Full-automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot

Abstract

The invention relates to the field of water surface garbage cleaning, in particular to a full-automatic water surface garbage sweeping, collecting and packaging integrated intelligent robot. The device is composed of an energy supply system, a driving system, a garbage recycling and conveying system, a garbage classifying and packaging system, a main body shell and a core control system. The energy supply system is used for absorbing light energy and providing power for the robot, the driving system is used for pushing the robot to move on the water surface, the garbage recycling and conveying system is used for recycling and cleaning garbage on the water surface, and the garbage classifying and packaging system is arranged in the main body shell and used for classifying and packaging the recycled garbage. The robot can efficiently complete the task of garbage cleaning, reduces the work of secondary treatment such as classification and recovery of garbage on the water surface, reduces the labor cost, and is wide in applicable clean water area range, high in application flexibility and high in popularization value.

Description

Technical Field

[0001] The invention relates to the field of water surface garbage cleaning, and in particular to a fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot. Background Art

[0002] In recent years, with the acceleration of my country's modernization process, in order to actively respond to the call of the national "energy conservation and emission reduction" policy, many wetland parks, artificial lakes, moats and other water landscapes have emerged one after another. These water landscapes can not only beautify the urban environment, but also promote ecological balance. However, with the rapid development of the chemical industry, the environment of some water bodies has deteriorated day by day, and the floating objects on the water surface have increased significantly, mainly including plastic bags, foam, plastic bottles and other harmful pollutants that are difficult to be naturally degraded and absorbed. The large accumulation of these pollutants not only seriously damages the beauty of the water landscape, but also poses a potential and far-reaching threat to the aquatic ecosystem, which may cause serious water pollution incidents such as eutrophication and algal bloom.

[0003] In view of the above situation, ensuring the environmental protection and pollution-free of water environment has become an urgent problem to be solved in ecological cities. However, at present, garbage on the water surface is mainly salvaged by manpower, which is time-consuming, labor-intensive and inefficient. Although there are many surface garbage cleaning robots on the market, and they have achieved automatic cleaning of surface garbage to a certain extent, they generally face bottlenecks such as limited cleaning waters, high costs, remote control, limited endurance, and lack of garbage classification and automatic packaging functions. Summary of the invention

[0004] The purpose of the present invention is to provide a fully automatic integrated intelligent robot for cleaning, collecting and packaging water surface garbage, so as to solve the problems raised in the above background technology, such as high labor cost, need for remote control to achieve cleaning, limited endurance, lack of garbage classification and automatic packaging functions, etc.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical scheme: a fully automatic integrated intelligent robot for cleaning, collecting and packaging water surface garbage, comprising an energy supply system, a drive system, a garbage recovery and transmission system, a garbage sorting and packaging system, a main body shell and a core control system, wherein the energy supply system is arranged on the top of the main body shell, the drive system is arranged below the main body shell, the garbage recovery and transmission system is arranged on the front side of the main body shell, the garbage sorting and packaging system is arranged inside the main body shell, and the core control system is arranged at the front end of the main body shell. The main body shell comprises a bottom plate, a front plate, a rear plate and a side plate; an airbag clip is fixedly installed under the bottom plate of the main body shell, and the airbag clip is fixedly matched with the airbag; a main control box is fixedly installed above the bottom plate, and a core control system is installed inside the main control box; the solar panel on the energy supply system is fixed to the top of the main body shell through an inclined support frame and a support plate; the steering motor on the drive system is fixedly installed on the steering motor support, and the steering motor support is fixed on the bottom plate, and the steering motor is rotatably connected with the propeller through the steering motor shaft, and the propeller is installed on both sides of the main body shell; the drive motor on the drive system is fixedly installed on the drive motor support, and the drive motor support is fixed on the bottom plate, and the drive motor is connected to the drive motor shaft, and a first bevel gear is installed at the end of the drive motor shaft, and the first bevel gear is meshed with a second bevel gear installed at the end of the connecting shaft, and the other end of the connecting shaft is installed with a vortex, and a waterproof cover is arranged outside the connecting shaft; the garbage recycling and transmission system comprises a conveyor belt and a scoop net mechanism, and the garbage classification and packaging system mainly comprises a collector, a classification barrel, a turntable, a camera and a collection bin.

