Operation method of lake surface cleaning unmanned working ship

Abstract

The invention relates to the technical field of lake surface cleaning unmanned working ships, in particular to a lake surface cleaning unmanned working ship operation method, which comprises the following steps that S1, an operator sends a control instruction to the action of an unmanned working ship through ashore control center equipment, so that the unmanned working ship carries out cleaning operation; the control instruction is transmitted to communication equipment of the unmanned workboat through a wireless information network, the communication equipment controls the action of the unmanned workboat through a controller, and lake surface information is collected according to camera equipment and a sensor on the unmanned workboat; then, an operator sets parameters of the operation speed, the cleaning area range and the cleaning mode of the unmanned workboat according to the information; the method improves the efficient and safe lake surface cleaning operation effect, reduces the labor intensity of workers, improves the automation degree of lake surface cleaning, is convenient to adapt to a narrow lake surface cleaning area, improves the garbage recognition accuracy of the unmanned ship, and improves the terrain and weather adaptability.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned lake cleaning operation boats, and in particular to an operation method of an unmanned lake cleaning operation boat. Background Art

[0002] With the acceleration of urbanization and the improvement of people's awareness of ecological environmental protection, environmental protection issues in lakes, reservoirs and other water bodies have received increasing attention.

[0003] Currently, among the existing cleaning equipment, there is a patent with announcement number CN112848823A, which discloses an amphibious cleaning unmanned boat based on machine vision and a cleaning method thereof. The unmanned boat cruises according to a preset route and cruising range and autonomously performs surface and land operations. The unmanned boat uses infrared thermal imaging cameras, color visible light cameras and black and white visible light cameras to monitor garbage pollutants, obstacles and personnel in a designated area, independently completes image recognition and decision-making, and autonomously moves to the target area, effectively removing pollutants through a chain-type garbage collector and side brushes and roller brushes; it automatically returns after completing the cruising operation.

[0004] However, during the use of this equipment, it was found that the operating area of ​​the equipment for cleaning the lake surface is small, which reduces the work efficiency of cleaning the lake surface, and the garbage disposal method is relatively simple, which reduces the convenience of use. Summary of the invention

[0005] In order to solve the above technical problems, the present invention provides a method for operating an unmanned lake cleaning boat, which can improve the efficiency and safety of lake cleaning operations, reduce manual labor intensity, improve the degree of automation of lake cleaning, facilitate adaptation to narrower lake cleaning areas, improve the accuracy of garbage recognition by unmanned boats, and improve the ability to adapt to terrain and weather.

[0006] A method for operating an unmanned lake cleaning operation boat of the present invention comprises the following steps: S1. The operator sends control instructions to the unmanned boat through the control center equipment on the shore, so that the unmanned boat performs cleaning operations. The control instructions are transmitted to the communication equipment of the unmanned boat through the wireless information network. The communication equipment controls the action of the unmanned boat through the controller, and collects information about the lake surface based on the camera equipment and sensors on the unmanned boat. Then, the operator sets the parameters of the running speed, cleaning area range and cleaning mode of the unmanned boat according to the information. When the communication equipment of the unmanned boat receives the control instructions sent by the control center on the shore, it first performs self-inspection on the power, power system, sensor system, camera and communication equipment of the unmanned boat; S2. The perception system automatically analyzes the lake surface information collected by the unmanned operation boat, and plans the cleaning path of the unmanned operation boat. When the operator completes the parameter settings of the unmanned operation boat's operating speed, cleaning area range and cleaning mode, the perception system will automatically plan a path that can cover the set cleaning area and try to avoid repeated paths to improve the efficiency of the cleaning operation. When encountering obstacles at fixed positions, the perception system will re-plan the cleaning path. When observing the moving ships around, it predicts their trajectory according to the speed and heading of the ships and avoids them by adjusting its own route. S3. During the driving and cleaning work, the unmanned operation boat collects lake surface images in real time through the camera. The camera transmits the collected images, uses the image recognition system to analyze and identify the position, size and shape of the garbage floating on the water surface, and uses the image recognition system to distinguish the ripples on the water surface, aquatic plants and other interference objects; uses the wireless information network to transmit the collected images to the control center on the shore in real time, and then uses the image recognition system to perform denoising and contrast enhancement preprocessing on the received images, uses the deep learning algorithm to detect the targets in the image, and uses the algorithm to identify the objects in the image, and gives the position, size and shape information of the objects, and extracts the color, texture and shape features of the targets in the image to distinguish between garbage and interference objects; S4. The unmanned operation boat follows the planned path and sails to the location of the garbage. In the process of approaching the garbage, the boat continuously adjusts its course according to the image of the camera to ensure accurate approach to the garbage. By adjusting the position and angle of the garbage collection component, the garbage collection range of the unmanned operation boat is adjusted, so that the unmanned operation boat can adapt to the narrower lake cleaning area. S5. Use the collection equipment on the unmanned operation boat to collect and process the garbage on the lake surface. When the cleaning task is completed, or when the garbage collection device is full or reaches a certain garbage capacity threshold, the unmanned operation boat sends a signal to notify the control center to arrange for garbage unloading; improve the efficiency and safety of the lake cleaning unmanned operation boat, reduce the intensity of manual labor, and improve the automation of lake cleaning. By adjusting the position and angle of the garbage collection component, the garbage collection range of the unmanned operation boat can be adjusted to facilitate the unmanned operation boat to adapt to the narrower lake cleaning area. Use the image recognition system to pre-process the received images to improve the accuracy of the unmanned boat in identifying garbage. Use sensors to sense the lake environment, so as to adjust the operation of the unmanned boat in time and improve the terrain and weather adaptability of the unmanned operation boat.

