obstacles in the target navigation path based on radar to obtain blocking position information of the obstacles;

[0014] According to the blocking position information, the mother ship is controlled to avoid the obstacle when navigating in the target navigation path.

[0015] Optionally, according to some embodiments of the present invention, controlling the mother ship to avoid the obstacle when navigating in the target navigation path according to the blocking position information includes:

[0016] According to the blocking position information, dynamically tracking the obstacle with the first camera assembly of the mother ship;

[0017] Based on the dynamic tracking process of the obstacle, the rotation speed of the mother ship driving motor is adjusted so that the mother ship avoids the obstacle.

[0018] Optionally, according to some embodiments of the present invention, after the underwater cleaning device dives under the water surface of the target water area and sends an operation preparation signal to the control center to obtain an operation start instruction, the method further includes:

[0019] According to the operation start instruction, the mother ship is controlled to detect surface garbage in the water surface environment of the target water area to obtain the water surface position to be cleaned;

[0020] The mother ship is controlled to collect the surface garbage based on the position of the water surface to be cleaned.

[0021] Optionally, according to some embodiments of the present invention, obtaining a delivery instruction sent by a control center, and delivering the underwater cleaning device from the mother ship into a target water area according to the delivery instruction, includes:

[0022] According to the delivery instruction, the electric umbilical cable in the mother ship is controlled to lower the underwater cleaning device to the target waters, and the water area cleaning equipment controls and supplies power to the underwater cleaning device through the umbilical cable of the electric umbilical cable.

[0023] Optionally, according to some embodiments of the present invention, controlling the underwater cleaning device to detect the underwater environment of the target water area and acquiring underwater image information according to the operation start instruction includes:

[0024] According to the operation start instruction, the second camera component of the underwater cleaning device is controlled to collect underwater image information, and the underwater image information reflects the underwater environment of the target water area.

[0025] Optionally, according to some embodiments of the present invention, identifying and collecting underwater garbage in the target water area according to the underwater image information includes:

[0026] The underwater image information is processed by a target recognition model to identify the underwater location of the underwater garbage to be cleaned in the underwater environment;

[0027] According to the underwater position to be cleaned, the underwater cleaning device is controlled to collect the underwater garbage.

[0028] A water area cleaning device according to a second aspect of the present invention includes: a control module, a data transceiver module, a mother ship, and an underwater cleaning device;

[0029] The data transceiver module is used to obtain the delivery instruction sent by the control center, and when the underwater cleaning device dives under the water surface of the target water area, send an operation preparation signal to the control center to obtain an operation start instruction;

[0030] The control module is used to launch the underwater cleaning device from the mother ship into the target waters according to the launch instruction, and to control the underwater cleaning device to detect the underwater environment of the target waters according to the operation start instruction, and to identify underwater garbage in the target waters based on the underwater environment, and control the underwater cleaning device to collect the underwater garbage.

[0031] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, wherein the storage medium stores a program, and the program is executed by a processor to implement a water area cleaning method as described in any one of the embodiments of the first aspect of the present invention.

[0032] The water area cleaning method, device and storage medium according to the embodiments of the present invention have at least the following beneficial effects:

[0033] The present invention provides a water area cleaning method, which is applied to water area cleaning equipment. The water area cleaning equipment includes a mother ship and an underwater cleaning device. In the water area cleaning method, a delivery instruction sent by a control center is first obtained, and the underwater cleaning device is dropped from the mother ship into a target water area according to the delivery instruction. When the underwater cleaning device dives under the water surface of the target water area, an operation preparation signal is sent to the control center to obtain an operation start instruction, and then according to the operation start instruction, the underwater cleaning device is controlled to detect the underwater environment of the target water area, and underwater image information is obtained. Further, according to the underwater image information, underwater garbage in the target water area is identified and collected. The water area cleaning method in the present invention can automatically complete the cleaning of underwater garbage, liberate labor costs, and thus improve the processing efficiency of water area cleaning.

[0034] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0036] Figure 1 A schematic flow chart of a water area cleaning method provided by an embodiment of the present invention;

[0037] Figure 2 A schematic flow chart of another water area cleaning method provided by an embodiment of the present invention;

[0038] Figure 3 A schematic flow chart of another water area cleaning method provided by an embodiment of the present invention;

[0039] Figure 4 A schematic flow chart of another water area cleaning method provided by an embodiment of the present invention;

[0040] Figure 5 A schematic flow chart of another water area cleaning method provided by an embodiment of the present invention;

[0041] Figure 6 A schematic flow chart of another water area cleaning method provided by an embodiment of the present invention;

[0042] Figure 7 A schematic diagram of the working of a water area cleaning device provided by an embodiment of the present invention;

[0043] Figure 8 A schematic diagram of a water area cleaning equipment system module provided by an embodiment of the present invention;

[0044] Fig. 9 A schematic diagram of the communication relationship between the water area cleaning equipment and the control center provided in an embodiment of the present invention;

[0045] Fig.10 (a) is a schematic top view of a mother ship surface garbage collection device provided by an embodiment of the present invention;

[0046] Fig.10 (b) is a schematic side view of a mother ship surface garbage collection device provided by an embodiment of the present invention;

[0047] Fig.11 A schematic diagram of an electronic device for implementing a water area cleaning method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0048] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0049] In the description of the present invention, "several" means one or more, "more" means more than two, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0050] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, left, right, front, back, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0051] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0052] In the description of the present invention, it should be noted that, unless otherwise clearly defined, the terms such as setting, installing, connecting, etc. should be understood in a broad sense, and the technical personnel in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution. In addition, the identification of specific steps below does not represent a limitation on the order of steps and execution logic, and the execution order and execution logic between steps should be understood and inferred with reference to the corresponding illustrative expressions.

