Unmanned boat docking fixing device, unmanned boat and water cleaning method

Abstract

The present invention belongs to the field of environmental protection and cleaning, and relates to the field of water treatment, and specifically relates to an unmanned boat docking and fixing device, an unmanned boat and a water cleaning method. The unmanned boat docking and fixing device comprises a driven docking unit, a rope portion, a positioning sleeve fixedly connected to the rope portion, a docking rod positioned by the positioning sleeve, and a connecting rope connecting the rope portion and the docking rod, wherein the rope portion guides the docking rod into the positioning sleeve by adjusting the length of the connecting rope and positions the docking rod by tightening the connecting rope; an active docking unit comprises a base frame, a slide slidably connected to the base frame, a clamping portion fixedly connected to the slide, and a switch controlling the opening of the clamping portion; after the switch detects that the slide moves to a set position that can be fixed with the docking rod, the clamping portion controls the docking rod. The docking and fixing of multiple unmanned boats at any time and any position is realized.

Description

Technical Field

[0001] The present invention belongs to the field of environmental protection and cleaning, relates to the field of water treatment, and specifically relates to an unmanned boat docking and fixing device, an unmanned boat and a water cleaning method. Background Art

[0002] As my country's awareness of water resource protection continues to increase, the maintenance and treatment of aquatic ecosystems is facing some technical challenges. Traditional methods such as manual inspections are costly and inefficient, and it is difficult to monitor vast waters in real time. As for emergency water treatment in emergency situations such as algal blooms, manual salvage is currently the main method, which is not only labor-intensive, but also delays response time and causes great damage to water sources and aquatic organisms. Even if large salvage ships are used, their utilization efficiency is not high due to the uncertainty of algal bloom outbreaks and the imbalance in time and space. In addition, large salvage ships are difficult to flexibly go to small waters, resulting in poor water treatment results.

[0003] Therefore, it is necessary to develop a water treatment system with high autonomy, strong collaboration and wide operating range to replace manual maintenance of water ecosystems. The rise of unmanned ship technology, with its autonomous navigation, remote control and intelligent perception capabilities, brings new opportunities for water maintenance. However, the operating capacity of a single unmanned ship is limited and it is difficult to cope with large-scale tasks.

[0004] Although there are docking and fixing schemes between unmanned boats in the prior art, they often require the connection and fixing of the unmanned boats at fixed locations such as docks. However, such schemes have poor flexibility in actual use and operation. For example, when it is necessary to carry out fixed-point treatment of algal blooms in target waters in the water, if there are too many pollutants such as garbage on the water surface, if multiple unmanned boats are fixed at the dock and a dragnet is set between the unmanned boats, when the unmanned boats travel to a specific area, there are already a large number of pollutants between the unmanned boats themselves, and the fixed-point removal effect of algal blooms is not good. In addition, the problem with connecting unmanned boats at fixed locations is that once a problem occurs with a boat, the overall maintenance difficulty is too great. Summary of the invention

[0005] In view of the shortcomings of the prior art described above, an object of the present invention is to provide an unmanned boat docking and fixing device, an unmanned boat and a water cleaning method, so as to realize the docking and fixing of multiple unmanned boats at any time and any position.

[0006] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: In the first aspect of the present invention, an unmanned ship docking and fixing device is provided, comprising: a driven docking unit, comprising a rope portion, a positioning sleeve fixedly connected to the rope portion, a docking rod positioned by the positioning sleeve, and a connecting rope connecting the rope portion and the docking rod, the rope portion guiding the docking rod into the positioning sleeve by adjusting the length of the connecting rope and positioning the docking rod by tightening the connecting rope; an active docking unit, comprising a base frame, a slide slidably connected to the base frame, a clamping portion fixedly connected to the slide, and a switch controlling the clamping portion to open; the switch controls the clamping portion to grab the docking rod after detecting that the slide moves to a set position where it can be fixed to the docking rod.

[0007] As an embodiment of the present invention, the docking rod of the driven docking unit includes a first end piece, a connecting rod in the middle section and a second end piece, wherein the first end piece is arranged at an end of the connecting rod close to the rope portion, and the second end piece is arranged at an end of the connecting rod away from the rope portion, wherein a protrusion is arranged on the connecting rod, and the connecting rod between the protrusion and the second end piece is a grabbing section, and the length of the grabbing section is greater than the dimension of the clamping portion in the direction of the grabbing section, and the protrusion and the second end piece are used to enable the clamping portion to grab the docking rod and move within the grabbing section.

[0008] As an embodiment of the present invention, the positioning sleeve is a trumpet-shaped structure, the opening size of the positioning sleeve at one end close to the rope portion is smaller than the opening size of the positioning sleeve at one end close to the docking rod, and the opening size of the positioning sleeve at one end close to the rope portion is at least partially smaller than the size of the first end piece of the docking rod.

[0009] As an embodiment of the present invention, the connecting rod between the protruding piece and the first end piece is a net-moving section, and the driven docking unit also includes a net bag, one end of the net bag is fixedly set on the protruding piece, and the other end is fixedly set on the positioning sleeve, and a net ring is set on the net bag, and multiple net rings are set on the net-moving section. The size of the net ring is larger than the opening size of the positioning sleeve close to one end of the docking rod, and smaller than the size of the protruding piece.

[0010] As an embodiment of the present invention, the active docking unit also includes a driver, which is used to drive the slide to move axially relative to the base along the docking rod, the slide is fixedly connected to the clamping portion, and the slide is provided with a matching hole for matching with the docking rod, and the matching hole is the set position.

[0011] As an embodiment of the present invention, the clamping portion includes a push rod and a clamping claw that are transmission-connected, the push rod is fixedly arranged on the slide, and can move up and down relative to the slide to drive the clamping claw to grasp or loosen the docking rod; and / or, the switch is a micro switch, the micro switch is fixedly arranged on the slide and has appropriate interference with the matching hole in the axial direction of the docking rod.

