Multifunctional cleaning unmanned ship

Abstract

This invention provides a multifunctional unmanned cleaning vessel, comprising a hull, a garbage collection device, a drive device, and an oil spill recovery device. The garbage collection device includes a garbage bin, and the drive device includes a winch, a steel cable, and a slide rail fixed above the hull. The slide rail includes a horizontal track and an inclined track, with the horizontal track higher than the inclined track. The garbage bin is slidably connected to the slide rail. The winch is adapted to wind up or unwind the steel cable to adjust the position of the garbage bin. The oil spill recovery device includes a filter plate located at the bottom of the hull and a negative pressure chamber located above the filter plate. The negative pressure chamber includes an upper chamber and a lower chamber, with the upper chamber having a smaller volume than the lower chamber. This multifunctional unmanned cleaning vessel not only collects surface garbage through the garbage bin but also collects floating oil through the negative pressure chamber, achieving comprehensive water area cleaning and meeting user needs.

Description

Technical Field

[0001] This invention relates to the field of garbage ships, and in particular to a multifunctional unmanned cleaning vessel. Background Technology

[0002] With rapid industrial development, rivers, lakes, and seas have suffered varying degrees of pollution and damage, with surface garbage and oil slicks being the primary sources of pollution. Related technologies often employ small garbage collection vessels to collect and treat surface garbage or oil spills. However, these small collection vessels are equipped with limited tools and can only collect garbage or oil slicks, failing to achieve a complete cleanup of oil spills and floating debris. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a multi-functional cleaning unmanned vessel. This unmanned vessel can not only collect surface garbage through the garbage bin, but also collect surface oil through the negative pressure chamber, thus achieving comprehensive water area cleaning and meeting user needs.

[0004] To achieve the aforementioned technical features, the present invention aims to provide a multifunctional unmanned cleaning vessel, comprising a hull, on which a garbage collection device, a drive device, and an oil spill recovery device are mounted; the garbage collection device includes a garbage bin; the drive device includes a winch, a steel wire rope, and a slide rail fixed above the hull; the slide rail includes a horizontal track and an inclined track, the horizontal track being higher than the inclined track, and the garbage bin being slidably connected to the slide rail; the winch is adapted to wind up or unwind the steel wire rope to adjust the position of the garbage bin; the oil spill recovery device includes a filter plate disposed at the bottom of the hull and a negative pressure chamber disposed above the filter plate; the negative pressure chamber includes an upper chamber and a lower chamber, the volume of the upper chamber being smaller than the volume of the lower chamber.

[0005] Preferably, the components of the drive device are arranged in pairs and symmetrically on the outside of the garbage bin; the winch is fixed by the mounting base at the bottom; the bottom of the slide rail is connected to the hull by a fixing plate; the horizontal rail and the inclined rail in each slide rail are smoothly connected.

[0006] The garbage bin includes a bottom plate and side plates on both sides of the bottom plate, which are slidably connected to a slide rail via a slider or guide wheel; the bottom plate is V-shaped with the opening facing upwards, and mesh holes are provided on the bottom plate and side plates.

[0007] Preferably, a first guide wheel is installed at the top of the rear end of the garbage bin, and a second guide wheel is installed in the middle of the garbage bin. Correspondingly, each slide rail includes two parallel tracks.

[0008] One end of the wire rope is fixed to the winch, and the other end is fixedly connected to the front end of the garbage bin;

[0009] The garbage bin is symmetrically equipped with hanging ears on both sides, and steel wire ropes are fixed on the hanging ears. The hanging ears are connected to the garbage bin through connecting rods.

[0010] A bracket is installed at the end of the horizontal track in the slide rail.

[0011] Preferably, the hull is provided with a hatch cover, and an oil tank is provided below the hatch cover. The oil tank's inlet pipe is connected to the upper hull, and the inlet pipe is provided with a first water pump and a solenoid valve. The end of the inlet pipe is flush with the bottom of the upper hull.

[0012] Preferably, a vacuum pump is installed inside the hull, and the vacuum pump is connected to the upper compartment via a pipe. A dual-float level switch for controlling the opening and closing of the vacuum pump is installed on the inner wall of the upper compartment. The distance between the upper float of the dual-float level switch and the upper surface of the upper compartment is greater than a threshold value, and the lower float of the dual-float level switch is located at the bottom of the upper compartment.

