Powered water surface litter collecting robot

Abstract

The application provides a powered water surface garbage collecting robot, and relates to the technical field of robots.The powered water surface garbage collecting robot comprises an outer barrel, a water pump, a floating barrel, an inner barrel support, an inner barrel, a water blocking piece, a floating raft assembly, a storage battery, an integrated controller, a water level sensor, an ultrasonic sensor, a sail assembly, a power assembly and a laser radar, has a barrel inner water level self-adaptive control function, has a barrel inner water level active adjustment function, and has an active tracking water surface garbage, obstacle avoidance and active movement function, so that the water surface garbage collecting robot provided by the application has an unattended function, can reduce the cost of water surface garbage cleaning, and improves the efficiency and effect of water surface garbage cleaning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and particularly relates to a powered 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 the water surface garbage cleaning equipment needs to be manually operated and guarded, and has problems of high labor cost, low efficiency, and inability of the equipment to automatically identify and collect water surface garbage.

[0003] Therefore, it is necessary to provide a water surface garbage collecting robot with unattended function, capable of automatically identifying and collecting water surface garbage, and having low cost, so as to reduce the cost of water surface garbage cleaning and improve the efficiency and effect of water surface garbage cleaning. SUMMARY

[0004] The purpose of the embodiment of the present application is to provide a powered water surface garbage collecting robot, so as to achieve the purposes of reducing the cost of water surface garbage cleaning and improving the efficiency and effect 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 application provides a powered water surface garbage collecting robot, which comprises an outer barrel, a water inlet gap is arranged at the top of the outer barrel, the outer barrel is provided with an inner partition plate, the inner partition plate divides the containing 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 on the barrel bottom of the outer barrel; a 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 is arranged on the inner partition plate, a barrel bottom of the floating barrel is provided with a let-in through hole; an inner barrel support is arranged on the inner partition plate through the let-in 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, a water outlet gap is arranged at the bottom of the inner barrel support and used for communicating the first water storage space with the second water storage space, and the barrel bottom of the floating barrel is located in the first water storage space; an inner barrel is arranged on the inner barrel support, and a water leakage hole is arranged at the bottom of the inner barrel and used for being communicated with the second water storage space; a 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 is arranged on the outer barrel and has a cavity; a storage battery is arranged in the cavity and electrically connected with the water pump; an integrated controller is arranged in the 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 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; a power assembly is arranged on the outer barrel and below the floating raft assembly, the power assembly is electrically connected with the storage battery, and the power assembly is signal connected with the integrated controller; and a laser radar is arranged on the outer barrel and used for scanning the garbage and obstacles on the water surface, the laser radar is electrically connected with the storage battery, and the laser radar is signal connected with the integrated controller.

[0007] Further, the power assembly comprises: a mounting ring, which is sleeved on the outer barrel and located below the floating raft assembly; a water guide cover, which is arranged on the mounting ring, and a plurality of water inlet through holes are arranged on the outer peripheral surface of one end of the water guide cover close to the outer barrel, and the outer peripheral surface of the other end of the water guide cover away from the outer barrel is used for water guiding; a waterproof motor, which is installed in the water guide cover, and the waterproof motor is signal connected with the integrated controller and electrically connected with the storage battery; a propeller assembly, which is arranged in the water guide cover and connected with the output end of the waterproof motor; and an end cover, which is arranged on the end of the water guide cover away from the outer barrel, and a plurality of water outlet through holes are arranged on the end cover; a group of cooperatively installed water guide covers, waterproof motors, propeller assemblies and end covers form a group of power units, and a plurality of groups of power units are uniformly arranged on the mounting ring.

[0008] 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, the upper surface of the 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; and a whole counterweight, at least one whole counterweight is arranged in the cavity.

[0009] Further, the outer barrel comprises: an outer barrel body, the outer barrel body has an inner partition plate, 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; and an outer barrel bottom cover, the outer barrel bottom cover is threadedly connected with the outer barrel body, and the outer barrel bottom cover has 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, 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 gyroscope module, a power control module, a positioning and communication module, and a water level control module.

[0012] Further, the outer barrel has a plurality of outer barrel body outer edges, and each outer barrel body outer edge is provided with a first bolt hole; the floating raft assembly comprises a plurality of floating raft body units: one floating raft assembly unit is arranged on each outer barrel body outer edge; each floating raft body unit comprises: a floating raft body, one end of the floating raft body has a circular arc-shaped end face used for abutting with the outer barrel, and the floating raft body is provided with a second bolt hole corresponding to the first bolt hole; the floating raft body has a cavity, and an opening in communication with the cavity is arranged on the upper surface of the floating raft body; a first sealing groove is arranged on the upper surface around the outer periphery of the opening; a plurality of first connecting holes are arranged on the upper surface around the outer periphery of the first sealing groove at intervals; the density of the floating raft body is less than the density of water; a floating raft cover is provided with a second sealing groove corresponding to the first sealing groove, and a plurality of second connecting holes are arranged on the lower surface around the outer periphery of the second sealing groove at intervals; the density of the floating raft cover is less than the density of water; a sealing ring is arranged at the first sealing groove and the second sealing groove; a plurality of first bolt assemblies are arranged one by one corresponding to the plurality of second connecting holes and the plurality of first connecting holes, so as to connect the floating raft body and the floating raft cover together; and a second bolt assembly is arranged on the outer barrel body outer edge through the first bolt hole and the second bolt hole.

[0013] Further, one end of the floating raft body with the circular arc-shaped end face is provided with a first circular arc-shaped hole, and one end of the water blocking piece is provided with a second circular arc-shaped through hole; the floating raft assembly further comprises: a plurality of steel wires, one end of each steel wire is arranged in the second circular arc-shaped through hole of the water blocking piece; the other end of each steel wire is arranged in the first circular arc-shaped hole of the adjacent floating raft body; the water blocking piece is made of flexible material; the other end of the water blocking piece is dynamically overlapped above the floating barrel, the inner barrel and the outer barrel.

[0014] Further, the water surface garbage collecting robot further comprises: a sail assembly, the sail assembly is arranged above the outer barrel.

[0015] 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; a sail frame and a bearing, the sail frame is rotatably sleeved on the other end of the mounting shaft through the bearing; a locking nut, the locking nut is arranged on the mounting shaft and used for locking the bearing and the sail frame; wherein the 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; a plurality of sails, the 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 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 outer edges, the plurality of outer barrel body outer 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; the mounting rod is arranged in an L shape, one end of the mounting rod is connected with the branch pipe, and the other end is connected with the outer barrel body outer edge of the outer barrel through a fixing nut.

[0016] Compared to existing technologies, the powered water surface garbage collection robot provided by this invention has an adaptive water level control function, an active water level adjustment function, and functions for actively tracking surface garbage, avoiding obstacles, and moving actively. This enables the water surface garbage collection robot provided by this application to operate unattended, reducing the cost of surface garbage collection and improving its efficiency and effectiveness. Specifically, by utilizing the buoyancy of the water inside the outer bucket to raise and lower the floating bucket, the coordinated action of the floating bucket and the water-blocking component opens and closes the water inlet, thereby controlling the difference in liquid levels inside and outside the outer bucket and controlling water intake. When water enters, surface garbage also follows the water into the inner bucket, achieving surface garbage collection, thus realizing the adaptive water level control function and the adaptive garbage collection function. A water level sensor can detect the water height inside the inner bucket. When the water level reaches a set height, the integrated controller controls the water pump to start running, discharging water to the outside of the outer bucket, thereby realizing the active water level adjustment function. LiDAR can scan for trash and obstacles on the water surface and send the scanning signals to the integrated controller for analysis and processing. The integrated controller plans the robot's movement path and drive scheme based on the position of the trash and obstacles on the water surface. The integrated controller controls the operation of the power components to drive the water surface trash collection robot to move actively on the water surface. It can achieve functions such as active obstacle avoidance, active tracking of water surface trash, or active planning of paths to dock at designated retrieval locations and wait for retrieval.