[0053] As people's living standards improve, they pay more and more attention to environmental sanitation. In related technologies, in order to free up manpower, unmanned driving technology has gradually been applied to garbage collection ships, but the degree of intelligence and automation still has great limitations. At the same time, many garbage collection ships are not only expensive, but also require a lot of workers to work on them. The operation intensity is high and the processing efficiency is also low. Therefore, how to further improve the processing efficiency of water cleaning has become an urgent problem to be solved by industry insiders.

[0054] It should be noted that some related technologies still have the following deficiencies:

[0055] First, in narrow rivers and lakes, garbage cleaning and environmental monitoring tasks mostly rely on manpower to use net bags to remove various types of garbage in the water. This operation method is labor-intensive, has very low work efficiency, and the cleaning effect is not ideal, so its application scope is limited;

[0056] Second, fuel-powered garbage cleaning ships are fuel-powered, which will cause secondary pollution to the cleaning waters while cleaning garbage, and will also introduce measurement errors during environmental monitoring tasks;

[0057] Third, underwater garbage at the bottom of the water area and suspended in the water are usually collected by divers. This cleaning method is not only primitive, costly, and inefficient, but also difficult to ensure the safety of divers.

[0058] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the present invention proposes a water area cleaning method and equipment and a storage medium, which can improve the processing efficiency of water area cleaning.

[0059] Further description is given below with reference to the accompanying drawings.

[0060] Reference Figure 1 According to the water area cleaning method of the first aspect of the present invention, the water area cleaning equipment includes a mother ship and an underwater cleaning device, and the method includes:

[0061] Step S101, obtaining a delivery instruction sent by a control center, and delivering the underwater cleaning device from a mother ship into a target water area according to the delivery instruction;

[0062] According to some embodiments provided by the present invention, the water area cleaning equipment includes a mother ship and an underwater cleaning device, wherein the mother ship sails on the water surface and is used to obtain the delivery instructions sent by the control center. The control center refers to a communication center that remotely sends control signals to the water area cleaning equipment and receives feedback signals from the water area cleaning equipment, wherein the control signals include but are not limited to delivery instructions, operation start instructions, etc., and the feedback signals include but are not limited to operation preparation signals, operation completion signals, etc. It should be noted that in some embodiments of the present invention, the tasks that can be performed by the water area cleaning equipment include but are not limited to surface cleaning and underwater cleaning, and the device responsible for underwater cleaning is the underwater cleaning device.

[0063] It should be understood that, since the mother ship is sailing on the water surface in each step of the water cleaning method, the mother ship is used to obtain the delivery instruction sent by the control center, which can ensure the good data communication quality between the water cleaning equipment and the control center, so that the water cleaning equipment can smoothly implement the water cleaning method. It should be noted that in some embodiments of the present invention, the underwater cleaning device and the mother ship share a communication system, and the underwater cleaning device and the mother ship respectively send the data to be returned to the small single-board computer of the water cleaning device, and the small single-board computer packages the data, and then the wireless communication system of the water cleaning device sends it to the control center through radio waves, and the control center identifies and processes the IP address information, and based on the IP address information, it is clear whether the source of the information is the mother ship or the underwater cleaning device. Similarly, when the control center sends a control instruction to the system, the control signal is sent to the underwater cleaning device or the mother ship respectively by using the different IP addresses, and the data receiver and data processor placed on the mother ship first process the received control signal, and then send the instruction to the underwater cleaning device master control and the mother ship master control respectively, and then decompress the data packet, read the command, and execute the operation.

[0064] In some embodiments of the present invention, the underwater cleaning device is dropped from the mother ship into the target waters according to the delivery instruction, which can be executed by controlling the electric cable drum. It should be understood that the target waters refer to the waters that are the cleaning targets, and the target waters can be preset or planned and determined by the control center. It should be noted that the electric cable drum is the key to the stable lowering and recovery of the underwater cleaning device from the mother ship. Controlling the electric cable drum to execute the delivery instruction mainly includes two aspects: mechanical structure and software control: in terms of mechanical structure, the electric cable drum is composed of a winch, a DC motor, an electronic slip ring, a mounting structure and other parts. In some preferred cases, the electric cable drum can be installed on the inner deck of the mother ship. When the underwater cleaning device needs to be dropped into the water, the cable is released by the winch cable assembly, and the underwater cleaning device at the other end of the cable is dropped into the water, realizing the orderly winding of the cable line and neat wiring; in terms of software control, the firmware program is written through the main control module, and the control signal is sent through the control center to control the forward and reverse rotation of the cable cable drum motor, so that the cable of the electric cable drum is always in a constant tension state, so that the underwater cleaning device can move freely and stably underwater.

[0065] Step S102, when the underwater cleaning device dives under the surface of the target water area, it sends an operation preparation signal to the control center to obtain an operation start instruction;

[0066] It should be noted that when the underwater cleaning device dives below the surface of the target water area, it means that the underwater cleaning equipment has entered the underwater cleaning operation preparation state, so the water area cleaning equipment sends an operation preparation signal to the control center to obtain an operation start instruction. It should be understood that the operation start instruction refers to an instruction to start the underwater cleaning operation.

[0067] Step S103, according to the operation start instruction, controlling the underwater cleaning device to detect the underwater environment of the target water area and obtain underwater image information;

[0068] It should be noted that after obtaining the operation start instruction, the underwater cleaning operation is started, and the underwater cleaning device is controlled based on the operation start instruction to detect the underwater environment of the target water area and obtain underwater image information. It should be noted that the target water area refers to the water area to be cleaned that is predetermined as a cleaning target. Detecting the underwater environment of the target water area refers to capturing and identifying images of the underwater environment of the target water area, thereby obtaining underwater image information to clarify the location of underwater garbage in the underwater environment of the target water area. According to some embodiments provided by the present invention, obtaining underwater image information can be accomplished by an image acquisition component, wherein the image acquisition component includes but is not limited to a plurality of front searchlights and a pan-tilt camera integrated in the underwater cleaning device.

[0069] Step S104, identifying and collecting underwater garbage in the target water area according to the underwater image information.

