Intelligent water surface cleaning robot and working method thereof

Abstract

The invention belongs to the technical field of environmental protection mechanical engineering, and relates to an intelligent water surface cleaning robot and a working method thereof. Comprising a machine body, and the machine body is provided with a collecting mechanism, a conveying mechanism, a recognizing and classifying mechanism, a waste smashing mechanism, a power generation and energy supply mechanism, a navigation driving mechanism, a recycling cabin, a waste cabin and a control system; the conveying mechanism is located between the collecting mechanism and the waste smashing mechanism, the waste smashing mechanism is connected with the waste bin, and the conveying mechanism is provided with the recognizing and classifying mechanism. The power generation and energy supply mechanism is electrically connected with the collecting mechanism, the conveying mechanism, the recognition and classification mechanism, the waste crushing mechanism, the navigation driving mechanism and the control system. The control system is connected with the collecting mechanism, the conveying mechanism, the recognition and classification mechanism, the waste crushing mechanism and the navigation driving mechanism. The power generation and energy supply mechanism continuously generates power and supplies energy to all the components, all the components are coordinated through the control system to complete collection, conveying, classification and smashing of garbage, and the garbage salvage efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of environmental protection mechanical engineering and relates to an intelligent water surface cleaning robot and a working method thereof. Background Art

[0002] The hazards of surface garbage are multifaceted. It not only has a serious impact on the water environment, but also has adverse effects on human health, ecological balance, economic development, etc. Surface garbage may contain various pathogenic microorganisms, which increases the risk of people contacting and contracting diseases. When garbage decomposes in water, it will produce a large amount of acidic and alkaline organic pollutants. At the same time, heavy metals in the garbage will also be dissolved to form organic matter, which seriously pollutes surface water and groundwater; a large amount of floating garbage covers the water surface, blocking sunlight from entering the water, affecting the photosynthesis of aquatic plants, and destroying the ecological balance of the water body; the presence of surface garbage seriously affects the landscape effect of the city, and may have an adverse impact on industries such as tourism and fisheries; in addition, people may contract diseases by drinking contaminated water or contacting contaminated water. In summary, the hazards of surface garbage are multifaceted and need to be taken seriously.

[0003] At present, the cleaning of water surface garbage mainly adopts two methods: manual salvage and mechanical salvage.

[0004] Manual salvage is done by cleaning staff using tools such as nets and long bamboo poles. For garbage close to the shore, nets can be used to directly pick it up; for garbage that is far away or difficult to reach, long bamboo poles and other tools are used to assist in salvaging.

[0005] Manual salvage is labor-intensive, has a harsh working environment, and personal safety is not guaranteed. It is also difficult to clean up and has high overall costs.

[0006] Mechanical salvage methods include:

[0007] Fixed salvage platform: Although fixed salvage platforms can operate continuously, they are less flexible and cannot adapt to different water environments and garbage distribution conditions. In addition, if the amount of garbage exceeds the processing capacity of the platform, the salvage efficiency may also decrease.

[0008] Small unmanned cleaning boats: Although unmanned cleaning boats have the advantage of automated operations, their endurance, garbage collection and processing capabilities are relatively limited. In waters with a large amount of garbage, it may be necessary to frequently replace batteries or empty the collection chamber, resulting in interruptions in salvage operations.

[0009] Some salvage devices designed for specific types of garbage (such as aquatic plants, oil pollution, etc.) may not be effective when dealing with other types of garbage, resulting in inefficient salvage operations.

[0010] Manual assisted salvage: Although this method combines the advantages of mechanical salvage and manual salvage, there may be efficiency bottlenecks in the manual assistance process. For example, manual sorting of garbage and cleaning of areas that cannot be salvaged by machinery will consume a lot of time.

[0011] Intermittent patrol salvage method: This method performs salvage operations in the water area by regular patrols. However, due to the limitations of patrol time and frequency, it may not be possible to clean up all the garbage in time, resulting in interruptions in salvage operations.

[0012] Centralized salvage at a fixed point: This method involves centralized salvage operations in areas where garbage is concentrated. However, if the garbage is widely distributed or changes rapidly, this method may not be able to effectively cover all areas, resulting in low salvage efficiency.

[0013] Although mechanical salvage devices have improved efficiency to a certain extent and overcome the problems of manual salvage, such as lack of safety, difficulty in cleaning, and high overall cost, there are still problems of intermittent and low efficiency in garbage salvage.

[0014] In summary, the existing mechanical salvaging devices have problems of discontinuity and low efficiency in garbage salvaging. Summary of the invention

[0015] The purpose of the present invention is to provide an intelligent water surface cleaning robot and a working method thereof to solve the technical problems of discontinuous and low efficiency of garbage salvaging of existing mechanical salvaging devices. The present invention can realize continuous recycling and salvaging of garbage with high operating efficiency.

[0016] In order to achieve the above object, the present invention adopts the following technical solutions:

[0017] The present invention discloses an intelligent water surface cleaning robot, comprising a body, on which are provided a collection mechanism, a transmission mechanism, an identification and classification mechanism, a waste crushing mechanism, a power generation and energy supply mechanism, a navigation drive mechanism, a recovery cabin, a waste cabin and a control system;

[0018] The conveying mechanism is located between the collecting mechanism and the waste crushing mechanism, the waste crushing mechanism is connected to the waste compartment, and the conveying mechanism is provided with an identification and classification mechanism;

[0019] The power generation and energy supply mechanism is electrically connected to the collection mechanism, the transmission mechanism, the identification and classification mechanism, the waste crushing mechanism, the navigation drive mechanism and the control system, and the control system is connected to the collection mechanism, the transmission mechanism, the identification and classification mechanism, the waste crushing mechanism and the navigation drive mechanism.