[0012] As an embodiment of the present invention, the rope portion adjusts the length of the connecting rope through a PID algorithm, the active docking unit also includes a guide sleeve, the guide sleeve is fixedly arranged on a side of the slide close to the driven docking unit, and the guide sleeve is used to guide the positioning sleeve to move to the set position; and / or, the rope portion includes a rotatably connected rope turntable, a rope pull frame, a rope pull motor and a pulley, the rope pull frame is fixedly connected to the positioning sleeve, and a plurality of turns of connecting rope are wound around the rope pull turntable; the rope pull motor is relatively fixedly arranged on the rope pull frame, and the output end of the rope pull motor is connected to the rope pull turntable; at least one pulley is rotatably fixedly arranged on the rope pull frame, and is arranged between the rope pull turntable and the positioning sleeve to improve the service life.

[0013] The second aspect of the present invention provides an unmanned boat, comprising a hull, and underwater thrusters respectively fixed to the hull, a positioning device, a control system and the unmanned boat docking and fixing device described in the first aspect of the present invention, wherein the control system is connected to the hull, the underwater thruster, the positioning device and the unmanned boat docking and fixing device, and the control system selectively controls the underwater thruster based on the positioning device to drive the hull to move to a docking and fixing position with other unmanned boats.

[0014] As an embodiment of the present invention, it also includes a water sample collection and detection device fixed on the hull, and the water sample collection and detection device is used to measure the water body information in the water tank; and / or, it also includes a spreader, and the spreader includes a feed hopper, a screw conveyor, a turntable with blades and a turntable motor, one end of the screw conveyor is connected to the bottom end of the feed hopper, and the other end is connected to the turntable with blades, and the screw conveyor is used to transport the material to a specific location while crushing the material.

[0015] The third aspect of the present invention provides a water cleaning method, based on the unmanned boat described in the second aspect of the present invention, the method comprising: dispatching multiple unmanned boats based on target water area information; adjusting the positions of each unmanned boat to achieve docking and fixation of the multiple unmanned boats based on the unmanned boat docking and fixing device, the unmanned boat docking and fixing device comprising a net bag provided between the unmanned boats for collecting pollutants; controlling each unmanned boat to sail along a preset route to achieve cleaning of the target water area through the net bag.

[0016] In summary, compared with the prior art, the present invention includes at least one of the following beneficial technical effects:

[0017] Through the solution of the present invention, the connection and release of unmanned boats can be well achieved in the target waters, greatly improving the portability and connection efficiency of the unmanned boat connection. Even if a specific unmanned boat fails, it will not affect the connection and fixation of other unmanned boats, thereby improving the work efficiency of collaborative operations;

[0018] In addition, when the target water area needs to be cleaned, the adjacent unmanned boats can be quickly connected and fixed through the unmanned boat docking and fixing device provided by the present invention, and by setting a net bag that expands and contracts with the length of the connecting rope, the buoyancy of the net bag and the water surface can be utilized to push floating objects on the water surface to a designated collection point for subsequent processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 is a structural stereogram of an unmanned boat provided by a specific embodiment of the present invention;

[0021] Figure 2 is a structural side view of an unmanned boat provided by a specific embodiment of the present invention;

[0022] Figure 3 It is a structural schematic diagram of a driven docking unit provided by a specific embodiment of the present invention;

[0023] Figure 4 is a partial cross-sectional view of a driven docking unit structure provided by a specific embodiment of the present invention;

[0024] Figure 5 It is a structural schematic diagram of an active docking unit provided by a specific embodiment of the present invention;

[0025] Figure 6 is a partial cross-sectional view of an active docking unit structure provided by a specific embodiment of the present invention;

[0026] Figure 7 This is a schematic diagram of a fixing device for docking an unmanned ship provided by a specific embodiment of the present invention;

[0027] Figure 8 is a flow chart of a water cleaning method provided by a specific embodiment of the present invention;

[0028] Fig. 9It is a schematic diagram of a plurality of unmanned boats connected and fixed according to a specific embodiment of the present invention.

[0029] Description of reference numerals:

[0030] 1. Hull;

[0031] 2. Underwater propeller; 21. Positive propeller; 22. Reverse propeller;

[0032] 3. Visual recognition device; 31. Depth camera; 32. Camera bracket;

[0033] 4. Positioning device;

[0034] 5. Water sample collection and detection device; 51. Water sample sensing unit; 52. Water tank; 53. Drum; 54. Water intake hose; 55. Sampling motor; 57. Water pump;

[0035] 6. Spreader; 61. Spreader motor; 62. Screw conveyor; 63. Turntable motor; 64. Turntable with blades; 65. Feeding hopper;

[0036] 7. Driven docking unit; 71. Rope part; 711. Rope pulling motor; 712. Rope pulling turntable; 713. Connecting rope; 714. Rope pulling frame; 715. Pulley; 72. Positioning sleeve; 721. Guide member; 73. Docking rod; 731. Connecting rod; 7311. Protruding member; 7312. Grasping section; 7313. Net moving section; 732. First end member; 733. Second end member; 74. Net bag; 741. Net ring;

[0037] 8. Active docking unit; 81. Sliding part; 811. Base frame; 812. Driver; 813. Slide table; 8131. Matching hole; 82. Clamping part; 821. Push rod; 822. Clamping claw; 8221. Link assembly; 8222. Clamping arm; 83. Switch; 84. Guide sleeve;

[0038] 9. Control system. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative work belong to the scope of protection of the present invention. In addition, it should be understood that the specific implementation methods described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention. In the present invention, unless otherwise specified, the directional words used, such as "up", "down", "left", "right", "front", and "back", generally refer to the up, down, left, and right of the device in actual use or working state, specifically the drawing direction in the accompanying drawings.

[0040] It should be noted that the description order of the following embodiments is not intended to limit the preferred order of the embodiments of the present invention. In addition, in the following embodiments, the description of each embodiment has its own emphasis, and for parts not described in detail in one embodiment, reference can be made to the relevant description of other embodiments.

[0041] like Figure 1-Figure 9 As shown, the present invention first provides an unmanned boat for maintaining aquatic ecosystem. The unmanned boat includes a hull 1, an underwater propeller 2, a visual recognition device 3, a positioning device 4, a water sample collection and detection device 5, a spreader 6 and a control system 9.