[0017] Furthermore, the installation of solar power generation components can generate electricity when there is solar energy and store the electrical energy in the battery, thereby enabling the water surface garbage collection robot provided in this application to have a longer endurance, be more energy-efficient and environmentally friendly, and achieve energy self-sufficiency.

[0018] The ultrasonic sensor can send a fault retrieval signal to a nearby signal monitoring station via the positioning and communication module of the integrated controller when the water level in the tank continuously exceeds the upper limit. Retrieval personnel can then retrieve the waste from the nearest station based on the location of the water surface garbage collection robot.

[0019] The ultrasonic sensor can also send a signal to a nearby signal monitoring station via the integrated controller's positioning and communication module when the garbage pile in the bin exceeds the set upper limit. This allows retrieval personnel to retrieve the garbage from the nearest location based on the position of the water surface garbage collection robot.

[0020] When there is no wind on the water, the surface garbage collection robot moves with the water flow, and the garbage on the water surface also moves with the water flow. The direction of movement of the surface garbage collection robot tends to be consistent with the direction of movement of the garbage on the water surface, which is conducive to the collection of garbage on the water surface by the surface garbage collection robot.

[0021] When there is wind on the water surface, the sail assembly can be arranged to utilize wind energy to realize the adaptive tracking function of the water surface garbage collecting robot on the water surface garbage, and realize 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 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 and the moving direction of the water surface garbage tend to be consistent, and the destination also tends to be consistent, so that the water surface garbage collecting robot can realize the function of adaptive tracking of the water surface garbage, and improve the collection efficiency of the water surface garbage. And because of the arrangement of the sail assembly, the speed of the water surface garbage collecting robot moving and rotating on the water surface is reduced, avoiding the problem that the water surface garbage collecting robot moves too fast and the water surface garbage is collected into the inner barrel and then floats away, thereby being more conducive to the collection of the water surface garbage.

[0022] And if it is a closed water area, the water surface garbage will eventually dock on the shore, and the water surface garbage collecting robot will eventually have the opportunity to dock on the shore, thereby facilitating the collection of the water surface garbage and the salvage of the personnel. BRIEF DESCRIPTION OF DRAWINGS

[0023] 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 like reference numerals refer to like elements or parts throughout. In the drawings:

[0024] Figure 1 A perspective structural schematic view of the powered water surface garbage collecting robot provided by the present application is schematically shown;

[0025] Figure 2 A structural schematic view of part of the structure of the powered water surface garbage collecting robot in Figure 1 is schematically shown, wherein the float cover of the float assembly and the solar power generation assembly are omitted;

[0026] Figure 3 A top view of part of the structure in Figure 1 is schematically shown;

[0027] Figure 4 A bottom view of part of the structure of the powered water surface garbage collecting robot in Figure 1 is schematically shown, wherein the outer barrel sealing bottom of the outer barrel is omitted;

[0028] Figure 5 A structural schematic view of part of the structure of the powered water surface garbage collecting robot in Figure 1 is schematically shown, wherein one water blocking member is omitted;

[0029] Figure 6 A structural schematic view of part of the structure of the powered water surface garbage collecting robot inFigure 1 Figure 1 shows a cross-sectional view of the powered water surface litter collecting robot of Figure 1 in a position where the inner bucket and inner bucket support are omitted;

[0030] Figure 7 Figure 2 shows an enlarged view of A in Figure 1 ; Figure 6

[0031] Figure 8 Figure 3 shows an enlarged view of B in Figure 1 ; Figure 6

[0032] Figure 9 Figure 4 shows an enlarged view of C in Figure 1 ; Figure 6

[0033] Figure 10 Figure 5 shows an enlarged view of D in Figure 1 ; Figure 1 Figure 6 shows a cross-sectional view of the powered water surface litter collecting robot of Figure 1 in another position where the inner bucket and inner bucket support are omitted;

[0034] Figure 11 Figure 7 shows an enlarged view of E in Figure 6; Figure 10

[0035] Figure 12 Figure 8 shows an enlarged view of F in Figure 6; Figure 10

[0036] Figure 13 Figure 9 shows an enlarged view of G in Figure 6; Figure 10

[0037] Figure 14 Figure 10 shows an exploded structural schematic of part of the powered water surface litter collecting robot of Figure 1 ; Figure 1

[0038] Figure 15 Figure 11 shows an exploded structural schematic of the power assembly of the powered water surface litter collecting robot of Figure 1 ; Figure 1

[0039] Figure 16 Figure 12 shows a structural schematic of the float assembly of the powered water surface litter collecting robot of Figure 1 ; Figure 1

[0040] Figure 17 Figure 13 shows an assembly structural schematic of the sail assembly of the powered water surface litter collecting robot of Figure 1 ; Figure 1

[0041] Figure 18 Figure 14 shows an exploded structural schematic of the sail assembly of the powered water surface litter collecting robot of Figure 1. Figure 1 BRIEF DESCRIPTION OF THE DRAWINGS

[0042]

[0043] ​​​​​​​​​​​1, outer barrel; 101, outer barrel body; 1011, inner partition; 1012, outer barrel body rim; 1013, water inlet gap; 1014, first bolt hole; 1015, assembly hole; 102, outer barrel bottom cover; 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, clearance through hole; 402, annular groove; 5, water blocking piece; 501, second circular arc shaped through hole; 6, floating raft assembly; 601, floating raft body; 6012, first circular arc shaped hole; 6011, first sealing groove; 6013, clearance hole; 6014, first connecting hole; 6015, second bolt hole; 602, floating raft cover; 6021, second sealing groove; 6022, second connecting hole; 611, cavity; 603, sealing ring; 604, first bolt assembly; 605, steel wire; 606, second bolt assembly; 7, solar power generation assembly; 8, sail assembly; 801, sail; 8011, mounting handle; 8012, sheet-shaped 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, laser radar; 15, floating barrel counterweight; 16, power assembly; 1601, mounting ring; 1602, water guide cover; 1603, waterproof motor; 1604, propeller assembly; 1605, end cover; 1606, water inlet through hole; 1607, water outlet through hole; 17, water level sensor. DETAILED DESCRIPTION

[0044] 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 understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and so that the scope of the present disclosure can be completely conveyed to those skilled in the art. If not specifically stated, technical means used in the examples are conventional means known to those skilled in the art.

[0045] It should be noted that the technical terms or scientific terms used in the present application should be understood as the general meaning understood by the skilled person in the field to which the present application belongs, unless otherwise specified. In this text, relational terms such as "first" and "second" and the like are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. The terms "connected", "connected" and the like should be interpreted broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through intermediate medium. The terms "include", "contain" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "include" do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0046] As Figures 1 to 18As shown, the powered water surface garbage collecting robot 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 floating raft assembly 6, a storage battery 10, an integrated controller 11, a water level sensor 17, an ultrasonic sensor 13, a sail assembly 8, a solar power generation assembly 7, an overall counterweight 12, a floating barrel counterweight 15, a power assembly 16 and a laser radar 14, 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 divides 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, 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 communicates with the first through hole 111, the other end of the water pump 9 communicates with the second through hole 112, the floating barrel 4 is arranged on the inner partition plate 1011, the bottom of the floating barrel 4 is provided with a let-go through hole 401, the inner barrel support 2 is arranged on the inner partition plate 1011 through the let-go 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, 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, the bottom of the inner barrel 3 is provided with a water leakage hole 301 for communicating 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, 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 floating raft assembly 6 has a cavity 611, the storage battery 10 is arranged in the cavity 611, the storage battery 10 is electrically connected with the water pump 9, the integrated controller 11 is arranged in the cavity 611, the integrated controller 11 is electrically connected with the storage battery 10, the integrated controller 11 is signal connected with the water pump 9, the water level sensor 17 is arranged in the inner barrel 3 and is used for detecting the water level in the inner barrel 3, the water level sensor 17 is electrically connected with the storage battery 10, the water level sensor 17 is signal connected with the integrated controller 11, the power assembly 16 is arranged on the outer barrel 1 and is located below the floating raft assembly 6, the power assembly 16 is electrically connected with the storage battery 10, the power assembly 16 is signal connected with the integrated controller 11, the laser radar 14 is arranged on the outer barrel 1 and is used for scanning the garbage and obstacles on the water surface, the laser radar 14 is electrically connected with the storage battery 10, the laser radar 14 is signal connected with the integrated controller 11.