[0007] Preferably, in S1, the sensor on the unmanned working boat uses a depth sensor to sense the depth of the water level at the bottom of the boat. When the depth sensor detects that the water depth is less than a set threshold, a signal is sent to the control center, so that the control center controls to reduce the speed of the boat to avoid running aground. When the unmanned working boat is operating in a shallow area, the control center adjusts the angle and power of the propeller, and adjusts the propeller upward by a certain angle to reduce the contact between the bottom of the boat and the bottom of the water. The wind speed and wind direction are measured by using an anemometer and a wind vane. The wind data is sent to the control center, so that the control center adjusts the heading and power of the unmanned working boat to offset the interference of the wind. When the unmanned working boat is in a slow-flowing area, if the direction of the water flow has a certain angle with the driving direction of the working boat, the actual sailing direction of the boat is made consistent with the preset cleaning path by adjusting the direction of the bow. When the unmanned working boat is in a rapids area, the propeller power is increased by the control center, and the center of gravity distribution of the hull is adjusted by adjusting the position of the garbage collection component of the unmanned boat to prevent it from being overturned by the water flow or deviating from the route, thereby improving the terrain and weather adaptability of the unmanned working boat.

[0008] Preferably, in S1, the camera equipment on the unmanned work boat adopts an infrared camera. When operating during the day, the unmanned work boat relies on natural light to use the camera to collect images. When operating at night, the infrared camera is switched and the lighting equipment is turned on at the same time, so as to identify garbage and the surrounding environment at night. At the same time, according to the change of light intensity, the image recognition system adjusts the parameters of the image recognition algorithm to adapt to the image characteristics under different lighting conditions.

[0009] Preferably, the unmanned working boat includes a processing device, a garbage collection component, a driving device, a hull, a bracket, multiple groups of rollers, a conveyor belt, multiple groups of conveying plates, a box, a screen plate, a water pump and a collection tank. The bracket is installed on the outer wall of the hull, the multiple groups of rollers are rotatably installed on the bracket, the conveyor belt is sleeved on the outer walls of the multiple groups of rollers, the multiple groups of conveying plates are circumferentially arranged on the outer walls of the conveyor belt, the box is installed on the outer wall of the hull, and the box is arranged at the rear and lower part of the conveyor belt. A processing device is arranged in the box, and the processing device is used to dehydrate and crush the garbage. One end of the screen plate is rotatably installed on the inner wall of the box, and a discharge port is arranged on the outer wall of the box, the screen plate is communicated with the discharge port, and the processing device is used to drive the screen plate to vibrate, the garbage collection component is arranged on the outer wall of the hull, the garbage collection component is used to centrally process the garbage, and the driving device is arranged on the bracket. The driving device is used to provide power for the rotation of the roller shaft, and the driving device is used to provide power for the processing device. The water pump is installed on the outer wall of the hull, the input end of the water pump is connected with the box, and the collecting tank is arranged on the hull; the driving device drives the uppermost roller shaft to rotate, so that the roller shaft drives the conveyor belt to rotate, thereby causing the conveyor belt to drive multiple groups of conveyor plates to move circumferentially, and move to the garbage collection area through the hull, so that the garbage is lifted and transported upward by the conveyor belt and the conveyor plate, and then the garbage enters the box body, and the garbage is dehydrated and crushed by the processing device in the box body, thereby reducing the space occupied by garbage storage and increasing the garbage collection capacity of the operating ship, and the garbage on both sides of the hull is transported to the middle through the garbage collection component, so that it is convenient for the conveyor belt to collect the surrounding garbage, thereby increasing the garbage collection range of the unmanned operating ship and improving the garbage collection efficiency.