[0042] Please read first Figure 1 , Figure 2 The hull 1 is made of multiple steel plates bent and welded, which can make it have good sealing and stability. Storage space is provided on both sides of the hull 1, which can accommodate high-power batteries and control systems 9 to ensure the energy supply and drive control of the unmanned ship when performing tasks. The underwater propeller 2 is installed under the tail of the hull 1, including a positive propeller that pushes the unmanned ship forward and a reverse propeller that pushes the unmanned ship backward. The positive propeller 21 and the reverse propeller 22 are preferably installed symmetrically to achieve flexible steering and stable navigation of the unmanned ship.

[0043] The visual recognition device 3 includes a depth camera 31 and a camera bracket 32. The camera bracket 32 ​​is installed at the front of the hull 1, and the depth camera 31 is installed on the camera bracket 32. The camera bracket 32 ​​can adjust the depression angle and height of the depth camera 31 and fix it to a specific position to help the depth camera 31 better capture images within the visual range. The depth camera 31 is connected to the control system 9 for communication. The depth camera 31 transmits the acquired image to the control system 9 for processing. The control system 9 preferably uses the YOLOv deep learning method to identify the target object and determine the position information of the target object relative to the unmanned ship. The target object can be, for example, an obstacle and a pollutant, or other unmanned ships and other water devices. This provides data support for the unmanned ship to avoid obstacles and collect pollutants.

[0044] The positioning device 4 includes a positioning module and an inertial navigation module, which can identify the specific position of the unmanned ship. The positioning module can be adapted to GPS, or Beidou positioning system, or other positioning systems, and the present invention is not limited to this. The inertial navigation module is preferably an IMU, which is used to measure the three-axis attitude angle (or angular rate) and acceleration of the object. The positioning module and the inertial navigation module are preferably installed in the center of the hull 1 and are connected to the control system 9 for communication control, and are used to provide the control system 9 with the positioning coordinates and attitude information of the unmanned ship in real time, and provide data support for the precise navigation, obstacle avoidance and collaborative operation of the control system 9.

[0045] The water sample collection and detection device 5 includes a water sample sensor unit 51, a water tank 52, a drum 53, a water intake hose 54 and a water pump 57. The water tank 52 is a hollow cavity, and the water sample sensor is at least partially accommodated in the water tank 52, and is used to measure the water body information in the water tank 52. One end of the water intake hose 54 is connected to the cavity of the water tank 52, and the other end is wound around the drum 53. The drum 53 is connected to the sampling motor 55 by transmission and is controlled by the sampling motor 55. The sampling motor 55 is connected to the control system 9 in communication, and is used to release the set length of the water intake hose 54 into the water for sampling under the control of the control system 9. The control system 9 is also electrically connected to the water pump 57, and the water pump 57 is connected to the water intake hose 54, and is used to transfer part of the water in the area where the unmanned boat is located to the water tank 52, or to transfer the water in the water tank 52 to a specific location. The water sample sensing unit 51 includes a dissolved oxygen sensor for measuring the dissolved oxygen content of the water body, a turbidity sensor for measuring the turbidity of the water body, and a temperature sensor for measuring the temperature of the water body.

[0046] When it is necessary to obtain water information in a specific area, the unmanned boat moves to the specific area, and the control system 9 controls the drum 53 to rotate so that the water intake hose 54 takes samples from the water in the specific area. Then, the control system 9 controls the water pump 57 to start, obtains water samples into the water tank 52 through the water intake hose 54, and obtains the dissolved oxygen, turbidity and temperature information of the water samples obtained by the dissolved oxygen sensor, turbidity sensor and temperature sensor. Then, the control system 9 performs local analysis or sends it to the data website for visualization and analysis, thereby obtaining water information in the specific area.

[0047] The material distributor 6 includes a feeding hopper 65, a screw conveyor 62 (auger), a turntable 64 with blades, and a turntable motor 63. One end of the screw conveyor 62 is connected to the bottom end of the feeding hopper 65, and the other end is connected to the turntable 64 with blades. Figure 2In this specific embodiment, the inner end of the screw conveyor 62 is connected to the bottom end of the discharge hopper 65, and the outer end is connected to the turntable 64 with blades. The screw conveyor 62 is driven by a spreading motor 61 that is arranged to be transmitted thereto. The screw conveyor 62 can well realize the transportation of materials to a specific location through the spiral blades. At the same time, due to the presence of the spiral blades, the received materials can be crushed. The advantage of such a setting is that the water surface delivery area can be better increased and the discharge efficiency can be improved. The turntable motor 63 is used to drive the turntable to rotate, and then the materials received by the turntable are scattered to the target position. Preferably, the discharge port of the turntable 64 with blades is arranged obliquely upward relative to the hull 1, so that the materials can fall into the water surface roughly in a parabolic trajectory, reducing the amount of materials scattered on the hull 1.

[0048] Naturally, the control system 9 is connected to the spreader 6 in communication, and can control the opening and closing of the spreader 6. When it is necessary to put cleaning materials into a specific area, the control system 9 controls the cleaning materials to flow out of the discharge hopper 65 carried by the unmanned boat and enter the screw conveyor 62. The screw conveyor 62 crushes the cleaning materials while conveying the materials, and then the rotating disk 64 with blades controlled by the rotating disk motor 63 rotates and sprays them onto the water surface, so as to achieve accurate delivery of cleaning materials.

[0049] Therefore, the unmanned boat provided by the present invention can move to a set position according to a set trajectory to sample and analyze the water quality at the set position, and spread cleaning materials at the set position to achieve cleaning of a specific area.

[0050] However, the inventors further discovered during use that in the process of using unmanned boats, in some special cases, the operating area of ​​a single unmanned boat is limited and cannot solve the problem of water pollution. For example, when emergency situations such as algal blooms need to be dealt with, or when pollutants on the water surface need to be removed, multiple unmanned boats are often required to work together to complete algal blooms or garbage salvage.

[0051] Although there are docking and fixing schemes between unmanned boats in the prior art, they often require the unmanned boats to be connected and fixed at the dock. However, this has poor flexibility in actual use and operation. Take the removal of algal blooms as an example. When it is necessary to carry out fixed-point treatment of algal blooms in target waters in the water, if there are too many pollutants such as garbage on the water surface, if multiple unmanned boats are fixed at the dock and a dragnet is set between the unmanned boats, when the unmanned boats travel to a specific area, there are already a large number of pollutants between the unmanned boats themselves, and the fixed-point removal effect of algal blooms is not good. In addition, the problem with connecting unmanned boats at a fixed position is that once a problem occurs with a boat, the overall maintenance difficulty is too great.