[0006] Preferably, the front end of the conveyor belt is rotatably connected to the driven shaft, the two ends of the driven shaft are rotatably matched with two vertical bearing supports, and the vertical bearing supports are fixedly mounted on the bottom plate of the main body shell; the rear end of the conveyor belt is rotatably connected to the driving shaft, the two ends of the driving shaft are fixedly connected to two horizontal bearing supports, and the horizontal bearing supports are fixedly mounted on the side panels.

[0007] Preferably, a third bevel gear is fixedly mounted on the driving shaft, the third bevel gear is meshed with a fourth bevel gear mounted on the end of the transmission motor, the transmission motor is fixedly mounted on a transmission motor support, and the transmission motor support is fixed on the front plate.

[0008] Preferably, baffle strips are provided on the conveyor belt, chains are provided at both ends of the conveyor belt, the chain is rotatably connected to a sprocket, and the sprocket is installed on a driving shaft and a driven shaft; the scooping net mechanism is rotatably connected to a collecting motor through a connecting rod, and the collecting motor is installed on a vertical bearing support.

[0009] Preferably, the collector is fixedly mounted on the inner side of the front plate, a recycling port is installed below the collector, and the recycling port and the classification bin are aligned up and down; the classification bin includes a recyclable garbage storage bin, a kitchen waste storage bin, other garbage storage bins and a hazardous waste storage bin.

[0010] Preferably, each box bottom of the classification barrel is installed with a gravity sensor, an opening and closing door is provided on the side of the classification barrel, a turntable is provided at the bottom of the classification barrel, the turntable and the rotating motor are fixedly installed, and the rotating motor is installed on the bottom plate; a compressor is provided above the classification barrel, and the upper end of the compressor is installed on the horizontal plate through a telescopic rod, and the two ends of the horizontal plate are fixedly installed on the inner side of the side plate.

[0011] Preferably, the camera in the garbage sorting and packaging system is fixedly installed above the two-dimensional servo gimbal, the two-dimensional servo gimbal and the inner side of the rear plate are fixedly installed, the collection bin in the garbage sorting and packaging system is installed on the back of the rear plate, and a movable funnel is installed above the collection bin.

[0012] Preferably, the core control system is fixedly installed in the main control box of the main body shell, and is equipped with an STM32H750VBT6 minimum system, an ESP32 image transmission system, an HWT906 inertial measurement unit, a DHT11 temperature and humidity measurement unit, a power conversion system and an Openmv visual recognition system, and the Openmv visual recognition system is fixedly installed on the back of the camera.

[0013] In the present invention, the beneficial effects of the fully automatic integrated intelligent robot for cleaning, collecting and packaging water surface garbage are as follows:

[0014] 1. The present invention can accurately realize the classified collection and efficient packaging of different types of garbage through the garbage classification and packaging system, which not only excellently completes the task of garbage cleaning, but also greatly reduces the burden of subsequent secondary processing such as surface garbage classification and recycling; it greatly reduces the investment in labor costs and makes garbage disposal work more efficient and orderly.

[0015] 2. The present invention integrates an advanced solar energy collection module and a high-performance battery system to directly use solar energy to power the robot under sufficient light conditions, thereby achieving green and sustainable energy replenishment. Moreover, when light is insufficient or at night, it can seamlessly switch to battery power supply mode to ensure that the robot can perform tasks continuously and stably, which is in line with the purpose of energy conservation and emission reduction and has good economic benefits.

[0016] 3. The present invention uses a single-chip intelligent control system to give the ship excellent path planning capabilities and automatic navigation functions; at the same time, through seamless connection with the mobile phone's WIFI, real-time and accurate positioning is achieved. It not only significantly reduces labor costs, but also maximizes energy utilization, avoiding the purposeless navigation and resource waste that may exist in traditional driving methods.

[0017] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0019] Figure 1 It is a three-dimensional overall structure diagram of the present invention.

[0020] Figure 2 It is an overall side view of the structure of the present invention.

[0021] Figure 3 It is a schematic diagram of the structure of the energy supply system of the present invention.

[0022] Figure 4 It is a schematic diagram of the structure of the driving system of the present invention.

[0023] Figure 5 It is a schematic diagram of the vortex structure of the drive system of the present invention.

[0024] Figure 6 It is a schematic diagram of the structure of the garbage collection and transmission system of the present invention.

[0025] Figure 7 It is a schematic diagram of the structure of the garbage classification and packaging system of the present invention.

