A water surface garbage collecting robot

Abstract

The present application provides a kind of water surface garbage collection robot, it is related to robot technical field, including outer bucket, water pump, floating bucket, inner bucket support, inner bucket, water retaining part, floating raft assembly, battery, integrated controller, ultrasonic sensor, sail assembly and water level sensor, the lifting of floating bucket is realized by utilizing the buoyancy of water in outer bucket, the cooperation action of floating bucket and water retaining part, the opening and closing of inlet gap are realized, then the difference between the liquid level in outer bucket is controlled, when water, water surface garbage also follows water and enters inner bucket, the collection of water surface garbage is realized, the water level self-adapting control function in bucket is realized, and the garbage self-adapting collection function is realized.Water level sensor can detect the height of water in inner bucket, when water level reaches the set height, integrated controller controls water pump to start running, and water is discharged to the outside of outer bucket, to realize the active regulation function of water level in bucket.Thereby it has the function of unattended, can reduce the cost of water surface garbage cleaning, improve the efficiency of water surface garbage cleaning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a water surface garbage collecting robot. BACKGROUND

[0002] At present, water surface garbage cleaning is mostly carried out by large garbage salvage ships to collect water surface garbage, but such water surface garbage cleaning equipment has high cost, and needs manual operation and attendance, which has the problems of high labor cost and low efficiency.

[0003] Therefore, it is necessary to provide a water surface garbage collecting robot with unmanned attendance function and low cost to reduce the cost of water surface garbage cleaning and improve the efficiency of water surface garbage cleaning. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a water surface garbage collecting robot to reduce the cost of water surface garbage cleaning and improve the efficiency of water surface garbage cleaning.

[0005] To solve the above technical problems, the embodiment of the present application provides the following technical scheme:

[0006] The present application provides a water surface garbage collecting robot, comprising: an outer barrel, a water inlet gap is arranged at the top of the outer barrel, the outer barrel has an inner partition plate, the inner partition plate separates the accommodating cavity of the outer barrel into an upper cavity and a lower cavity, a first through hole is arranged on the inner partition plate, and a second through hole is arranged at the barrel bottom of the outer barrel; a water pump, the water pump is arranged in the lower cavity, one end of the water pump is communicated with the first through hole, and the other end of the water pump is communicated with the second through hole; a floating barrel, the floating barrel is arranged on the inner partition plate, and a let-go through hole is arranged at the barrel bottom of the floating barrel; an inner barrel support, the inner barrel support is arranged on the inner partition plate through the let-go through hole, a first water storage space is formed between the outer side of the inner barrel support and the outer barrel, a second water storage space is formed on the inner side of the inner barrel support, and a water outlet gap is arranged at the bottom of the inner barrel support to communicate the first water storage space and the second water storage space; the barrel bottom of the floating barrel is located in the first water storage space; an inner barrel, the inner barrel is arranged on the inner barrel support, and a water leakage hole is arranged at the bottom of the inner barrel to communicate with the second water storage space; a water blocking piece, the water blocking piece is arranged at the water inlet gap, the water blocking piece extends above the floating barrel and the inner barrel, and the water blocking piece can close or open the water inlet gap under the action of the floating barrel; a floating raft assembly, the floating raft assembly is arranged on the outer barrel; a storage battery, the storage battery is arranged in the lower cavity, and the storage battery is electrically connected with the water pump; an integrated controller, the integrated controller is arranged in the lower cavity, the integrated controller is electrically connected with the storage battery, and the integrated controller is signal connected with the water pump; a water level sensor, the water level sensor is arranged in the inner barrel and used for detecting the water level in the inner barrel, the water level sensor is electrically connected with the storage battery, and the water level sensor is signal connected with the integrated controller.

[0007] Further, the density of the floating barrel is less than the density of water; the floating barrel can float up and down according to the water level change under the water buoyancy at the bottom of the upper cavity of the outer barrel; the water surface garbage collecting robot further comprises: a floating barrel counterweight, an upper surface of a barrel bottom of the floating barrel is provided with an annular groove, and a plurality of floating barrel counterweights are evenly arranged in the annular groove.

[0008] Further, the water surface garbage collecting robot further comprises: an overall counterweight, and at least one overall counterweight is arranged in the lower cavity.

[0009] Further, the outer barrel comprises: an outer barrel body, the outer barrel body is provided with an inner partition plate, and a plurality of outer barrel body outer edges are evenly arranged on the outer barrel body, a water inlet gap is formed between adjacent two outer barrel body outer edges, and the outer barrel body outer edge is higher than the water inlet gap; an outer barrel bottom cover, the outer barrel bottom cover is threadedly connected with the outer barrel body, and the outer barrel bottom cover is provided with a second through hole.

[0010] Further, the water surface garbage collecting robot further comprises: a solar power generation assembly, the solar power generation assembly is arranged on the floating raft assembly, and the solar power generation assembly is electrically connected with the storage battery.

[0011] Further, the water surface garbage collecting robot further comprises an ultrasonic sensor arranged above the inner barrel and used for detecting the water level in the inner barrel or detecting the height of the garbage in the inner barrel; the ultrasonic sensor is electrically connected with the storage battery, the ultrasonic sensor is signal-connected with the integrated controller, and the integrated controller is provided with a positioning and communication module and a water level control module.

[0012] Further, the floating raft assembly comprises: a mounting ring; a floating raft body, the floating raft body is provided with an arc-shaped mounting groove, and the floating raft body has a circular arc-shaped end face matched with the outer wall of the outer barrel; the density of the floating raft body is less than the density of water; the floating raft body is mounted on the mounting ring through the arc-shaped mounting groove; and a plurality of floating raft bodies are evenly arranged on the mounting ring.

[0013] The floating raft assembly is sleeved on the outer barrel, and the circular arc-shaped end faces of the floating raft bodies are attached to the outer wall of the outer barrel.

[0014] Further, one end of the water blocking piece is clamped between the mounting ring and the outer barrel, and the other end of the water blocking piece is arranged on the outer barrel, the floating barrel and the inner barrel; the water blocking piece is a plurality of water blocking pieces, the plurality of water blocking pieces are arranged in one-to-one correspondence with the plurality of water inlet gaps; one water blocking piece is arranged between adjacent two floating raft bodies; and the water blocking piece is made of a flexible material.

[0015] Further, the water surface garbage collecting robot further comprises: a sail assembly, and the sail assembly is arranged above the outer barrel.

[0016] Further, the sail assembly comprises: a support, the support is connected with the outer barrel body outer edge of the outer barrel; a mounting shaft, one end of the mounting shaft is connected with the support;

[0017] The wind sail frame is rotatably sleeved on the other end of the mounting shaft through the bearing; the locking nut is mounted on the mounting shaft and is used for locking the bearing and the wind sail frame; wherein, the wind sail frame comprises: an outer fixed ring, a plurality of mounting holes are arranged on the outer fixed ring; an inner fixed ring, the inner fixed ring is arranged in the outer fixed ring, and a plurality of mounting grooves are arranged on the inner fixed ring;

[0018] A plurality of wind sails, the wind sail comprises a sheet-shaped main body and a mounting handle, the mounting handle is inserted into the mounting groove through the mounting hole; the plurality of wind sails, the plurality of mounting grooves and the plurality of mounting holes are arranged one by one; the support comprises a plurality of mounting rods and a multi-way pipe, the multi-way pipe has a main pipe and a plurality of branch pipes; the outer barrel has a plurality of outer barrel body edges, the plurality of outer barrel body edges, the plurality of branch pipes and the plurality of mounting rods are arranged one by one; one end of the mounting shaft is connected with the main pipe; one end of the mounting rod is connected with the branch pipe, and the other end is connected with the outer barrel body edge of the outer barrel through the fixing nut.

