Unmanned ship weeding and garbage recycling system used in inland river

Abstract

The invention relates to the technical field of inland river weeding, and discloses an unmanned ship weeding and garbage recycling system used in an inland river, which comprises a ship body, a propelling mechanism is arranged at the rear position in the ship body, a folding bin is arranged in the front of the ship body, and the outer wall of the ship body is fixedly connected with one end of a first connecting block and one end of a second connecting block. The other ends of the first connecting block and the second connecting block are fixedly connected to the outer walls of the first collecting barrel and the second collecting barrel, a first channel is formed in the side wall of the first collecting barrel, one end of the first channel penetrates through the outer wall of the first collecting barrel, and the other end of the first channel is fixedly connected to an inner opening of the gathering bin; and the first collecting barrel and the second collecting barrel are arranged. According to the ship, the ship body can float on the water surface, then the controller in the ship body controls the engine to rotate, the ship body can travel on the water surface according to a specified route, and therefore the problem that the cleaning efficiency is not high due to the complex river surface environment and limited manpower resources is solved.

Description

Technical Field

[0001] The invention relates to the technical field of inland river weeding, and in particular to an unmanned boat weeding and garbage recycling system used in inland rivers. Background Art

[0002] The cleaning of garbage and aquatic plants in inland waters has important ecological and environmental significance. First, it can improve water quality, reduce pollutants and increase dissolved oxygen in water, and promote aquatic ecological balance. Secondly, cleaning activities beautify the environment, attract tourists, promote local tourism development, and ensure shipping safety and reduce navigation obstacles. Cleaning can also prevent floods, maintain smooth water flow, enhance the self-purification capacity of water bodies, and promote the sustainable use of water resources. In addition, these activities have also raised the public's environmental awareness and promoted community participation in water environment protection.

[0003] Most of the existing river cleaning methods still rely on manual labor. Due to the complex river environment and limited human resources, the cleaning efficiency is low. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides an unmanned boat weeding and garbage recycling system for use in inland rivers, which solves the problem that most existing river surface cleaning methods still rely on manual labor, which results in low cleaning efficiency due to the complex river surface environment and limited human resources.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: an unmanned boat weeding and garbage recycling system for inland rivers, comprising a hull, a propulsion mechanism is provided at a rear position inside the hull, a collecting bin is provided in front of the hull, an outer wall of the hull is fixedly connected with one end of a first connecting block and a second connecting block, the other ends of the first connecting block and the second connecting block are fixedly connected to the outer walls of a first collecting barrel and a second collecting barrel, a side wall of the first collecting barrel is provided with a first channel, one end of the first channel passes through the outer wall of the first collecting barrel, and the other end is fixedly connected to the inner opening of the collecting bin, a filter screen is provided at a lower position inside the first collecting barrel and the second collecting barrel, a water pump is provided at a rear position below the filter screen, the outer wall of the water pump is fixedly connected to the inner wall of a mounting cover, the input end of the water pump is fixedly connected with a water inlet pipe, the output end of the water pump is fixedly connected with a drain pipe, and the drain pipe passes through the mounting cover.

[0006] Preferably, the propulsion mechanism includes an engine, the engine is fixedly connected to the inside of the hull, the output end of the engine is fixedly connected to one end of a transmission rod, the other end of the transmission rod is fixedly connected to a propeller, and a steering rudder is provided in front of the propeller.

[0007] Preferably, a conical shell is provided at the bottom of the hull, a storage groove is opened at the bottom of the hull, the conical shell is located inside the storage groove, the inner wall of the conical shell is fixedly connected to one end of a fixing rod, the other end of the fixing rod is fixedly connected to the outer wall of the first motor, the output end of the first motor is fixedly connected to one end of a first transmission shaft, the other end of the first transmission shaft is fixedly connected to the top of the mounting block, and the side wall of the mounting block is provided with a blade.

[0008] Preferably, the inner wall of the conical shell is provided with a rear portion fixedly connected to the third motor at an upper position, the output end of the third motor is fixedly connected to one end of the third transmission shaft, the other end of the third transmission shaft is fixedly connected to a fourth gear, a third gear is provided on the upper portion of the fourth gear, the outer wall of the third gear is meshed with the outer wall of the fourth gear, the outer walls of the two third gears are meshed with each other, the interior of the third gear is fixedly connected to the outer wall of the second rotating shaft, a winding wheel is fixedly connected to the outer wall of the second rotating shaft in the middle, both ends of the second rotating shaft are rotatably connected to the inner wall of the conical shell, and the outer wall of the winding wheel is provided with convex strips.