[0070] According to some embodiments provided by the present invention, after the underwater garbage in the underwater environment of the target water area is clearly located according to the underwater image information, the underwater cleaning device is moved to the vicinity of the underwater garbage location through the propeller system of the underwater cleaning device, so as to collect the underwater garbage. It should be noted that the propeller system can be composed of multiple underwater outer rotor DC motors in different directions, and the propeller system designed in this way can enable the underwater cleaning device to achieve stable, flexible, accurate and efficient multi-degree-of-freedom movement in the underwater environment of the target water area. Regarding the collection of underwater garbage in the target water area, in some embodiments of the present invention, the underwater garbage (such as plastics and cloth garbage at the bottom of the water) is placed in a large-caliber garbage transfer bin and transferred to the garbage collection bin by a mechanical arm grabbing method, wherein the garbage transfer bin and the garbage collection bin can be connected by a conveying crawler, and the conveying crawler is used to transmit underwater garbage. It should be understood that according to the underwater image information, identifying and collecting underwater garbage in the target water area includes but is not limited to the specific embodiments mentioned above.

[0071] According to some embodiments of the present invention, after the underwater cleaning device has worked for a certain period of time, or when the underwater cleaning device has completed the collection of underwater garbage, the underwater cleaning device needs to be recycled. The recycling of the underwater cleaning device may mean that when the data of the real-time data processing center of the control center shows that the battery of the operating system is low or the mother ship sends a signal to prompt that the weight of the garbage in the garbage collection bin has reached a specified value, the underwater cleaning device and the mother ship need to be recycled as a whole, the battery pack on the mother ship is charged in time, the equipment is maintained and upgraded, the garbage collection bin of the underwater cleaning device and the mother ship is removed, and the garbage in the garbage collection bin is emptied. When performing the recycling operation, when the mother ship receives the recycling instruction, it first starts the intelligent electric cable drum, recycles the underwater cleaning device to the mother ship and fixes it, then the mother ship drives to the shore, the staff salvages the mother ship ashore, and performs a series of maintenance operations. It should be noted that the recycling of the underwater cleaning equipment and the placement of the underwater cleaning equipment are mirror operations.

[0072] According to some embodiments provided by the present invention, the control center is used to configure the main control and motion control system of the underwater cleaning device and the mother ship, the mother ship autonomous navigation mission plan, navigation map display, water mother ship position, navigation track, station, can watch the video stream of the underwater cleaning device and the pan-tilt camera on the mother ship, and can simultaneously control the functions of the underwater cleaning device and the mother ship. It should be noted that the water area cleaning equipment can integrate different sensors according to different detection requirements, so that the sensor data collected by various sensors are sent to the control center through the wireless transmission system, and the control center then analyzes and processes the various sensor data obtained to obtain various monitoring indicators, wherein the monitoring indicators include but are not limited to the values ​​of various parameters, daily, monthly, quarterly and annual reports of the system and equipment operation status, alarm information and equipment operation status reports, etc. Based on different detection requirements, the functions that the control center can have include but are not limited to: data integration, data storage, monitoring and early warning, statistical query, event processing, statistics and trend analysis, etc.

[0073] The present invention provides a water area cleaning method, which is applied to water area cleaning equipment. The water area cleaning equipment includes a mother ship and an underwater cleaning device. In the water area cleaning method, a delivery instruction sent by a control center is first obtained, and the underwater cleaning device is dropped from the mother ship into a target water area according to the delivery instruction. When the underwater cleaning device dives under the water surface of the target water area, an operation preparation signal is sent to the control center to obtain an operation start instruction, and then according to the operation start instruction, the underwater cleaning device is controlled to detect the underwater environment of the target water area, and underwater image information is obtained. Further, according to the underwater image information, underwater garbage in the target water area is identified and collected. The water area cleaning method in the present invention can automatically complete the cleaning of underwater garbage, liberate labor costs, and thus improve the processing efficiency of water area cleaning.

[0074] According to some embodiments of the present invention, the water area cleaning method of the present invention also includes an initial inspection of the water area cleaning equipment, that is, after the mother ship arrives at the designated water area, before the underwater cleaning equipment enters the water, a series of inspections need to be performed on the water area cleaning equipment as a whole. The content of the initial inspection includes but is not limited to the working conditions of each electronic device carried by the mother ship hull, and whether the waterproof treatment of the underwater cleaning equipment and the mother ship is damaged. After ensuring that the equipment can work normally, the mother ship carrying the underwater cleaning equipment is put into the water. After the delivery is completed, the mother ship is adjusted to release the underwater cleaning equipment and conduct a communication test. The communication test is divided into two stages. The first stage is the communication between the control center and the mother ship through radio frequency radio. The test content includes the flexibility of the control center to manually control the mother ship, the reliability of data transmission between the mother ship and the control center, and the obstacle avoidance driving ability of the mother ship. After the mother ship passes the test, the second stage test begins. The main content of the second stage test is the communication capability and data signal transmission capability between the underwater cleaning equipment and the control center. The underwater cleaning equipment transmits the signal to the data repeater of the mother ship, and then the mother ship transmits the signal to the data receiver of the control center by radio frequency radio, completing the data transmission between the underwater cleaning equipment and the control center. When all the tests in the above stages are completed, the deployment work is completed, and the mother ship and underwater cleaning equipment can work normally according to their functions.

[0075] Reference Figure 2 According to some embodiments of the present invention, the water area cleaning method further comprises:

[0076] Step S201, obtaining the positioning information of the mother ship, and sending the positioning information of the mother ship to the control center, so that the control center plans the target navigation path;

[0077] In some embodiments of the present invention, the water cleaning equipment first obtains the positioning information of the mother ship (for example, through GPS positioning), and sends the positioning information of the mother ship to the control center so that the control center can clearly understand the specific location of the mother ship. After obtaining the positioning information of the mother ship, the control center plans a navigation path from the position of the mother ship to the target water location, that is, the target navigation path, to provide a reference for the mother ship to navigate. It should be understood that the control center can plan a number of navigation paths and allocate them to each water cleaning equipment according to the locations of multiple water cleaning equipment, the specific locations of multiple target waters, and the sea surface environment information, so as to achieve large-scale water cleaning work.