[0047] 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, active adjustment of the water level in the barrel, active tracking of water surface garbage, obstacle avoidance and active movement, 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 and effect of water surface garbage cleaning. Specifically, the floating barrel is lifted by using the buoyancy of the water in the outer barrel 1, the cooperation of the floating barrel 4 and the water blocking piece 5 realizes the opening and closing of the water inlet gap 1013, and then the difference between the liquid levels inside and outside the outer barrel 1 is controlled, the water inlet is controlled, and when the water inlet, the water surface garbage also enters the inner barrel 3 along 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. The water level sensor 17 can detect the height of the water in the inner barrel, and when the water level reaches the set height, the integrated controller controls the water pump 9 to start running to discharge the water outside the outer barrel 1, thereby realizing the active adjustment function of the water level in the barrel. The laser radar 14 can scan the garbage and obstacles on the water surface, send the scanning signals to the integrated controller 11 for analysis and processing, the integrated controller 11 plans the movement path and driving scheme of the robot according to the positions of the water surface garbage and obstacles, controls the power assembly 16 to run by the integrated controller 11, and pushes the water surface garbage collecting robot to actively move on the water surface, which can realize the functions of active obstacle avoidance, active tracking of water surface garbage or active planning of the path to stop at the designated salvage site to wait for salvage.

[0048] Optionally, when the water level sensor 17 detects that the water level in the barrel continuously exceeds the upper limit, the integrated controller 11 sends a fault salvage signal to the nearby signal monitoring station through the positioning and communication module, and the salvage personnel can salvage nearby according to the position of the water surface garbage collecting robot.

[0049] Optionally, as Figure 1 , Figure 10 , Figure 13 , Figure 14 and Figure 15As shown, the power assembly 16 includes a mounting ring 1601, a water guide 1602, a waterproof motor 1603, a propeller assembly 1604, and an end cap 1605. The mounting ring 1601 is fitted onto the outer barrel 1 and located below the raft assembly 6. The water guide 1602 is mounted on the mounting ring 1601. The outer peripheral surface of the water guide 1602 near the outer barrel 1 has multiple water inlet holes 1606. The outer peripheral surface of the water guide 1602 away from the outer barrel 1 is used for water diversion. The waterproof motor 1603 is installed inside the water guide 1602. The integrated controller 11 is connected to the waterproof motor 1603, which is electrically connected to the battery 10. The propeller assembly 1604 is located inside the water guide cover 1602 and connected to the output end of the waterproof motor 1603. The end cover 1605 is placed on the end of the water guide cover 1602 away from the outer barrel 1, and the end cover 1605 has multiple water outlet holes 1607. A set of water guide cover 1602, waterproof motor 1603, propeller assembly 1604, and end cover 1605 installed together form a power unit. Multiple power units are evenly distributed on the mounting ring 1601. In this way, when it is necessary to control the water surface garbage collection robot to move actively, the integrated controller 11 can control the waterproof motor 1603 to start. The waterproof motor 1603 drives the propeller assembly 1604 to rotate. Water enters the water guide cover 1602 through the water inlet hole 1606 and then flows out through the water outlet holes 1607 on the end cover 1605.

[0050] Optionally, the end cap 1605 is provided with multiple water outlet holes 1607 in a mesh pattern to facilitate smoother water flow. In the illustrated embodiment of this application, three sets of power units are provided, and two sets of power units can be controlled to be turned on while one set remains off, thereby adjusting the movement direction of the water surface garbage collection robot. In an optional embodiment not illustrated in this application, four or more sets of power units can also be provided as needed. The density of the floating bucket 4 is less than that of water; the floating bucket 4 can float up and down according to water level changes under the buoyancy of the water at the bottom of the upper cavity of the outer bucket 1.

[0051] Optionally, such as Figure 15 As shown, the water surface garbage collection robot also includes floating bucket counterweights 15. The bottom upper surface of the floating bucket 4 is provided with an annular groove 402, and multiple floating bucket counterweights 15 are evenly distributed and installed in the annular groove 402. In this way, the overall buoyancy of the floating bucket 4 can be adjusted by the floating bucket counterweights 15.

[0052] Optionally, multiple floating tank counterweights 15 of different weights can be provided, and the type of floating tank counterweight 15 to be installed in the annular groove 402 can be selected according to actual needs. Optionally, floating tank counterweights 15 of the same weight can be provided, and the number of floating tank counterweights 15 to be installed in the annular groove 402 can be selected according to actual needs. Optionally, such as Figure 6 ,Figure 8 , Figure 10 As shown, the annular groove 402 is located on the upper surface of the outer peripheral side of the clearance through hole 401. Optionally, as... Figure 10 As shown, the clearance through hole 401 is a circular opening.

[0053] Optionally, such as Figure 6 and Figure 8 As shown, there is a gap between the upper surface of the bottom of the floating bucket 4 and the inner bucket support 2. This gap is used to accommodate the bottom of the floating bucket 4 to float up and down.

[0054] Optionally, such as Figure 6 , Figure 8 and Figure 14 As shown, the inner barrel support 2 includes a first cylindrical section, a first annular plate section, a second cylindrical section, and a second annular plate section connected in sequence. The diameter of the first cylindrical section is larger than the diameter of the second cylindrical section. The outer periphery of the first annular plate section is connected to the lower end of the outer peripheral wall of the first cylindrical section, and the inner periphery of the first annular plate section is connected to the upper end of the inner peripheral wall of the second cylindrical section. The inner periphery of the second annular plate section is connected to the lower end of the inner peripheral wall of the second cylindrical section. The bottom of the floating barrel 4 is located between the outer peripheral wall of the second cylindrical section and the inner peripheral wall of the outer barrel 1. The height of the second cylindrical section is greater than the thickness of the bottom of the floating barrel. The diameter of the outer periphery of the second annular plate section is smaller than the diameter of the clearance through hole. The water outlet 201 extends from the outer edge of the second annular plate section to the second cylindrical section, and the height of the water outlet 201 is lower than that of the first annular plate section. Multiple water outlets 201 are evenly distributed on the inner barrel support 2. The inner diameter of the first cylindrical section matches the size and shape of the outer diameter of the inner barrel 3, and is used to install the inner barrel 3. The bottom of the inner barrel 3 abuts against the first annular plate section. The inner diameter of the second cylindrical section forms a second water storage space. The second annular plate section is used to be placed on the inner partition 1011, so that the contact area is larger and the placement is more stable.

[0055] Optionally, such as Figure 2 As shown, the surface debris collection robot also includes an integral counterweight 12, at least one integral counterweight 12 being disposed within the cavity 611. The integral counterweight 12 is used to adjust the overall buoyancy and balance of the surface debris collection robot.

[0056] Optionally, such as Figure 3As shown in the figure, the whole weight 12 is multiple, the floating raft assembly 6 has multiple floating raft units, each floating raft unit has a cavity 611, and one whole weight 12 can be arranged in each cavity 611. Alternatively, multiple whole weights 12 can also be arranged in each cavity 611; according to the position and number of the cavities 611, the whole weight 12 can be arranged in part of the cavities 611. Alternatively, the weight of the whole weight 12 can be adjusted according to actual needs. Alternatively, the whole weight 12 is a whole weight block, and the floating bucket weight 15 is a floating bucket weight block.

[0057] Alternatively, as shown in Figure 1 、 Figure 2 and Figure 6 , the outer barrel 1 includes an outer barrel body 101 and an outer barrel bottom 102, the outer barrel body 101 has an inner partition plate 1011, and the outer barrel body 101 is uniformly provided with multiple outer barrel body outer edges 1012, and the water inlet gap 1013 is formed between the adjacent two outer barrel body outer edges 1012, the outer barrel body outer edge 1012 is higher than the water inlet gap 1013, and the outer barrel bottom 102 is threadedly connected with the outer barrel body 101, and the outer barrel bottom 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.

[0058] Specifically, as shown in Figure 4 , the water pump 9 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.