[0009] Preferably, the outer wall of the conical shell is fixedly connected to one end of the first rotating shaft, the other ends of the two first rotating shafts are rotatably connected to the bottom inner wall of the connecting plate, the outer wall of the first rotating shaft is fixedly connected to the second gear, the upper part of the second gear is provided with a first gear, the outer wall of the second gear and the outer wall of the first gear are meshed and connected, the inner wall of the first gear is fixedly connected to the outer wall of the second transmission shaft, the end of the second transmission shaft is fixedly connected to the output end of the second motor, and the rear of the second motor is fixedly connected to the middle inner wall of the connecting plate.

[0010] Preferably, the top of the connecting piece is fixedly connected to the output end of the hydraulic cylinder, and the top of the hydraulic cylinder is fixedly connected to the inner top of the storage groove.

[0011] Preferably, the outer wall of the conical shell is provided with a second channel, one end of the second channel passes through the outer wall of the conical shell, and the other end is fixedly connected to the outer wall of the second collecting barrel.

[0012] Preferably, the tops of the first collecting barrel and the second collecting barrel are provided with closing covers, and the tops of the closing covers are fixedly connected with handles.

[0013] Preferably, a signal transceiver is arranged at a middle position on the top of the hull, a camera is arranged at the front of the top of the hull, and ultrasonic detection heads are arranged at the front of the first collecting bucket and the second collecting bucket.

[0014] Preferably, an inertial navigation system, a satellite navigation system and an integrated decision processor are provided inside the hull, and the integrated decision processor is electrically connected to the steering rudder, propeller, camera and ultrasonic detection head through wires.

[0015] Working principle: The controller inside the hull controls the engine inside the hull to drive the propeller to rotate so that the unmanned boat can move. At the same time, the direction of the unmanned boat can be changed by the steering rudder. The position of weeds and garbage on the water surface can be observed in real time through the camera. While the unmanned boat moves, the weeds and garbage can be collected into the collection bin, and then the weeds and garbage can be collected into the filter surface inside the first collection bucket through the first channel through the water pump inside the first collection bucket. At the same time, the unmanned boat can detect the position of the underwater weeds that need to be cleaned in real time through the ultrasonic detection head. When it reaches above the weeds that need to be cleaned, the conical shell is lowered by the hydraulic cylinder, and the first motor is started to make The blade starts to rotate, thereby cleaning the stems and leaves of the aquatic plants. At the same time, the water pump inside the second collecting bucket is started for suction, thereby transporting the stems and leaves of the aquatic plants to the second collecting bucket for storage through the second channel. After the stems and leaves are cleaned, the first gear is driven to rotate by the second motor, which in turn causes the second gear to rotate, thereby causing the first gear to rotate one hundred and eighty degrees toward the folding bin, thereby causing the winding wheel to contact the roots of the aquatic plants. The third motor is started, thereby causing the fourth gear to drive a third gear to rotate. Since the two third gears are meshed with each other, the two winding wheels rotate in opposite directions, thereby winding and removing the roots of the aquatic plants, and then transporting them to the second collecting bucket through the second channel.

[0016] The present invention provides an unmanned boat weeding and garbage recycling system for inland rivers. It has the following beneficial effects:

[0017] 1. In the present invention, the hull can float on the water surface, and then the engine is controlled to rotate by the controller inside the hull, thereby driving the propeller and the steering rudder, so that the hull can travel on the water surface according to the specified route, and the weeds and garbage floating on the water surface can be collected by the collection compartment at the front of the hull, and then the weeds and garbage are sucked into the filter screen inside the first collection bucket by the water pump, thereby improving the existing river surface cleaning methods that mostly rely on manual labor. Due to the complex river surface environment and limited human resources, the cleaning efficiency is low.

[0018] 2. In the present invention, the first motor inside the conical shell can drive the first transmission shaft to rotate and then drive the blade installed on the side wall of the mounting block to rotate, so as to clean the overly lush stems and leaves of water plants.