[0020] Further, the collection mechanism includes a right drainage propeller, a left drainage propeller and a drainage propeller, the right drainage propeller, the left drainage propeller and the drainage propeller are respectively connected to the first power component through a transmission device, and the first power component is connected to the power generation and energy supply mechanism and the control system;

[0021] The right and left induced propellers are located at both sides of the front end of the fuselage, the induced propeller is located between the right and left induced propellers, a induced propeller is provided with an induced draft cover, and the induced draft cover is located below the right and left induced propellers.

[0022] Furthermore, the conveying mechanism includes a rear main shaft and a front main shaft, and the same new conveyor belt is installed on the rear main shaft and the front main shaft. The rear main shaft is connected to the second power component through a transmission device, and the second power component is connected to the power generation and power supply mechanism and the control system. The end of the new conveyor belt is in contact with the waste crushing mechanism.

[0023] Furthermore, the novel conveyor belt is provided with a plurality of baffles and a plurality of through holes.

[0024] Furthermore, the identification and classification mechanism includes a waste compartment robot arm, a recovery compartment robot arm and a camera, and the waste compartment robot arm, the recovery compartment robot arm and the camera are all connected to a power generation and energy supply mechanism and a control system.

[0025] Furthermore, the waste crushing mechanism includes a box body, an upper hammer head, a lower hammer head, a guide plate and a discharge port. The guide plate contacts the end of the new conveyor belt. The box body is provided with an upper hammer head and a lower hammer head. The box body is provided with a discharge port, and the discharge port is connected to the waste cabin.

[0026] Furthermore, the power generation and energy supply mechanism includes a sub-bracket and a power storage unit. The sub-bracket is provided with three fan blades and a plurality of solar panels. The three fan blades are connected to a wind volume converter. The wind volume converter and the solar panels are both connected to the power storage unit. The power storage unit is electrically connected to a collection mechanism, a transmission mechanism, an identification and classification mechanism, a waste crushing mechanism, a navigation drive mechanism and a control system.

[0027] Furthermore, the navigation drive mechanism includes a left propeller and a right propeller, which are respectively arranged on both sides of the body, the left propeller is connected to the first left motor, the right propeller is connected to the first right motor, and the first left motor and the first right motor are connected to the power generation and power supply mechanism and the control system.

[0028] Furthermore, both the recovery cabin and the waste cabin are provided with hatches, which are connected to the third power component via hinge components, and the third power component is connected to the power generation and energy supply mechanism and the control system.

[0029] Based on the above structure, the present invention also discloses a working method of an intelligent water surface cleaning robot, comprising the following steps:

[0030] After the cleaning robot is started, the identification and classification mechanism cooperates with the control system to find floating garbage;

[0031] After finding floating garbage, the control system controls the navigation drive mechanism to drive the cleaning robot to the area where the floating garbage is located;

[0032] After the cleaning robot arrives at the area where the floating garbage is located, it starts the collection mechanism to collect the garbage. The collected garbage is sent to the waste crushing mechanism through the conveying mechanism. During this period, the identification and classification mechanism sends the recyclable garbage to the recycling cabin, the non-crushable garbage to the waste cabin, and the remaining garbage is crushed by the waste crushing mechanism and sent to the waste cabin;

[0033] The power generation and energy supply mechanism continuously generates electricity and provides electrical energy for the collection mechanism, the transmission mechanism, the identification and classification mechanism, the waste crushing mechanism, the navigation drive mechanism and the control system.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. The body of the present invention can ensure that the entire device floats on the water surface, continuously generates electricity through the power generation and energy supply mechanism and stably supplies energy to each component, and completes the collection, transmission, classification and crushing of garbage through the control system to coordinate each component, thus overcoming the problem of intermittent operation of the existing garbage salvage device, and the flexibility of garbage salvage is strong, which improves the efficiency of garbage salvage. Specifically, the garbage on the water surface is collected by the collection mechanism, the garbage is transmitted to the waste crushing mechanism by the transmission mechanism, the recyclable garbage is sent to the recycling cabin by the identification and classification mechanism, and the non-crushable garbage is sent to the waste cabin, and the crushable non-recyclable garbage is crushed by the waste crushing mechanism and then input into the waste cabin, thereby reducing the space occupied by non-recyclable garbage, increasing the amount of garbage recovered in a single trip, increasing the garbage recovery operation time, and realizing the classification and recycling of garbage at the same time.

[0036] 2. The present invention is provided with a left drainage propeller 202, a right drainage propeller 201 and a drainage propeller. The right drainage propeller and the left drainage propeller work simultaneously to generate drainage on the water surface, so that the garbage enters the collection area. The drainage propeller 206 rotates at a high speed to generate huge suction to make the garbage enter the conveying mechanism, thereby realizing automatic collection of garbage and improving the garbage collection efficiency.