[0013] Preferably, the hull is equipped with a cleaning device, which includes a water tank, a nozzle, and a second water pump. The water tank is used to hold cleaning solvent. One end of the second water pump is connected to the water tank, and the other end is connected to the nozzle through a multi-way solenoid valve. The nozzle is used to spray the cleaning solvent.

[0014] Preferably, a limiting component is provided above the slide rail. The limiting component includes a first limiting rod. The front end of the first limiting rod is adapted to rotate upward under the drive of the garbage bin, and the rear end of the first limiting rod is adapted to restrict the movement direction of the top of the garbage bin.

[0015] The limiting component is parallel to the slide rail, mounted on the bracket, and located inside the slide rail;

[0016] The first limiting rod is wider at the front and narrower at the back, with an arc-shaped rear end. It is rotatably connected to the bracket via a rotating shaft. The distance between the rotating shaft and the rear end of the first limiting rod is equal to the straight-line distance from the rotating shaft to the bottom of the horizontal slide rail.

[0017] Preferably, the limiting component further includes a second limiting rod, which is located above the first limiting rod, and the second limiting rod is used to limit the tilting angle of the garbage bin;

[0018] The first limiting rod can be reset by an elastic component, one end of which is fixed to the rear end of the first limiting rod, and the other end of which is fixed above the first limiting rod.

[0019] The limit switch is located outside the first limit rod.

[0020] Preferably, a collection box is provided on the top of the hull, and the collection box is located between the winch and the garbage bin;

[0021] The collection box is equipped with a hanging ring at the top and a drain hole at the bottom.

[0022] There are at least two hanging rings, evenly distributed on the top of the collection box.

[0023] Preferably, the outer side of the hull is provided with rollers.

[0024] The present invention has the following beneficial effects:

[0025] 1. The multi-functional cleaning unmanned vessel involved in this invention can not only collect surface garbage through the garbage bin, but also collect surface oil through the negative pressure chamber, thus achieving comprehensive water area cleaning and meeting user needs.

[0026] 2. Mesh holes can be opened on the bottom plate and side plate of the garbage bin of the present invention to prevent water brought in during garbage collection from remaining in the garbage collection device.

[0027] 3. The present invention has a first guide wheel installed at the top rear end of the garbage bin and a second guide wheel 212 installed in the middle of the garbage bin. Correspondingly, each slide rail includes two parallel tracks. In this way, the risk of garbage scattering on the water surface can be avoided by the garbage bin having only one fulcrum on its side and the slide rail, causing it to rotate around a single fulcrum when moving along the inclined track in the slide rail.

[0028] 4. The multi-functional unmanned cleaning vessel of this invention can control the garbage bin to move on the slide rail via a winch. On the one hand, it can adjust the water depth of the garbage bin according to the draft of the hull in a timely manner to ensure that the garbage on the water surface can enter the garbage bin. On the other hand, it can drive the garbage bin to the top of the slide to dump the garbage. Cleaning is not limited by time and manpower, which can improve the cleaning efficiency. It can also clean up dangerous or hard-to-reach waters, reducing the safety risks to workers. At the same time, the multi-functional unmanned vessel provided by this invention is equipped with an oil spill recovery device, which can use a negative pressure chamber to collect floating oil on the water surface. It can achieve comprehensive collection of water surface garbage and oil pollution in one descent, making its functions more complete.

[0029] 5. The dual float level switch of this invention can be used to monitor the upper and lower limits of the liquid level, realize automatic control of the vacuum pump to start or stop, and avoid the vacuum pump from working continuously after the liquid level rises, which would cause the liquid level in the negative pressure chamber to rise continuously and enter the vacuum pump, thus damaging the vacuum pump.

[0030] 6. The present invention provides limiting blocks at the bottom of the inner and / or outer rails of the slide rail. The limiting block of the inner rail is located below the first guide wheel. The limiting block of the outer rail is located below the second guide wheel. In this way, it can be ensured that the garbage bin will not detach from the rail at the bottom of the slide rail when it slides downward.

[0031] 7. This invention can use a nozzle to spray cleaning solvent to remove floating oil around the hull, thereby improving cleaning efficiency.