[0019] 3. In the present invention, the second motor can drive the first gear fixed on the outer wall of the second transmission shaft to rotate, and then drive the second gear to rotate so that the conical shell can rotate one hundred and eighty degrees toward the direction of the folding bin, so that it can pass downward through the top of the conical shell, and then clamp the roots of the aquatic plants through two winding wheels, and then the third motor outputs a rotational force to drive the fourth gear to rotate, so that the third gear rotates. Since the two third gears are meshed with each other, the two winding wheels will rotate in opposite directions to clamp and wind up the roots, thereby cleaning the lush stems and leaves of the aquatic plants while removing the roots of the aquatic plants, thereby further cleaning the aquatic plants. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A perspective view of the present invention;

[0021] Figure 2 is a plan view of the present invention;

[0022] Figure 3 It is a rear perspective view of the present invention;

[0023] Figure 4 A three-dimensional diagram of the blade of the present invention;

[0024] Figure 5 A three-dimensional diagram of the conical shell of the present invention;

[0025] Figure 6 It is a front view of the conical shell of the present invention;

[0026] Figure 7 is a cross-sectional view of the second collecting barrel of the present invention;

[0027] Figure 8 It is a cross-sectional view taken along line AA of the present invention.

[0028] Among them, 1. handle; 2. closing cover; 3. first collecting bucket; 4. hull; 5. camera; 6. stowage bin; 7. second collecting bucket; 8. first channel; 9. signal transceiver; 10. second channel; 11. propeller; 12. drain pipe; 13. installation cover; 14. first connecting block; 15. second connecting block; 16. conical shell; 17. steering rudder; 18. first motor; 19. fixing rod; 20. mounting block; 21. blade; 22. hydraulic cylinder; 23. connecting piece; 24. first transmission shaft; 25. winding wheel; 26. first gear; 27. second transmission shaft; 28. second motor; 29. ​​second gear; 30. first rotating shaft; 31. convex strip; 32. third gear; 33. second rotating shaft; 34. fourth gear; 35. third transmission shaft; 36. third motor; 37. ultrasonic detector; 38. filter; 39. water inlet pipe; 40. water pump. DETAILED DESCRIPTION

[0029] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings 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 are within the scope of protection of the present invention.

[0030] Example:

[0031] Please see attached Figure 1 -Attached Figure 8 The embodiment of the present invention provides an unmanned boat weeding and garbage collection system for inland rivers, including a hull 4, which provides buoyancy. A propulsion mechanism is provided at the rear of the hull 4, which can drive the hull 4 to move. A collection bin 6 is provided in front of the hull 4, which collects weeds and garbage floating on the water surface. The outer wall of the hull 4 is fixedly connected with one end of a first connecting block 14 and a second connecting block 15, and the first connecting block 14 and the second connecting block 15 connect the outer walls of the first collecting barrel 3 and the second collecting barrel 7. The other ends of the first connecting block 14 and the second connecting block 15 are fixedly connected to the outer walls of the first collecting barrel 3 and the second collecting barrel 7. The first collecting barrel 3 collects the weeds and garbage collected by the collection bin 6. The side wall of the first collecting barrel 3 is provided with a first channel 8. Channel 8 is a hose, which can transport weeds and garbage. One end of the first channel 8 passes through the outer wall of the first collecting bucket 3, and the other end is fixedly connected to the inner mouth of the collection bin 6. The first collecting bucket 3 and the second collecting bucket 7 are both provided with a filter screen 38 at a lower position inside. The filter screen 38 plays a role in filtering river water and preventing debris from clogging the water inlet pipe 39. A water pump 40 is provided at a rear position below the filter screen 38. The water pump 40 plays a role in discharging the river water inside the first collecting bucket 3 and the second collecting bucket 7 and at the same time can suck in weeds and garbage through the pressure difference. The outer wall of the water pump 40 is fixedly connected to the inner wall of the mounting cover 13. The mounting cover 13 plays a role in fixing the water pump 40. The input end of the water pump 40 is fixedly connected to the water inlet pipe 39, and the output end of the water pump 40 is fixedly connected to the drain pipe 12. The drain pipe 12 runs through the mounting cover 13.