[0037] 3. A drainage cover is provided on the drainage propeller of the present invention to prevent garbage from entering the drainage propeller 206 due to suction, and to prevent the drainage propeller 206 from being stuck by garbage and causing malfunction.

[0038] 4. The new conveyor belt of the present invention is provided with a plurality of baffles and a plurality of through holes. The setting of the baffles increases the resistance between the new conveyor belt and the garbage, preventing the garbage from sliding off the new conveyor belt, and the setting of the through holes allows the water on the garbage to flow down through the through holes, reducing the weight of the garbage on the new conveyor belt 302, alleviating the burden of the conveyor belt, and preventing the blockage and corrosion problems caused by water accumulation.

[0039] 5. The present invention uses a combination of wind energy collection and solar energy collection to ensure that the robot can continue to obtain energy at night or on cloudy days, achieve energy self-sufficiency, ensure the robot's continuous and efficient operation under various weather conditions, solve the problem of discontinuous garbage salvage of existing mechanical salvage devices, and improve operating efficiency. In addition, wind energy and solar energy are both clean energy, avoiding the problem of secondary environmental pollution caused by traditional energy supply methods such as fuel power generation.

[0040] 6. The camera of the present invention is used to cooperate with the control system to find floating garbage, so that the control system can plan the route for garbage collection. At the same time, the camera is used to cooperate with the control system to classify and identify the garbage on the conveying mechanism, so that the control system can control the recovery cabin robot arm to send the recyclable garbage to the recovery cabin, and control the waste cabin robot arm to send the non-crushable garbage to the waste cabin, thereby realizing the automatic recycling and classification of garbage. This function not only improves the environmental protection of garbage disposal, but also promotes the recycling of resources and reduces the pressure of garbage landfill and incineration. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 The three views of the overall structure of the machine body of the present invention;

[0043] Figure 3 A top view of the body of the present invention;

[0044] Figure 4 It is a partial schematic diagram of the hatch of the present invention;

[0045] Figure 5 It is a schematic diagram of the structure of the transmission mechanism of the present invention;

[0046] Figure 6 It is a schematic diagram of the local structure of the novel conveyor belt of the present invention;

[0047] Figure 7 It is a partial schematic diagram of the identification and classification mechanism of the present invention;

[0048] Figure 8 It is a schematic diagram of the power generation and energy supply mechanism of the present invention;

[0049] Fig. 9 The figure is a flow chart of the method of the present invention.

[0050] Among them: 1. body; 2. collection mechanism; 3. transmission mechanism; 4. identification and classification mechanism; 5. waste crushing mechanism; 6. power generation and energy supply mechanism; 7. navigation drive mechanism; 101. recovery cabin; 102. waste cabin; 103. hatch; 104. left propeller; 105. first left motor; 106. first right motor; 107. right propeller; 108. waste channel; 109. rotating shaft; 110. rotating slot; 111. hinge No. 1; 112. cylinder No. 1; 113. cylinder No. 2; 114. hinge No. 2; 115. hinge slot; 201. right diversion propeller; 202 , left drainage propeller; 205, drainage cover; 206, drainage propeller; 301, rear spindle; 302, new conveyor belt; 303, middle spindle; 304, front spindle; 401, waste cabin robot arm; 402, recovery cabin robot arm; 403, lens; 404, camera; 405, fixing plate; 406, retaining ring; 407, rotating shaft; 408, supporting frame; 501, box body; 502, upper hammer; 503, lower hammer; 504, guide plate; 601, three blades; 602, solar panel; 603, sub-bracket; 604, energy supply body; 605, wind volume converter. DETAILED DESCRIPTION

[0051] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0052] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0053] The present invention is further described in detail below in conjunction with the accompanying drawings:

[0054] See also Figures 1 to 3The present invention discloses an intelligent water surface cleaning robot, comprising a body 1, on which are provided a collecting mechanism 2, a conveying mechanism 3, an identifying and classifying mechanism 4, a waste crushing mechanism 5, a power generation and energy supply mechanism 6, a navigation driving mechanism 7, a recovery cabin 101, a waste cabin 102 and a control system;

[0055] The conveying mechanism 3 is located between the collecting mechanism 2 and the waste crushing mechanism 5, the waste crushing mechanism 5 is connected to the waste cabin 102, and the conveying mechanism 3 is provided with an identification and classification mechanism 4. The body 1 can ensure that the entire device floats on the water surface, the collecting mechanism 2 is used to collect surface garbage, the conveying mechanism 3 is used to transfer the garbage to the waste crushing mechanism 5, the identification and classification mechanism 4 is used to send recyclable garbage to the recycling cabin 101, and send non-crushable garbage to the waste cabin 102, and the waste crushing mechanism 5 is used to crush the crushable non-recyclable garbage and then input it into the waste cabin 102, reducing the space occupied by non-recyclable garbage, which is conducive to increasing the single-trip garbage recycling volume, improving the garbage recycling operation time, and realizing the classified recycling of garbage.