[0032] 8. The invention provides a second limiting rod to control the maximum tilting angle of the garbage bin, ensuring that the garbage bin can dump garbage after tilting, and that it can subsequently return to the bottom of the slide rail under the action of gravity. Attached Figure Description

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] Figure 1 A schematic diagram of the structure of the multifunctional cleaning unmanned vessel provided by the present invention.

[0035] Figure 2 for Figure 1 A schematic diagram of the bottom structure of a multi-functional cleaning unmanned surface vessel.

[0036] Figure 3 for Figure 1 A partial structural diagram of the waste collection device and drive unit.

[0037] Figure 4 for Figure 3 A schematic diagram of the structure of the middle garbage bin.

[0038] In the diagram: 100, Hull; 110, Support frame; 120, Hatch cover; 130, Lateral fixing rod; 200, Garbage collection device; 210, Garbage bin; 211, First guide wheel; 212, Second guide wheel; 213, Hanging lug; 300, Drive device; 310, Winch; 320, Wire rope; 330, Slide rail; 400, Oil spill recovery device; 410, Filter plate; 420, Negative pressure chamber; 421, Upper hull; 422, Lower hull; 500, Cleaning device; 510, Water tank; 520, Nozzle; 600, Limiting assembly; 610, First limit rod; 611, Rotating shaft; 620, Second limit rod; 630, Limit switch; 700, Collection box; 710, Lifting ring; 800, Roller. Detailed Implementation

[0039] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0040] Example 1:

[0041] like Figures 1-3 As shown, this invention provides a multifunctional unmanned cleaning vessel for recovering surface debris and oil slicks. Figures 1-3As shown, the multifunctional cleaning unmanned surface vessel provided by the present invention includes a hull 100, on which a garbage collection device 200, a drive device 300, and an oil spill recovery device 400 are provided. The garbage collection device 200 includes a garbage bin 210. The drive device 300 includes a winch 310, a steel wire rope 320, and a slide rail 330 fixed above the hull 100. The slide rail 330 includes a horizontal track and an inclined track, with the horizontal track being higher than the inclined track. The garbage bin 210 is slidably connected to the slide rail 330. The winch 310 is adapted to wind up or unwind the steel wire rope 320 to adjust the position of the garbage bin 210. The oil spill recovery device 400 includes a filter plate 410 disposed at the bottom of the hull 100 and a negative pressure chamber 420 disposed above the filter plate 410. The negative pressure chamber 420 includes an upper chamber 421 and a lower chamber 422, with the volume of the upper chamber 421 being smaller than the volume of the lower chamber 422.

[0042] The components of the drive unit 300 are arranged in pairs, symmetrically on the outside of the garbage bin 210. The winch 310 is fixed by a mounting base at the bottom. The bottom of the slide rail 330 is connected to the hull 100 by a fixing plate. The horizontal and inclined tracks of each slide rail 330 are smoothly connected.

[0043] The garbage bin 210 includes a base plate and side plates on both sides of the base plate, which can be slidably connected to the slide rail 330 via sliders or guide wheels. The base plate is V-shaped with the opening facing upwards. Mesh openings can be provided on the base plate and side plates to prevent water brought in during garbage collection from remaining inside the garbage collection device 200. The mesh size is set according to actual needs. Taking the guide wheels as an example, fixed rods can be symmetrically arranged on the side plates of the garbage bin 210, and guide wheels are installed on the outside of the fixed rods. The size of the guide wheels is adapted to the width of the slide rail 330 and is rotatably connected to the fixed rods.

[0044] Of course, considering the stability of the structure, a first guide wheel 211 and a second guide wheel 212 can be provided on each side plate of the garbage bin 210. The first guide wheel 211 is located at the rear of the garbage bin 210, and the second guide wheel 212 is located in the middle of the garbage bin 210, with the height of the first guide wheel 211 being higher than that of the second guide wheel 212.

[0045] like Figure 4 As shown, a first guide wheel 211 is installed at the top rear end of the garbage bin 210, and a second guide wheel 212 is installed in the middle of the garbage bin 210. Correspondingly, each slide rail 330 includes two parallel tracks. In this way, the risk of garbage scattering onto the water surface can be avoided by the garbage bin having only one fulcrum on its side and the slide rail, causing it to rotate around a single fulcrum when moving along the inclined track in the slide rail.