[0010] Preferably, the garbage collection assembly includes a guide device, two sets of chassis, two sets of first motors, two sets of universal joints, two sets of rotating shafts, two sets of spiral blades, two sets of first guide plates and two sets of second guide plates. The two sets of chassis are installed on the outer wall of the hull, and the two sets of chassis are respectively arranged on both sides of the conveyor belt. The two sets of first motors are respectively installed on the outer walls of the two sets of chassis. The Quantum Valley universal joints are respectively rotatably installed on the outer walls of the two sets of chassis, and the two sets of universal joints are respectively connected to the output ends of the two sets of first motors. The two sets of rotating shafts are respectively installed on the other ends of the two sets of universal joints. A guide device is provided on the chassis, and the guide device is used to drive the rotating shaft to swing horizontally for adjustment. The two sets of spiral blades are respectively installed on the outer walls of the two sets of rotating shafts, the two sets of first guide plates are respectively installed on the guide device, and the two sets of second guide plates are respectively connected to the two sets of The first guide plate is connected to the outer wall of the first guide plate; the two sets of rotating shafts are driven by the guide device to swing horizontally and adjust, so that the two sets of rotating shafts extend to the two sides of the hull. When collecting garbage, the two sets of first motors drive the two sets of universal joints to rotate, so that the two sets of universal joints drive the two sets of rotating shafts to rotate. After the two sets of rotating shafts rotate, they drive the two sets of spiral blades to rotate, so that the two sets of spiral blades transport the garbage to the conveyor belt in a concentrated manner. The garbage is guided and transported by the two sets of first guide plates and the two sets of second guide plates, so that the garbage is transported to the conveyor belt, thereby increasing the garbage collection range. When the hull is traveling on the rapid lake, the angles of the two sets of rotating shafts are driven by the guide device to swing and adjust, so that the two sets of rotating shafts adjust the center of gravity of the hull, and at the same time cooperate with the two sets of first guide plates to guide the water flow, thereby improving the driving stability of the hull.

[0011] Preferably, the processing device comprises two groups of roller pressing cylinders, two groups of crushing rollers, a cover body, a support shaft and an eccentric wheel, the two groups of roller pressing cylinders are rotatably mounted on the inner wall of the box body, the two groups of crushing rollers are rotatably mounted on the inner wall of the box body, and the two groups of crushing rollers are arranged below the two groups of roller pressing cylinders, the cover body is mounted on the inner wall of the box body, the support shaft is rotatably mounted on the inner wall of the box body, the eccentric wheel is mounted on the outer wall of the support shaft, and the outer wall of the eccentric wheel contacts the bottom surface of the screen plate; the conveyor belt lifts and transports the garbage to between the two groups of roller pressing cylinders, and the two groups of roller pressing cylinders rotate in opposite directions to make the two groups of rollers The pressing drum rolls the garbage downward to squeeze out the water in the garbage and improve the dehydration effect of the garbage. Then, the garbage is crushed by the rotation of two sets of crushing rollers. The crushed garbage falls onto the screen plate, and the water in the garbage passes through the screen plate and falls to the bottom of the box. The rotation of the supporting shaft drives the eccentric wheel to rotate, so that the eccentric wheel supports the screen plate to swing up and down, so that the screen plate vibrates and conveys the garbage. The vibrated garbage is transported to the collection tank through the discharge port of the box for storage. By turning on the water pump, the accumulated water in the box is pumped out and discharged.