[0052] Therefore, considering the flexibility of the water surface treatment area, a fixing device that can flexibly connect unmanned boats is needed, so that when the unmanned boats travel to a specific area, multiple unmanned boats can be connected to each other to complete the operation in coordination and separate in time. Based on this, the inventor provides an unmanned boat docking fixing device to achieve docking and fixing of multiple unmanned boats at any time and any position.

[0053] The unmanned boat docking and fixing device is further explained below.

[0054] Please continue reading Figure 1-Figure 7 The unmanned ship docking and fixing device comprises an active docking unit 8 and a passive docking unit 7, which are arranged on opposite sides of the hull 1 and are used to respectively connect with the passive docking unit 7 and active docking unit 8 of the adjacent unmanned ship to achieve selective connection and fixing between the unmanned ships. Figure 1 In this specific embodiment, the active docking unit 8 and the passive docking unit 7 are respectively arranged on the left and right sides of the hull 1. Of course, they can also be arranged on the front and rear sides of the hull 1, and the present invention does not limit this.

[0055] Please read first Figure 5 , Figure 6 The active docking unit 8 includes a sliding part 81, a switch 83 and a clamping part 82. The switch 83 and the clamping part 82 are relatively fixed to the sliding part 81. The switch 83 is used to control the opening and closing of the clamping part 82. The sliding part 81 includes a base frame 811, a driver 812 and a slide 813. The base frame 811 is fixedly arranged on the hull 1, and the slide 813 is slidably connected to the base frame 811. The driver 812 is relatively fixed to the base frame 811 and is transmission-connected to the slide 813 to drive the slide 813 to move along the set direction. Figure 1 In this specific implementation, the direction is set to the left and right direction of the unmanned boat. Of course, it can also be other directions without specific limitation.

[0056] It is understood that there are many implementations of the structure of the base frame 811 and the slide 813 in the prior art, and the present invention does not limit this. Figure 1 In this specific embodiment, the base frame 811 and the slide 813 are connected by a ball screw, and the screw is driven by the driver 812 to achieve the relative movement of the slide 813 relative to the base frame 811. In another alternative embodiment, the base frame 811 and the slide 813 are connected by a slide rail, and the slide rail achieves the relative movement of the slide 813 relative to the base frame 811. In another alternative embodiment, the base frame 811 and the slide 813 are connected by hydraulic transmission.

[0057] In a specific embodiment, a matching hole 8131 matching with the driven docking unit 7 is further provided on the slide table 813 of the sliding portion 81 , so as to enable the driven docking unit 7 to enter the matching hole 8131 .

[0058] The clamping part 82 of the active docking unit 8 is fixedly arranged with the slide 813 of the sliding part 81, and the clamping part 82 is preferably arranged along the up and down direction of the unmanned ship. Figure 1 In this specific embodiment, the clamping portion 82 is arranged in the up and down direction of the unmanned boat, and can selectively fit with the side wall of the unmanned boat through a slide 813 of a roughly L-shaped structure. When the slide 813 of the sliding portion 81 moves to the starting position (i.e., the reset state, at which time the Y-direction space occupied by the active docking unit 8 is the smallest), the clamping portion 82 just fits with the side wall of the hull 1 to minimize the space occupied in the left and right directions of the unmanned boat.

[0059] The clamping part 82 includes a push rod 821 and a clamping claw 822. The push rod 821 is used to control the selective retraction and extension of the clamping claw 822 to achieve selective fixation and loosening with the driven docking unit 7. The switch 83 is connected to the push rod 821 for controlling the switch 83 of the push rod 821, thereby completing the docking with the driven docking unit 7. The switch 83 is preferably a micro switch, and the micro switch is set at a set position that can selectively contact the driven docking unit 7. When the driven docking unit 7 reaches the set position, for example, when the driven docking unit 7 partially enters the matching hole 8131, the driven docking unit 7 contacts the micro switch, and the micro switch activates the push rod 821, and then controls the clamping claw 822 to grab the driven docking unit 7 through the push rod 821, thereby completing the fixation of the active docking unit 8 and the driven docking unit 7. The driven docking unit 7 will gradually become clear in the following description, and the details will be described later.

[0060] The clamping jaw 822 is used to selectively grasp the driven docking unit 7. There are many technical solutions for the clamping jaw 822 in the prior art. As long as the driven docking unit 7 can be grasped, the present invention does not impose any limitation on this. Figure 6 In this specific embodiment, a specific clamping portion 82 structure is provided.

[0061] See also Figure 6 The clamping part 82 includes a push rod 821 and a clamping claw 822. The clamping claw 822 includes a connecting rod assembly 8221 and a clamping arm 8222. The push rod 821 is fixedly arranged on the slide 813 of the sliding part 81 and can move up and down along the slide 813. The micro switch is fixedly arranged on the slide 813 and is aligned with the matching hole 8131 in the moving direction of the active docking unit 8 (in Figure 6There is appropriate interference in the aspect of penetrating the paper surface, that is, the axial direction of the docking rod 73 of the driven docking unit 7, so that the micro switch neither affects the matching of the matching hole 8131 and the driven docking unit 7, but can also give the micro switch appropriate force transmission to control the opening and closing of the push rod 821.

[0062] The push rod 821 is connected to the clamping arm 8222 through the connecting rod assembly 8221, and the clamping arm 8222 is arranged in the moving direction of the driven docking unit 7. The connecting rod assembly 8221 includes a horizontal connecting rod fixedly arranged relative to the push rod 821, and oblique connecting rods arranged at both ends of the horizontal connecting rod for respectively connecting the two clamping arms 8222 on the left and right sides. The connecting rod assembly 8221 is configured so that when the push rod 821 moves downward, the connecting rod assembly 8221 drives the clamping arm 8222 to approach the moving direction of the driven docking unit 7, that is, to approach the axial direction of the matching hole 8131, so as to achieve the grasping of the driven docking unit 7. When the push rod 821 moves upward, the connecting rod assembly 8221 drives the clamping arm 8222 to move away from the moving direction of the driven docking unit 7, that is, to move away from the axial direction of the matching hole 8131, so as to achieve the loosening of the driven docking unit 7.