[0059] Alternatively, as shown in Figure 1 、 Figure 5 、 Figure 12 and Figure 14 , the water surface garbage collecting robot further comprises a solar power generation assembly 7, 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 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.

[0060] Alternatively, the number of the storage battery 10 can be one or more. Alternatively, when the number of the storage battery is multiple, as shown in Figure 3 , one storage battery 10 can be arranged in each cavity 611 of the floating raft assembly 6. Alternatively, the number of the solar power generation assembly 7 can be one or more. Alternatively, as shown in Figure 1As shown, when the number of solar power generation assemblies 7 is multiple, one-to-one correspondence with multiple batteries 10 can be set, each solar power generation assembly 7 charges the corresponding battery 10, or multiple solar power generation assemblies 7 charge one battery 10. Optionally, the solar power generation assembly 7 is a waterproof solar power generation assembly. Optionally, the solar power generation assembly 7 is a whole rectangular plate.

[0061] Optionally, 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.

[0062] Optionally, the integrated controller 11 is provided with a positioning and communication 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 fault 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 height of the garbage accumulation 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.

[0063] Optionally, the integrated controller 11 is further provided with a gyroscope module for detecting the motion posture and other parameters of the robot itself, and the motion path and driving scheme of the robot can be planned according to the motion posture and other parameters of the robot itself.

[0064] Optionally, the integrated controller 11 is further provided with a power control module for controlling the waterproof motor 1603 of the power assembly 16 of the robot to operate, the waterproof motor 1603 drives the propeller assembly 1604 to operate, and the robot itself is pushed to move actively on the water surface, which can realize active obstacle avoidance, active tracking of water surface garbage movement or active path planning to stop at a designated salvage site to wait for salvage.

[0065] Optionally, the integrated controller 11 is further provided with a water level control module, when the water level sensor or the ultrasonic sensor detects that the water level exceeds the set height, the water level control module of the integrated controller 11 controls the water pump 9 to open, and the water in the outer barrel 1 is discharged to the outside of the outer barrel; when the water level sensor or the ultrasonic sensor detects that the water level is lower than the set height, the water level control module of the integrated controller 11 controls the water pump 9 to close.

[0066] Optionally, as Figure 1 ,Figure 2 、 Figure 10 、 Figure 12 and Figure 16 As shown in FIGS. 1-4, the outer barrel 1 has a plurality of outer barrel body peripheries 1012, and each outer barrel body periphery 1012 is provided with a first bolt hole 1014. The floater assembly 6 includes a plurality of floater body units, and each outer barrel body periphery 1012 is provided with one floater body unit. Each floater body unit includes: a floater body 601, one end of the floater body 601 has a circular arc-shaped end face for abutting the outer barrel 1, and the floater body 601 is provided with a second bolt hole 6015 corresponding to the first bolt hole 1014; the floater body 601 has a cavity 611, and the upper surface of the floater body 601 is provided with an opening communicating with the cavity 611; the first sealing groove 6011 is arranged on the upper surface around the outer periphery of the opening; a plurality of first connecting holes 6014 are arranged on the upper surface around the outer periphery of the first sealing groove 6011; the density of the floater body 601 is less than the density of water; a floater cover 602, the floater cover 602 is provided with a second sealing groove 6021 corresponding to the first sealing groove 6011, and a plurality of second connecting holes 6022 are arranged on the lower surface around the outer periphery of the second sealing groove 6021; the density of the floater cover 602 is less than the density of water; a sealing ring 603 is installed at the first sealing groove 6011 and the second sealing groove 6021; a plurality of first bolt assemblies 604 are provided one by one corresponding to the plurality of second connecting holes 6022 and the plurality of first connecting holes 6014, so as to connect the floater body 601 and the floater cover 602 together, and the sealing ring 603 is used for sealing therebetween; a second bolt assembly 606 is used to set the floater body 601 on the outer barrel body periphery 1012 through the first bolt hole 1014 and the second bolt hole 6015. In this way, by setting the floater assembly 6, the water surface garbage collecting robot is prevented from sinking to the bottom, so that the water surface garbage collecting robot can float on the water surface to collect the water surface garbage.

[0067] The cavity 611 is arranged on the floater assembly 6, which can increase the buoyancy of the floater assembly 6, and facilitate the installation of the battery 10, the integrated controller 11, and the overall counterweight 12. The battery 10, the integrated controller 11, and the overall counterweight 12 are arranged in the cavity 611, and due to the arrangement of the sealing ring 603 and the floating of the floater assembly 6 on the water surface, the battery 10, the integrated controller 11, and the overall counterweight 12 cannot be damaged by water.

[0068] Optionally, as Figures 5 to 7As shown, the floating raft 601 has a first arc-shaped hole 6012 at one end with an arc-shaped end face, and a second arc-shaped through hole 501 at one end of the water-blocking component 5. The water surface garbage collection robot also includes multiple steel wires 605, with a steel wire 605 threaded through the second arc-shaped through hole 501 of each water-blocking component 5. The two ends of each steel wire 605 are respectively installed in the two first arc-shaped holes 6012 of two adjacent floating rafts 601. The water-blocking component 5 is made of flexible material. The other end of the water-blocking component 5 dynamically overlaps the top of the floating bucket 4, the inner bucket 3, and the outer bucket 1. In this way, the water-blocking component 5 is limited and installed using steel wires 605, which is simple in structure, easy to install, and has a reliable connection. The flexible water-blocking component 5 can rise and fall under the action of the floating bucket 4. When the water-blocking component 5 rises to a position above the outside water surface under the push of the rising action of the floating bucket 4, the water inlet 1013 is closed, and water and garbage no longer enter the inner bucket 3. When the floating bucket 4 descends to a point where the upper edge of the water-blocking component 5 is lower than the external water surface, the water inlet 1013 opens, allowing external water and garbage to enter the inner bucket 3. This enables adaptive control of the opening and closing of the water inlet 1013 based on changes in the water level inside the outer bucket, thus achieving adaptive water level control and adaptive garbage collection.

[0069] In the illustrated embodiment, the raft assembly 6 includes three raft body units and three steel wires 605. In alternative embodiments not illustrated in this application, the number of raft body units and steel wires 605 can be changed according to actual needs.

[0070] When there is no wind on the water, both the water surface garbage collection robot and the garbage on the water surface move with the water flow, and the docking positions of the water surface garbage collection robot and the garbage on the water surface tend to be consistent, which makes it easier for the water surface garbage collection robot to collect the garbage on the water surface.

[0071] Optionally, such as Figure 1 , Figure 6 , Figure 9 , Figure 10 , Figure 11 , Figure 14 , Figure 17 and Figure 18As shown, the water surface garbage collecting robot also comprises a sail assembly 8 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 will also move with the wind, so that the moving direction of the water surface garbage collecting robot is consistent with the moving direction of the water surface garbage, and the destination also tends to be consistent, realizing the function of self-adaptive tracking of 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 movement and rotation of the water surface garbage collecting robot, avoiding the problem that the water surface garbage collecting robot moves too fast and the water surface garbage is carried away before being collected into the inner barrel, thereby being more conducive to the collection of the water surface garbage. At the same time, if it is a closed water area, the water surface garbage collecting robot will eventually have the opportunity to approach the shore and stop, facilitating the salvage of salvage personnel.

[0072] Optionally, as shown in Figure 1 、 Figure 6 、 Figure 9 、 Figure 17 and Figure 18 , the sail assembly 8 comprises: a support connected with the outer barrel body outer edge 1012 of the outer barrel 1; a mounting shaft 805, one end of the mounting shaft 805 being connected with the support; 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; a locking nut 806 mounted on the mounting shaft 805 for locking the bearing 804 and the sail frame; wherein the sail frame comprises: an outer fixed ring 802, a plurality of mounting holes 8021 being arranged on the outer fixed ring 802; an inner fixed ring 803 arranged in the outer fixed ring 802, a plurality of mounting grooves 8031 being arranged on the inner fixed ring 803; a plurality of sails 801, the sail 801 comprising 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 being arranged one by one; the support comprising 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 having 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 being connected with the main pipe; the mounting rod 808 being arranged in an L shape, one end of the mounting rod 808 being connected with the branch pipe and the other end being connected with the outer barrel body outer edge 1012 of the outer barrel 1 through a fixing nut 809. The sail assembly 8 provided in the present application can realize the function of self-adaptive tracking of the water surface garbage by the robot.