[0056] The power generation and energy supply mechanism 6 is electrically connected to the collection mechanism 2, the transmission mechanism 3, the identification and classification mechanism 4, the waste crushing mechanism 5, the navigation drive mechanism 7 and the control system, and the control system is connected to the collection mechanism 2, the transmission mechanism 3, the identification and classification mechanism 4, the waste crushing mechanism 5 and the navigation drive mechanism 7. The power generation and energy supply mechanism 6 is used to continuously generate electricity and stably supply energy to each component, and the control system is used to coordinate each component to complete the collection, transmission, classification and crushing of garbage, which overcomes the problem of intermittent operation of the existing garbage salvage device, has strong flexibility in garbage salvage, and improves the efficiency of garbage salvage. The present invention can realize continuous recycling and salvage of garbage with high operating efficiency.

[0057] Embodiment 1:

[0058] See also Figures 1 to 3 This embodiment discloses an intelligent water surface cleaning robot, including a body 1, on which a collecting mechanism 2, a conveying mechanism 3, an identifying and classifying mechanism 4, a waste crushing mechanism 5, a power generation and energy supply mechanism 6, a navigation driving mechanism 7, a recovery cabin 101, a waste cabin 102 and a control system are provided;

[0059] The conveying mechanism 3 is located between the collecting mechanism 2 and the waste crushing mechanism 5, the waste crushing mechanism 5 is connected to the waste compartment 102, and the conveying mechanism 3 is provided with an identification and classification mechanism 4;

[0060] The power generation and energy supply mechanism 6 is electrically connected to the collection mechanism 2, the transmission mechanism 3, the identification and classification mechanism 4, the waste crushing mechanism 5, the navigation drive mechanism 7 and the control system, and the control system is connected to the collection mechanism 2, the transmission mechanism 3, the identification and classification mechanism 4, the waste crushing mechanism 5 and the navigation drive mechanism 7.

[0061] Preferably, see Figure 2 The collecting mechanism 2 includes a right drainage propeller 201, a left drainage propeller 202 and a drainage propeller 206, the right drainage propeller 201, the left drainage propeller 202 and the drainage propeller 206 are respectively connected to the first power component through a transmission device, and the first power component is connected to the power generation and energy supply mechanism 6 and the control system;

[0062] The right drainage propeller 201 and the left drainage propeller 202 are located at both sides of the front end of the body 1, the drainage propeller 206 is located between the right drainage propeller 201 and the left drainage propeller 202, and the drainage cover 205 is provided on the drainage propeller 206, and the drainage cover 205 is located below the right drainage propeller 201 and the left drainage propeller 202.

[0063] During specific operation, the first power component drives the left drainage propeller 202, the right drainage propeller 201 and the drainage propeller 206 to rotate at the same time. The left drainage propeller 202 and the right drainage propeller 201 work at the same time to generate drainage on the water surface, so that the garbage enters the collection area. The drainage propeller 206 rotates at a high speed to generate huge suction to make the garbage enter the conveying mechanism 3. In order to prevent the garbage from entering the drainage propeller 206 due to suction, a drainage cover 205 is set to prevent the drainage propeller 206 from being stuck by garbage and malfunctioning.

[0064] Preferably, see Figure 5 The conveying mechanism 3 includes a rear main shaft 301 and a front main shaft 304. The same new conveyor belt 302 is mounted on the rear main shaft 301 and the front main shaft 304. The rear main shaft 301 is connected to the second power component through a transmission device. The second power component is connected to the power generation and energy supply mechanism 6 and the control system. The end of the new conveyor belt 302 is in contact with the waste crushing mechanism 5.

[0065] Preferably, the second power component can also be connected to the front main shaft 304 through a transmission device, and drive the new conveyor belt 302 and the rear main shaft 301 through the front main shaft 304.

[0066] Preferably, see Figure 6 The new conveyor belt 302 is provided with a plurality of baffles and a plurality of through holes. The setting of the baffles increases the resistance between the new conveyor belt 302 and the garbage, preventing the garbage from sliding off the new conveyor belt 302, and the setting of the through holes allows the water on the garbage to flow down through the through holes, reducing the weight of the garbage on the new conveyor belt 302.

[0067] Preferably, see 1 and Figure 7 The identification and classification mechanism 4 includes a waste compartment robot arm 401, a recovery compartment robot arm 402 and a camera 404. The waste compartment robot arm 401, the recovery compartment robot arm 402 and the camera 404 are all connected to the power generation and energy supply mechanism 6 and the control system.

[0068] During specific operation, camera 404 is used to cooperate with the control system to find floating garbage, so that the control system can plan a route for garbage collection. At the same time, camera 404 is used to cooperate with the control system to classify and identify the garbage on the conveying mechanism 3, so that the control system can control the recovery cabin robot arm 402 to send the recyclable garbage to the recovery cabin 101, and control the waste cabin robot arm 401 to send the non-crushable garbage to the waste cabin 102, thereby realizing automatic garbage recovery and classification.

[0069] Preferably, see Figure 2 and Figure 3 The waste crushing mechanism 5 includes a box body 501, an upper hammer head 502, a lower hammer head 503, a guide plate 504 and a discharge port. The guide plate 504 contacts the end of the new conveyor belt 302. The box body 501 is provided with an upper hammer head 502 and a lower hammer head 503. The box body 501 is provided with a discharge port, which is connected to the waste chamber 102. The crushable non-recyclable garbage is crushed by the upper hammer head 502 and the lower hammer head 503 and then sent to the waste chamber 102, which reduces the space occupied by the garbage.