[0063] Thus, when the driven docking unit 7 matches the matching hole 8131 of the sliding part 81, the micro switch receives a signal, detects that the docking rod 73 of the driven docking unit 7 moves to the set position, controls the push rod 821 to start, and then the push rod 821 moves downward, driving the clamping claw 822 to grab the driven docking unit 7 to complete the fixation of the active docking unit 8 and the driven docking unit 7. That is, the clamping part 82 is used to grab the docking rod 73 after the switch 83 detects that the docking rod 73 moves to the set position. When it is necessary to loosen the active docking unit 8 and the driven docking unit 7, the micro switch controls the push rod 821 to move upward, so that the clamping claw 822 can loosen the driven docking unit 7.

[0064] It can be understood that the benefit of setting a micro switch is that it can control the gripping of the clamp 822 as soon as the slave docking unit 7 reaches the target position. Compared with the software algorithm, for example, the control of the clamp 822 to open after the visual camera recognizes whether it has reached the set position, this solution has lower delay, higher accuracy, and is less affected by communication speed, etc. Especially when fixing unmanned boats on the water surface, the slave docking unit 7 can be grasped as soon as the slave docking unit 7 contacts the micro switch, avoiding the connection failure of the two unmanned boats due to untimely grasping caused by problems such as recognition accuracy, thereby improving the connection efficiency.

[0065] It can also be understood that the switch 83 can control the clamping portion 82 to grab the docking rod 73 after detecting that the slide 813 moves to a set position where it can be fixed with the docking rod 73 of the driven docking unit 7. The switch 83 only needs to send a signal to the clamping portion 82 after detecting that the docking rod 73 moves to the set position, thereby causing the clamping portion 82 to grab the docking rod 73. In addition to the micro switch, there can be a variety of ways, and the present invention does not limit this. In an alternative embodiment, the switch 83 is a visual camera, which uses the visual camera to identify whether the docking rod 73 has reached the set position to determine whether the clamping portion 82 grabs the docking rod 73.

[0066] It can also be understood that the switch 83 can at least control the opening of the clamping part 82. That is, the signal transmission of the switch 83 to the clamping part 82 can be unidirectional, that is, the clamping part 82 only determines whether to grasp based on the unidirectional signal of the switch 83, and does not transmit the signal of whether to release from the driven docking unit 7. In this case, the release of the clamping part 82 is directly completed by the control system 9 without passing through the switch 83. Of course, the signal transmission of the switch 83 to the clamping part 82 can also be bidirectional, that is, the clamping part 82 determines the grasping and releasing of the clamping according to the transmission signal of the switch 83. In this case, the control system 9 can complete the grasping and releasing of the clamping part 82 by controlling the switch 83.

[0067] See also Figure 4 , Figure 5 and Figure 7 , the driven docking unit 7 is further described below.

[0068] The passive docking unit 7 includes a rope portion 71, a positioning sleeve 72 and a docking rod 73. The rope portion 71 is relatively fixedly arranged on the hull 1 to provide a connecting rope 713 with a variable length. One end of the docking rod 73 is fixedly connected to the connecting rope 713, and the other end is used to selectively contact the matching hole 8131 of the active docking unit 8. The positioning sleeve 72 is fixedly connected to the rope portion 71 and is arranged at the connection between the rope portion 71 and the docking rod 73. The positioning sleeve 72 is used to fix the position of the docking rod 73 after the connecting rope 713 is tightened.

[0069] The docking rod 73 includes a connecting rod 731 and a first end piece 732 and a second end piece 733 fixedly arranged at both ends of the connecting rod 731, wherein the first end piece 732 is arranged close to the rope portion 71. The structure of the first end piece 732 matches the structure of the positioning sleeve 72, thereby ensuring that the position of the docking rod 73 remains unchanged when the connecting rope 713 is tightened.

[0070] Specifically, see Figure 3 , Figure 4In this embodiment, the positioning sleeve 72 is a trumpet-shaped structure. The opening size of the positioning sleeve 72 at one end close to the rope portion 71 is smaller than the opening size of the positioning sleeve 72 at one end close to the docking rod 73, and the opening size of the positioning sleeve 72 at one end close to the rope portion 71 is at least partially smaller than the size of the first end piece 732 of the docking rod 73, so that the docking rod 73 is partially accommodated in the opening of the positioning sleeve 72 at one end close to the rope portion 71, thereby completing the position limitation of the docking rod 73. The structure of the first end piece 732 of the docking rod 73 near the positioning sleeve 72 matches the positioning sleeve 72. At the same time, a plurality of guide pieces 721 are provided at the opening of the positioning sleeve 72 at one end close to the rope portion 71. The guide pieces 721 are used to guide the position of the docking rod 73 when the rope is tightened, thereby achieving the unchanged position of the docking rod 73 when the connecting rope 713 is tightened.

[0071] Preferably, in some specific scenarios, the caliber size formed by the guide member 721 is smaller than the size of the net ring 741 on the net bag 74 to limit the movement of the net ring 741, which will be described in detail later.

[0072] Of course, in another replaceable embodiment, in order to ensure that the position of the docking rod 73 remains unchanged when the connecting rope 713 is tightened, a magnetic magnet is provided on the first end piece 732 of the connecting rod 731, and magnets with different magnetic properties are provided at the corresponding position of the positioning sleeve 72, so as to guide the docking rod 73 to move to a specific position when the connecting rope 713 is tightened to keep the position unchanged.

[0073] When multiple unmanned boats travel to the target waters, the positions of adjacent unmanned boats are adjusted so that the positions of the active docking units 8 and the passive docking units 7 of the adjacent unmanned boats correspond to each other. The sliding portion 81 of the active docking unit 8 of at least one unmanned boat is controlled to slide relative to the base frame 811 until the docking rod 73 of the passive docking unit 7 moves to match the matching hole 8131 of the active docking unit 8, and then the switch 83 controls the push rod 821 to open, and then the docking rod 73 is grasped by the clamp 822 to achieve the connection and fixation between the unmanned boats. Then the rope portion 71 is controlled to release the connection rope 713 of a predetermined length, so that each unmanned boat sails according to the predetermined route.