[0078] Step S202, obtaining the navigation instruction sent by the control center, and controlling the mother ship to sail along the target navigation path to the target waters according to the navigation instruction.

[0079] According to some embodiments provided by the present invention, the water cleaning equipment includes an automatic driving module for automatic driving according to the target navigation path. It should be emphasized that the target navigation path refers to the navigation path from the position of the mother ship to the target waters planned by the control center. Then after the control center plans the target navigation path, the water cleaning equipment can obtain the navigation instructions sent by the control center, and further control the mother ship to sail along the target navigation path to the target waters according to the navigation instructions. According to some embodiments provided by the present invention, in the process of controlling the mother ship to sail along the target navigation path to the target waters based on the navigation instructions, the drive assembly (such as a brushless motor drive assembly) installed at the bottom of the mother ship can be used to freely control the forward and backward, left and right side push navigation operations of the mother ship through the motor differential principle.

[0080] Reference Figure 3 According to some embodiments of the present invention, obtaining a navigation instruction sent by a control center, and controlling a mother ship to sail along a target navigation path to a target water area according to the navigation instruction, includes:

[0081] Step S301, detecting obstacles in the target navigation path based on radar to obtain the blocking position information of the obstacles;

[0082] In some embodiments of the present invention, the water area cleaning device can detect obstacles (for example, by detecting obstacles through obstacle avoidance radar) while navigating along the target navigation path, and then obtain the blocking position information of the obstacles. It should be understood that the blocking position information refers to obstacles that may block the normal navigation and operation of the water area cleaning device when the water area cleaning device is navigating on the water surface.

[0083] Step S302, based on the blocking position information, controlling the mother ship to avoid obstacles when navigating in the target navigation path.

[0084] In some embodiments of the present invention, the water cleaning equipment includes an autonomous obstacle avoidance module, which is mainly used to perform local obstacle avoidance on the target navigation path during the navigation of the mother ship (for example, based on obstacle avoidance radar identification and avoidance of obstacles) and timely adjust the course when approaching the edge of the water (for example, relying on the information collected by the pan-tilt camera to restore the course to the target water direction). It should be noted that the local obstacle avoidance of the mother ship requires the detection and tracking of obstacles. In some embodiments, the ultrasonic module can be used for obstacle avoidance processing, or the camera can be used for shape recognition, thereby completing the target dynamic tracking task. Subsequently, the speed of the motor is controlled by controlling the output of the pulse width modulation (PWM) wave. Based on the differential control of the DC reduction motors in two or more different directions, the hull will turn accordingly, thereby changing the motion state of the mother ship and performing obstacle avoidance processing. It should be understood that local obstacle avoidance is suitable for automatic obstacle avoidance under complex environmental conditions such as narrow waterways and offshore, so as to facilitate autonomous navigation of water cleaning equipment.

[0085] Reference Figure 4 According to some embodiments of the present invention, controlling the mother ship to avoid obstacles when sailing in a target navigation path according to the blocking position information includes:

[0086] Step S401, dynamically tracking the obstacle with the first camera assembly of the mother ship according to the blocking position information;

[0087] Step S402, adjusting the speed of the mother ship's driving motor based on the dynamic tracking process of the obstacle, so that the mother ship avoids the obstacle.

[0088] According to some embodiments of the present invention, when controlling the mother ship to avoid obstacles while navigating in the target navigation path, the first camera assembly arranged on the mother ship can be used for shape recognition, thereby completing the target dynamic tracking task. Subsequently, by controlling the output of the pulse width modulation (PWM) wave or controlling the speed of the mother ship's drive motor by other means, based on the differential control of two or more DC reduction motors in different orientations, the hull will turn accordingly, thereby changing the motion state of the mother ship and performing obstacle avoidance processing. It should be understood that local obstacle avoidance is suitable for automatic obstacle avoidance under complex environmental conditions such as narrow waterways and offshore, thereby facilitating autonomous navigation of water cleaning equipment. It should be understood that controlling the mother ship to avoid obstacles includes but is not limited to the specific embodiments listed above.

[0089] Reference Figure 5 According to some embodiments of the present invention, when the underwater cleaning device dives under the water surface of the target water area and sends an operation preparation signal to the control center to obtain an operation start instruction, it also includes:

[0090] Step S501, according to the operation start instruction, the mother ship is controlled to detect the surface garbage in the water surface environment of the target water area and obtain the water surface position to be cleaned;

[0091] It should be noted that, according to the operation start instruction, controlling the mother ship to detect the surface garbage in the water surface environment of the target water area can be carried out in a variety of ways, which can be through the first camera component set on the mother ship to detect the surface garbage, so as to obtain the water surface to be cleaned position, or through radar to determine the sleeping position to be cleaned. It should be understood that the way to obtain the water surface to be cleaned position includes but is not limited to the specific embodiments listed above.

[0092] Step S502, controlling the mother ship to collect surface garbage based on the position of the water surface to be cleaned.

[0093] Reference Fig.10 (a) Fig.10 (b), in some embodiments of the present invention, all debris floating on the surface of the target water area can be regarded as the object of water surface cleaning, that is, water surface garbage, so the accurate identification process of water surface garbage can be omitted. After the water surface to be cleaned position is determined, the mother ship is manually controlled or automatically controlled to sail to the water surface to be cleaned position of the target water area, and then garbage is collected based on the water surface to be cleaned position. In some embodiments, the water surface garbage collection device of the mother ship 730 can be composed of a left guide bar 731, a right guide bar 732, a garbage guide plate 734, a conveyor belt 733, a garbage collection frame 735 and the like, wherein the left guide bar 731 and the right guide bar 732 are used to cooperate with each other to gather the water surface garbage, so that the water surface garbage can be transported into the garbage guide plate 734 through the conveyor belt 733, and then the water surface garbage is transported to the garbage collection frame 735, thereby completing the garbage collection. When working, first, through the navigation movement of the mother ship 730 and the control of the rotation of the left guide fence 731 and the right guide fence 732, the garbage in front of the ship is gathered by the guide fence and enters the conveyor belt 733 of the mother ship 730, and then the surface garbage is transported to the garbage guide plate 734 based on the conveyor belt 733, and then enters the garbage collection frame 735 through the garbage guide plate 734. After the garbage collection is completed, it is sent to the shore for unified treatment. Compared with traditional manual cleaning methods, collecting surface garbage by mother ships has the advantages of high efficiency, low risk factor, and is not easily restricted by natural geographical conditions. It should be understood that controlling the mother ship to collect surface garbage based on the position of the water surface to be cleaned includes but is not limited to the above embodiments.