[0046] To avoid repetition and ensure readability, the following description will use the example of a garbage bin 210 having a first guide wheel 211 and a second guide wheel 212 installed on each side. It should be noted that this should not be considered a limitation of the invention.

[0047] One end of the wire rope 320 is fixed to the winch 310, and the other end is fixedly connected to the front end of the garbage bin 210. Specifically, hanging ears 213 are symmetrically installed on both sides of the garbage bin 210, and the wire rope 320 is fixed to the hanging ears 213. The hanging ears 213 are connected to the garbage bin 210 through connecting rods. When retrieval of garbage, the bottom of the garbage bin 210 is below the water surface. When dumping garbage, the winch 310 winds up the wire rope 320, and the wire rope 320 pulls the garbage bin 210 to move on the slide rail 330. When the garbage bin 210 moves from the inclined track to the horizontal track in the slide rail 330, its bottom rotates, rotating around the first guide wheel 211, realizing automatic dumping of garbage at the end of the slide rail 330.

[0048] The filter plate 410 is located below the water surface and is used to filter impurities, allowing the floating oil to enter the negative pressure chamber 420. The air pressure inside the negative pressure chamber 420 is lower than the external air pressure, and a transparent material can be used. Because the density of the floating oil is lower than that of water, under pressure, the floating oil above the water surface will rise from the lower chamber 422 to the upper chamber 421.

[0049] For ease of installation, a bracket 110 can be installed at the end of the horizontal track in the slide rail 330. The slide rail 330 is fixed by the bracket 110. Preferably, the bracket 110 is provided with a pulley, and the wire rope 320 passes through the pulley and is fixed to the front end of the garbage bin 210.

[0050] The hull 100 is equipped with a controller and power supply, which is used to control the drive unit 300.

[0051] The multi-functional unmanned cleaning vessel provided by this invention can control the garbage bin to move on the slide rail via a winch. On the one hand, it can adjust the water depth of the garbage bin according to the draft of the hull in a timely manner to ensure that the garbage on the water surface can enter the garbage bin. On the other hand, it can drive the garbage bin to the top of the slide to dump the garbage. Cleaning is not limited by time and manpower, which can improve the cleaning efficiency. It can also clean up dangerous or hard-to-reach waters, reducing the safety risks to workers. At the same time, the multi-functional unmanned vessel provided by this invention is equipped with an oil spill recovery device, which can use a negative pressure chamber to collect floating oil on the water surface. It can achieve comprehensive collection of water surface garbage and oil pollution in a single descent, making it more functional.

[0052] In a preferred embodiment of the present invention, a hatch cover 120 is provided on the hull 100, an oil tank is provided below the hatch cover 120, the inlet pipe of the oil tank is connected to the upper hull 421, a first water pump and a solenoid valve are provided on the inlet pipe, and the end of the inlet pipe is flush with the bottom of the upper hull 421.

[0053] The oil tank is used to store the floating oil extracted from the negative pressure chamber 420. The first water pump and solenoid valve are controlled by a controller.

[0054] In a preferred embodiment of the present invention, a vacuum pump is provided inside the hull 100. The vacuum pump is connected to the upper compartment 421 through a pipe. The inner wall of the upper compartment 421 is provided with a dual float level switch for controlling the opening or closing of the vacuum pump. The distance between the upper float of the dual float level switch and the upper surface of the upper compartment 421 is greater than a threshold value. The lower float of the dual float level switch is located at the bottom of the upper compartment 421.

[0055] Vacuum pumps are used to extract gas from the negative pressure chamber and control the liquid level inside the chamber.

[0056] The dual float level switch can be used to monitor the upper and lower limits of the liquid level, and realize the automatic control of the vacuum pump to turn on or off. This prevents the vacuum pump from continuing to work after the liquid level rises, which would cause the liquid level in the negative pressure chamber to rise continuously and enter the vacuum pump, damaging the vacuum pump.

[0057] The threshold value can be, for example, 1 cm or 2 cm, and its specific value can be determined based on the actual response speed of the vacuum pump during the test. It is understandable that the vacuum pump's response has a certain lag; after the dual float level switch controls the vacuum pump to shut down, the liquid level in the negative pressure chamber 420 will still rise a certain distance. If the threshold value is too low, there is a risk that liquid may enter the vacuum pump, causing damage.