[0019] Compared with the prior art, the water surface garbage collecting robot provided by the application has the functions of self-adaptive control of the water level in the barrel and active adjustment of the water level in the barrel, so that the water surface garbage collecting robot provided by the application has the function of unattended operation, can reduce the cost of water surface garbage cleaning, and improve the efficiency of water surface garbage cleaning. Specifically, the lifting of the floating barrel is realized by utilizing the buoyancy of the water in the outer barrel, the cooperation of the floating barrel and the water blocking part realizes the opening and closing of the water inlet gap, and then the difference between the liquid levels inside and outside the outer barrel is controlled, the water inlet is controlled, and when the water inlet, the water surface garbage also enters the inner barrel with the water inlet, realizing the collection of the water surface garbage, that is, realizing the self-adaptive control function of the water level in the barrel and realizing the self-adaptive collection function of the garbage.

[0020] In addition, the arrangement of the solar power generation assembly can generate electricity when there is sunlight and store the electrical energy in the storage battery, so that the water surface garbage collecting robot provided by the application has longer endurance, is more energy-saving and environmentally friendly, and realizes energy self-sufficiency.

[0021] The arrangement of the ultrasonic sensor can send a fault salvage signal to a nearby signal monitoring station through the positioning and communication module of the integrated controller when the water level in the barrel continuously exceeds the upper limit, and salvage personnel can salvage nearby according to the position of the water surface garbage collecting robot.

[0022] The arrangement of the ultrasonic sensor can also send a garbage full salvage signal to a nearby signal monitoring station through the positioning and communication module of the integrated controller when the garbage accumulation height in the barrel is higher than the set upper limit of the garbage accumulation height, and salvage personnel can salvage nearby according to the position of the water surface garbage collecting robot.

[0023] When the water surface is windless, the water surface garbage collecting robot moves along with the flow of water, the water surface garbage also moves along with the flow of water, the moving direction of the water surface garbage collecting robot tends to be consistent with the moving direction of the water surface garbage, which is beneficial to the collection of the water surface garbage by the water surface garbage collecting robot.

[0024] When the water surface is windy, the setting of the sail assembly can realize the self-adaptive tracking function of the water surface garbage collecting robot to the water surface garbage by using wind energy, and realize the efficient collection of the water surface garbage. That is, the sail rotates under the driving action of the wind, and at the same time drives the robot to move on the water surface along with the wind, and the water surface garbage will also move under the action of the wind. In this way, the moving direction of the water surface garbage collecting robot tends to be consistent with the moving direction of the water surface garbage, and the destination also tends to be consistent, so as to realize the function of the water surface garbage collecting robot to adaptively track the water surface garbage, and improve the collection efficiency of the water surface garbage. Moreover, due to the setting that the sail frame of the sail assembly can rotate around the mounting shaft, the speed of the water surface garbage collecting robot moving and rotating on the water surface is reduced, so as to avoid the problem that the water surface garbage is drifted away before being collected into the inner barrel due to the too fast movement of the water surface garbage collecting robot, thereby being more beneficial to the collection of the water surface garbage.

[0025] Moreover, if it is a closed water area, the water surface garbage will eventually stop at the shore, and the water surface garbage collecting robot also has the opportunity to stop near the shore, so as to facilitate the collection of the water surface garbage and the salvage of the salvage personnel. BRIEF DESCRIPTION OF DRAWINGS

[0026] The above and other objects, features and advantages of the exemplary embodiments of the present application will be more apparent from the following detailed description read in conjunction with the accompanying drawings, in which several embodiments of the present application are shown by way of example, and wherein the same reference numerals identify similar or corresponding elements throughout. Therein:

[0027] Figure 1 A perspective view of the water surface garbage collecting robot provided by the present application is schematically shown;

[0028] Figure 2 A cross-sectional view of Figure 1 is schematically shown;

[0029] Figure 3 An enlarged view of Figure 2 at A is schematically shown;

[0030] Figure 4 An enlarged view of Figure 2 at B is schematically shown;

[0031] Figure 5 A cross-sectional view of Figure 2 part of the structure is schematically shown, wherein the inner barrel and the inner barrel support are omitted;

[0032] Figure 6 schematically shows Figure 5 an enlarged view at C;

[0033] Figure 7 schematically shows Figure 1 a bottom view of a partial structure, wherein the outer barrel sealing bottom is omitted;

[0034] Figure 8 schematically shows Figure 1 a disassembled structural schematic view of the water surface garbage collecting robot in

[0035] Figure 9 schematically shows Figure 8 a structural schematic view of the floating raft assembly in

[0036] Figure 10 schematically shows Figure 1 a structural schematic view of the sail assembly of the water surface garbage collecting robot in

[0037] Figure 11 schematically shows Figure 10 a disassembled structural schematic view of the sail assembly.

[0038] BRIEF DESCRIPTION OF DRAWINGS

[0039] 1, outer barrel; 101, outer barrel body; 1011, inner partition; 1012, outer barrel body outer edge; 1013, water inlet gap; 1014, assembly hole; 102, outer barrel sealing bottom; 111, first through hole; 112, second through hole; 2, inner barrel support; 201, water outlet gap; 3, inner barrel; 301, water leakage hole; 4, floating barrel; 401, accommodation through hole; 402, annular groove; 5, water blocking piece; 6, floating raft assembly; 601, floating raft body; 6011, arc-shaped mounting groove; 6012, accommodation hole; 602, mounting ring; 7, solar power generation assembly; 8, sail assembly; 801, sail; 8011, mounting handle; 8012, sheet-shaped main body; 802, outer fixing ring; 8021, mounting hole; 803, inner fixing ring; 8031, mounting groove; 804, bearing; 805, mounting shaft; 806, locking nut; 807, multi-way pipe; 808, mounting rod; 809, fixing nut; 9, water pump; 10, battery; 11, integrated controller; 12, overall counterweight; 13, ultrasonic sensor; 14, floating barrel counterweight; 15, water level sensor. DETAILED DESCRIPTION

[0040] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is to be understood that the present disclosure can be embodied in various forms without being limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art. Technical means used in the examples are routine means well known to those skilled in the art unless otherwise specified.

[0041] It is to be noted that the technical terms or scientific terms used in the present disclosure should be understood as the common meanings understood by those skilled in the art to which the present disclosure pertains unless otherwise specified. In this context, relational terms such as "first" and "second" and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between or among the entities or actions. The terms "connected," "coupled," or the like, should be construed broadly and can be understood as fixedly connected, removably connected, or integrally connected, and can be mechanical, electrical, or both. The terms "include," "comprise," or any other variations thereof are intended to cover a non-exclusive inclusion, so that a process, method, article, or apparatus including a list of elements does not include only those elements but also includes other elements not expressly listed or inherent to such process, method, article, or apparatus. An element defined by the phrase "comprising a" does not exclude the existence of additional identical elements in the process, method, article, or apparatus including the element.