[0073] Optionally, as shown in Figure 12As shown, the floating raft body 601 is provided with a clearance hole 6013 for mounting the fixing nuts 809; the outer edge 1012 of the outer barrel body is provided with an assembly hole 1015, the assembly hole 1015 is used for mounting the sail assembly 8, the mounting rod 808 of the sail assembly 8 penetrates into the clearance hole 6013 through the assembly hole 1015, and two fixing nuts 809 are sleeved on the mounting rod 808 and are located on the upper and lower sides of the outer edge 1012 of the outer barrel body respectively.

[0074] Optionally, the bearing 804 is an oil-free bearing. Optionally, the water blocking piece 5 is a flexible plate.

[0075] The water surface garbage collecting robot provided by the application has the functions of water level self-adaptive control, unattended service, solar power supply, self-adaptive garbage chasing, active tracking of water surface garbage, obstacle avoidance and active movement, has high energy utilization efficiency, lower cost, higher cleaning efficiency and better water surface garbage collecting effect.

[0076] The preferred embodiment of the present application provides a powered solar-powered water surface garbage collecting robot, comprising an outer barrel 1, an inner barrel support 2, an inner barrel 3, a floating barrel 4, a water blocking piece 5, a floating raft assembly 6, a solar power generation assembly 7, a sail assembly 8, a water pump 9, a battery 10, an integrated controller 11, an overall counterweight 12, an ultrasonic sensor 13, a laser radar 14, a floating barrel counterweight 15, a power assembly 16 and a water level sensor 17. It has the functions of adaptive garbage chasing, solar power supply, water level self-adaptive control and unattended operation, thereby making the garbage collecting efficiency of the water surface garbage collecting robot high, the energy utilization efficiency high, not needing manual operation and attendance, and the cost low. The floating barrel 4 is lifted by using the buoyancy of the water in the outer barrel 1, the floating barrel 4 cooperates with the water blocking piece 5, thereby realizing the opening and closing (i.e. lifting) of the water blocking piece 5, i.e. realizing the opening and closing of the water inlet gap 1013, thereby controlling the difference between the liquid levels inside and outside the outer barrel 1, controlling the water inlet, when the water inlet, the water surface garbage also follows the water inlet into the inner barrel 3, realizing the collection of the water surface garbage. The sail assembly 8 realizes the function of adaptive garbage chasing under the action of wind force. The solar power generation assembly 7 provided on the floating raft assembly 6 is a waterproof solar power generation panel assembly, which can generate electricity when there is solar energy and store the electrical energy in the battery 10. The battery 10 supplies power to the water pump 9, the power assembly 16, the ultrasonic sensor 13, the laser radar 14, the integrated controller 11 and the water level sensor 17, 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 height of the garbage in the inner barrel, when the garbage reaches the set height, the integrated controller sends an alarm and salvage signal, the signal is captured by the nearby signal monitoring station, and manual salvage is performed. 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, the integrated controller 11 sends a water pump opening signal, and the water pump 9 is controlled by the water level control module of the integrated controller 11 to operate, and the water in the outer barrel body 101 is pumped to the outside. The water level sensor 17 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, the integrated controller 11 collects the upper limit water level signal sent by the water level sensor 17, and the water pump 9 is controlled by the water level control module of the integrated controller 11 to operate, and the water in the outer barrel body 101 is pumped 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 it is water or solid garbage, or identify whether it is water or solid garbage through the cooperation of the ultrasonic sensor 13 and the water level sensor 17. The laser radar 14 can detect the water surface garbage and obstacles, and the integrated controller 11 processes the detection, the integrated controller controls the power assembly to move, and realizes the functions of active obstacle avoidance and active garbage chasing.The integrated controller 11 can determine whether the scanned object is water surface garbage or an obstacle according to the size and height of the scanned object when processing the scanning signal of the laser radar 14, so as to control the water surface garbage collecting robot to collect garbage or avoid obstacles. The advantages of the present application include: the solar power generation component 7 is used to generate electricity, and the generated electricity is stored in the storage battery 10, so that the robot can be self-sufficient in energy and has long endurance; the sail component 8 is used to realize the adaptive tracking function of the robot to the water surface garbage by using wind energy, so that the water surface garbage can be efficiently collected; the floating barrel 4 and the water blocking component 5 are used in cooperation, the floating barrel 4 is lifted by the buoyancy of the water in the outer barrel 1, the cooperation of the floating barrel 4 and the water blocking component 5 is realized, and the water blocking component 5 is automatically opened and closed (i.e. lifted), so that the difference between the liquid levels inside and outside the outer barrel is controlled, the water inlet is controlled, and the water surface garbage also enters the inner barrel when the water enters, so that the water surface garbage is collected, the water level in the barrel is adaptively controlled, and the garbage is adaptively collected; the ultrasonic sensor 13 is used to detect the position of the garbage in the inner barrel 3, and when the garbage reaches a set height, the integrated controller 11 sends a fishing signal, a nearby signal monitoring station captures the signal, and manual fishing is performed; the laser radar 14 is used to detect the water surface garbage and obstacles, and the integrated controller 11 analyzes and processes the detection result, and controls the power component 16 to move to actively avoid obstacles and actively chase the water surface garbage.