[0058] In a preferred embodiment of the present invention, the center of gravity of the garbage bin 210 is located at the front end and its weight is greater than a threshold. The threshold can be, for example, 5 kg, 8 kg, 10 kg, etc., and can be specifically determined according to the size and dimensions of the garbage bin 210. As mentioned above, the garbage bin 210 dumps garbage at the end of the slide rail 330. Without external force or machinery, the garbage bin 210 may remain on the horizontal track and unable to slide down. Controlling the position and weight of the center of gravity of the garbage bin 210 can achieve the effect of the winch 310 winding and unwinding the wire rope 320, and the garbage bin 210 sliding downward on the slide rail 330 by its own weight. Preferably, the bottom of the inner track and / or the outer track of the slide rail 330 is provided with a limiting block. The inner track limiting block is located below the first guide wheel. The outer track limiting block is located below the second guide wheel. In this way, it can be ensured that the garbage bin will not detach from the track at the bottom of the slide rail when it slides downward.

[0059] When the multi-functional cleaning unmanned surface vessel (USV) is navigating, some oil slicks will drift around the hull 100 and cannot be collected. To address this, a cleaning device 500 can be further installed on the hull 100. This cleaning device 500 includes a water tank 510, a nozzle 520, and a second water pump. The water tank 510 is used to hold the cleaning solvent. One end of the second water pump is connected to the water tank 510, and the other end is connected to the nozzle 520 via a multi-port solenoid valve. The nozzle 520 is used to spray the cleaning solvent.

[0060] Preferably, the number of nozzles 520 is at least three, and the nozzles 520 are distributed on both sides of the hull 100 and the stern of the hull 100. In this way, the nozzles 520 can be used to spray cleaning solvent to clean the floating oil around the hull 100, thereby improving cleaning efficiency.

[0061] The garbage bin 210 can be tilted with the help of the limiting component 600. For example... Figure 3 As shown, a limiting component 600 is provided above the slide rail 330. The limiting component 600 includes a first limiting rod 610. The front end of the first limiting rod 610 is adapted to rotate upward under the drive of the garbage bin 210, and the rear end of the first limiting rod 610 is adapted to restrict the movement direction of the top of the garbage bin 210.

[0062] The limiting component 600 is parallel to the slide rail 330 and can be mounted on the bracket 110, located inside the slide rail 330. The components of the limiting component 600 can be installed in pairs.

[0063] The first limiting rod 610 is wider at the front and narrower at the rear, with an arc-shaped rear end. It is rotatably connected to the bracket 110 via a pivot 611. The distance between the pivot 611 and the rear end of the first limiting rod 610 is equal to the straight-line distance from the pivot 611 to the bottom of the horizontal slide rail 330. To adjust the center of gravity, a perforated hole can be provided on the first limiting rod 610, and its length in the horizontal direction can be adjusted.

[0064] When collecting garbage, the first limiting rod 610 is in a horizontal position. As the garbage hopper 210 rises, the front end of the first limiting rod 610 contacts the garbage hopper 210 and can rotate upward under the push of the garbage hopper 210. As the first guide wheel 211 enters the end of the slide rail 330, the end of the first limiting rod 610 rotates downward, which can lock the fixed rod connected to the first guide wheel 211. This prevents the first guide wheel 211 from derailing or sliding downward, and then the wire rope 320 can continue to be wound up. The wire rope 320 pulls the front end of the garbage hopper 210 to rotate, completing the garbage dumping. To better control the movement trajectory of the first limiting rod 610, a boss can be provided on the top of the garbage hopper 210. The lateral width of this boss matches the width of the front end of the first limiting rod 610.

[0065] In a preferred embodiment of the present invention, the limiting component 600 further includes a second limiting rod 620, which is located above the first limiting rod 610 and is used to limit the flipping angle of the garbage bin 210.