[0026] Figure 8 This is a side view of the garbage classification and packaging system of the present invention. Fig. 9 It is a schematic diagram of the main shell structure of the present invention.

[0027] Fig.10 It is a schematic diagram of the core control system structure of the present invention.

[0028] Reference numerals: 1. Energy drive system; 101. Oblique support frame; 102. Support plate; 103. Solar panel; 2. Drive system, 201. Steering motor; 202. Steering motor support; 203. Steering motor shaft; 204. Propeller; 205. Drive motor; 206. Drive motor support; 207. Drive motor shaft; 208. First bevel gear; 209. Second bevel gear; 210. Connecting shaft; 211. Vortex; 212. Waterproof cover; 3. Waste collection and transmission system system; 301, conveyor belt; 302, driving shaft; 303, driven shaft; 304, chain; 305, sprocket; 306, third bevel gear; 307, fourth bevel gear; 308, transmission motor; 309, transmission motor support; 310, horizontal bearing support; 311, vertical bearing support; 312, collection motor; 313, connecting rod; 314, scoop net mechanism; 315, baffle bar; 4, garbage sorting and packaging system; 401, gatherer; 402, recycling port; 4 03, classification bin; 404, storage bin for recyclable garbage; 405, storage bin for kitchen waste; 406, storage bin for other garbage; 407, storage bin for hazardous waste; 408, opening and closing door; 409, turntable; 410, telescopic rod; 411, compressor; 412, horizontal board; 413, camera; 414, two-dimensional servo gimbal; 415, gravity sensor; 416, mobile funnel; 417, collection bin; 418, rotating motor; 5, main body shell; 501, bottom Board; 502, front board; 503, back board; 504, side board; 505, main control box; 506, airbag; 507, airbag clip; 6, core control system; 601, STM32H750VBT6 minimum system; 602, ESP32 image transmission system; 603, HWT906 inertial measurement unit; 604, DHT11 temperature and humidity measurement unit; 605, power conversion system; 606, Openmv visual recognition system; 607, motor drive system. DETAILED DESCRIPTION

[0029] This section will describe in detail the specific embodiments of the present invention. The preferred embodiments of the present invention are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the present invention, but it cannot be understood as a limitation on the scope of protection of the present invention.

[0030] See also Figure 1-10, a fully automatic integrated intelligent robot for cleaning, collecting and packaging water surface garbage, consists of an energy supply system 1, a drive system 2, a garbage recovery and transmission system 3, a garbage classification and packaging system 4, a main body shell 5 and a core control system 6. The energy supply system 1 is arranged on the top of the main body shell 5, and adopts a combination of solar energy and battery energy storage to provide power support for the entire device; the drive system 2 is arranged below the main body shell 5, and is used to drive the robot to complete forward, backward and turning movements on the water surface, so as to clean up garbage in larger waters; the garbage recovery and transmission system 3 is arranged at the front of the main body shell 5, and is used to recycle water surface garbage and transmit it to the garbage classification and packaging system 4 in the main body shell 5. By adopting the above-mentioned device, automatic collection and classification of water surface garbage can be realized. During the specific operation process, the hull is driven by the driving system 2 to move on the water surface according to a predetermined planned path. The camera 413 is installed to continuously scan the environmental image and determine whether the image features match the garbage features. When the garbage is successfully identified, the Openmv visual recognition system 606 will send the location information of the garbage to the STM32H750VBT6 minimum system 601, and then the STM32H750VBT6 minimum system 601 sends a PWM signal to the motor drive system 607 to control the steering motor 201 and the drive motor 205, and then the garbage recovery and transmission device 3 collects the garbage. After the collection is completed, the garbage classification and packaging system 4 is used to realize automatic sorting and packaging of the garbage.

[0031] The main shell 5 includes a bottom plate 501, a front plate 502, a rear plate 503 and a side plate 504. An airbag clamp 507 is fixedly installed under the bottom plate 501. The airbag clamp 507 and the airbag 506 are fixedly matched. When the robot is sailing on the water surface, the two symmetrically structured airbags 506 can ensure the smooth operation of the robot. A main control box 505 is fixedly installed above the bottom plate. The core control system 6 is installed in the main control box 505. The core control system 6 provides instructions for the normal operation of each system; the solar panel 103 on the energy supply system 1 is fixed to the top of the main shell 5 through the inclined support frame 101 and the support plate 102, and uses the dual energy combination of solar energy and batteries to provide power for the operation of the robot.