[0032] The propulsion mechanism includes an engine, which is fixedly connected to the inside of the hull 4. The engine outputs rotational force. The output end of the engine is fixedly connected to one end of a transmission rod. The transmission rod transmits the rotational force output by the engine to the propeller 11. The other end of the transmission rod is fixedly connected to the propeller 11. The propeller 11 changes the water flow to generate a driving force. A steering rudder 17 is provided in front of the propeller 11. The steering rudder 17 changes the moving direction of the hull 4.

[0033] A conical shell 16 is provided at the bottom of the hull 4, and the conical shell 16 serves to install the internal structure. A storage groove is provided at the bottom of the hull 4, and the storage groove serves to store the conical shell 16. The conical shell 16 is located inside the storage groove, and the inner wall of the conical shell 16 is fixedly connected to one end of a fixing rod 19, and the fixing rod 19 serves to support the first motor 18. The other end of the fixing rod 19 is fixedly connected to the outer wall of the first motor 18, and the first motor 18 serves to output rotational force. The output end of the first motor 18 is fixedly connected to one end of a first transmission shaft 24, and the first transmission shaft 24 serves to transmit the rotational force to the mounting block 20. The other end of the first transmission shaft 24 is fixedly connected to the top of the mounting block 20, and the mounting block 20 serves to install a blade 21. The side wall of the mounting block 20 is provided with a blade 21, and the blade 21 serves to cut aquatic plants.

[0034] The inner wall of the conical shell 16 is fixedly connected to the rear part of the third motor 36 at the upper position, and the third motor 36 plays the role of outputting the rotational force. The output end of the third motor 36 is fixedly connected to one end of the third transmission shaft 35, and the third transmission shaft 35 plays the role of transmitting the rotational force to the fourth gear 34. The other end of the third transmission shaft 35 is fixedly connected with the fourth gear 34, and the fourth gear 34 plays the role of transmitting the rotational force to the third gear 32. The upper part of the fourth gear 34 is provided with the third gear 32, and the outer wall of the third gear 32 is meshed with the outer wall of the fourth gear 34. The third gear 32 plays the role of In order to transmit the rotational force to the second rotating shaft 33, the outer walls of the two third gears 32 are meshed with each other, so that the two third gears 32 can rotate relative to each other, and the inner part of the third gear 32 is fixedly connected to the outer wall of the second rotating shaft 33. The outer wall of the second rotating shaft 33 is fixedly connected with a winding wheel 25 in the middle. The winding wheel 25 plays a role in supporting and winding the roots of aquatic plants. The two ends of the second rotating shaft 33 are rotatably connected to the inner wall of the conical shell 16. The outer wall of the winding wheel 25 is provided with a convex strip 31. The convex strip 31 plays a role in increasing the friction of the outer wall of the winding wheel 25, thereby improving the efficiency of removing the roots of aquatic plants.

[0035] The outer wall of the conical shell 16 is fixedly connected to one end of the first rotating shaft 30, and the first rotating shaft 30 plays a role in fixing the second gear 29. The other ends of the two first rotating shafts 30 are rotatably connected to the bottom inner wall of the connecting piece 23. The connecting piece 23 plays a role in connecting the hydraulic cylinder 22 and the first rotating shaft 30. The outer wall of the first rotating shaft 30 is fixedly connected with the second gear 29, and the second gear 29 plays a role in driving the first rotating shaft 30 to rotate, thereby driving the conical shell 16 to flip. The upper part of the second gear 29 is provided with a first gear 26, and the first gear 26 plays a role in transmitting the rotational force to the second gear 29. The outer wall of the second gear 29 is meshed with the outer wall of the first gear 26. The inner wall of the first gear 26 is fixedly connected to the outer wall of the second transmission shaft 27. The second transmission shaft 27 plays a role in transmitting the rotational force output by the second motor 28 to the first gear 26. The end of the second transmission shaft 27 is fixedly connected to the output end of the second motor 28. The second motor 28 plays a role in outputting the rotational force. The rear part of the second motor 28 is fixedly connected to the middle inner wall of the connecting piece 23.

[0036] The top of the connecting piece 23 is fixedly connected to the output end of the hydraulic cylinder 22. The hydraulic cylinder 22 enables the conical shell 16 to be extended and retracted in the receiving groove. The top of the hydraulic cylinder 22 is fixedly connected to the inner top of the receiving groove.