[0066] The second limiting rod 620 is adapted to abut against the left and right side plates of the garbage bin 210 or parts installed on the side plates. There can be two second limiting rods 620, arranged in pairs on the side plates of the garbage bin 210. The horizontal distance between the two second limiting rods 620 can be equal to or slightly greater than the horizontal distance between the left and right side plates of the garbage bin 210. It is understood that if the first guide wheel 211 on the garbage bin 210 moves to the end of the slide rail 330 and continuously winds up the wire rope 320, the garbage bin 210 may become upside down on the slide rail 330 or derail. The second limiting rods 620 control the maximum tilting angle of the garbage bin 210, ensuring that the garbage bin 210 can empty garbage after tilting and subsequently return to the bottom of the slide rail 330 under gravity.

[0067] The first limiting rod 610 can be reset by an elastic component. One end of the elastic component is fixed to the rear end of the first limiting rod 610, and the other end is fixed above the first limiting rod 610. Specifically, support rods are installed on the first limiting rod 610 and the bracket 110, and both ends of the elastic component are fixed to the support rods.

[0068] The elastic component includes either a spring or elastic rubber.

[0069] The elastic component is used to reset the first limiting rod 610, and can drive the end of the first limiting member to rotate when the garbage bin 210 slides down.

[0070] When the first limiting rod 610 is not in contact with the garbage bin 210, the elastic component is in its natural state. After the first limiting rod 610 rotates upward, the elastic component is in a stretched and extended state. When the garbage bin 210 slides down, the elastic component automatically retracts, which can drive the end of the first limiting rod 610 to rotate, releasing the restriction on the top fixing rod and allowing the first guide wheel to slide within the track.

[0071] To improve the sensitivity of the device, a limit switch 630 can be added, which is located outside the first limit rod 610.

[0072] Limit switch 630 is used to limit the maximum rotation angle of the first limit rod 610 and can be installed above the middle of the first limit rod 610. When the off signal of limit switch 630 is detected, the controller can control the winch 310 to stop winding the wire rope 320.

[0073] In a preferred embodiment of the present invention, a collection box 700 is provided on the top of the hull 100, and the collection box 700 is located between the winch 310 and the garbage bin 210.

[0074] The collection bin 700 is used to store the garbage retrieved by the garbage bin 210. Specifically, the garbage bin 210 is wider at the top and narrower at the bottom, and has a horizontal fixing rod 130 on the outside. The two ends of the horizontal fixing rod 130 are fixed to the hull 100 to prevent the garbage bin 210 from moving back and forth.

[0075] In a preferred embodiment of the present invention, the top of the collection box 700 is provided with a hanging ring 710, and the bottom of the collection box 700 is provided with a drainage hole.

[0076] There are at least two lifting rings 710, evenly distributed on the top of the collection box 700. The drain hole prevents water from remaining inside the collection box 700 and taking up too much space. In this way, when the collection box 700 is full, it can be directly removed from the hull 100 using the lifting rings, which facilitates subsequent cleaning.

[0077] Preferably, the outer side of the hull 100 is provided with rollers 800.

[0078] When the multi-functional cleaning drone docks, it can be placed in a dock for charging. The dock has guide grooves on both sides. Rollers 800 are adapted to roll in the guide grooves, allowing the multi-functional cleaning drone to enter a preset position in the dock.