[0070] Preferably, the discharge port is in contact with the waste channel, and the waste channel is connected to the waste chamber.

[0071] Preferably, see Figure 8 The power generation and energy supply mechanism 6 includes a sub-bracket 603 and a power storage unit. The sub-bracket 603 is provided with three fan blades 601 and a plurality of solar panels 602. The three fan blades 601 are connected to a wind volume converter 605. The wind volume converter 605 and the solar panels 602 are both connected to the power storage unit. The power storage unit is electrically connected to the collection mechanism 2, the transmission mechanism 3, the identification and classification mechanism 4, the waste crushing mechanism 5, the navigation drive mechanism 7 and the control system.

[0072] When working:

[0073] The wind blows the three blades 601 to rotate, and the three blades 601 drive the air volume converter 605 to convert mechanical energy into electrical energy for storage or use;

[0074] The solar energy is converted into electrical energy by the solar panel 602 for storage or use.

[0075] The energy collection form of the combination of wind energy collection and solar energy collection ensures that the robot can continue to obtain energy at night or on cloudy days, enabling the robot to work continuously and solving the problem of discontinuous garbage salvage of existing mechanical salvage devices. In addition, wind energy and solar energy are both clean energy, avoiding the problem of secondary environmental pollution caused by traditional energy supply methods such as fuel power generation.

[0076] Preferably, see Figure 3The navigation drive mechanism 7 includes a left propeller 104 and a right propeller 107, which are respectively arranged on both sides of the body 1, the left propeller 104 is connected to the first left motor 105, the right propeller 107 is connected to the first right motor 106, and the first left motor 105 and the first right motor 106 are connected to the power generation and power supply mechanism 6 and the control system.

[0077] Preferably, see Figure 1 and Figure 2 The recovery chamber 101 and the waste chamber 102 are both provided with a chamber door 103, see Figure 4 The hatch 103 is connected to the third power component through a hinge component, and the third power component is connected to the power generation and supply mechanism 6 and the control system.

[0078] During specific operation, after any one of the recycling compartment 101 and the waste compartment 102 is full, the robot automatically returns to the nearest garbage recycling station, opens the compartment door 103, and discharges the garbage in the recycling compartment 101 and the waste compartment 102.

[0079] Embodiment 2:

[0080] See also Figure 1 This embodiment discloses an intelligent water surface cleaning robot. Based on the above embodiment, the difference between this embodiment and the above embodiment is that:

[0081] The first power component includes a second right motor and a second left motor, the right diversion propeller 201 is connected to the second right motor, the left diversion propeller 202 is connected to the second left motor, and the diversion propeller 206 is connected to the main motor;

[0082] See also Figure 5 The rear spindle 301 and the front spindle 304 are directly provided with a middle spindle 303 , and the rear spindle 301 , the middle spindle 303 and the front spindle 304 are sleeved with the same new type conveyor belt 302 .

[0083] Embodiment three:

[0084] See also Figure 1 This embodiment discloses an intelligent water surface cleaning robot, which is widely used in various occasions such as lakes, rivers, oceans, urban rivers and tourist attractions. With its advanced automatic cleaning function, it can efficiently and accurately remove floating garbage, oil and other pollutants on the water surface, significantly improving the efficiency of cleaning operations.

[0085] It can realize automatic garbage search, garbage collection, garbage classification and recycling, waste crushing, and clean energy supply to achieve 24-hour operation.

[0086] In order to achieve the above purpose, the technical solution adopted in this embodiment is: an intelligent water surface cleaning robot includes a body 1, a collection mechanism 2, a transmission mechanism 3, an identification and classification mechanism 4, a waste crushing mechanism 5, and a power generation and energy supply mechanism 6. Figure 1 shown.

[0087] As a preferred technical solution of the present invention, the body 1 includes a recovery cabin 101, a waste cabin 102, a door 103, a left propeller 104, a first left motor 105, a first right motor 106, a right propeller 107, a waste channel 108, a rotating shaft 109, a rotating slot 110, a hinge 111, a cylinder 112, a cylinder 113, a hinge 114, and a hinge slot 115. The left propeller 104, the first left motor 105, the first right motor 106, and the right propeller 107 in the body can realize the water surface cleaning robot sailing on the water surface, and find the garbage planning route for water surface navigation through the identification and classification mechanism 4. The recovery cabin 101 is used to temporarily store recyclable garbage, and the waste cabin 102 is used to temporarily store garbage crushed by a crusher. The door adopts a double hinge mechanism. The head of the No. 1 cylinder 112 is provided with a groove which can be connected to the No. 1 hinge 111. At the same time, the other end of the No. 1 hinge 111 is connected to the hinge groove 115 on the recovery hatch 103. The hatch is opened and closed by the joint work of the No. 1 hinge 111, the No. 1 cylinder 112, the No. 2 cylinder 113, the No. 2 hinge 114, the hinge groove 115, the hatch 103, etc. Figure 4 shown.

[0088] As a preferred technical solution of the present invention, Figure 3 The collection mechanism 2 is composed of a right drainage propeller 201, a left drainage propeller 202, a left motor, a right motor, a drainage cover 205, a drainage propeller 206, and a main motor. When working, the left motor drives the left drainage propeller 202 to rotate, and the right motor drives the right drainage propeller 201 to rotate. At the same time, the water surface is drained to make the garbage enter the collection area. At the same time, the main motor drives the drainage propeller 206 to rotate at a high speed to generate a huge suction force to make the garbage enter the conveyor belt. In order to prevent the garbage from entering the drainage propeller 206 due to suction, the drainage cover 205 is set to prevent the main motor and the drainage propeller 206 from malfunctioning.