[0042] As Figures 1 to 11As shown, the embodiment of the present application provides a water surface garbage collecting robot, which comprises an outer barrel 1, a water pump 9, a floating barrel 4, an inner barrel support 2, an inner barrel 3, a water blocking piece 5, a storage battery 10, a floating raft assembly 6, an ultrasonic sensor 13, a sail assembly 8, a solar power generation assembly 7, an overall counterweight 12, a floating barrel counterweight 14, an integrated controller 11 and a water level sensor 15, the top of the outer barrel 1 is provided with a water inlet gap 1013, the outer barrel 1 has an inner partition plate 1011, the inner partition plate 1011 separates the containing cavity of the outer barrel 1 into an upper cavity and a lower cavity, the inner partition plate 1011 is provided with a first through hole 111, and the bottom of the outer barrel 1 is provided with a second through hole 112; the water pump 9 is arranged in the lower cavity, one end of the water pump 9 is communicated with the first through hole 111, and the other end of the water pump 9 is communicated with the second through hole 112; the floating barrel 4 is arranged on the inner partition plate 1011, and the bottom of the floating barrel 4 is provided with a give-way through hole 401; the inner barrel support 2 is arranged on the inner partition plate 1011 through the give-way through hole 401, a first water storage space is formed between the outer side of the inner barrel support 2 and the outer barrel 1, a second water storage space is formed on the inner side of the inner barrel support 2, and the bottom of the inner barrel support 2 is provided with a water outlet gap 201 for communicating the first water storage space with the second water storage space; the bottom of the floating barrel 4 is located in the first water storage space; the inner barrel 3 is arranged on the inner barrel support 2, and the bottom of the inner barrel 3 is provided with a water leakage hole 301 communicated with the second water storage space; the water blocking piece 5 is arranged at the water inlet gap 1013, the water blocking piece 5 extends above the floating barrel 4 and the inner barrel 3, and the water blocking piece 5 can close or open the water inlet gap 1013 under the action of the floating barrel 4; the floating raft assembly 6 is arranged on the outer barrel 1; the storage battery 10 is arranged in the lower cavity and is electrically connected with the water pump 9; the integrated controller 11 is arranged in the lower cavity, is electrically connected with the storage battery 10, and is signal connected with the water pump 9; the water level sensor 15 is arranged in the inner barrel 3 and is used for detecting the water level in the inner barrel 3, is electrically connected with the storage battery 10, and is signal connected with the integrated controller 11.

[0043] In this way, the water surface garbage collecting robot provided by the present application has the functions of self-adaptive control of the water level in the barrel and active adjustment of the water level in the barrel, so that the water surface garbage collecting robot provided by the present application has the function of unattended operation, the cost of water surface garbage cleaning can be reduced, and the efficiency of water surface garbage cleaning can be improved. Specifically, the water level in the outer barrel 1 is used to realize the lifting of the floating barrel 4, the floating barrel 4 and the water blocking piece 5 are cooperatively operated to realize the opening and closing of the water inlet gap 1013, thereby controlling the difference between the liquid levels in the outer barrel 1, controlling the water inlet, and when the water inlet, the water surface garbage also enters the inner barrel with the water inlet, so as to realize the collection of the water surface garbage, that is, the self-adaptive control function of the water level in the barrel is realized, and the self-adaptive collection function of the garbage is realized. The water level sensor can detect the height of the water in the inner barrel 3, when the water level reaches the set height, the integrated controller controls the water pump 9 to start running, and the water is discharged to the outside of the outer barrel 1, thereby realizing the active adjustment function of the water level in the barrel.

[0044] Optionally, when the water level sensor 15 detects that the water level in the bucket continues to exceed the upper limit, the positioning and communication module of the integrated controller 11 sends a failure salvage signal to the nearby signal monitoring station, and the salvage personnel can salvage nearby according to the position of the water surface garbage collection robot.

[0045] Wherein, the density of the floating bucket 4 is less than the density of water; the floating bucket 4 can float up and down according to the change of water level under the water buoyancy of the bottom of the outer bucket 1.

[0046] Optionally, as shown in the preferred embodiments of Figure 2 , Figure 3 and Figure 5 , the water surface garbage collection robot further comprises: floating bucket counterweight 14, the upper surface of the bottom of the floating bucket 4 is provided with an annular groove 402, and a plurality of floating bucket counterweights 14 are evenly installed in the annular groove 402. In this way, the floating bucket counterweight 14 is used to adjust the overall buoyancy of the floating bucket 4.

[0047] Optionally, floating bucket counterweights 14 of different weights can be provided, and according to actual needs, it is selected which weight of floating bucket counterweight 14 is installed in the annular groove 402.

[0048] Optionally, floating bucket counterweights 14 of the same weight can be provided, and according to actual needs, it is selected how many floating bucket counterweights 14 are installed in the annular groove 402.

[0049] Optionally, as shown in Figure 5 , the annular groove 402 is located on the outer peripheral side of the upper surface of the let-in through hole 401.

[0050] Optionally, the let-in through hole 401 is a circular opening.

[0051] Optionally, as shown in Figure 2 and Figure 3 , there is a gap between the upper surface of the bottom of the floating bucket 4 and the inner bucket support 2, and this gap is used to accommodate the floating up and down of the bottom of the floating bucket 4.

[0052] Optionally, as shown in Figure 2 , Figure 3 and Figure 8As shown, the inner barrel support 2 comprises a first cylindrical segment, a first annular flat segment, a second cylindrical segment and a second annular flat segment connected in sequence. The diameter of the first cylindrical segment is greater than that of the second cylindrical segment. The outer periphery of the first annular flat segment is connected to the lower end of the outer periphery wall of the first cylindrical segment, and the inner periphery of the first annular flat segment is connected to the upper end of the inner periphery wall of the second cylindrical segment. The inner periphery of the second annular flat segment is connected to the lower end of the inner periphery wall of the second cylindrical segment. The bottom of the floating barrel 4 is located between the outer periphery wall of the second cylindrical segment and the inner periphery wall of the outer barrel 1. The height of the second cylindrical segment is greater than the thickness of the bottom of the floating barrel. The diameter of the outer periphery of the second annular flat segment is less than that of the accommodation through hole. The water outlet gap 201 extends from the outer periphery of the second annular flat segment to the second cylindrical segment, and the height of the water outlet gap 201 is lower than that of the first annular flat segment. A plurality of water outlet gaps 201 are evenly arranged on the inner barrel support 2. The inner diameter of the first cylindrical segment matches the size and shape of the outer diameter of the inner barrel 3 for mounting the inner barrel 3. The bottom of the inner barrel 3 abuts against the first annular flat segment. The inner diameter of the second cylindrical segment forms a second water storage space. The second annular flat segment is used to be placed on the inner partition plate 1011, so that the contact area is larger and the placement is more stable.

[0053] Optionally, as shown in Figure 2 、 Figure 5 and Figure 7 , the water surface garbage collecting robot further comprises a plurality of integral weight members 12 arranged in the lower cavity. The integral weight members 12 are used to adjust the overall buoyancy and balance of the water surface garbage collecting robot.

[0054] Optionally, the number of integral weight members 12 can be one or more.

[0055] Optionally, the integral weight members 12 are integral weight blocks, and the floating barrel weight members 14 are floating barrel weight blocks.