[0012] Preferably, the driving device includes a second motor, a pulley, a belt, a first gear and two groups of second gears, the second motor is mounted on the outer wall of the bracket, and the output end of the second motor is concentrically connected to the uppermost roller shaft, the uppermost roller shaft and the first group of roller pressing cylinders are driven by the first group of pulleys and belts, the second group of roller pressing cylinders and the first group of crushing rollers are driven by the second group of pulleys and belts, the second group of crushing rollers and the support shaft are driven by the third group of pulleys and belts, the two groups of first gears are respectively mounted on the ends of the two groups of roller pressing cylinders, and the two groups of first gears are meshed, the two groups of second gears are respectively mounted on the ends of the two groups of crushing rollers, and the two groups of crushing rollers are meshed; by controlling the second motor to start, the second motor provides power for the rotation of the conveyor belt, and at the same time, the second motor provides power for the rotation of the roller pressing cylinder, the crushing roller and the support shaft through multiple groups of pulleys and multiple groups of belts, thereby improving the convenience of garbage transportation and treatment by the unmanned ship, improving work efficiency, and reducing the operating energy consumption of the unmanned ship.

[0013] Preferably, the guiding device includes two groups of third motors and two groups of bases, the two groups of third motors are respectively installed on the inner walls of the two groups of chassis, the two groups of bases are respectively arranged on the output ends of the two groups of third motors, and the two groups of bases are respectively slidably installed on the two groups of chassis, the two groups of rotating shafts are rotatably installed on the outer walls of the two groups of bases, and the outer walls of the two groups of first guide plates are respectively connected to the outer walls of the two groups of bases; the two groups of bases are driven to swing circumferentially by the two groups of third motors, so that the two groups of bases drive the two groups of rotating shafts to swing and adjust.

[0014] Preferably, it also includes an electric cylinder and a conveying plate, the fixed end of the electric cylinder is rotatably mounted on the outer wall of the box, the movable end of the electric cylinder is rotatably connected to the outer wall of the conveying plate, and the end of the conveying plate is rotatably mounted on the outer wall of the box; the conveying plate is driven to rotate by the electric cylinder to be folded and stored, thereby improving the operational convenience of loading and unloading the collection trough, and the garbage discharged from the box is diverted and conveyed by the conveying plate, thereby improving the convenience of conveying the garbage to the collection trough.

[0015] Preferably, it also includes a wireless signal transmitter, a camera and a sensor, which are respectively installed on the outer side wall of the hull; by setting up the wireless signal transmitter, the convenience of wireless communication control of the unmanned boat is improved, by setting up the camera, the convenience of observing the lake environment is improved, and by setting up the sensor, the convenience of detecting the lake depth is improved.

[0016] Compared with the prior art, the beneficial effects of the present invention are: improving the efficiency and safety of the lake cleaning unmanned operation boat in cleaning the lake surface, reducing the intensity of manual labor, and improving the degree of automation of lake surface cleaning. By adjusting the position and angle of the garbage collection component, the garbage collection range of the unmanned operation boat can be adjusted to facilitate the unmanned operation boat to adapt to the narrower lake surface cleaning area. The image recognition system is used to pre-process the received images to improve the accuracy of garbage recognition by the unmanned boat. The lake surface environment is sensed by sensors to timely adjust the operation of the unmanned boat and improve the terrain and weather adaptability of the unmanned operation boat. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the axonometric structure of the present invention; Figure 2 It is a schematic diagram of the axonometric local structure of the connection between the hull and the chassis, etc.; Figure 3 is a schematic diagram of an axonometric partial structure of the connection between the first motor and the universal joint, etc.; Figure 4 is an axonometric partial structural diagram of the connection between the first guide plate and the second guide plate; Figure 5 It is a schematic diagram of the partial axonometric structure of the connection between the electric cylinder and the conveying plate; Figure 6 It is a schematic diagram of the axonometric partial structure of the connection between the roller shaft and the second motor, etc.; Figure 7 It is a schematic diagram of the axonometric local structure of the connection between the conveyor belt and the conveyor plate; Figure 8 It is a schematic diagram of the axonometric local structure of the connection between the rotating shaft and the spiral blades; Fig. 9 It is a schematic diagram of the axonometric partial structure of the connection between the hull and the camera, etc.; Fig.10 It is a schematic diagram of the axonometric partial structure of the connection between the hull and the collection tank, etc.; Fig.11 It is a schematic diagram of the axonometric partial structure of the connection between the third motor and the base, etc.; Fig.12 It is a schematic diagram of the axonometric partial structure of the connection between the chassis and the first motor, etc.