[0094] According to some embodiments of the present invention, obtaining a delivery instruction sent by a control center, and delivering the underwater cleaning device from a mother ship to a target water area according to the delivery instruction, further includes:

[0095] According to the deployment instruction, the electric umbilical cable in the mother ship is controlled to lower the underwater cleaning device to the target waters, and the water area cleaning equipment controls and powers the underwater cleaning device through the umbilical cable of the electric umbilical cable.

[0096] It should be noted that to achieve the coordinated control of the underwater cleaning device and the mother ship, the most important thing is to establish reliable communication between the two. Since the conductivity of electromagnetic waves in water is much worse than in air, it is easy to cause unstable communication, which will greatly reduce the feasibility of coordinated control. Therefore, in some embodiments of the water area cleaning method of the present invention, wired communication is used to achieve communication between the underwater cleaning device and the mother ship. It should be noted that the electric cable drum is the key to the stable lowering and recovery of the underwater cleaning device from the mother ship. Controlling the electric cable drum to execute the launching command mainly includes two aspects: mechanical structure and software control: In terms of mechanical structure, the electric cable drum is composed of a winch, a DC motor, an electronic slip ring, a mounting structure and other parts. In some preferred cases, the electric cable drum can be installed on the inner deck of the mother ship. When the underwater cleaning device needs to be launched into the water, the cable is released by the winch cable assembly, and the underwater cleaning device at the other end of the cable is launched into the water, realizing the orderly winding of the cable and neat wiring; in terms of software control, the firmware program is written through the main control module, and the control signal is sent through the control center to control the forward and reverse rotation of the cable drum motor, so that the cable of the electric cable drum is always in a constant tension state, so that the underwater cleaning device can move freely and stably underwater.

[0097] In some embodiments of the present invention, the underwater cleaning device and the mother ship share a communication system. The underwater cleaning device and the mother ship respectively send the data to be transmitted back to the small single-board computer of the water area cleaning device, which packages the data and then sends it to the control center through radio waves by the wireless communication system of the water area cleaning device. The control center then identifies and processes the IP address information, and based on the IP address information, it is clear whether the source of the information is the mother ship or the underwater cleaning device. Similarly, when the control center sends a control instruction to the system, it uses the difference in IP addresses to send control signals to the underwater cleaning device and the mother ship respectively. The data receiver and data processor on the mother ship process the received data packets, and send the instructions to the underwater cleaning device and the mother ship respectively, and then decompress the data packets, read the commands, and execute the operations. In some more specific embodiments, the autopilot board of the underwater cleaning device and the autopilot board of the mother ship respectively send the data to be transmitted back to a small single-board computer, which packages the data and then sends it to the PC of the control center through radio waves by the wireless communication system on the mother ship. The PC of the control center then identifies and processes the address information to make it clear whether the source of the information is the mother ship or the underwater cleaning device. Similarly, when the PC sends a control instruction to the system, it uses the difference in IP addresses to send control signals to the underwater cleaning device and the mother ship respectively. The data receiver and data processor on the mother ship process the received data packets and send the instructions to the underwater cleaning device and the mother ship respectively, and then decompress the data packets, read the commands, and execute the operations.

[0098] Reference Figure 6 According to some embodiments of the present invention, according to the operation start instruction, the underwater cleaning device is controlled to detect the underwater environment of the target water area, obtain underwater image information, and identify and collect underwater garbage in the target water area according to the underwater image information, including:

[0099] Step S601, according to the operation start instruction, controlling the second camera assembly of the underwater cleaning device to collect underwater image information, the underwater image information reflects the underwater environment of the target water area;

[0100] It should be noted that the second camera assembly is arranged in the underwater cleaning device. In some embodiments of the present invention, the second camera assembly is composed of a number of front searchlights and a pan-tilt camera integrated inside the main control compartment. It should be understood that when the underwater cleaning device is in automatic mode, the second camera assembly can help realize autonomous identification of underwater garbage. When the underwater cleaning device is in manual mode, the second camera assembly can assist the operator in grabbing garbage.

[0101] Step S602, processing the underwater image information through the target recognition model to identify the underwater location of the underwater garbage to be cleaned in the underwater environment;

[0102] In some embodiments of the present invention, after acquiring underwater image information, the underwater image information is identified and processed by a target recognition model. It should be noted that the target recognition model refers to an artificial intelligence model used to classify and identify various targets in the underwater image information. The target recognition model can identify and classify objects in the image and help determine the location of underwater garbage to be cleaned in the underwater environment.