[0056] Optionally, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 5 , and Figure 8 , the outer barrel 1 comprises an outer barrel body 101 and an outer barrel bottom cover 102. The outer barrel body 101 has an inner partition plate 1011. The outer barrel body 101 is evenly provided with a plurality of outer barrel body outer edges 1012. Adjacent two outer barrel body outer edges 1012 form a water inlet gap 1013. The outer barrel body outer edge 1012 is higher than the water inlet gap 1013. The outer barrel bottom cover 102 is threadedly connected with the outer barrel body 101. The outer barrel bottom cover 102 has a second through hole 112. In this way, the processing of the outer barrel 1 and the overall assembly of the water surface garbage collecting robot are facilitated.

[0057] Specifically, as shown in Figure 7As shown, the water pump 9, the storage battery 10, the integrated controller 11, the integral counterweight 12 and the like can be installed in the lower cavity of the outer barrel body 101 before the outer barrel bottom 102 is installed, and then the outer barrel bottom 102 is assembled on the outer barrel body 101.

[0058] Optionally, as shown in Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 、 Figure 8 、 Figure 9 As shown, the water surface garbage collecting robot further comprises a solar power generation assembly 7, which is arranged on the floating raft assembly 6 and is electrically connected with the storage battery 10 to charge the storage battery 10. In this way, the water surface garbage collecting robot has long endurance, is energy self-sufficient, and is more energy-saving and environment-friendly.

[0059] Optionally, the number of storage batteries can be one or more.

[0060] Optionally, the number of solar power generation assemblies 7 can be one or more.

[0061] When the number of solar power generation assemblies 7 is more than one, each solar power generation assembly 7 can be arranged in one-to-one correspondence with a storage battery 10, and each solar power generation assembly 7 can charge the corresponding storage battery 10, or multiple solar power generation assemblies 7 can charge one storage battery 10.

[0062] Optionally, the solar power generation assembly 7 is a waterproof solar power generation assembly.

[0063] Optionally, the solar power generation assembly 7 is in the shape of a rectangular plate as a whole.

[0064] Optionally, as shown in Figure 1 and Figure 2As shown, the water surface garbage collecting robot further comprises an ultrasonic sensor 13 arranged above the inner barrel 3 for detecting the water level in the inner barrel 3 or for detecting the height of the garbage in the inner barrel 3; the ultrasonic sensor 13 is electrically connected with the battery 10, and the ultrasonic sensor 13 is signal connected with the integrated controller 11; the integrated controller 11 is provided with a positioning and communication module and a water level control module. When the ultrasonic sensor 13 detects that the water level in the barrel continuously exceeds the upper limit, the positioning and communication module of the integrated controller 11 sends a salvage signal to the nearby signal monitoring station, and the salvage personnel can salvage nearby according to the position of the water surface garbage collecting robot. The setting of the ultrasonic sensor can also send a garbage full salvage signal to the nearby signal monitoring station through the positioning and communication module of the integrated controller 11 when the garbage accumulation height in the barrel is higher than the set upper limit of the garbage accumulation height, and the salvage personnel can salvage nearby according to the position of the water surface garbage collecting robot. In this way, the water surface garbage collecting robot can be salvaged and recycled in time, avoiding the loss or sinking of the water surface garbage collecting robot, and becoming garbage itself, causing secondary pollution.

[0065] Optionally, as shown in Figure 5 , Figure 6 , Figure 8 and Figure 9 , the floating raft assembly 6 comprises a floating raft body 601 and a mounting ring 602, the floating raft body 601 is provided with an arc-shaped mounting groove 6011, and the floating raft body 601 has a circular arc-shaped end face matched with the outer wall of the outer barrel 1; the floating raft body 601 is mounted on the mounting ring 602 through the arc-shaped mounting groove 6011; a plurality of floating raft bodies 601 are evenly mounted on the mounting ring 602; the density of the floating raft body 601 is less than the density of water; the floating raft assembly 6 is sleeved on the outer barrel 1, and the circular arc-shaped end face of each floating raft body 601 is attached to the outer wall of the outer barrel 1. In this way, by setting the floating raft assembly 6, the water surface garbage collecting robot is prevented from sinking to the bottom of the water, so that the water surface garbage collecting robot can float on the water surface to collect the water surface garbage.

[0066] During assembly, the floating raft assembly 6 is sleeved on the outer barrel body 101, and then the outer barrel bottom 102 is assembled on the outer barrel body 101.

[0067] Optionally, the mounting ring 602 of the floating raft assembly 6 is in interference fit with the circular arc-shaped end face of the floating raft body 601 and the outer wall of the outer barrel body 101 of the outer barrel 1.

[0068] Optionally, as shown in Figure 2 and Figure 5As shown, one end of the water blocking piece 5 is clamped between the mounting ring 602 and the outer barrel 1, and the other end of the water blocking piece 5 is arranged on the outer barrel 1, the floating barrel 4 and the inner barrel 3; the water blocking piece 5 is multiple, and the multiple water blocking pieces 5 are arranged one by one corresponding to the multiple water inlet gaps 1013; one water blocking piece 5 is arranged between two adjacent floating raft bodies 601; the water blocking piece 5 is made of flexible material. In this way, the mounting ring 602 is used to directly fix the water blocking piece 5. The flexible water blocking piece 5 can rise and fall under the action of the lifting action of the floating barrel 4. When the water blocking piece 5 is pushed up by the lifting action of the floating barrel 4 and rises to a position higher than the water surface outside, the water inlet gap 1013 is closed, and water and garbage no longer enters the inner barrel 3. When the floating barrel 4 falls to a position where the upper edge of the water blocking piece 5 is lower than the water surface outside, the water inlet gap 1013 is opened, and the water outside and the garbage enter the inside of the inner barrel 3. That is, the opening and closing of the water inlet gap 1013 can be automatically controlled according to the change of the water level in the outer barrel, that is, the water level self-adaptive control function in the barrel is realized, and the garbage self-adaptive collection function is realized.

[0069] When there is no wind on the water surface, the water surface garbage collecting robot and the water surface garbage move with the water flow, and the parking positions of the water surface garbage collecting robot and the water surface garbage also tend to be consistent, thereby facilitating the collection of the water surface garbage by the water surface garbage collecting robot.

[0070] Optionally, as shown in Figure 1 , Figure 2 and Figure 5 , the water surface garbage collecting robot further comprises a sail assembly 8, and the sail assembly 8 is arranged above the outer barrel 1. In this way, when there is wind on the water surface, the water surface garbage collecting robot can move with the wind by using the sail assembly 8, and the water surface garbage also moves with the wind, so that the moving direction of the water surface garbage collecting robot and the moving direction of the water surface garbage are consistent, and the destination also tends to be consistent, thereby realizing the function of automatically tracking the water surface garbage by the robot and improving the collection efficiency of the water surface garbage. At the same time, the arrangement of the rotatable sail frame on the sail assembly 8 can also slow down the speed of the water surface garbage collecting robot in moving and rotating, thereby avoiding the problem that the water surface garbage collecting robot moves too fast and the water surface garbage is collected into the inner barrel. At the same time, if the water area is closed, the water surface garbage collecting robot will eventually have the opportunity to approach the shore and stop, thereby facilitating the salvage of the water surface garbage collecting robot by the salvage personnel.