[0089] As a preferred technical solution of the present invention, see Figure 5, the conveying mechanism 3 is composed of a rear spindle 301, a new conveyor belt 302, a middle spindle 303, and a front spindle 304. During operation: the collecting mechanism 2 makes the garbage close to the new conveyor belt 302, the motor drives the rear spindle 301 to rotate, the protrusion on the rear spindle 301 engages with the inner groove on the new conveyor belt 302, and drives the new conveyor belt 302 to move. Fine baffles are provided on the new conveyor belt 302 to increase friction and make the garbage fit better with the conveyor belt. Fine through holes are also designed on the new conveyor belt 302 to allow water on the garbage to flow down through the through holes, reducing the weight of the garbage on the new conveyor belt 302, thereby reducing the burden on the conveyor belt to increase its service life. Figure 6 shown.

[0090] As a preferred technical solution of the present invention, see Figure 7 The identification and classification mechanism 4 is composed of a waste compartment mechanical arm 401, a recycling compartment mechanical arm 402, a lens 403, a camera 404, a fixing plate 405, a snap ring 406, a rotating shaft 407, and a support frame 408. When the identification and classification mechanism is working, the lens 403 and the camera 404 obtain image information and analyze the types of garbage through a computer. The recyclable garbage is grabbed by the recycling compartment mechanical arm 402 and enters the recycling compartment 101, and the non-crushable garbage in the waste garbage is grabbed by the waste compartment mechanical arm 401 and enters the waste compartment 102. The support frame 408 is fixed to the body 1, the fixing plate 405 is used to fix the camera 404, the rotating shaft 407 is connected to the fixing plate 405 to control the direction of the camera lens, and the snap ring 406 is used to fix the rotating shaft to prevent the rotating shaft from axial deviation and improve stability.

[0091] As a preferred technical solution of the present invention, see Figure 2 and Figure 3 The waste crushing mechanism 5 is composed of a box body 501, an upper hammer head 502, a lower hammer head 503, a guide plate 504, and a discharge port. When working: the crushable waste garbage is transported into the guide plate 504 through the new conveyor belt 302, so that the garbage enters the box body 501, and then the upper hammer head 502 and the lower hammer head 503 are driven by the motor to rotate at high speed to squeeze and crush the garbage, and then enter the waste compartment 102 through the discharge port.

[0092] As a preferred technical solution of the present invention, see Figure 8The power generation and energy supply mechanism 6 is composed of three blades 601, a solar panel 602, a sub-bracket 603, an energy supply body 604, and an air volume converter 605. During operation: the wind blows the three blades 601 to rotate, driving the air volume converter 605 to convert mechanical energy into electrical energy for storage or use. The six solar panels 602 are used to collect sunlight and convert solar energy into electrical energy for storage or use. The energy supply body 604 is connected to the crusher housing. The sub-bracket 603 is used to support the six solar panels 602. The power generation and energy supply mechanism can fully provide energy for the water surface cleaning robot.

[0093] In summary, the beneficial effects of the present invention are:

[0094] Compared with traditional water surface cleaning methods and technologies, the intelligent water surface cleaning robot provided by the present invention realizes a high degree of integration and automation of cleaning operations. This innovative design solves the problems of traditional cleaning tools with single functions, cumbersome operations and low efficiency, and enables the robot to simultaneously complete multiple tasks such as garbage collection, identification and classification, and waste crushing, thereby significantly improving the efficiency of water surface cleaning.

[0095] The conveyor mechanism of the robot adopts a new conveyor belt design, with fine baffles and water holes added, which effectively improves the fit between the garbage and the conveyor belt, and quickly drains the water on the garbage, reducing the burden on the conveyor belt and preventing blockage and corrosion caused by water accumulation. This innovative design ensures the continuity and efficiency of the cleaning operation.

[0096] The intelligent surface cleaning robot has a built-in high-precision identification and classification mechanism that can accurately distinguish recyclable garbage from waste garbage, and send them to the corresponding recycling and waste compartments through the robotic arm. This function not only improves the environmental protection of garbage disposal, but also promotes the recycling of resources and reduces the pressure of landfill and incineration.

[0097] The robot uses a clean energy supply system, including renewable energy such as wind and solar energy, to achieve energy self-sufficiency. This energy supply method not only reduces operating costs, but also reduces carbon emissions, which is in line with the concept of green environmental protection. At the same time, a stable energy supply also ensures that the robot can continue to operate efficiently in all weather conditions.

[0098] The intelligent surface cleaning robot integrates multiple functional modules such as collection, transmission, classification, crushing and energy supply into one, forming a complete operation process. This systematic design enables the robot to systematically complete a series of surface cleaning tasks without manual intervention or frequent equipment replacement, thereby greatly improving the overall effectiveness and operation efficiency. At the same time, it also reduces the labor intensity and safety risks of operators.