[0074] When it is necessary to cancel the connection between the two unmanned ships, the clamp 822 is loosened, so that the docking rod 73 is separated from the active docking unit 8. The rope portion 71 guides the docking rod 73 into the positioning area of ​​the positioning sleeve 72 and the docking rod 73 by adjusting the length of the connecting rope 713 and positioning the docking rod 73 by tightening the connecting rope 713. As mentioned above, the positioning sleeve 72 is an open cavity that can at least partially accommodate the docking rod 73. The positioning area of ​​the positioning sleeve 72 and the docking rod 73 is preferably a trumpet-shaped hollow opening structure, which is formed by the inner wall of the positioning sleeve 72. Thus, the rope is retracted and tightened by the rope portion 71, and the connecting rope 713 is tightened by the rope portion 71 under the cooperation of the positioning sleeve 72 and the first end piece 732 of the docking rod 73, so that the docking rod 73 is reset to a specific position under the restriction of the positioning sleeve 72 and keeps the posture unchanged.

[0075] Therefore, through the solution of the present invention, the connection and release of the unmanned boat can be well achieved in the target waters, greatly improving the portability and connection efficiency of the unmanned boat connection. Even if a specific unmanned boat fails, it will not affect the connection and fixation of other unmanned boats, thereby improving the work efficiency of collaborative operations.

[0076] The rope portion 71 is fixedly arranged on the hull 1 and is used to adjust the length of the connecting rope 713. Figure 3 In this specific embodiment, the rope portion 71 includes a rope pull turntable 712 and a rope pull rack 714. The rope pull rack 714 is fixedly arranged on the hull 1, and the rope pull rack 714 is rotatably connected to the rope pull turntable 712, and the rope pull rack 714 is also fixedly connected to the positioning sleeve 72. A plurality of turns of connecting rope 713 are wound around the rope pull turntable 712, and the length of the connecting rope 713 can be adjusted by adjusting the rotation of the rope pull turntable 712 relative to the rope pull rack 714.

[0077] Preferably, the rope portion 71 also includes a rope-pulling motor 711, which is relatively fixed to the rope-pulling frame 714, and the output end of the rope-pulling motor 711 is fixedly connected to the rope-pulling turntable 712. The rotation of the rope-pulling motor 711 drives the rotation of the rope-pulling turntable 712, thereby realizing automatic adjustment of the length of the connecting rope 713.

[0078] Preferably, see Figure 7 In order to improve the durability of the connecting rope 713, the rope portion 71 also includes a pulley 715. At least one pulley 715 is rotatably fixed on the rope pull frame 714 and is arranged between the rope pull turntable 712 and the positioning sleeve 72 to reduce the resistance of the connecting rope 713 during the dragging process of the rope pull turntable 712 and improve the service life.

[0079] In the process of studying the present invention, the inventors found that when using the unmanned boat docking and fixing device mentioned above in the present invention to dock and fix unmanned boats, due to differences in the water surface environment, there may be water fluctuations in part of the water surface, which in turn causes the hull 1 of the unmanned boat to float up and down, resulting in problems for adjacent unmanned boats during docking and operation, including docking difficulties caused by the difficulty in achieving accurate correspondence between the active docking unit 8 and the passive docking unit 7 between adjacent unmanned boats, and the problem of easy breakage of the connecting rope 713 due to the floating of the hull 1 when using multiple unmanned boats for collaborative operation.

[0080] Based on this, the inventor further improved the solution of the present invention.

[0081] See also Figure 3 , Figure 4 The pull rope motor 711 of the driven docking unit 7 controls the pull rope turntable 712 through the PID algorithm, thereby slightly adjusting the position of the docking rod 73. The active docking unit 8 also includes a guide sleeve 84, which is fixedly arranged on the side of the clamping part 82 away from the sliding part 81, and can guide the driven docking unit 7 to move to the target position. The PID algorithm of the driven docking unit 7 and the guide sleeve 84 of the active docking unit 8 cooperate with each other to achieve the correspondence between the active docking unit 8 and the driven docking unit 7.

[0082] Specifically, in Figure 5 In this specific embodiment, the guide sleeve 84 is similar in structure to the positioning sleeve 72, and is a trumpet-shaped structure, and the opening size of the guide sleeve 84 on the side close to the clamping portion 82 is smaller than the opening size of the guide sleeve 84 on the side away from the clamping portion 82. When the driven docking unit 7 enters the range of the guide sleeve 84, it reaches the target position of the active docking unit 8 under the guidance of the guide sleeve 84.

[0083] At the same time, since the PID algorithm is used to control the pull rope turntable 712 for the pull rope motor 711, when the docking rod 73 contacts the guide sleeve 84, due to the sudden force, the torque of the motor cannot react quickly and keep up, which will cause the connecting rope 713 to relax briefly, thereby loosening the docking rod 73 on the positioning sleeve 72 and causing a certain degree of skewness, so that the docking rod 73 will reach the set position of the active docking unit 8 under the guidance of the guide sleeve 84, thereby completing the insertion into the set position to achieve docking, that is, the matching hole.

[0084] Therefore, by controlling the pull rope motor 711 through the PID control algorithm and setting the guide sleeve 84, the docking difficulty problem caused by the inaccurate correspondence between the active docking unit 8 and the driven docking unit 7 can be well solved, and the docking efficiency can be greatly increased.

[0085] Please continue reading Figure 3 , Figure 4The connecting rod 731 of the docking rod 73 is also provided with a protruding piece 7311, and the protruding piece 7311 and the first end piece 732 and the second end piece 733 of the connecting rod 731 divide the connecting rod 731 into a grabbing section 7312 and a net-moving section 7313. The connecting rod 731 between the protruding piece 7311 and the first end piece 732 is the net-moving section 7313, that is, the net-moving section 7313 is arranged on a side close to the first end piece 732 of the docking rod 73. The connecting rod 731 between the protruding piece 7311 and the second end piece 733 is the grabbing section 7312, that is, the grabbing section 7312 is arranged on a side close to the second end piece 733 of the docking rod 73. The length of the grabbing section 7312 of the connecting rod 731 is greater than the dimension of the clamping jaw 822 in the direction of the grabbing section 7312 of the connecting rod 731, so that after the clamping jaw 822 grabs the connecting rod 731, the clamping jaw 822 can move freely in the grabbing section 7312 under the restriction of the protrusion 7311 and the first end member 732.