[0103] According to some embodiments provided by the present invention, there are multiple options for the target recognition model, including but not limited to a target recognition model based on a convolutional neural network (CNN), a target recognition model based on a YOLO (You only look once) algorithm, and a target recognition model based on an SSD (Single Shot MultiBox Detector) algorithm. Among them, the target recognition model based on a convolutional neural network is a type of feedforward neural network that includes convolution calculations and has a deep structure. It is constructed by imitating the visual perception mechanism of organisms, can perform supervised learning and unsupervised learning, and has the ability to represent learning. When it is working, it will run a segmentation algorithm to divide an image into small blocks, and then run a classifier on these small blocks to achieve recognition of objects in the picture. The Fast R-CNN target recognition model is a typical target recognition model based on a convolutional neural network; among them, the target recognition model based on the YOLO algorithm is an object recognition and positioning Python algorithm based on a deep neural network, which applies a single convolutional neural network to the entire image, divides the image into grids, and predicts the class probability and bounding box of each grid. Each bounding box can be described by four descriptors: the center point, height, width, and value mapping of the bounding box to the class to which the object belongs. If the center of an object falls within a grid cell, the grid cell is responsible for detecting the object. There will be multiple bounding boxes in each grid. During training, in order to ensure that each object has only one bounding box, it is necessary to assign a bounding box with the highest overlap to predict the object based on the overlap between each bounding box and the classification standard box (Ground Truth Box, GT box). Finally, the bounding boxes with confidence less than the preset threshold are filtered out to obtain the completed prediction with the highest confidence. The target recognition model based on the SSD algorithm is slightly modified on the basis of the Fast R-CNN algorithm and the YOLO algorithm, so that its accuracy exceeds YOLO and its recognition speed exceeds Fast R-CNN. However, the target recognition model based on the SSD algorithm has poor recognition effect on small-sized targets, which cannot reach the height of the Fast R-CNN target recognition model and the target recognition model based on the YOLO algorithm. In addition, the basic size and shape of the default boxes in the SSD network cannot be automatically obtained during learning and must be set manually. Therefore, compared with the Fast R-CNN target recognition model and the target recognition model based on the SSD algorithm, the target recognition model based on the YOLO algorithm has higher recognition accuracy, runs the fastest, and can process real-time video streams. Therefore, in some preferred embodiments of the present invention, the target recognition model based on the YOLO algorithm is selected as the target recognition model of the present invention.According to some embodiments of the present invention, the target recognition model can identify and classify underwater garbage while clarifying the location of the underwater garbage in the underwater image information, thereby obtaining the underwater location of the underwater garbage to be cleaned in the underwater environment.

[0104] Step S603, controlling the underwater cleaning device to collect underwater garbage according to the underwater position to be cleaned.

[0105] According to some embodiments provided by the present invention, after the underwater image information is processed by the target recognition model and the underwater position of the underwater garbage to be cleaned in the underwater environment is identified, the underwater cleaning device can be controlled to collect the underwater garbage. According to some embodiments provided by the present invention, after the location of the underwater garbage in the underwater environment of the target water area is clarified based on the underwater image information, the underwater cleaning device is moved to the vicinity of the location of the underwater garbage through the propeller system of the underwater cleaning device to facilitate the collection of the underwater garbage. It should be noted that the propeller system can be composed of multiple underwater outer rotor DC motors in different directions. The propeller system designed in this way can enable the underwater cleaning device to achieve stable, flexible, accurate and efficient multi-degree-of-freedom movement in the underwater environment of the target water area.

[0106] The collection of garbage by the underwater cleaning device is divided into two processes, namely, the grabbing of garbage and the transmission of garbage. Since underwater garbage will not be simply placed on the bottom of the water, it may exist in various forms such as entanglement and semi-burial. Therefore, in some embodiments of the present invention, a mechanical arm is used to grab underwater garbage (such as plastic and cloth garbage at the bottom of the water), put it into a large-caliber garbage transfer bin and transfer it to a garbage collection bin, wherein the garbage transfer bin and the garbage collection bin can be connected through a transmission track, and the transmission track is used to transmit underwater garbage. In some more specific embodiments, the propeller system is composed of six underwater outer rotor DC motors in different directions, which can realize stable, flexible, accurate and efficient six-degree-of-freedom control underwater. It should be understood that six-degree-of-freedom control refers to the freedom of movement along the three rectangular coordinate axes of x, y, and z (the reference system is established according to the actual situation) and the freedom of rotation around these three coordinate axes.

[0107] According to some embodiments of the present invention, various debris, such as mud, stones, shellfish, corals, etc., are deposited underwater. It is impossible to count all of them as underwater garbage for cleaning and collection, so the garbage identification technology is particularly important. It should be noted that there are roughly two ways for underwater cleaning devices to clean up garbage: first, when the underwater situation is relatively simple, the automatic recognition mode can be used, and the camera video intelligent recognition technology is used to automatically identify garbage pollutants in the water, coordinate the motion control of the mother ship and the motion control of the underwater cleaning device, and autonomously navigate to collect garbage; second, when the underwater environment in the working waters is relatively complex, it can be switched to manual operation mode, and the video data transmitted back by the camera carried by the underwater cleaning device can be used to manually control the underwater movement of the underwater cleaning device and the garbage grabbing process, thereby realizing the identification and cleaning of underwater garbage. It should be understood that according to the underwater position to be cleaned, controlling the underwater cleaning device to collect underwater garbage includes but is not limited to the specific embodiments listed above.

[0108] According to some embodiments provided by the present invention, the water area cleaning method of the present invention can simultaneously include surface cleaning and underwater cleaning of the target water area, wherein the surface cleaning operation of the target water area can be completed by the mother ship, specifically referring to the above steps S501 to S502, and the underwater cleaning operation of the target water area can be completed by an underwater cleaning device, specifically referring to the above steps S601 to S603. It should be noted that when the water area cleaning method of the present invention can simultaneously include surface cleaning and underwater cleaning of the target water area, it can complete the comprehensive cleaning of the target water area, thereby further freeing up labor costs and improving cleaning efficiency.

[0109] Reference Figure 7 According to the second aspect of the present invention, the water area cleaning equipment 700 includes: a control module 710, a data transceiver module 720, a mother ship 730, and an underwater cleaning device 740. Among them, the data transceiver module 720 is used to obtain the delivery instruction sent by the control center 800, and when the underwater cleaning device dives under the water surface of the target water area, it sends an operation preparation signal to the control center 800 to obtain the operation start instruction. The control module 710 is used to drop the underwater cleaning device 740 from the mother ship 730 into the target water area according to the delivery instruction, and control the underwater cleaning device 740 to detect the underwater environment of the target water area according to the operation start instruction, and identify the underwater garbage 900 in the target water area based on the underwater environment, control the underwater cleaning device 740 to collect the underwater garbage, and when the underwater garbage is collected, the underwater cleaning device is recovered to the mother ship 730.