[0071] Optionally, as shown in Figure 2 , Figure 4 , Figure 10 and Figure 11As shown, the sail assembly 8 comprises: a bracket connected with the outer barrel body outer edge 1012 of the outer barrel 1; a mounting shaft 805, one end of which is connected with the bracket; a sail frame and a bearing 804, the sail frame being rotatably sleeved on the other end of the mounting shaft 805 through the bearing 804; and a locking nut 806 mounted on the mounting shaft 805 for locking the bearing 804 and the sail frame. The sail frame comprises: an outer fixing ring 802, which is provided with a plurality of mounting holes 8021; and an inner fixing ring 803, which is arranged in the outer fixing ring 802 and is provided with a plurality of mounting grooves 8031. A plurality of sails 801 are provided, each of which comprises a sheet-shaped main body 8012 and a mounting handle 8011, the mounting handle 8011 being inserted into the mounting groove 8031 through the mounting hole 8021. The plurality of sails 801, the plurality of mounting grooves 8031 and the plurality of mounting holes 8021 are arranged one by one. The bracket comprises a plurality of mounting rods 808 and a multi-way pipe 807, the multi-way pipe 807 having a main pipe and a plurality of branch pipes. The outer barrel 1 has a plurality of outer barrel body outer edges 1012, the plurality of outer barrel body outer edges 1012, the plurality of branch pipes and the plurality of mounting rods 808 being arranged one by one. One end of the mounting shaft 805 is connected with the main pipe, and one end of the mounting rod 808 is connected with the branch pipe and the other end is connected with the outer barrel body outer edge 1012 of the outer barrel 1 through a fixing nut 809. The sail assembly 8 provided by the application can realize the function of self-adaptive tracking of water surface garbage by the robot.

[0072] Optionally, as shown in Figure 5 and Figure 6 , the floating raft body 601 is of a solid structure, and the floating raft body 601 is provided with a clearance hole 6012 for mounting the fixing nut 809.

[0073] As shown in Figure 6 , the outer barrel body outer edge 1012 is provided with an assembly hole 1014 for mounting the sail assembly 8, the mounting rod 808 of the sail assembly 8 extending into the clearance hole 6012 through the assembly hole 1014, and two fixing nuts 809 being sleeved on the mounting rod 808 and located on the upper and lower sides of the outer barrel body outer edge 1012, respectively.

[0074] Optionally, the bearing 804 is an oil-free bearing.

[0075] The water surface garbage collecting robot provided by the application has the functions of water level self-adaptive control, unattended operation, solar power supply and self-adaptive pursuit of garbage, and has high energy utilization efficiency, lower cost and higher cleaning efficiency.

[0076] In the preferred embodiment of the present application, the water surface garbage collecting robot comprises an outer barrel 1, an inner barrel support 2, an inner barrel 3, a floating barrel 4, a water blocking member 5, a floating raft assembly 6, a solar power generation assembly 7, a sail assembly 8, a water pump 9, a storage battery 10, an integrated controller 11, an overall counterweight 12, an ultrasonic sensor 13, a floating barrel counterweight 14, and a water level sensor 15. The floating barrel 4 is lifted and lowered by the buoyancy of the water in the outer barrel. The floating barrel 4 cooperates with the water blocking member 5 to control the lifting and lowering of the water blocking member 5, thereby opening and closing the water inlet gap 1013, and controlling the difference in liquid level between the inside and outside of the outer barrel 1, controlling the water inlet, and when the water inlet, the water surface garbage also follows the water into the inner barrel, realizing the collection of water surface garbage. The sail assembly 8 drives the robot to move on the water surface under the action of wind force to realize the function of self-adaptive pursuit of garbage. The solar power generation assembly 7 provided on the floating raft assembly 6 can generate electricity when there is solar energy and store the electrical energy in the storage battery 10. The storage battery 10 supplies power to the water pump 9, the ultrasonic sensor 13, the integrated controller 11, and the water level sensor 15, realizing energy self-sufficiency. The water pump 9 can be started and stopped under the control of the integrated controller 11, realizing the autonomous adjustment of the water level in the outer barrel 1. The ultrasonic sensor 13 can detect the position of the garbage in the inner barrel 3. When the garbage reaches the set height, the integrated controller 11 sends a garbage full signal, which is captured by the nearby signal monitoring station, and the garbage is manually salvaged. The water level sensor 15 can detect the height of the water level in the inner barrel 3. When the water level is detected to be higher than the set height, the water pump 9 is opened by the water level control module of the integrated controller 11 to drain the water in the outer barrel 1 to the outside of the barrel; when the water level is detected to be lower than the set height, the water pump 9 is closed by the water level control module of the integrated controller 11; when the water level is detected to be continuously higher than the set height, the integrated controller 11 sends a fault salvage signal, which is captured by the nearby signal monitoring station, and the garbage is manually salvaged. The ultrasonic sensor 13 can also detect the water level in the inner barrel. When the water level in the inner barrel reaches the set upper limit of the water level, the integrated controller 11 sends a water pump opening signal, and the water level control module of the integrated controller 11 controls the water pump 9 to operate to pump the water in the outer barrel 101 to the outside. The water level sensor 15 is also used to detect the water level in the inner barrel. When the water level in the inner barrel 3 reaches the set upper limit of the water level, the integrated controller 11 collects the upper limit water level signal sent by the water level sensor 15, and the water level control module of the integrated controller 11 controls the water pump 9 to operate to pump the water in the outer barrel 101 to the outside. The ultrasonic sensor 13 can detect whether the detected object is fluctuating, and use the program of the integrated controller to identify whether the detected object is water or solid garbage. It can also be identified whether the detected object is water or solid garbage by the cooperation of the ultrasonic sensor 13 and the water level sensor 15.