[0037] The outer wall of the conical shell 16 is provided with a second channel 10. The second channel 10 is a hose that can transport aquatic plants. One end of the second channel 10 passes through the outer wall of the conical shell 16, and the other end is fixedly connected to the outer wall of the second collecting bucket 7. The second collecting bucket 7 serves to store aquatic plants.

[0038] A closing cover 2 is disposed on the top of the first collecting bucket 3 and the second collecting bucket 7 , and a handle 1 is fixedly connected to the top of the closing cover 2 . The handle 1 serves to facilitate opening and closing the closing cover 2 .

[0039] A signal transceiver 9 is arranged at the middle position on the top of the hull 4. The signal transceiver 9 plays the role of receiving and sending signals. The signal transceiver 9 can allow the staff to remotely control the unmanned boat. A camera 5 is arranged at the front of the top of the hull 4. The camera 5 is a binocular camera, which can identify the distance of surface objects. The surrounding environment of the unmanned boat can be transmitted to the staff in real time through the camera 5. An ultrasonic detection head 37 is arranged at the front of the first collecting bucket 3 and the second collecting bucket 7. The ultrasonic detection head 37 can detect the position of the underwater tank in real time and accurately.

[0040] The hull 4 is provided with an inertial navigation system, a satellite navigation system and a comprehensive decision processor, which is electrically connected to the steering rudder 17, the propeller 11, the camera 5 and the ultrasonic detection head 37 through wires. The camera 5 installed at the front of the top of the hull 4 is used to take real-time photos of the water surface and the surrounding environment, and the image recognition technology is used to analyze the distribution of weeds and garbage in the picture, as well as the water surface terrain, obstacles and other information;

[0041] With the help of the ultrasonic detection head 37 at the front of the first collection bucket 3 and the second collection bucket 7, the position and depth of underwater water plants, as well as the undulations of underwater terrain and other information are detected in real time;

[0042] By receiving satellite signals to determine the real-time geographic coordinates of the unmanned boat, based on the preset cleanup area boundaries and operation route planning, combined with real-time location information, the unmanned boat is guided along the established route to ensure full coverage of the cleanup area;

[0043] By measuring the acceleration and angular velocity of the unmanned boat, the attitude, speed and displacement changes of the unmanned boat are calculated in real time. When the satellite signal is blocked or interfered, the inertial navigation system can be used as an auxiliary means to maintain the stability of the navigation trajectory of the unmanned boat and ensure that it can carry out weeding and garbage collection operations as planned;

[0044] The data obtained by the camera 5 and the ultrasonic detection head 37 are transmitted to the integrated decision-making processor. When the camera 5 or the ultrasonic detection head 37 detects an obstacle ahead, the safe avoidance direction and speed are calculated based on the position, size and moving speed of the obstacle, combined with the navigation status of the unmanned boat itself measured by the inertial navigation system, so as to adjust the driving trajectory of the unmanned boat by controlling the direction of the steering rudder 17 and the rotation speed of the propeller 11, thereby achieving automatic operation and ensuring navigation safety.

[0045] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned boat weeding and garbage collection system for use in inland rivers, comprising a hull (4), characterized in that: A propulsion mechanism is provided at a rear position inside the hull (4), a folding bin (6) is provided in front of the hull (4), a first connecting block (14) and one end of a second connecting block (15) are fixedly connected to the outer wall of the hull (4), the other ends of the first connecting block (14) and the second connecting block (15) are fixedly connected to the outer walls of the first collecting barrel (3) and the second collecting barrel (7), a first channel (8) is provided on the side wall of the first collecting barrel (3), one end of the first channel (8) passes through the outer wall of the first collecting barrel (3), and a first channel (8) is provided on the side wall of the first collecting barrel (3). The outer wall of the water pump (40) is fixedly connected to the inner opening of the collection bin (6); the other end is fixedly connected to the inner opening of the collection bin (6); a filter screen (38) is arranged at a lower position inside the first collection bin (3) and the second collection bin (7); a water pump (40) is arranged at a rear position below the filter screen (38); the outer wall of the water pump (40) is fixedly connected to the inner wall of the installation cover (13); the input end of the water pump (40) is fixedly connected to a water inlet pipe (39); the output end of the water pump (40) is fixedly connected to a drain pipe (12); and the drain pipe (12) passes through the installation cover (13).