[0099] Based on the above structure, the present invention also discloses a working method of an intelligent water surface cleaning robot, see Fig. 9 , including the following steps:

[0100] S1. After the cleaning robot is started, the identification and classification mechanism 4 cooperates with the control system to find floating garbage;

[0101] S2. After the floating garbage is found, the control system controls the navigation drive mechanism 7 to drive the cleaning robot to the area where the floating garbage is located;

[0102] S3. After the cleaning robot arrives at the area where the floating garbage is located, it starts the collection mechanism 2 to collect the garbage. The collected garbage is sent to the waste crushing mechanism 5 through the conveying mechanism 3. During this period, the identification and classification mechanism 4 sends the recyclable garbage to the recycling cabin 101 and the non-crushable garbage to the waste cabin 102. The remaining garbage is crushed by the waste crushing mechanism 5 and then sent to the waste cabin 102, thereby realizing the automation of garbage collection, identification and classification, and waste crushing, and improving the efficiency of garbage salvage.

[0103] S4. The power generation and energy supply mechanism 6 continuously generates electricity and provides electric energy to the collection mechanism 2, the transmission mechanism 3, the identification and classification mechanism 4, the waste crushing mechanism 5, the navigation drive mechanism 7 and the control system, thereby ensuring the continuous operation of the robot, improving the garbage recycling efficiency, overcoming the problem of intermittent operation of the existing garbage salvaging device, and improving the efficiency of garbage salvaging.

[0104] That is, the present invention can realize the continuous recovery and salvage of garbage with high operation efficiency.

[0105] Embodiment 4:

[0106] This embodiment discloses a working method of an intelligent water surface cleaning robot, comprising the following steps:

[0107] S1. After the robot is started, it uses its built-in motor to drive the left propeller 104 and the right propeller 107 to autonomously navigate on the water surface. Through the advanced recognition system, the robot can intelligently scan the water surface to find floating garbage, oil and other pollutants. Once the target is found, the robot will immediately plan the optimal cleaning path and go to the garbage concentration area.

[0108] S2. When the robot approaches the garbage, its collection mechanism 2 starts to work. The left motor and the right motor drive the left drainage propeller 202 and the right drainage propeller 201 to rotate respectively, generating water flow to guide the garbage to the collection area. At the same time, the main motor drives the drainage propeller 206 to rotate at a high speed, generating a strong suction force to suck the garbage in. In order to prevent garbage from entering the drainage propeller 206 and causing malfunctions, the robot is also equipped with a drainage cover 205 for protection.

[0109] S3. The collected garbage is then transferred to the new conveyor belt 302, which is driven by a motor and designed with fine baffles and holes to ensure stable transmission of the garbage and reduce moisture burden.

[0110] S4. During the garbage transmission process, the identification and classification mechanism 4 starts to work. The lens 403 and the camera 404 capture the image information of the garbage, and analyze it in real time through the computer to determine the type of garbage. For recyclable garbage, the recycling cabin robot arm 402 will accurately grab it and send it to the recycling cabin 101 for temporary storage; for non-recyclable and non-crushable garbage, the waste cabin robot arm 401 will grab it and send it to the waste cabin 102, and the waste garbage that needs to be crushed will continue to be transferred to the waste crushing mechanism.

[0111] S5. After the waste enters the waste crushing mechanism, it first enters the box 501 through the guide plate 504. Then, the motor drives the upper hammer 502 and the lower hammer 503 to rotate at high speed to squeeze and crush the waste. The volume of the crushed waste is greatly reduced, which is convenient for storage and subsequent processing. Finally, the crushed waste enters the waste compartment 102 through the discharge port for temporary storage.

[0112] S6. When the recycling cabin 101 or the waste cabin 102 recycles to a certain threshold, the robot will return to the designated place to discharge the recyclable garbage and waste garbage, push the hinge through the cylinder and then push the cabin door to open the cabin door, and discharge the garbage. When closing the cabin door, pull the hinge through the cylinder and then pull the cabin door to close the cabin door, and then continue sailing.

[0113] S7. In order to ensure that the robot can work continuously and stably, the present invention adopts a clean energy supply solution. On the one hand, the robot is equipped with three fan blades 601 and a wind volume converter 605, which captures wind energy and converts it into electrical energy for storage or use; on the other hand, the robot is also equipped with six solar panels 602, which collect sunlight and convert solar energy into electrical energy for storage. The combined use of these two clean energy sources provides sufficient energy support for the robot, enabling 24-hour uninterrupted operation.

[0114] The present invention realizes automated and intelligent cleaning operations. It can be used in the following places: lakes, rivers and oceans. The intelligent surface cleaning robot can clean floating garbage, oil and other pollutants in natural waters such as lakes and rivers, protect aquatic ecosystems and improve water quality. For offshore areas, the intelligent surface cleaning robot can also play its role, cleaning plastic garbage, floating algae and the like on the sea surface to reduce marine pollution.

[0115] The above contents are only for explaining the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. Any changes made on the basis of the technical solution in accordance with the technical idea proposed by the present invention shall fall within the protection scope of the claims of the present invention.