[0110] Reference Figure 7 , Figure 8According to the water cleaning equipment 700 in some embodiments of the present invention, the control module 710 can also be divided into a mother ship master control and an underwater cleaning device master control. It should be noted that the mother ship master control in the control module 710 is used to control various modules equipped on the mother ship. The types of modules equipped on the mother ship include: cable power supply, electric winch link, wired communication, electric push rod, electric track, pan-tilt camera, electric winch, GPS module, flexible solar panel, solar panel controller, battery, power control, thruster, obstacle avoidance radar, 4G / radio module, pressure sensor and other types of mother ship expansion modules. It should be understood that the mother ship expansion module may include types such as biological spectrometer, automatic flow cytometer, meteorological instrument, wave meter, Doppler tassel profiler, etc. It should be understood that the types of various modules equipped on the mother ship are not limited to the specific embodiments listed above. In addition, the underwater cleaning device master control in the control module 710 is used to control various modules equipped on the underwater cleaning device. The types of modules equipped on the underwater cleaning device include: cable power supply, electric winch connection, wired communication, underwater pan-tilt camera, underwater searchlight, thruster, pressure sensor, mechanical arm, electric crawler and other types of underwater cleaning device expansion modules. It should be understood that the underwater cleaning device expansion module may include water quality analyzer, automatic flow cytometer, biological spectrometer, sediment collector, etc. It should be understood that the types of various modules equipped on the underwater cleaning device are not limited to the specific embodiments listed above.

[0111] According to some embodiments of the present invention, the underwater cleaning device also includes a driver module (or an autopilot module), and the motion control firmware can be loaded onto the module. The autopilot module mainly processes motion execution input and sensor data, and controls the propeller, lighting, servo system, mechanical arm and relay (controls the garbage collection conveyor belt) of the underwater cleaning device, and can integrate relevant sensors according to different scientific needs. A more preferred embodiment of the present invention uses Pixhawk as the core component of the autopilot module of the present invention. Pixhawk is an open hardware design based on the popular general flight controller Pixhawk project FMUv2, combining the functions of PX4FMU and PX4IO, and can run PX4 on NuttXOS. The Pixhawk module uses STM32F427 as the main chip, including a 180MHz CPU and 256KB SRAM. In addition, the fail-safe system-on-chip uses the STM32F100 chip (CPU: 24MHz ARM Cortex M3, RAM: 5KB SRAM), and Pixhawk also includes Wifi module, GPS module, 4 serial port interfaces, 14-way PWM, I2C, SPI and other resources. In addition, Pixhawk can also be equipped with an SPI to UART module, which can expand the multi-channel serial port interface and can be used to integrate multiple peripheral sensors and realize the function of multi-sensor integration in the hardware circuit.

[0112] Reference Figure 7 , Fig. 9 According to some embodiments of the present invention, the communication relationship among the water area cleaning device 700, the control center 800, the mother ship 730 and the underwater cleaning device 740 is as follows: Fig. 9As shown. In some embodiments of the present invention, the underwater cleaning device 740 and the mother ship 730 share a communication system. The underwater cleaning device 740 and the mother ship 730 respectively send the data to be transmitted back to the small single-board computer of the water area cleaning device, and the small single-board computer packages the data, and then the wireless communication system of the water area cleaning device sends it to the control center 800 through radio waves. The control center 800 then identifies and processes the IP address information, and based on the IP address information, it is clear whether the source of the information is the mother ship 730 or the underwater cleaning device. Similarly, when the control center 800 sends a control instruction to the system, it uses the difference in IP addresses to send control signals to the underwater cleaning device 740 and the mother ship 730 respectively. The data receiver and data processor on the mother ship 730 process the received data packets, and send the instructions to the underwater cleaning device 740 and the mother ship 730 respectively, and then decompress the data packets, read the commands, and execute the operations. In some more specific embodiments, the autopilot board of the underwater cleaning device 740 and the autopilot board of the mother ship 730 respectively send the data to be transmitted back to the small single-board computer, which packages the data and then sends it to the PC of the control center 800 through radio waves by the wireless communication system on the mother ship 730. The PC of the control center 800 then identifies and processes the address information to clarify whether the source of the information is the mother ship 730 or the underwater cleaning device. Similarly, when the PC sends a control instruction to the system, it uses the difference in IP addresses to send control signals to the underwater cleaning device 740 and the mother ship 730 respectively. The data receiver and data processor on the mother ship 730 process the received data packets and send the instructions to the underwater cleaning device 740 and the mother ship 730 respectively, and then decompress the data packets, read the commands, and execute the operations.

[0113] Fig.11 The electronic device 1100 provided by an embodiment of the present invention is shown. The electronic device 1100 includes: a processor 1101, a memory 1102, and a computer program stored in the memory 1102 and executable on the processor 1101, and the computer program is used to execute the above-mentioned water area cleaning method when it is executed.

[0114] The processor 1101 and the memory 1102 may be connected via a bus or other means.

[0115] The memory 1102 is a non-transient computer-readable storage medium that can be used to store non-transient software programs and non-transient computer executable programs, such as the water area cleaning method described in the embodiment of the present invention. The processor 1101 implements the above-mentioned water area cleaning method by running the non-transient software programs and instructions stored in the memory 1102.