[0032] The driving system 2 includes a steering motor 201, a driving motor 205, a propeller 204 and a vortex 211. The steering motor 201 is fixedly mounted on a steering motor support 202, and the steering motor support 202 is mounted on a bottom plate 501 of a main body shell 5. The steering motor 201 is rotationally connected to the propellers 204 mounted on both sides of the main body shell through a steering motor shaft 203. The steering motor 201 and the steering motor 202 cooperate with the core control system 6. The onboard HWT906 inertial measurement unit 603 realizes closed-loop control of the yaw axis angle through a dual-loop PID control algorithm, and controls the differential rotation of the steering motor 201 and the driving motor 205 through a motor drive system 607 to realize the function of the robot turning in situ on the water surface.

[0033] The driving motor 205 is fixedly mounted on the driving motor support 206, and the driving motor support 206 is mounted on the bottom plate 501 of the main housing 5. The driving motor 205 is connected to the driving motor shaft 207. A first bevel gear 208 is installed at the end of the driving motor shaft 207. The first bevel gear 208 is meshed with a second bevel gear 209 installed at the end of the connecting shaft 210 for transmission. A vortex 211 is installed at the other end of the connecting shaft 210, and a waterproof cover 212 is provided on the outside of the connecting shaft 210 to ensure normal underwater transmission. The driving motor 205 is driven by the first bevel gear 208 to realize the rotation of the vortex 211, generate forward or backward thrust underwater, and realize the function of the robot moving forward and backward on the water surface. Example

[0034] On the basis of the first embodiment, the garbage collection and transmission system 3 includes a conveyor belt 301 and a scoop net mechanism 314; the scoop net mechanism 314 is rotatably connected to a collection motor 312 installed on a vertical bearing support 311 through a connecting rod 313. When the robot recognizes that the surface garbage is directly in front, the collection motor 312 lifts the scoop net mechanism 314 located underwater to collect the surface garbage. Further, the scoop net mechanism 314 rotates backward to place the recovered garbage on the conveyor belt 301; the front end of the conveyor belt 301 is rotatably connected to the driven shaft 303, and the two ends of the driven shaft 303 are rotatably matched with the two vertical bearing supports 311. The two vertical bearing supports 311 are respectively fixedly installed on the bottom plate 501, and the rear end of the conveyor belt 301 is rotatably connected to the driving shaft 302, and the two ends of the driving shaft 302 are fixedly connected to the two horizontal bearing supports 310. The bearing support 310 is fixedly mounted on the two side plates 504 respectively; a third bevel gear 306 is fixedly mounted on the driving shaft 302, and the third bevel gear 306 is meshed with the fourth bevel gear 307 mounted on the end of the transmission motor 308 for transmission, and the transmission motor 308 is fixedly mounted on the transmission motor support 309 of the front plate 502, and chains 304 are arranged on both sides of the conveyor belt 301, and the chain 304 is rotatably connected with the sprocket 305 mounted on the driving shaft 302 and the driven shaft 303; through the rotation of the transmission motor 308, the third bevel gear 306 and the fourth bevel gear 307 are meshed for transmission, driving the rotation of the sprocket 305 on the driving shaft 302, and the baffle strip 315 on the conveyor belt 301 has the function of preventing the garbage from sliding down and falling off during the transportation process, and the chain 304 is driven to rotate by the sprocket 305, so as to realize the function of the conveyor belt 301 to transport garbage from bottom to top.