[0077] In Figures 1 to 18In the specific embodiment shown, a powered solar-powered water surface garbage collection robot is provided, which is composed of an outer barrel 1, an inner barrel support 2, an inner barrel 3, a floating barrel 4, a water blocking part 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 laser radar 14, a floating barrel counterweight 15, a power assembly 16, and a water level sensor 17. The outer barrel 1 is in the shape of a hollow cylinder with an open upper end, 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 an upper or lower bottom, 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 upper and lower ends of the outer barrel body 101 are open. 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 a hollow cylinder with an open upper end, and is provided with a sealing pipe thread on the inner surface of the upper part. The outer barrel inner partition plate 1011 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 inlet of the water pump 9 is connected with the first through hole 111, and the outlet is connected with the second through hole 112. The water pump 9 is a waterproof pump. The upper end of the outer barrel body 101 is provided with a plurality of evenly distributed horizontal outer barrel body outer edges 1012, and the outer edges are provided with a plurality of through holes for installation. The outer barrel body 101 is provided with an outer barrel body water inlet gap 1013 between two adjacent horizontal outer barrel body outer edges 1012. The outer barrel body water inlet gap 1013 is lower than the horizontal outer barrel body outer edge 1012, and is used for the inlet of water and water surface garbage. The inner barrel support 2 is installed inside the outer barrel body 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 cylindrical 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 cylindrical barrel with an open bottom. The shape and size of the inner barrel support 2 match those 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 (i.e., a first water storage space) between the outer surface of the inner barrel support 2 and the inner wall of the outer barrel body 101. 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 cylindrical barrel with an open top, and is also provided with a displacement through hole 401 at the bottom. The displacement through hole 401 is a circular opening. The size of the circular opening is smaller than that 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 15 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 on the outer edge 1012 of the outer barrel body by a bolt-nut pair (i.e., the second bolt assembly 606), and the floating raft assembly is composed of a plurality of floating raft bodies 601, a plurality of floating raft covers 602, a plurality of floating raft sealing rings 603, a plurality of first bolt assemblies 604, a plurality of steel wires 605, and a plurality of second bolt assemblies 606. The floating raft body 601 is in the shape of a hollow cuboid with an open upper surface, and one end face is in the shape of a circular arc. The circular arc-shaped end face is attached to the outer barrel body 101, and the shape and size of the attached surface are matched with the outer barrel body 101. The floating raft body 601 is provided with a floating raft body horizontal outer edge around the open upper surface, and the upper surface of the floating raft body horizontal outer edge is provided with a first sealing groove 6011. The sealing ring 603 is installed in the first sealing groove 6011. The upper surface of the floating raft body horizontal outer edge outside the first sealing groove 6011 is provided with a first connecting hole 6014 for installing the first bolt assembly 604. The shape and size of the first sealing groove 6011 and the sealing ring 603 are matched. The upper surface of one end of the floating raft body 601 close to the circular arc-shaped end face is provided with a plurality of second bolt holes 6015 for installing the second bolt assembly 606, and the floating raft body 601 is installed on the outer edge 1012 of the outer barrel body by the second bolt assembly 606. The upper surface of one end of the floating raft body 601 close to the circular arc-shaped end face is provided with a clearance hole 6013 for installing the sail assembly 8. The floating raft cover 602 is installed above the floating raft body 601 by the first bolt assembly 604, and the shape and size of the floating raft cover 602 are matched with those of the floating raft body 601. The lower surface of the floating raft cover 602 is provided with a second sealing groove 6021 at the matched installation position of the sealing ring 603, and the shape and size of the second sealing groove 6021 are matched with those of the sealing ring 603. One set of matched floating raft body 601, floating raft cover 602, sealing ring 603, and first bolt assembly 604 form a floating raft body unit. A plurality of floating raft body units are uniformly arranged on the uniformly arranged outer edge 1012 of the outer barrel body by the bolt-nut pair, i.e., the second bolt assembly 606. The floating raft body 601 close to the circular arc-shaped end face is provided with a first circular arc-shaped hole 6012 coaxial with the circular arc-shaped end face. The circular arc-shaped steel wire 605 is installed in the first circular arc-shaped hole 6012, and one end of the circular arc-shaped steel wire 605 is installed in the first circular arc-shaped hole 6012 on the side face of the adjacent floating raft body 601. The water blocking piece 5 is installed on each arc-shaped steel wire 605 and is flexibly 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 by the fixed nut 809.The wind sail assembly 8 is composed of a wind sail 801, an outer fixing ring 802, an inner fixing ring 803, an oil-free bearing 804, a wind sail mounting shaft 805, a locking nut 806, a multi-way pipe 807, a wind sail assembly mounting rod 808, and a wind sail assembly fixing nut 809. The main body of the wind sail 801 is in the shape of a sheet, and one end is provided with a wind sail mounting handle 8011. The outer fixing ring 802 is in the shape of a whole ring, and a plurality of wind sail mounting holes 8021 are uniformly distributed on the outer fixing ring 802 in the radial direction. The shape and size of the wind sail mounting hole 8021 are matched with the wind sail mounting handle 8011. The inner fixing ring 803 is in the shape of a hollow cylinder with no bottom, and a plurality of wind sail mounting grooves 8031 are uniformly distributed on the outer wall of the inner fixing ring 803. The shape and size of the plurality of wind sail mounting grooves 8031 are matched with the wind sail mounting handle 8011. A plurality of wind sails 801 are sequentially mounted with the outer fixing ring 802 and the inner fixing ring 803 through the wind sail mounting handle 8011. The mounting handle 8011 is sequentially fixed and mounted through the wind sail mounting hole 8021 on the outer fixing ring 802 and the wind sail mounting groove 8031 on the inner fixing ring 803, and an interference fit is adopted. The plurality of wind sails 801, the outer fixing ring 802, and the inner fixing ring 803 form a wind sail frame. The wind sail frame is mounted with the wind sail mounting shaft 805 through the oil-free bearing 804. The wind sail mounting shaft 805 is in the shape of a whole cylinder 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 wind sail mounting shaft 805, and the oil-free bearing 804 is externally sleeved with the inner fixing ring 803. The oil-free bearing 804 and the wind sail frame are axially fixed through 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, which is perpendicular to the axis of the main pipe. The main pipe is fixedly mounted with the wind sail mounting shaft 805, each branch pipe is fixedly mounted with the wind sail assembly mounting rod 808, the wind sail assembly mounting rod 808 is in the shape of L, 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 provided with external threads, and the wind sail assembly fixing nut 809 is mounted on the head of the short rod section of the wind sail assembly mounting rod 808. The wind sail assembly 8 is mounted on the outer edge 1012 of the outer barrel through the fixing nut 809. The hollow inner cavity (i.e., the cavity 611) of the floating raft body 601 is provided with a storage battery 10, an integrated controller 11, and a whole counterweight 12. The number of integrated controllers is one. The number of storage batteries 10 and whole counterweights 12 is one or more. The whole counterweight 12 is used to adjust the overall buoyancy and balance of the solar power water surface garbage collecting robot. The floating raft assembly 6 is provided with a solar power generation assembly 7, and one solar power generation assembly 7 can be mounted on each floating raft cover 602. The solar power generation assembly 7 is in the shape of a rectangular plate. The solar power generation assembly 7 is electrically connected with the storage battery 10 to charge the storage battery 10. An ultrasonic sensor 13 and a laser radar 14 are mounted above the outer edge 1012 of the outer barrel, and a water level sensor 17 is arranged on the inner wall of the inner barrel 3.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 probe direction of the laser radar 14 is directed to the horizontal direction outside the barrel, which is used to detect the direction and position of the floating objects and obstacles on the water surface. The laser radar 14 can be provided as one or more. The ultrasonic sensor 13 is electrically connected with the battery 10 and is powered by the battery 10. The laser radar 14 is electrically connected with the battery 10 and is powered by the battery 10. The water level sensor 17 is electrically connected with the battery 10 and is powered by the battery 10. The integrated controller 11 is electrically connected with the battery 10 and is powered by the battery 10. The ultrasonic sensor 13 is signal connected with the integrated controller 11, and the operation of the ultrasonic sensor 13 is controlled by the integrated controller 11 and the collected signals of the ultrasonic sensor 13 are processed by the integrated controller 11. The laser radar 14 is signal connected with the integrated controller 11, and the operation of the laser radar 14 is controlled by the integrated controller 11 and the collected signals of the laser radar 14 are processed by the integrated controller 11. The water level sensor 17 is signal connected with the integrated controller 11, and the operation of the water level sensor 17 is controlled by the integrated controller 11 and the collected signals of the water level sensor 17 are processed by the integrated controller 11. The outer barrel body 101 is provided with a power assembly 16 mounted on the outer wall of the outer barrel body 101. The power assembly 16 is composed of a power assembly mounting ring 1601, a plurality of water guide covers 1602, a plurality of waterproof motors 1603, a plurality of propeller assemblies 1604, and a plurality of water guide cover end covers 1605. The power assembly mounting ring 1601 is in the form of a closed ring, and the mounting ring 1601 is sleeved on the outer wall of the outer barrel body 101. The water guide cover 1602 is in the form of a hollow cylinder without a bottom, one end of the outer surface of which is provided with a water inlet hole for water inlet, and the other end of the outer surface is not provided with a water inlet hole for water guide. The end of the water guide cover 1602 provided with the water inlet hole is fixedly connected with the outer side wall of the power assembly mounting ring 1601. The waterproof motor 1603 and the propeller assembly 1604 are fixedly installed in the water guide cover 1602. The output shaft of the waterproof motor 1603 and the power input end of the propeller assembly 1604 are fixedly connected. The waterproof motor 1603 is close to the water inlet hole end of the water guide cover 1602, and the propeller assembly 1604 is close to the water guide cover 1602 without the water inlet hole. The outer surface of the water guide cover 1602 without the water inlet hole is provided with threads for mounting the water guide cover end cover 1605. The water guide cover end cover 1605 is in the form of a hollow cylinder with one end open, and the bottom is provided with a mesh water outlet. The inner side surface of the water guide cover end cover 1605 is provided with internal threads for cooperation and mounting with the threaded end of the water guide cover 1602. One set of cooperatively mounted water guide cover 1602, waterproof motor 1603, propeller assembly 1604, and water guide cover end cover 1605 constitute a power assembly unit. A plurality of power assembly units are evenly distributed and mounted on the outer side wall of the power assembly mounting ring 1601. The waterproof motor 1603 is electrically connected with the battery 10 and is powered by the battery 10. The waterproof motor 1603 is signal connected with the integrated controller 11, and the operation of the waterproof motor 1603 is controlled by the integrated controller 11. The water pump 9 is electrically connected with the battery 10 and is powered by the battery 10.The water pump 9 is signal connected with the integrated controller 11, and the operation of the water pump 9 is controlled by the integrated controller 11. All the electrical components are connected with the battery by waterproof wires, and all the electrical components are connected with the integrated controller 11 by waterproof wires. The parts where the waterproof wires pass through the floating raft body 601 and the outer barrel body 101 are provided with wire holes for passing through the wires. All the wire holes are sealed by waterproof glue after the installation of the wires is completed. The integrated controller 11 is provided with a gyroscope module, a power control module, a positioning and communication module, and a water level control module. Optionally, the battery 10, the integrated controller 11, and the overall counterweight 12 can also be installed in the lower cavity of the outer barrel 1.