2. The unmanned boat weeding and garbage recycling system for inland river use according to claim 1, characterized in that: The propulsion mechanism comprises an engine, the engine is fixedly connected to the inside of the hull (4), the output end of the engine is fixedly connected to one end of a transmission rod, the other end of the transmission rod is fixedly connected to a propeller (11), and a steering rudder (17) is arranged in front of the propeller (11).

3. The unmanned boat weeding and garbage recycling system for inland river use according to claim 1, characterized in that: A conical shell (16) is provided at the bottom of the hull (4), a storage groove is opened at the bottom of the hull (4), the conical shell (16) is located inside the storage groove, the inner wall of the conical shell (16) is fixedly connected to one end of a fixing rod (19), the other end of the fixing rod (19) is fixedly connected to the outer wall of a first motor (18), the output end of the first motor (18) is fixedly connected to one end of a first transmission shaft (24), the other end of the first transmission shaft (24) is fixedly connected to the top of a mounting block (20), and a blade (21) is provided on the side wall of the mounting block (20).

4. The unmanned boat weeding and garbage recycling system for inland river use according to claim 3, characterized in that: The inner wall of the conical shell (16) is provided at an upper position and fixedly connected to the rear part of the third motor (36); the output end of the third motor (36) is fixedly connected to one end of a third transmission shaft (35); the other end of the third transmission shaft (35) is fixedly connected to a fourth gear (34); a third gear (32) is provided on the upper part of the fourth gear (34); the outer wall of the third gear (32) is meshedly connected to the outer wall of the fourth gear (34); the outer walls of the two third gears (32) are meshed with each other; the inside of the third gear (32) is fixedly connected to the outer wall of the second rotating shaft (33); a winding wheel (25) is fixedly connected to the middle of the outer wall of the second rotating shaft (33); the two ends of the second rotating shaft (33) are rotatably connected to the inner wall of the conical shell (16); and the outer wall of the winding wheel (25) is provided with a convex strip (31).

5. The unmanned boat weeding and garbage recycling system for inland river use according to claim 3, characterized in that: The outer wall of the conical shell (16) is fixedly connected to one end of the first rotating shaft (30), and the other ends of the two first rotating shafts (30) are rotatably connected to the bottom inner wall of the connecting plate (23). The outer wall of the first rotating shaft (30) is fixedly connected to a second gear (29), and a first gear (26) is arranged on the upper part of the second gear (29). The outer wall of the second gear (29) is meshedly connected with the outer wall of the first gear (26), and the inner wall of the first gear (26) is fixedly connected to the outer wall of the second transmission shaft (27). The end of the second transmission shaft (27) is fixedly connected to the output end of the second motor (28), and the rear part of the second motor (28) is fixedly connected to the middle inner wall of the connecting plate (23).

6. The unmanned boat weeding and garbage recycling system for inland river use according to claim 5, characterized in that: The top of the connecting piece (23) is fixedly connected to the output end of the hydraulic cylinder (22), and the top of the hydraulic cylinder (22) is fixedly connected to the inner top of the storage groove.

7. The unmanned boat weeding and garbage recycling system for inland river use according to claim 3, characterized in that: The outer wall of the conical shell (16) is provided with a second channel (10), one end of the second channel (10) passes through the outer wall of the conical shell (16), and the other end is fixedly connected to the outer wall of the second collection barrel (7).

8. The unmanned boat weeding and garbage recycling system for inland river use according to claim 1, characterized in that: The tops of the first collecting bucket (3) and the second collecting bucket (7) are provided with closing covers (2), and the tops of the closing covers (2) are fixedly connected with handles (1).

9. The unmanned boat weeding and garbage recycling system for inland river use according to claim 1, characterized in that: A signal transceiver (9) is arranged at the middle position of the top of the hull (4), a camera (5) is arranged at the front of the top of the hull (4), and ultrasonic detection heads (37) are arranged at the front of the first collection bucket (3) and the second collection bucket (7).

10. The unmanned boat weeding and garbage recycling system for inland river use according to claim 1, characterized in that: An inertial navigation system, a satellite navigation system and a comprehensive decision processor are arranged inside the hull (4); the comprehensive decision processor is electrically connected to the steering rudder (17), the propeller (11), the camera (5) and the ultrasonic detection head (37) through electric wires.

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