Claims

1. A multi-functional unmanned cleaning vessel, characterized in that, The vessel includes a hull (100), on which a garbage collection device (200), a drive unit (300), and an oil spill recovery device (400) are mounted; the garbage collection device (200) includes a garbage bin (210); the drive unit (300) includes a winch (310), a wire rope (320), and a slide rail (330) fixed above the hull (100); the slide rail (330) includes a horizontal track and an inclined track. The horizontal track is higher than the inclined track, and the garbage bin (210) is slidably connected to the slide rail (330); the winch (310) is adapted to wind up or unwind the wire rope (320) to adjust the position of the garbage bin (210); the oil spill recovery device (400) includes a filter plate (410) located at the bottom of the hull (100) and a negative pressure chamber (420) located above the filter plate (410); the negative pressure chamber (420) includes an upper chamber (421). The upper compartment (421) is smaller than the lower compartment (422). Each slide rail (330) has a horizontal track and an inclined track smoothly connected. A first guide wheel (211) is installed at the top rear end of the garbage bin (210), and a second guide wheel (212) is installed in the middle of the garbage bin (210). Correspondingly, each slide rail (330) includes two parallel tracks. One end of the wire rope (320) is fixed to the winch (310). The other end is fixedly connected to the front end of the garbage bin (210); the garbage bin (210) is symmetrically equipped with hanging ears (213) on both sides, and the wire rope (320) is fixed on the hanging ears (213). The hanging ears (213) are connected to the garbage bin (210) through the connecting rod; when the garbage bin (210) moves from the inclined track in the slide rail (330) to the horizontal track, the bottom of the garbage bin (210) rotates and rotates around the first guide wheel (211), so as to realize the automatic dumping of garbage at the end of the slide rail (330); A limiting component (600) is provided above the slide rail (330). The limiting component (600) includes a first limiting rod (610). The front end of the first limiting rod (610) is adapted to rotate upward under the drive of the garbage bin (210), and the rear end of the first limiting rod (610) is adapted to restrict the movement direction of the top of the garbage bin (210). The limiting component (600) is parallel to the slide rail (330), mounted on the bracket (110), and located inside the slide rail (330); The first limiting rod (610) is wider at the front and narrower at the back, with an arc-shaped rear end. It is rotatably connected to the bracket (110) via a rotating shaft (611). The distance between the rotating shaft (611) and the rear end of the first limiting rod (610) is equal to the straight-line distance from the rotating shaft (611) to the bottom of the horizontal slide rail (330).

2. The unmanned waste-collecting vessel according to claim 1, characterized in that, The components of the drive device (300) are arranged in pairs and symmetrically on the outside of the garbage bin (210); the winch (310) is fixed by the mounting base at the bottom; the bottom of the slide rail (330) is connected to the hull (100) by a fixing plate; The garbage bin (210) includes a bottom plate and side plates on both sides of the bottom plate, which are slidably connected to the slide rail (330) by a slider or guide wheel; the bottom plate is V-shaped with the opening facing upward, and mesh holes are opened on the bottom plate and the side plates.

3. The unmanned waste-collecting vessel according to claim 2, characterized in that, A bracket (110) is installed at the end of the horizontal rail in the slide rail (330).

4. The unmanned waste-collecting vessel according to claim 3, characterized in that, The hull (100) is provided with a hatch cover (120), and an oil tank is provided below the hatch cover (120). The oil tank's inlet pipe is connected to the upper hull (421). The inlet pipe is provided with a first water pump and a solenoid valve. The end of the inlet pipe is flush with the bottom of the upper hull (421).

5. The unmanned waste-collecting vessel according to claim 1, characterized in that, The hull (100) is equipped with a vacuum pump, which is connected to the upper compartment (421) via a pipe. The inner wall of the upper compartment (421) is equipped with a double float level switch for controlling the opening or closing of the vacuum pump. The distance between the upper float of the double float level switch and the upper surface of the upper compartment (421) is greater than a threshold value, and the lower float of the double float level switch is located at the bottom of the upper compartment (421).

6. The unmanned waste-collecting vessel according to claim 1, characterized in that, A cleaning device (500) is installed on the hull (100). The cleaning device (500) includes a water tank (510), a nozzle (520), and a second water pump. The water tank (510) is used to load cleaning solvent. One end of the second water pump is connected to the water tank (510), and the other end is connected to the nozzle (520) through a multi-port solenoid valve. The nozzle (520) is used to spray cleaning solvent.

7. The unmanned waste-collecting vessel according to claim 1, characterized in that, The limiting component (600) further includes a second limiting rod (620), which is located above the first limiting rod (610) and is used to limit the flipping angle of the garbage bin (210). The first limiting rod (610) can be reset by an elastic component. One end of the elastic component is fixed to the rear end of the first limiting rod (610), and the other end of the elastic component is fixed above the first limiting rod (610). The limit switch (630) is located outside the first limit rod (610).

8. The unmanned waste-collecting vessel according to claim 1, characterized in that, A collection box (700) is provided on the top of the hull (100), and the collection box (700) is located between the winch (310) and the garbage bin (210); The collection box (700) is provided with a hanging ring (710) at the top and a drain hole at the bottom; The number of hanging rings (710) is at least 2, evenly distributed on the top of the collection box (700).

9. The unmanned waste-collecting vessel according to claim 1, characterized in that, Rollers (800) are provided on the outer side of the hull (100).

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