[0078] The working and operating principle of the powered water surface garbage collecting robot provided in the specific embodiment is as follows: the floating raft assembly 6 and the outer barrel 1 float on the water surface by the buoyancy, the overall buoyancy and balance of the robot are adjusted by the overall counterweight 12, and the height of the upper edge of the water inlet gap 1013 of the outer barrel 1 is kept equivalent to the height of the external water surface. The ultrasonic sensor 13 is used to detect the water level and the height of the garbage in the inner barrel 3. When the garbage in the inner barrel 3 does not reach the upper limit height, and when the water level in the upper cavity of the outer barrel 1 is low, the position of the floating barrel 4 is low, and the height of the upper edge of the water blocking part 5 is lower than the height of the external water surface, the water surface garbage and water enter the inner barrel 3 from the water inlet gap 1013 of the outer barrel body, so as to realize the collection and cleaning of the water surface garbage.

[0079] The water level self-adaptive control principle in the barrel is as follows: the water entering the inner barrel 3 enters the bottom of the upper cavity of the outer barrel 1 below the inner barrel 3 through the water leakage hole 301 at the bottom of the inner barrel. The water at the bottom of the upper cavity of the outer barrel 1 enters the outer side of the inner barrel support 2 through the water outlet gap 201 uniformly distributed at the bottom of the inner barrel support, that is, enters the space surrounded by the outer wall of the inner barrel support 2 and the inner wall of the outer barrel body 101, so that the water on the inner and outer sides of the inner barrel support 2 is kept in communication. The floating barrel 4 can float up under the buoyancy of the water entering the bottom of the upper cavity of the outer barrel 1, and the floating barrel counterweight 15 is used to adjust the overall buoyancy of the floating barrel 4. When the overall buoyancy of the floating barrel 4 and the floating barrel counterweight 15 is greater than the overall gravity of the floating barrel 4 and the floating barrel counterweight 15, the floating barrel 4 floats up, otherwise it does not float up. The floating height of the floating barrel 4 is positively correlated with the water level at the bottom of the upper cavity of the outer barrel 1. When the floating barrel 4 rises under the action of the buoyancy of the water in the outer barrel, the flexible water blocking part 5 is lifted up, and the flexible water blocking part 5 is driven to rise. When the upper edge of the flexible water blocking part 5 is higher than the external water surface, the water inlet gap is closed, the water inlet and garbage collection are stopped, that is, the self-adaptive control of the flexible water blocking part 5 by the water level of the outer barrel 1 is realized, that is, the self-adaptive control of the opening and closing of the water inlet gap 1013 is realized.

[0080] The principle of active adjustment of the water level in the barrel is as follows: the water level sensor 17 is used to detect the water level in the inner barrel 3. When the water level in the inner barrel 3 reaches the upper limit of the set water level, the integrated controller 11 collects the upper limit water level signal collected by the water level sensor 17, and the water pump 9 is controlled to operate by the water level control module of the integrated controller 11, so as to realize the 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 water level sensor 17 are all powered by the storage battery 10. When the water level sensor 17 detects that the water level in the inner barrel 3 reaches the lower limit of the set water level, the water pump 9 is controlled to stop operating by the integrated controller 11.

[0081] The principle of active adjustment of the water level in the barrel is as follows: the water level sensor 17 is used to detect the water level in the inner barrel 3. When the water level in the inner barrel 3 reaches the upper limit of the set water level, the integrated controller 11 collects the upper limit water level signal collected by the water level sensor 17, and the water pump 9 is controlled to operate by the water level control module of the integrated controller 11, so as to realize the 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 water level sensor 17 are all powered by the storage battery 10. When the water level sensor 17 detects that the water level in the inner barrel 3 reaches the lower limit of the set water level, the water pump 9 is controlled to stop operating by the integrated controller 11.

[0082] The principle of active adjustment of the water level in the barrel is as follows: the water level sensor 17 is used to detect the water level in the inner barrel 3. When the water level in the inner barrel 3 reaches the upper limit of the set water level, the integrated controller 11 collects the upper limit water level signal collected by the water level sensor 17, and the water pump 9 is controlled to operate by the water level control module of the integrated controller 11, so as to realize the 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 water level sensor 17 are all powered by the storage battery 10. When the water level sensor 17 detects that the water level in the inner barrel 3 reaches the lower limit of the set water level, the water pump 9 is controlled to stop operating by the integrated controller 11.

[0083] The principle of active adjustment of the water level in the barrel is as follows: the water level sensor 17 is used to detect the water level in the inner barrel 3. When the water level in the inner barrel 3 reaches the upper limit of the set water level, the integrated controller 11 collects the upper limit water level signal collected by the water level sensor 17, and the water pump 9 is controlled to operate by the water level control module of the integrated controller 11, so as to realize the 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 water level sensor 17 are all powered by the storage battery 10. When the water level sensor 17 detects that the water level in the inner barrel 3 reaches the lower limit of the set water level, the water pump 9 is controlled to stop operating by the integrated controller 11.

[0084] The ultrasonic sensor 13 can identify whether the detected object is water or solid garbage according to whether the detected object fluctuates, by using the program of the integrated controller, or by the cooperation of the ultrasonic sensor 13 and the water level sensor 17.

[0085] The principle of the robot self-adapting tracking of the water surface garbage is as follows: when there is wind on the water surface, the sail 801 rotates under the driving of the wind force, and drives the robot to move along the wind on the water surface, and the water surface garbage also moves under the action of the wind force, the moving direction of the robot and the moving direction of the water surface garbage tend to be consistent, and the destination also tends to be consistent, so that the function of the robot self-adapting tracking of the water surface garbage is realized, and the collection efficiency of the water surface garbage is improved. At the same time, if it is a closed water area, the robot will eventually have the opportunity to approach the shore and stop. When there is no wind on the water surface, the robot also tends to be consistent with the stopping position of the water surface garbage.

[0086] The principle of the robot actively tracking the water surface garbage, obstacle avoidance and active movement is as follows: when it is necessary to actively avoid obstacles, actively track garbage or actively move to the salvage site, the integrated controller 11 controls and starts the laser radar 14, the laser radar 14 scans the garbage and obstacles on the water surface, and sends the scanning signal to the integrated controller 11 for analysis and processing. At the same time, the integrated controller 11 gyroscope module detects the motion posture and other parameters of the robot itself. The integrated controller 11 plans the motion path and driving scheme of the robot according to the position and motion parameters of the garbage and obstacles on the water surface, the position and posture and motion parameters of the robot itself, and controls and starts the waterproof motor 1603 of the power assembly 16 of the robot to run by the power control module of the integrated controller 11, the waterproof motor 1603 drives the propeller assembly 1604 to run, and pushes the robot itself to actively move on the water surface, so that the active obstacle avoidance, active tracking of the water surface garbage movement or active movement according to the planned path to stop at the specified salvage site to wait for salvage can be realized.