[0035] The garbage classification and packaging system 4 includes a collector 401, a classification barrel 403, a turntable 409, a mobile funnel 416 and a collection bin 417; the collector 401 is fixedly installed on the inner side of the front plate 502, and the recycling port 402 below the collector 401 is aligned with the barrel opening of the classification barrel 403, and the classification barrel 403 is divided into a recyclable garbage storage barrel 404, a kitchen waste storage barrel 405, a other garbage storage barrel 406 and a hazardous waste storage barrel 407, and the four garbage storage barrels are close to each other; each bottom of the classification barrel 403 is installed There is a gravity sensor 415; an opening and closing door 408 is set under each barrel, and a turntable 409 is set under the classification barrel 403. The turntable 409 and the rotating motor 418 fixed on the bottom plate 501 are fixedly installed. The upper end of the compressor 411 is installed on the horizontal plate through the telescopic rod 410, and the two ends of the horizontal plate 412 are fixedly installed on the inner side of the side plate 504. The compressor 411 compresses the garbage in the classification barrel 403 under the telescopic effect of the telescopic rod 410 to realize the compression function. In this way, the garbage storage capacity in the barrel is increased; The camera 413 is installed above the classification bin 403 through the two-dimensional steering gear platform 414. The two-dimensional steering gear platform 414 is fixed to the inner side of the rear plate 503. When the robot arrives at the location of the garbage, the core control system 6 controls the two-dimensional steering gear platform 414 to drive the camera 413 to get close to the garbage, perform secondary recognition and fine classification, and at the same time, the core control system 6 controls the turntable 409 according to the recognition result to rotate the classification bin 403 with the corresponding classification label to the front of the recycling port 402, so that different garbage enters the corresponding classification bin 403. 3; the collecting bin 417 is installed at the bottom of the rear plate 503, and the moving funnel 416 is installed at the back of the rear plate 503. When the gravity sensor 415 at the bottom of the classification bin 403 responds after reaching the set weight, the core control system 6 will control the corresponding opening and closing door 408 to open and rotate the turntable 409 to align the barrel mouth of the opened door with the opening on the rear plate 503. When the garbage enters the moving funnel 416, the moving funnel 416 will slide to the top of the corresponding barrel mouth of the collecting bin 417, and open the bottom of the moving funnel 416 to collect the garbage into the barrel.

[0036] Working principle: After the robot is launched into the water, the steering motor 201 and the driving motor 205 drive the propeller 204 and the vortex 211 to make the machine go straight, and the camera 413 collects image information and uploads it to the core control system 6. The Openmv visual recognition system 606 continuously collects the coordinates of the garbage and corrects the driving direction of the machine to the designated garbage location through the PID algorithm; when encountering an obstacle during the straight-line driving process, the camera 413 collects image information and uploads it to the Openmv visual recognition system 606. The Openmv visual recognition system 606 determines whether the obstacle is garbage. If it is water garbage, garbage collection is performed. If it is an obstacle, obstacle avoidance is triggered and the route is replanned; when the robot arrives at the location of the garbage, the core control system 6 controls the two-dimensional servo gimbal 414 to rotate the camera The camera 413 is close to the garbage to perform secondary identification and fine classification. At the same time, the core control system 6 controls the turntable 409 according to the identification result to rotate the classification bucket 403 with the corresponding classification label to the front of the recycling port 402. The ESP32 image transmission system 602 enables WIFI image transmission to transmit the collected garbage photos back to the cloud; the collector 401 starts to work, gathering the garbage from the original position to the center of the robot, and then the scooping net mechanism 314 picks up the garbage from the water. Once the garbage is captured, the conveyor belt 301 starts to smoothly transport the garbage to the pre-positioned classification bucket 403, completing the entire automated process of garbage collection and classification; the gravity sensor 415 at the bottom of the garbage bin senses whether the garbage bin is full, and promptly controls the machine to discharge garbage into the collection bin for unified collection.

[0037] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A fully automatic intelligent robot for cleaning, collecting and packaging water surface garbage, comprising an energy supply system (1), a drive system (2), a garbage collection and transmission system (3), a garbage classification and packaging system (4), a main body shell (5) and a core control system (6), characterized in that: The energy supply system (1) is arranged on the top of the main shell (5), the drive system (2) is arranged below the main shell (5), the garbage collection and transmission system (3) is arranged on the front side of the main shell (5), the garbage classification and packaging system (4) is arranged inside the main shell (5), and the core control system (6) is arranged at the front end of the main shell (5). The main body shell (5) comprises a bottom plate (501), a front plate (502), a rear plate (503) and a side plate (504); an airbag clamp (507) is fixedly installed below the bottom plate (501) of the main body shell (5), and the airbag clamp (507) and the airbag (506) are fixedly matched; a main control box (505) is fixedly installed above the bottom plate (501), and a core control system (6) is installed inside the main control box (505); the solar panel (103) on the energy supply system (1) is fixed to the top of the main body shell (5) through an inclined support frame (102) and a support plate (101); the steering motor (201) on the drive system (2) is fixedly installed on a steering motor support (202), and the steering motor support (202) is fixed on the bottom plate (501); the steering motor (201) is rotatably connected to the propeller (204) through a steering motor shaft (203), and the propeller (204) is rotatably connected to the propeller (204) through a steering motor shaft (203). ) are mounted on both sides of the main body shell (5); the drive motor (205) on the drive system (2) is fixedly mounted on the drive motor support (206); the drive motor support (206) is fixed on the bottom plate (501); the drive motor (205) is connected to the drive motor shaft (207); a first bevel gear (208) is mounted at the end of the drive motor shaft (207); the first bevel gear (208) is meshed with a second bevel gear (209) mounted at the end of the connecting shaft (210); a vortex (211) is mounted at the other end of the connecting shaft (210); and a waterproof cover (212) is arranged outside the connecting shaft (210); the garbage recycling and transmission system (3) comprises a conveyor belt (301) and a scoop net mechanism (314); and the garbage classification and packaging system (4) mainly comprises a collector (401), a classification barrel (403), a turntable (409), a camera (413) and a collection bin (417).