Claims

1. An intelligent water surface cleaning robot, characterized in that: The invention comprises a machine body (1), wherein the machine body (1) is provided with a collection mechanism (2), a conveying mechanism (3), an identification and classification mechanism (4), a waste crushing mechanism (5), a power generation and energy supply mechanism (6), a navigation drive mechanism (7), a recovery cabin (101), a waste cabin (102) and a control system; The conveying mechanism (3) is located between the collecting mechanism (2) and the waste crushing mechanism (5), the waste crushing mechanism (5) is connected to the waste compartment (102), and the conveying mechanism (3) is provided with an identification and classification mechanism (4); The power generation and energy supply mechanism (6) is electrically connected to the collection mechanism (2), the transmission mechanism (3), the identification and classification mechanism (4), the waste crushing mechanism (5), the navigation drive mechanism (7) and the control system, and the control system is connected to the collection mechanism (2), the transmission mechanism (3), the identification and classification mechanism (4), the waste crushing mechanism (5) and the navigation drive mechanism (7).

2. The intelligent water surface cleaning robot according to claim 1, characterized in that: The collecting mechanism (2) comprises a right drainage propeller (201), a left drainage propeller (202) and a drainage propeller (206); the right drainage propeller (201), the left drainage propeller (202) and the drainage propeller (206) are respectively connected to a first power component via a transmission device; and the first power component is connected to a power generation and energy supply mechanism (6) and a control system; The right drainage propeller (201) and the left drainage propeller (202) are located at both sides of the front end of the machine body (1); the drainage propeller (206) is located between the right drainage propeller (201) and the left drainage propeller (202); a drainage cover (205) is provided on the drainage propeller (206); and the drainage cover (205) is located below the right drainage propeller (201) and the left drainage propeller (202).

3. The intelligent water surface cleaning robot according to claim 1, characterized in that: The conveying mechanism (3) comprises a rear main shaft (301) and a front main shaft (304), the rear main shaft (301) and the front main shaft (304) are sleeved with a same new type of conveyor belt (302), the rear main shaft (301) is connected to a second power component via a transmission device, the second power component is connected to a power generation and energy supply mechanism (6) and a control system, and the end of the new type of conveyor belt (302) is in contact with a waste crushing mechanism (5).

4. The intelligent water surface cleaning robot according to claim 3, characterized in that: The novel conveyor belt (302) is provided with a plurality of baffles and a plurality of through holes.

5. The intelligent water surface cleaning robot according to claim 1, characterized in that: The identification and classification mechanism (4) comprises a waste compartment robot arm (401), a recovery compartment robot arm (402) and a camera (404), and the waste compartment robot arm (401), the recovery compartment robot arm (402) and the camera (404) are all connected to a power generation and energy supply mechanism (6) and a control system.

6. The intelligent water surface cleaning robot according to claim 1 or 3, characterized in that: The waste crushing mechanism (5) comprises a box body (501), an upper hammer head (502), a lower hammer head (503), a guide plate (504) and a discharge port, wherein the guide plate (504) contacts the end of the novel conveyor belt (302), the upper hammer head (502) and the lower hammer head (503) are arranged in the box body (501), and the discharge port is opened on the box body (501), and the discharge port is connected to the waste compartment (102).

7. The intelligent water surface cleaning robot according to claim 1, characterized in that: The power generation and energy supply mechanism (6) comprises a sub-bracket (603) and an electricity storage unit. The sub-bracket (603) is provided with three fan blades (601) and a plurality of solar panels (602). The three fan blades (601) are connected to a wind volume converter (605). The wind volume converter (605) and the solar panels (602) are both connected to the electricity storage unit. The electricity storage unit is electrically connected to a collection mechanism (2), a transmission mechanism (3), an identification and classification mechanism (4), a waste crushing mechanism (5), a navigation drive mechanism (7) and a control system.

8. The intelligent water surface cleaning robot according to claim 1, characterized in that: The navigation drive mechanism (7) comprises a left propeller (104) and a right propeller (107), the left propeller (104) and the right propeller (107) being arranged on both sides of the body (1) respectively, the left propeller (104) being connected to a first left motor (105), the right propeller (107) being connected to a first right motor (106), and the first left motor (105) and the first right motor (106) being connected to a power generation and energy supply mechanism (6) and a control system.

9. The intelligent water surface cleaning robot according to claim 1, characterized in that: The recovery cabin (101) and the waste cabin (102) are both provided with a cabin door (103), the cabin door (103) is connected to a third power component via a hinge component, and the third power component is connected to a power generation and energy supply mechanism (6) and a control system.

10. A working method of the intelligent water surface cleaning robot according to any one of claims 1 to 9, characterized in that: The following steps are involved: After the cleaning robot is started, the identification and classification mechanism (4) cooperates with the control system to search for floating garbage; After the floating garbage is found, the control system controls the navigation drive mechanism (7) to drive the cleaning robot to the area where the floating garbage is located; After the cleaning robot reaches the area where the floating garbage is located, it starts the collection mechanism (2) to collect the garbage. The collected garbage is sent to the waste crushing mechanism (5) through the conveying mechanism (3). During this period, the identification and classification mechanism (4) sends the recyclable garbage to the recycling cabin (101) and the non-crushable garbage to the waste cabin (102). The remaining garbage is crushed by the waste crushing mechanism (5) and then sent to the waste cabin (102). The power generation and energy supply mechanism (6) continuously generates electricity and provides electric energy for the collection mechanism (2), the transmission mechanism (3), the identification and classification mechanism (4), the waste crushing mechanism (5), the navigation drive mechanism (7) and the control system.

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