[0087] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within 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 powered water surface litter collecting robot, characterized in that The utility model relates to a washing machine, including: An outer barrel (1), the top of outer barrel (1) is equipped with water gap (1013), outer barrel (1) has inner baffle (1011), the containing cavity of outer barrel (1) is divided into upper chamber and lower chamber by inner baffle (1011), be equipped with first through -hole (111) on inner baffle (1011), the bottom of outer barrel (1) is equipped with second through -hole (112); Water pump (9), water pump (9) is arranged in lower chamber, one end of water pump (9) is communicated with first through -hole (111), the other end of water pump (9) is communicated with second through -hole (112); Floating barrel (4), floating barrel (4) is arranged on inner baffle (1011), the bottom of floating barrel (4) is equipped with let -alone through -hole (401); Inner barrel support (2), inner barrel support (2) is arranged on inner baffle (1011) through let -alone through -hole (401), form first water storage space between the outer side of inner barrel support (2) and outer barrel (1), form second water storage space in the inner side of inner barrel support (2), the bottom of inner barrel support (2) is equipped with water gap (201) for the communication of first water storage space and second water storage space, the bottom of floating barrel (4) is located in first water storage space; Inner barrel (3), inner barrel (3) is arranged on inner barrel support (2), the bottom of inner barrel (3) is equipped with water leakage hole (301) for the communication of second water storage space; Water retaining part (5), water retaining part (5) is arranged at water gap (1013), water retaining part (5) extends to the upper of floating barrel (4) and inner barrel (3), water retaining part (5) can be closed or opened water gap (1013) under the action of floating barrel (4); Floating raft assembly (6), floating raft assembly (6) is arranged on outer barrel (1), floating raft assembly (6) has cavity (611); Battery (10), battery (10) is arranged in cavity (611), battery (10) is electrically connected with water pump (9); Integrated controller (11), integrated controller (11) is arranged in cavity (611), integrated controller (11) is electrically connected with battery (10), integrated controller (11) is signal connected with water pump (9); Water level sensor (17), water level sensor (17) is arranged in inner barrel (3), is used for detecting the water level in inner barrel (3), water level sensor (17) is electrically connected with battery (10), water level sensor (17) is signal connected with integrated controller (11); Power assembly (16), power assembly (16) is arranged on outer barrel (1) and is located below floating raft assembly (6), power assembly (16) is electrically connected with battery (10), power assembly (16) is signal connected with integrated controller (11); A laser radar (14) is arranged on the outer barrel (1) and used for scanning water surface garbage and obstacles, the laser radar (14) is electrically connected with the battery (10), and the laser radar (14) is signal connected with the integrated controller (11); The power assembly (16) comprises: A mounting ring (1601) is sleeved on the outer barrel (1) and located below the floating raft assembly (6); A water guide cover (1602) is arranged on the mounting ring (1601), a plurality of water inlet through holes (1606) are arranged on the outer peripheral surface of one end of the water guide cover (1602) close to the outer barrel (1), and the outer peripheral surface of the other end of the water guide cover (1602) away from the outer barrel (1) is used for guiding water flow; A waterproof motor (1603) is installed in the water guide cover (1602), the waterproof motor (1603) is signal connected with the integrated controller (11), and the waterproof motor (1603) is electrically connected with the battery (10); A propeller assembly (1604) is arranged in the water guide cover (1602) and connected with the output end of the waterproof motor (1603); An end cover (1605) is arranged on the end of the water guide cover (1602) away from the outer barrel (1), and a plurality of water outlet through holes (1607) are arranged on the end cover (1605); A set of cooperatively installed water guide cover (1602), waterproof motor (1603), propeller assembly (1604) and end cover (1605) form a power unit, and a plurality of power units are evenly arranged on the mounting ring (1601); The density of the floating barrel (4) is less than the density of water, and the floating barrel (4) can float up and down according to the water level change under the water buoyancy of the bottom of the cavity of the outer barrel (1); The water surface garbage collecting robot further comprises: A floating barrel counterweight (15) is arranged in the annular groove (402) on the bottom upper surface of the floating barrel (4); At least one overall counterweight (12) is arranged in the cavity (611).

2. The powered water surface litter collecting robot according to claim 1, characterized in that, The outer barrel (1) comprises: An outer barrel body (101) has the inner partition plate (1011), a plurality of outer barrel body outer edges (1012) are evenly arranged on the outer barrel body (101), the water inlet gap (1013) is formed between adjacent two outer barrel body outer edges (1012), and the outer barrel body outer edge (1012) is higher than the water inlet gap (1013); An outer barrel bottom sealing cover (102) is threadedly connected with the outer barrel body (101), and the outer barrel bottom sealing cover (102) has the second through hole (112).

3. The powered water surface litter collecting robot according to claim 1, characterized in that, The water surface garbage collecting robot further comprises: A 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 battery (10).

4. The powered water surface litter collecting robot according to claim 1, characterized in that, The water surface garbage collecting robot further comprises: An ultrasonic sensor (13) is arranged above the inner barrel (3) and is used for detecting the water level in the inner barrel (3) or detecting the height of 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 gyroscope module, a power control module, 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 outer barrel (1) has a plurality of outer barrel body outer edges (1012), and each outer barrel body outer edge (1012) is provided with a first bolt hole (1014); the floating raft assembly (6) comprises a plurality of floating raft body units, and each outer barrel body outer edge (1012) is provided with one floating raft body unit; each floating raft body unit comprises: A floating raft body (601) has a circular arc-shaped end face at one end, used for abutting against the outer barrel (1), and the floating raft body (601) is provided with a second bolt hole (6015) corresponding to the first bolt hole (1014); the floating raft body (601) has the cavity (611), and the upper surface of the floating raft body (601) is provided with an opening in communication with the cavity (611); a first sealing groove (6011) is arranged around the outer periphery of the opening; a plurality of first connecting holes (6014) are arranged at intervals around the outer periphery of the first sealing groove (6011); and the density of the floating raft body (601) is less than the density of water; A floating raft cover (602) is provided with a second sealing groove (6021) corresponding to the first sealing groove (6011), and a plurality of second connecting holes (6022) are arranged at intervals around the outer periphery of the lower surface of the second sealing groove (6021); and the density of the floating raft cover (602) is less than the density of water; A sealing ring (603) is mounted at the first sealing groove (6011) and the second sealing groove (6021); A plurality of first bolt assemblies (604) are arranged one by one in correspondence with the plurality of second connecting holes (6022) and the plurality of first connecting holes (6014) to connect the floating raft body (601) and the floating raft cover (602) together; A second bolt assembly (606) is arranged on the outer barrel body outer edge (1012) through the first bolt hole (1014) and the second bolt hole (6015).

6. The water surface garbage collecting robot according to claim 5, wherein One end of the floating raft body (601) with a circular arc-shaped end face is provided with a first circular arc-shaped hole (6012), and one end of the water blocking piece (5) is provided with a second circular arc-shaped through hole (501); The floating raft assembly further comprises: A plurality of steel wires (605) are arranged through the second circular arc-shaped through hole (501) of each water blocking piece (5); both ends of each steel wire (605) are respectively arranged in two first circular arc-shaped holes (6012) of two adjacent floating raft bodies (601); the water blocking piece (5) is made of flexible material; the other end of the water blocking piece (5) is dynamically overlapped above the floating barrel (4), the inner barrel (3) and the outer barrel (1).

7. A water surface litter collecting robot according to any one of claims 1-4, characterized in that The water surface garbage collecting robot further comprises: A sail assembly (8) is 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 an outer barrel body outer edge (1012) of the outer barrel (1); An installation shaft (805) having one end connected with the support; A sail frame rotatably sleeved on the other end of the installation shaft (805) through a bearing (804); A locking nut (806) arranged on the installation shaft (805) for locking the bearing (804) and the sail frame; The sail frame comprises: An outer fixing ring (802) provided with a plurality of installation holes (8021); An inner fixing ring (803) arranged in the outer fixing ring (802) and provided with a plurality of installation grooves (8031); A plurality of sails (801) comprising a sheet-shaped main body (8012) and an installation handle (8011), the installation handle (8011) being inserted into the installation grooves (8031) through the installation holes (8021); the plurality of sails (801), the plurality of installation grooves (8031) and the plurality of installation holes (8021) are arranged one by one in correspondence. The support comprises a plurality of installation rods (808) and a 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 installation rods (808) are arranged one by one in correspondence; one end of the installation shaft (805) is connected with the main pipe; the installation rod (808) is arranged in an L shape, 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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