[0077] In the preferred embodiment of the present application, Figures 1 to 11In the preferred embodiment shown, a water surface garbage collecting robot is provided, comprising an outer barrel 1, an inner barrel support 2, an inner barrel 3, a floating barrel 4, a water blocking member 5, a floating raft assembly 6, a solar power generation assembly 7, a sail assembly 8, a water pump 9, a storage battery 10, an integrated controller 11, an overall counterweight 12, an ultrasonic sensor 13, a floating barrel counterweight 14, and a water level sensor 15. The solar power generation assembly 7 is a waterproof solar power generation panel assembly. The outer barrel 1 is in the shape of an open-ended hollow cylinder as a whole, and is composed of an outer barrel body 101 and an outer barrel bottom 102. The outer barrel body 101 is in the shape of a hollow cylinder without upper and lower bottoms as a whole, and is provided with an outer barrel inner partition plate 1011 at the lower part. The outer barrel inner partition plate 1011 divides the outer barrel body 101 into two parts, i.e., an upper cavity and a lower cavity. The outer barrel inner partition plate 1011 is provided with a first through hole 111 at the center. The outer barrel body 101 is open at both upper and lower ends. The outer surface of the lower part of the outer barrel body 101 is provided with a sealing pipe thread near the end face. The thread part is threadedly connected with the outer barrel bottom 102. The outer barrel bottom 102 is in the shape of an open-ended hollow cylinder as a whole, and is provided with a sealing pipe thread at the inner surface of the upper part. The inner partition plate 1011 of the outer barrel body 101 divides the outer barrel 1 into two parts, i.e., an upper cavity and a lower cavity. The outer barrel bottom 102 is provided with a second through hole 112 at the center. The water pump 9 is installed in the closed barrel space surrounded by the outer barrel body 101 and the outer barrel bottom 102. The water inlet of the water pump 9 is connected with the first through hole 111, and the water outlet is connected with the second through hole 112. The water pump 9 is a waterproof water pump. The outer barrel body 101 is provided with a plurality of horizontally distributed outer barrel body outer edges 1012 at the upper end. The outer barrel body outer edges 1012 are provided with a plurality of through holes for installation, which can be used as assembly holes 1014, for installing the sail assembly 8. The water inlet gap 1013 is between two adjacent horizontally distributed outer barrel body outer edges 1012 at the upper end of the outer barrel body 101. The water inlet gap 1013 is lower than the horizontally distributed outer barrel body outer edges 1012, and is used for water inlet and garbage inlet of the inner barrel 3. The inner barrel support 2 is installed inside the outer barrel body 101 above the outer barrel inner partition plate 1011, and the inner barrel 3 is placed on the upper part of the inner barrel support 2. The inner barrel 3 is in the shape of a circular barrel with an open upper end, and is provided with a plurality of evenly distributed water leakage holes 301 at the bottom. The inner barrel support 2 is in the shape of a solid of revolution, and the upper part is in the shape of a circular barrel with an open bottom, which is matched with the shape and size of the inner barrel 3. The lower part of the inner barrel support 2 is in contact with the outer barrel inner partition plate 1011. There is a gap between the outer surface of the inner barrel support 2 and the inner wall of the outer barrel body 101, which is a first water storage space. The bottom of the inner barrel support 2 is provided with a plurality of evenly distributed water outlet gaps 201. The water outlet gaps 201 keep the water on both sides of the inner barrel support 2 in communication. The floating barrel 4 is installed between the inner barrel support 2 and the inner wall of the outer barrel body 101. The floating barrel 4 is in the shape of a circular barrel with an open top, and is also provided with a circular opening at the bottom, i.e., a displacement through hole 401. The size of the circular opening is smaller than the size of the inner wall of the floating barrel 4.The annular groove 402 is arranged on the upper surface of the bottom of the floating barrel 4, and a plurality of floating barrel counterweights 14 are fixedly installed in the annular groove 402 and are uniformly arranged for adjusting the overall buoyancy of the floating barrel 4. A gap is left between the upper surface of the bottom of the floating barrel 4 and the lower surface of the bottom of the upper barrel-shaped part of the inner barrel support 2, and the gap is used to accommodate the up-and-down floating of the bottom of the floating barrel 4. The floating raft assembly 6 is installed below the outer edge 1012 of the outer barrel body through the floating raft mounting ring 602. The floating raft assembly 6 is composed of a plurality of floating raft bodies 601 and the floating raft mounting ring 602. The floating raft body 601 is in the shape of a cuboid as a whole, one end surface is in the shape of a circular arc, and the circular arc end surface is installed in close contact with the outer barrel body 101. The shape and size of the close-contact surface are matched with the outer barrel body 101. The upper surface of one end of the circular arc end surface of the floating raft body 601 is provided with a circular arc-shaped mounting groove 6011. The arc-shaped mounting groove 6011 is used to fit the floating raft body 601 on the floating raft mounting ring 602. A plurality of floating raft bodies 601 are uniformly arranged on the floating raft mounting ring 602 through the arc-shaped mounting groove 6011. The floating raft assembly 6 is fitted on the outer wall of the outer barrel body 101, so that the plurality of floating raft bodies 601 are respectively located below the plurality of outer barrel body outer edges 1012, and the floating raft body 601 corresponds to the position of the outer barrel body outer edge 1012 one by one. At each outer barrel water inlet gap 1013 part, the floating raft mounting ring 602 and the gap between the outer wall of the outer barrel body 101 are provided with a water blocking piece 5, which is flexible and dynamically overlapped above the floating barrel 4, the inner barrel 3 and the outer barrel body 101. The sail assembly 8 is installed on the outer edge 1012 of the outer barrel body through the fixed nut 809. The sail assembly 8 is composed of a sail 801, an outer fixed ring 802, an inner fixed ring 803, an oil-free bearing 804, a sail mounting shaft 805, a locking nut 806, a multi-way pipe 807 which is a four-way pipe, a sail assembly mounting rod 808, and a sail assembly fixed nut 809. The main body of the sail 801 is in the shape of a sheet, and one end is provided with a sail mounting handle 8011. The outer fixed ring 802 is in the shape of a circular ring as a whole, and a plurality of sail mounting holes 8021 are uniformly arranged on the outer fixed ring 802 in the radial direction. The shape and size of the sail mounting hole 8021 are matched with the sail mounting handle 8011. The inner fixed ring 803 is in the shape of a hollow cylinder with no bottom surface as a whole, and a plurality of sail mounting grooves 8031 are uniformly arranged on the outer wall of the inner fixed ring 803. The shape and size of the plurality of sail mounting grooves 8031 are matched with the sail mounting handle 8011. A plurality of sails 801 are sequentially installed with the outer fixed ring 802 and the inner fixed ring 803 through the sail mounting handle 8011. The mounting handle 8011 is sequentially fixedly installed through the sail mounting hole 8021 on the outer fixed ring 802 and the sail mounting groove 8031 on the inner fixed ring 803, and an interference fit is adopted. The plurality of sails 801, the outer fixed ring 802 and the inner fixed ring 803 form a sail frame. The sail frame is installed through the oil-free bearing 804 and the sail mounting shaft 805. The sail mounting shaft 805 is in the shape of a cylinder as a whole and is a stepped shaft. The upper end is a thin shaft section, the lower end is a thick shaft section, and the end of the thin shaft section is provided with external threads.The oil-free bearing 804 is sleeved on the thin shaft section of the sail mounting shaft 805, and the oil-free bearing 804 is externally sleeved on the inner fixing ring 803. The oil-free bearing 804 and the sail frame are axially fixed by the locking nut 806. The four-way pipe is composed of a main pipe and a plurality of branch pipes, the branch pipes are uniformly distributed, and the axes of the plurality of branch pipes are in the same plane, and the plane is perpendicular to the axis of the main pipe. The main pipe is fixedly installed with the sail mounting shaft 805, each branch pipe is fixedly installed with the sail assembly mounting rod 808, the sail assembly mounting rod 808 is in L shape, the mounting end of the four-way pipe is a long rod section, the other end is a short rod section, the head of the short rod section is externally threaded, and the sail assembly fixing nut 809 is installed on the head of the short rod section of the sail assembly mounting rod 808. The sail assembly 8 is installed on the outer edge 1012 of the outer barrel body by the fixing nut 809. The battery 10, the integrated controller 11 and the overall counterweight 12 are installed in the closed barrel space surrounded by the outer barrel body 101 and the outer barrel bottom 102. The number of integrated controllers is one. The number of batteries 10 and overall counterweights 12 is one or more. The overall counterweight 12 is used to adjust the overall buoyancy and balance of the robot. The floating raft assembly 6 is provided with a solar power generation assembly 7, the solar power generation assembly 7 is a waterproof solar power generation panel assembly, and one waterproof solar power generation panel assembly can be installed on the upper surface of each floating raft body 601. The waterproof solar power generation panel assembly is in the shape of an overall rectangular plate. The waterproof solar power generation panel assembly is electrically connected with the battery 10 to charge the battery 10. An ultrasonic sensor 13 is installed above the outer edge 1012 of the outer barrel body. The probe direction of the ultrasonic sensor 13 is directed to the bottom of the inner barrel 3, which is used to detect the height of the garbage and the water level in the inner barrel 3. The ultrasonic sensor 13 can be provided as one or more. The ultrasonic sensor 13 is electrically connected with the battery 10 to provide power by the battery 10. The integrated controller 11 is electrically connected with the battery 10 to provide power by the battery 10. The ultrasonic sensor 13 is signal connected with the integrated controller 11 to control the operation of the ultrasonic sensor 13 and process the collected signals of the ultrasonic sensor 13 by the integrated controller 11. The water pump 9 is electrically connected with the battery 10 to provide power by the battery 10. The water pump 9 is signal connected with the integrated controller 11 to control the operation of the water pump 9 by the integrated controller 11. A water level sensor 15 is arranged on the inner wall of the inner barrel 3. The water level sensor 15 is electrically connected with the battery 10 to provide power by the battery 10. The water level sensor 15 is signal connected with the integrated controller 11 to control the operation of the water level sensor 15 and process the collected signals of the water level sensor 15 by the integrated controller 11. All electrical components are connected with the battery by waterproof wires, and all electrical components are connected with the integrated controller 11 by waterproof wires. The positions where the waterproof wires pass through the outer barrel body 101 are provided with wire passing holes for passing through the wires. All wire passing holes are sealed with waterproof glue after the installation of the wires is completed. The integrated controller 11 is provided with a positioning and communication module and a water level control module.