[0086] The advantage of such a configuration is that, by allowing the clamping claw 822 to slide freely within the grabbing section 7312 , it can adapt well to various water surface conditions, further increase redundancy during the operation of the unmanned boat, and improve the service life and connection strength of the connecting rope 713 .

[0087] Preferably, the driven docking unit 7 further comprises a net bag 74 that expands and contracts as the length of the connecting rope changes. One end of the net bag 74 is fixedly disposed on the protruding piece 7311 of the connecting rod 731 of the docking rod 73, and the other end is relatively fixedly disposed relative to the hull 1. Figure 4 In this specific embodiment, one end of the net bag 74 is fixedly provided on the bottom of the protruding piece 7311 of the docking rod 73, and the other end is fixedly provided on the outer wall of the positioning sleeve 72 of the driven docking unit 7. The net bag 74 is provided with a plurality of net rings 741 at set intervals, and the net rings 741 are sleeved on the net moving section 7313 of the connecting rod 731. The size of the net ring 741 is set to be smaller than the size of the protruding piece 7311, but larger than the size of the first end piece 732, and larger than the size of the opening of the positioning sleeve 72 close to the rope portion 71, so that the net ring 741 can move between the protruding piece 7311 and the opening of the positioning sleeve 72 close to the rope portion 71. When the positioning sleeve 72 is provided with a guide 721, it is preferred that the size of the net ring 741 is larger than the size of the guide 721, so that the net ring 741 can move freely between the guide 721 and the protruding piece 7311.

[0088] When the passive docking unit 7 is fixed to the active docking unit 8, the docking rod 73 where the protrusion 7311 is located is relatively fixed to the active docking unit 8. At this time, the length of the connecting rope 713 can be adjusted by controlling the rope portion 71, thereby controlling the unfolding of the net bag 74 to achieve operation in the target waters.

[0089] Thus, when the net bag 74 is needed to treat the target water area, such as for algal bloom treatment or garbage collection, after an unmanned boat is connected and fixed to an adjacent unmanned boat through the unmanned boat docking and fixing device provided by the present invention, the net bag 74 is set between the adjacent unmanned boats, that is, by adjusting the length of the connecting rope 713 based on the set trajectory of the unmanned boat by the rope portion 71, when the fixedly connected unmanned boat moves along the set trajectory, since the docking rod 73 is fixed to the active docking unit 8, the net ring 741 moves between the raised ring of the docking rod 73 and the driven docking unit 7, thereby realizing the deployment of the net bag 74, that is, completing the setting and automatic deployment of the net bag 74 between the adjacent unmanned boats. Correspondingly, when the connecting rope is retracted, the net bag is contracted, thereby realizing the automatic expansion and contraction of the net bag as the length of the connecting rope changes.

[0090] Preferably, in a specific embodiment, the control system 9 is shown in the figure, and the control system 9 is located inside the cabin, with Raspberry Pi B as the host computer for navigation, visual processing and communication, and the STM development board as the slave computer for control and signal conversion of motors and electronic components. Based on the ROS system built on the Raspberry Pi, a custom ROS node was developed to plan the path and control instructions of the unmanned ship based on the information provided by Nav. The data website is built using Django+highcharts, which can display real-time monitoring data such as dissolved oxygen, temperature, and turbidity.

[0091] Naturally, see Figure 8-Figure 9 The present invention also provides a water cleaning method, which is mainly used in a control system 9, or a control assembly on the cloud, based on the aforementioned unmanned boat docking and fixing device to achieve water cleaning in the target water area.

[0092] S910: Dispatch multiple unmanned ships based on target water area information.

[0093] The acquisition of target water area information can be achieved through the water surface conditions of space satellites, or through field detection of target water areas by unmanned ships, and the present invention does not limit this. In one embodiment, the unmanned ship formation can perform distributed autonomous cruising according to the path planning plan, and the data website can receive and display the location information and water quality information sent back by the unmanned ship in real time, and perform remote monitoring and data analysis. Before the start of the mission, the mission objectives and map information of the current water area are first input through the central control system 9. The system will generate an efficient patrol plan based on this information and the performance parameters of each unmanned ship. After each unmanned ship receives its own path planning route, it will use the GPS positioning module and IMU inertial navigation module to accurately lock the starting position according to the built-in navigation algorithm, and prepare to start cruising according to the established route.

[0094] When deploying unmanned boats, the decision is mainly based on a comprehensive combination of factors such as the water pollution area and degree of pollution in the target waters.

[0095] As for the position correspondence between the active docking unit 8 of the unmanned ship and the passive docking unit 7 of the adjacent unmanned ship, it is preferred that the axial position of the docking rod 73 of the active docking unit 8 of the unmanned ship corresponds to the axis of the matching hole 8131 of the passive docking unit 7 of the adjacent unmanned ship. Of course, in some special cases, the requirement can also be relaxed to the axial position of the docking rod 73 of the active docking unit 8 corresponding to the range where the positioning sleeve 72 of the passive docking unit 7 is located.

[0096] When each unmanned boat moves to the set position, the wireless communication module can confirm each other's status and location information, thereby ensuring the safety and accuracy of docking.

[0097] S920: Adjust the positions of the unmanned boats to achieve docking and fixation of the multiple unmanned boats based on the unmanned boat docking and fixation device, wherein the unmanned boat docking and fixation device includes a net bag arranged between the unmanned boats for collecting pollutants.

[0098] S930: Control each unmanned boat to sail along a preset route to clean the target waters through the net bag.