[0116] The memory 1102 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application required for at least one function. The storage data area may store and execute the above-mentioned water cleaning method. In addition, the memory 1102 may include a high-speed random access memory 1102, and may also include a non-transient memory 1102, such as at least one storage device storage device, a flash memory device or other non-transient solid-state storage device. In some embodiments, the memory 1102 may optionally include a memory 1102 remotely arranged relative to the processor 1101, and these remote memories 1102 may be connected to the electronic device 1100 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0117] The non-transient software programs and instructions required to implement the above-mentioned water area cleaning method are stored in the memory 1102. When executed by one or more processors 1101, the above-mentioned water area cleaning method is executed, for example, Figure 1 Steps S101 to S104 of the method, Figure 2 Steps S201 to S202 of the method, Figure 3 Steps S301 to S302 of the method, Figure 4 Steps S401 to S402 of the method, Figure 5 Steps S501 to S502 of the method, Figure 6 The method steps S601 to S603 in FIG.

[0118] The embodiment of the present invention further provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are used to execute the above-mentioned water area cleaning method.

[0119] In one embodiment, the computer readable storage medium stores computer executable instructions, which are executed by one or more control processors, for example, Figure 1 Steps S101 to S104 of the method, Figure 2 Steps S201 to S202 of the method, Figure 3 Steps S301 to S302 of the method, Figure 4 Steps S401 to S402 of the method, Figure 5 Steps S501 to S502 of the method, Figure 6 The method steps S601 to S603 in FIG.

[0120] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0121] It will be appreciated by those skilled in the art that all or some of the steps and systems in the disclosed method above may be implemented as software, firmware, hardware and appropriate combinations thereof. Some physical components or all physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor or a microprocessor, or may be implemented as hardware, or may be implemented as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include a computer storage medium (or a non-transitory medium) and a communication medium (or a temporary medium). As known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules or other data). Computer storage media include, but are not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, storage device storage or other magnetic storage devices, or any other medium that may be used to store desired information and may be accessed by a computer. In addition, it is well known to those skilled in the art that communication media generally include computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium. It should also be understood that the various implementations provided in the embodiments of the present invention can be arbitrarily combined to achieve different technical effects.

[0122] The above is a specific description of the preferred implementation of the present invention, but the present invention is not limited to the above-mentioned implementation mode. Technical personnel familiar with the field can also make various equivalent deformations or substitutions under the shared conditions without violating the spirit of the present invention. These equivalent deformations or substitutions are all included in the scope defined by the claims of the present invention.

Claims

1. A water area cleaning method, applied to a water area cleaning device, characterized in that: The water area cleaning equipment includes a mother ship and an underwater cleaning device, and the method includes: Acquire the positioning information of the mother ship, and send the positioning information of the mother ship to the control center so that the control center plans the target navigation path; Obtaining the navigation instruction sent by the control center, controlling the mother ship to sail along the target navigation path to the target waters according to the navigation instruction, and detecting obstacles in the target navigation path based on radar to obtain the blocking position information of the obstacles; According to the blocking position information, dynamically tracking the obstacle with the first camera assembly of the mother ship; Adjusting the rotation speed of the mother ship driving motor based on the dynamic tracking process of the obstacle so that the mother ship avoids the obstacle; According to the delivery instruction, the electric umbilical cable in the mother ship is controlled to lower the underwater cleaning device to the target water area, and the water area cleaning equipment controls and supplies power to the underwater cleaning device through the umbilical cable of the electric umbilical cable; When the underwater cleaning device dives under the water surface of the target water area, it sends an operation preparation signal to the control center to obtain an operation start instruction; According to the operation start instruction, the underwater cleaning device is controlled to detect the underwater environment of the target water area to obtain underwater image information; Based on the underwater image information, underwater garbage in the target water area is identified and collected.

2. The method according to claim 1, characterized in that When the underwater cleaning device dives under the water surface of the target water area and sends an operation preparation signal to the control center to obtain an operation start instruction, the method further includes: According to the operation start instruction, the mother ship is controlled to detect surface garbage in the water surface environment of the target water area to obtain the water surface position to be cleaned; The mother ship is controlled to collect the surface garbage based on the position of the water surface to be cleaned.

3. The method according to claim 1, characterized in that According to the operation start instruction, controlling the underwater cleaning device to detect the underwater environment of the target water area and obtaining underwater image information includes: According to the operation start instruction, the second camera component of the underwater cleaning device is controlled to collect underwater image information, and the underwater image information reflects the underwater environment of the target water area.

4. The method according to claim 3, characterized in that The step of identifying and collecting underwater garbage in the target water area according to the underwater image information includes: The underwater image information is processed by a target recognition model to identify the underwater location of the underwater garbage to be cleaned in the underwater environment; According to the underwater position to be cleaned, the underwater cleaning device is controlled to collect the underwater garbage.

5. A water area cleaning device, characterized in that: include: Control module, data transceiver module, mother ship, underwater cleaning device; The data transceiver module is used to obtain the positioning information of the mother ship and send the positioning information of the mother ship to the control center so that the control center can plan the target navigation path; obtain the navigation instruction sent by the control center, control the mother ship to sail along the target navigation path to the target waters according to the navigation instruction, and detect obstacles in the target navigation path based on radar to obtain the blocking position information of the obstacles; Obtaining a delivery instruction sent by a control center, and when the underwater cleaning device dives under the surface of the target water area, sending an operation preparation signal to the control center to obtain an operation start instruction; The control module is used to dynamically track the obstacle with the first camera component of the mother ship according to the blocking position information; adjust the speed of the mother ship drive motor based on the dynamic tracking process of the obstacle, so that the mother ship avoids the obstacle; control the electric fishing boat in the mother ship to lower the underwater cleaning device to the target water area according to the delivery instruction, and the water area cleaning equipment controls and powers the underwater cleaning device through the umbilical cable of the electric fishing boat; drop the underwater cleaning device from the mother ship into the target water area according to the delivery instruction, and control the underwater cleaning device to detect the underwater environment of the target water area according to the operation start instruction, identify the underwater garbage of the target water area based on the underwater environment, and control the underwater cleaning device to collect the underwater garbage.

6. A computer-readable storage medium, characterized in that: The storage medium stores a program, and the program is executed by a processor to implement the water area cleaning method according to any one of claims 1 to 4.

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