[0078] The working principle of this surface garbage collection robot is as follows: It floats on the water surface using the buoyancy of the raft assembly 6 and the outer bucket 1. The overall buoyancy and balance of the robot are adjusted by the overall counterweight 12, maintaining the upper edge of the water inlet 1013 of the outer bucket 1 at a height comparable to the external water surface. An ultrasonic sensor 13 is used to detect the water level and garbage height inside the inner bucket 3. When the garbage in the inner bucket 3 has not reached its upper limit, and the water level in the upper cavity of the outer bucket 1 is low, the floating bucket 4 is positioned low, and the upper edge of the water-blocking component 5 is lower than the external water surface. The surface garbage and water then enter the inner bucket 3 through the water inlet 1013 of the outer bucket, thus collecting and cleaning the surface garbage.

[0079] The adaptive water level control principle is as follows: Water entering the inner tank 3 enters the second water storage space below the inner tank 3 through the drain hole 301 at the bottom of the inner tank 3. Water in the second water storage space enters the first water storage space outside the inner tank support 2 through the evenly distributed water outlets 201 at the bottom of the inner tank support 2, that is, into the space enclosed by the outer wall of the inner tank support 2 and the inner wall of the outer tank body 101, so that the water on the inner and outer sides of the inner tank support 2 remains connected. The floating tank 4 can float under the buoyancy of the water entering the first water storage space. The floating tank counterweight 14 is used to adjust the overall buoyancy of the floating tank 4. The floating tank 4 floats when the buoyancy of the water on the floating tank 4 and the floating tank counterweight 14 is greater than the overall weight of the floating tank 4 and the floating tank counterweight 14; otherwise, it does not float. The floating height of the floating tank 4 is positively correlated with the water levels in the first and second water storage spaces. When the floating bucket 4 rises under the buoyancy of the water in the first water storage space, it lifts the water-blocking component 5, causing the water-blocking component 5 to rise. When the upper edge of the water-blocking component 5 is higher than the outside water surface, the water inlet opening 1013 is closed, stopping water intake and garbage collection. This achieves adaptive control of the water-blocking component 5 by utilizing the water level in the outer bucket 1, and thus achieves adaptive control of the opening and closing of the water inlet opening 1013.

[0080] The active water level regulation principle is as follows: Water level sensor 15 detects the water level inside the inner tub 3. When the water level in the inner tub 3 reaches the set upper limit, the integrated controller 11 collects the upper limit water level signal collected by water level sensor 15. The water level control module of the integrated controller 11 then controls the water pump 9 to operate, pumping water from inside the outer tub 101 to the outside, thus achieving active regulation of the water levels inside the inner tub 3 and the outer tub 101. The water pump 9, integrated controller 11, and water level sensor 15 are all powered by battery 10. When water level sensor 15 detects that the water level inside the inner tub 3 has reached the set lower limit, the integrated controller 11 controls the water pump 9 to stop operating.

[0081] The ultrasonic sensor 13 can also be used for active adjustment of the water level in the barrel. The principle is as follows: the ultrasonic sensor 13 is used to detect the water level in the inner barrel 3. When the water level in the inner barrel 3 reaches the set upper limit, the integrated controller 11 collects the upper limit water level signal collected by the ultrasonic sensor 13, and the water pump 9 is controlled to run by the water level control module of the integrated controller 11, so as to realize active adjustment of the water level in the inner barrel 3 and the water level in the outer barrel body 101. The water pump 9, the integrated controller 11, and the ultrasonic sensor 13 are all powered by the storage battery 10. When the ultrasonic sensor 13 detects that the water level in the inner barrel 3 reaches the set lower limit, the water pump 9 is controlled to stop running by the integrated controller 11.

[0082] When the water level in the inner barrel 3 continuously exceeds the upper limit, the integrated controller 11 sends a fault salvage signal to the nearby signal monitoring station according to the signal collected by the ultrasonic sensor 13, and the salvage personnel salvage nearby according to the position of the robot.

[0083] When the garbage accumulation in the inner barrel 3 reaches the upper limit, the ultrasonic sensor 13 can detect the accumulation height of the garbage in the inner barrel 3. When the ultrasonic sensor 13 detects that the accumulation height of the garbage in the inner barrel 3 is higher than the set upper limit of the garbage accumulation height, the integrated controller 11 sends a garbage collection full alarm salvage signal to the nearby signal monitoring station according to the signal collected by the ultrasonic sensor 13, and the salvage personnel salvage nearby according to the position of the robot.

[0084] The ultrasonic sensor 13 can use the program of the integrated controller to identify whether the detected object is water or solid garbage according to whether the detected object fluctuates, or can identify whether the detected object is water or solid garbage through cooperation between the ultrasonic sensor 13 and the water level sensor 15.

[0085] When there is wind on the water surface, the sail 801 rotates under the action of wind force, and at the same time drives the robot to move on the water surface with the wind. The water surface garbage also moves under the action of wind force. The direction of movement of the robot and the direction of movement of the water surface garbage tend to be consistent, and the destination also tends to be consistent, so as to realize the function of self-adaptive tracking of the water surface garbage by the robot, and improve the collection efficiency of the water surface garbage. At the same time, if it is a closed water area, the robot will eventually have the opportunity to approach the shore and dock. When there is no wind on the water surface, the robot also tends to be consistent with the docking position of the water surface garbage.