[0099] Thus, in a preferred embodiment, when an unmanned ship identifies algal blooms or large areas of floating objects on the water surface, the supervisor can be prompted or the cloud platform can determine the number of unmanned ships required based on the target water area information, such as the pollution area, pollution degree, etc., determine the planned route of each unmanned ship and coordinate nearby unmanned ships to form a formation to jointly carry out water surface cleaning operations. When the unmanned ships approach the predetermined docking point according to the planned route and adjust their respective postures, they will start the docking procedure, confirm each other's status and location information through the wireless communication module, ensure the safety and accuracy of the docking, and realize the docking and fixing of multiple unmanned ships based on the unmanned ship docking and fixing device. After the multi-ship formation completes the docking and opens the net bag 74 between each unmanned ship for collecting pollutants, the unmanned ships will sail according to the predetermined route, for example, so that each unmanned ship maintains a fixed distance and posture to sweep the water surface to achieve the cleaning of the target water area. By utilizing the buoyancy of the net bag 74 and the water surface, floating objects on the water surface are pushed to a designated collection point on the shore for subsequent processing, and then the clamping part of the active docking unit 8 releases the passive docking unit 7, and the passive docking unit 7 recovers the connecting rope 713 and the net bag 74, and finally completes the task.

[0100] In summary, the solution provided by the present invention has the advantages of high autonomy, strong collaboration ability and wide operating range. It realizes comprehensive and accurate monitoring of the ecological conditions of aquatic areas, improves the intelligence and automation level of operations, and provides an efficient and environmentally friendly solution for the maintenance of aquatic ecosystems.

[0101] The scheme of the present invention is introduced in detail above. Specific examples are used in this article to illustrate the principle and implementation mode of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation mode and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

[0102] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0103] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0104] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

Claims

1. An unmanned ship docking and fixing device, characterized in that: include: The driven docking unit comprises a rope portion, a positioning sleeve fixedly connected to the rope portion, a docking rod positioned by the positioning sleeve, and a connecting rope connecting the rope portion and the docking rod, wherein the rope portion guides the docking rod into the positioning sleeve by adjusting the length of the connecting rope and positions the docking rod by tightening the connecting rope; The active docking unit comprises a base frame, a slide table slidably connected to the base frame, a clamping part fixedly connected to the slide table, and a switch for controlling the opening of the clamping part; After the switch detects that the slide table moves to a set position where it can be fixed with the docking rod, it controls the clamping part to grab the docking rod; wherein The rope portion adjusts the length of the connecting rope through a PID algorithm, and the active docking unit further includes a guide sleeve, which is fixedly arranged on a side of the slide close to the driven docking unit, and the guide sleeve is used to guide the docking rod to move to the set position; The docking rod of the driven docking unit comprises a first end piece, a connecting rod of a middle section and a second end piece, wherein the first end piece is arranged at an end of the connecting rod close to the rope portion, and the second end piece is arranged at an end of the connecting rod away from the rope portion, wherein A protrusion is provided on the connecting rod, and the connecting rod between the protrusion and the second end piece is a grabbing section. The length of the grabbing section is greater than the size of the clamping part in the direction of the grabbing section. The protrusion and the second end piece are used to enable the clamping part to move within the grabbing section after grabbing the docking rod.

2. The unmanned ship docking and fixing device according to claim 1, characterized in that: The positioning sleeve is a trumpet-shaped structure, the opening size of the positioning sleeve near the rope portion is smaller than the opening size of the positioning sleeve near the docking rod, and the opening size of the positioning sleeve near the rope portion is at least partially smaller than the size of the first end piece of the docking rod.

3. The unmanned ship docking and fixing device according to claim 1, characterized in that: The connecting rod between the protruding piece and the first end piece is a net-moving section, and the driven docking unit also includes a net bag, one end of which is fixedly arranged on the protruding piece, and the other end is fixedly arranged on the positioning sleeve. A net ring is arranged on the net bag, and multiple net rings are arranged on the net-moving section. The size of the net ring is larger than the opening size of the positioning sleeve close to one end of the docking rod, and smaller than the size of the protruding piece.

4. The unmanned ship docking and fixing device according to any one of claims 1 to 3, characterized in that: The active docking unit further comprises a driver, the driver being used to drive the slide to move relative to the base frame along the axial direction of the docking rod, the slide being fixedly connected to the clamping portion; Wherein, a matching hole for matching with the docking rod is arranged on the sliding platform, and the matching hole is the set position.

5. The unmanned ship docking and fixing device according to claim 4, characterized in that: The clamping part includes a push rod and a clamping claw connected in a transmission manner, wherein the push rod is fixedly arranged on the slide and can move up and down relative to the slide to drive the clamping claw to grasp or release the docking rod; And / or, the switch is a micro switch, which is fixedly arranged on the slide and has appropriate interference with the matching hole in the axial direction of the docking rod.

6. The unmanned ship docking and fixing device according to any one of claims 1 to 3, characterized in that: The rope part includes a rotatably connected rope pull turntable, a rope pull frame, a rope pull motor and a pulley, the rope pull frame is fixedly connected to the positioning sleeve, and a plurality of turns of connecting rope are wound around the rope pull turntable; the rope pull motor is relatively fixedly arranged on the rope pull frame, and the output end of the rope pull motor is connected to the rope pull turntable; at least one pulley is rotatably fixedly arranged on the rope pull frame, and is arranged between the rope pull turntable and the positioning sleeve to increase the service life.

7. An unmanned ship, characterized in that: It comprises a hull, and underwater thrusters respectively fixed to the hull, a positioning device, a control system and an unmanned ship docking and fixing device as claimed in any one of claims 1 to 6, Among them, the control system is connected to the hull, underwater thruster, positioning device and unmanned boat docking and fixing device. The control system selectively controls the underwater thruster to drive the hull to move to a docking and fixing position with other unmanned boats based on the positioning device.

8. The unmanned ship according to claim 7, characterized in that: It also includes a water sample collection and detection device fixed on the hull, and the water sample collection and detection device is used to measure water information in the water tank; And / or, it also includes a spreader, which includes a feeding hopper, a screw conveyor, a turntable with blades and a turntable motor, one end of the screw conveyor is connected to the bottom end of the feeding hopper, and the other end is connected to the turntable with blades, and the screw conveyor is used to transport the material to a set position and crush the material at the same time.

9. A water cleaning method, based on the unmanned boat according to any one of claims 7-8, characterized in that: The method comprises: Dispatch multiple unmanned ships based on target waters information; Adjusting the positions of the unmanned boats to achieve docking and fixing of the plurality of unmanned boats based on the unmanned boat docking and fixing device, wherein the unmanned boat docking and fixing device comprises a net bag disposed between the unmanned boats for collecting pollutants; Each unmanned boat is controlled to sail along a preset route so as to clean the target waters through the net bag.

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