2. According to claim 1, a fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot is characterized in that The front end of the conveyor belt (301) is rotatably connected to the driven shaft (303), and the two ends of the driven shaft (303) are rotatably matched with two vertical bearing supports (311), and the vertical bearing supports (311) are fixedly mounted on the bottom plate (501) of the main shell; the rear end of the conveyor belt (301) is rotatably connected to the driving shaft (302), and the two ends of the driving shaft (302) are fixedly connected to two horizontal bearing supports (310), and the horizontal bearing supports (310) are fixedly mounted on the side plates (504).

3. The fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot according to claim 2 is characterized in that A third bevel gear (306) is fixedly mounted on the driving shaft (302), and the third bevel gear (306) is meshed with a fourth bevel gear (307) mounted on the end of a transmission motor (308). The transmission motor (308) is fixedly mounted on a transmission motor support (309), and the transmission motor support (309) is fixed on the front plate (502).

4. The fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot according to claim 1 is characterized in that The conveyor belt (301) is provided with a baffle strip (315), and chains (304) are provided at both ends of the conveyor belt (301). The chain (304) is rotatably connected to a sprocket (305), and the sprocket (305) is mounted on a driving shaft (302) and a driven shaft (303); the scooping net mechanism (314) is rotatably connected to a collecting motor (312) via a connecting rod (313), and the collecting motor (312) is mounted on a vertical bearing support (311).

5. According to claim 1, a fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot is characterized in that The collector (401) is fixedly mounted on the inner side of the front plate (502), a recycling port (402) is mounted below the collector (401), and the recycling port (402) and the classification bin (403) are aligned vertically; the classification bin (403) includes a recyclable waste storage bin (404), a kitchen waste storage bin (405), other waste storage bins (406) and a hazardous waste storage bin (407).

6. The fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot according to claim 5 is characterized in that : A gravity sensor (415) is installed at the bottom of each box of the classification barrel (403); an opening and closing door (408) is arranged on the side of the classification barrel (403); a turntable (409) is arranged below the classification barrel (403); the turntable (409) and the rotating motor (418) are fixedly installed; the rotating motor (418) is installed on the bottom plate (501); a compressor (411) is arranged above the classification barrel (403); the upper end of the compressor (411) is installed on the horizontal plate (412) through a telescopic rod (410); and the two ends of the horizontal plate (412) are fixedly installed on the inner side of the side plate (504).

7. The fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot according to claim 1 is characterized in that The camera (413) in the garbage classification and packaging system (4) is fixedly mounted above the two-dimensional steering gear platform (414), the two-dimensional steering gear platform (414) and the inner side of the rear plate (503) are fixedly mounted, the collection bin (417) in the garbage classification and packaging system (4) is mounted on the back of the rear plate (503), and a movable funnel (416) is mounted above the collection bin (417).

8. The fully automatic water surface garbage cleaning, collecting and packaging integrated intelligent robot according to claim 1 is characterized in that The core control system (6) is fixedly mounted in a main control box (505) of the main housing (5), and is equipped with an STM32H750VBT6 minimum system (601), an ESP32 image transmission system (602), an HWT906 inertial measurement unit (603), a DHT11 temperature and humidity measurement unit (604), a power conversion system (605), an Openmv visual recognition system (606) and a motor drive system (607). The Openmv visual recognition system (606) is fixedly mounted on the back of the camera (413).

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