[0086] The advantages of the present application at least include: using solar panel assembly to generate electricity, storing the electricity in the battery, realizing energy self-sufficiency and long endurance. Using the sail assembly, the robot can realize adaptive tracking function of water surface garbage by using wind energy, realizing efficient collection of water surface garbage. Using the floating bucket and the water blocking component cooperation structure, the water in the outer bucket is used to realize the lifting of the floating bucket, realizing the cooperation of the floating bucket and the water blocking component, and then realizing the automatic opening and closing of the water blocking component, that is, lifting, and then controlling the difference between the liquid levels inside and outside the outer bucket, controlling the water inlet, when the water inlet, the water surface garbage also follows the water inlet into the inner bucket, realizing the collection of the water surface garbage, that is, realizing the adaptive control of the water level in the bucket, realizing the adaptive collection of the garbage. Using the ultrasonic sensor, the position of the garbage in the inner bucket can be detected, when the garbage reaches the set height, the integrated controller sends an alarm and salvage signal, and the nearby signal monitoring station captures the signal and salvages. Using the water level sensor, the height of the water level in the inner bucket can be detected, when the detected water level height is higher than the set height, the integrated controller controls the water pump to open; when the detected water level is continuously higher than the set height, the integrated controller sends a fault salvage signal to the outside.

[0087] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this, any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A water surface litter collecting robot, characterized in that, The washing machine comprises: an outer barrel (1) having an inner partition plate (1011) separating a containing cavity of the outer barrel (1) into an upper cavity and a lower cavity, the inner partition plate (1011) being provided with a first through hole (111), and a barrel bottom of the outer barrel (1) being provided with a second through hole (112); a water pump (9) arranged in the lower cavity, one end of the water pump (9) being communicated with the first through hole (111), and the other end of the water pump (9) being communicated with the second through hole (112); a floating barrel (4) arranged on the inner partition plate (1011), a barrel bottom of the floating barrel (4) being provided with a clearance through hole (401); an inner barrel support (2) arranged on the inner partition plate (1011) through the clearance through hole (401), a first water storage space being formed between an outer side of the inner barrel support (2) and the outer barrel (1), a second water storage space being formed on an inner side of the inner barrel support (2), and a water outlet gap (201) being provided on a bottom of the inner barrel support (2) to communicate the first water storage space with the second water storage space, and the barrel bottom of the floating barrel (4) being located in the first water storage space; an inner barrel (3) arranged on the inner barrel support (2), a bottom of the inner barrel (3) being provided with a water leakage hole (301) communicated with the second water storage space; a water blocking piece (5) arranged at a water inlet gap (1013), the water blocking piece (5) extending above the floating barrel (4) and the inner barrel (3), and the water blocking piece (5) being capable of closing or opening the water inlet gap (1013) under the action of the floating barrel (4); a floating raft assembly (6) arranged on the outer barrel (1); a storage battery (10) arranged in the lower cavity, the storage battery (10) being electrically connected with the water pump (9); an integrated controller (11) arranged in the lower cavity, the integrated controller (11) being electrically connected with the storage battery (10), and the integrated controller (11) being signal connected with the water pump (9); a water level sensor (15) arranged in the inner barrel (3) to detect a water level in the inner barrel (3), the water level sensor (15) being electrically connected with the storage battery (10), and the water level sensor (15) being signal connected with the integrated controller (11); the outer barrel (1) comprises: an outer barrel body (101) uniformly provided with a plurality of outer barrel body outer edges (1012), adjacent two outer barrel body outer edges (1012) forming a water inlet gap (1013), and the outer barrel body outer edge (1012) being higher than the water inlet gap (1013); an outer barrel bottom sealing plate (102) threadedly connected with the outer barrel body (101), the outer barrel bottom sealing plate (102) being provided with the second through hole (112). The density of the floating barrel (4) is less than the density of water; the floating barrel (4) can float up and down according to the water level change under the water buoyancy of the bottom of the outer barrel (1); the water surface garbage collecting robot further comprises: The floating barrel counterweight (14) is arranged in the annular groove (402) on the upper surface of the barrel bottom of the floating barrel (4).

2. The water surface litter collecting robot according to claim 1, characterized in that, The water surface garbage collecting robot further comprises: The overall counterweight (12) is arranged in the lower cavity.

3. The water surface litter collecting robot according to claim 1, characterized in that, The water surface garbage collecting robot further comprises: The solar power generation assembly (7) is arranged on the floating raft assembly (6), and the solar power generation assembly (7) is electrically connected with the storage battery (10).

4. The water surface garbage collecting robot according to claim 1, wherein The water surface garbage collecting robot further comprises an ultrasonic sensor (13) arranged above the inner barrel (3) for detecting the water level in the inner barrel (3) or for detecting the height of garbage in the inner barrel (3); the ultrasonic sensor (13) is electrically connected with the storage battery (10), and the ultrasonic sensor (13) is signal connected with the integrated controller (11); The integrated controller (11) is provided with a positioning and communication module and a water level control module.

5. A water surface litter collecting robot according to any one of claims 1 to 4, characterized in that, The floating raft assembly (6) comprises: A mounting ring (602); The floating raft body (601) is provided with an arc-shaped mounting groove (6011), and has a circular arc-shaped end surface matched with the outer wall of the outer barrel (1); the floating raft body (601) is mounted on the mounting ring (602) through the arc-shaped mounting groove (6011); a plurality of floating raft bodies (601) are evenly arranged on the mounting ring (602); the density of the floating raft body (601) is less than the density of water; The floating raft assembly (6) is sleeved on the outer barrel (1), and the circular arc-shaped end surface of each floating raft body (601) is attached to the outer wall of the outer barrel (1).

6. The water surface garbage collecting robot according to claim 5, wherein One end of the water blocking piece (5) is clamped between the mounting ring (602) and the outer barrel (1), and the other end of the water blocking piece (5) is arranged on the outer barrel (1), the floating barrel (4) and the inner barrel (3); The water blocking piece (5) is a plurality of water blocking pieces (5) which are arranged one by one corresponding to a plurality of water inlet openings (1013); one water blocking piece (5) is arranged between adjacent two floating raft bodies (601); The water blocking piece (5) is made of flexible material.

7. The water surface litter collecting robot according to claim 1, characterized in that, The water surface garbage collecting robot further comprises: A sail assembly (8) arranged above the outer barrel (1).

8. The water surface garbage collecting robot according to claim 7, wherein The sail assembly (8) comprises: A support connected with the outer barrel body outer edge (1012) of the outer barrel (1); An installation shaft (805) has one end connected with the bracket; A sail frame and a bearing (804), the sail frame is rotatably sleeved on the other end of the installation shaft (805) through the bearing (804); A locking nut (806) is installed on the installation shaft (805) for locking the bearing (804) and the sail frame; The sail frame comprises: An outer fixing ring (802) is provided with a plurality of installation holes (8021); An inner fixing ring (803) is arranged in the outer fixing ring (802), and the inner fixing ring (803) is provided with a plurality of installation grooves (8031); A plurality of sails (801) comprise a sheet-shaped main body (8012) and an installation handle (8011), the installation handle (8011) is inserted into the installation groove (8031) through the installation hole (8021); a plurality of sails (801), a plurality of installation grooves (8031) and a plurality of installation holes (8021) are arranged one by one; The bracket comprises a plurality of installation rods (808) and a multi-way pipe (807), the multi-way pipe (807) has a main pipe and a plurality of branch pipes; The outer barrel (1) has a plurality of outer barrel body outer edges (1012), a plurality of outer barrel body outer edges (1012), a plurality of branch pipes and a plurality of installation rods (808) are arranged one by one; one end of the installation shaft (805) is connected with the main pipe; one end of the installation rod (808) is connected with the branch pipe, and the other end is connected with the outer barrel body outer edge (1012) of the outer barrel (1) through a fixing nut (809).

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