[0018] Markings in the accompanying drawings: 101, hull; 102, bracket; 103, roller; 104, conveyor belt; 105, conveyor plate; 106, box; 107, screen plate; 108, water pump; 109, collecting trough; 201, chassis; 202, first motor; 203, universal joint; 204, rotating shaft; 205, spiral blade; 206, first guide plate; 207, second guide plate; 301, roller; 302, crushing roller; 303, cover; 304, supporting shaft; 305, eccentric wheel; 401, second motor; 402, pulley; 403, belt; 404, first gear; 405, second gear; 501, third motor; 502, base; 601, electric cylinder; 602, conveyor plate; 701, wireless signal transmitter; 702, camera; 703, sensor. DETAILED DESCRIPTION

[0019] In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0020] Example 1 A method for operating an unmanned lake cleaning operation boat of the present invention comprises the following steps: S1. The operator sends control instructions to the unmanned boat through the control center equipment on the shore, so that the unmanned boat performs cleaning operations. The control instructions are transmitted to the communication equipment of the unmanned boat through the wireless information network. The communication equipment controls the action of the unmanned boat through the controller, and collects information about the lake surface based on the camera equipment and sensors on the unmanned boat. Then, the operator sets the parameters of the running speed, cleaning area range and cleaning mode of the unmanned boat according to the information. When the communication equipment of the unmanned boat receives the control instructions sent by the control center on the shore, it first performs self-inspection on the power, power system, sensor system, camera and communication equipment of the unmanned boat; S2. The perception system automatically analyzes the lake surface information collected by the unmanned operation boat, and plans the cleaning path of the unmanned operation boat. When the operator completes the parameter settings of the unmanned operation boat's operating speed, cleaning area range and cleaning mode, the perception system will automatically plan a path that can cover the set cleaning area and try to avoid repeated paths to improve the efficiency of the cleaning operation. When encountering obstacles at fixed positions, the perception system will re-plan the cleaning path. When observing the moving ships around, it predicts their trajectory according to the speed and heading of the ships and avoids them by adjusting its own route. S3. During the driving and cleaning work, the unmanned operation boat collects lake surface images in real time through the camera. The camera transmits the collected images, uses the image recognition system to analyze and identify the position, size and shape of the garbage floating on the water surface, and uses the image recognition system to distinguish the ripples on the water surface, aquatic plants and other interference objects; uses the wireless information network to transmit the collected images to the control center on the shore in real time, and then uses the image recognition system to perform denoising and contrast enhancement preprocessing on the received images, uses the deep learning algorithm to detect the targets in the image, and uses the algorithm to identify the objects in the image, and gives the position, size and shape information of the objects, and extracts the color, texture and shape features of the targets in the image to distinguish between garbage and interference objects; S4. The unmanned operation boat follows the planned path and sails to the location of the garbage. In the process of approaching the garbage, the boat continuously adjusts its course according to the image of the camera to ensure accurate approach to the garbage. By adjusting the position and angle of the garbage collection component, the garbage collection range of the unmanned operation boat is adjusted, so that the unmanned operation boat can adapt to the narrower lake cleaning area. S5. Use the collection equipment on the unmanned operation boat to collect and process the garbage on the lake surface. When the cleaning task is completed, or when the garbage collection device is full or reaches a certain garbage capacity threshold, the unmanned operation boat sends a signal to notify the control center to arrange for garbage unloading; In S1, the sensor on the unmanned working boat uses a depth sensor to sense the depth of the water level at the bottom of the boat. When the depth sensor detects that the water depth is less than the set threshold, a signal is sent to the control center, so that the control center controls to reduce the speed of the boat to avoid running aground. When the unmanned working boat is operating in a shallow area, the control center adjusts the angle and power of the propeller, and adjusts the propeller upward by a certain angle to reduce the contact between the bottom of the boat and the bottom of the water. The wind speed and wind direction are measured by using an anemometer and a wind vane. The wind data is sent to the control center, so that the control center adjusts the heading and power of the unmanned working boat to offset the interference of the wind. When the unmanned working boat is in a slow-flowing area, if the direction of the water flow has a certain angle with the driving direction of the working boat, the actual sailing direction of the boat is adjusted to be consistent with the preset cleaning path by adjusting the direction of the bow. When the unmanned working boat is in a rapids area, the control center increases the power of the propeller, and at the same time adjusts the position of the garbage collection component of the unmanned boat to adjust the center of gravity distribution of the hull to prevent it from being overturned by the water flow or deviating from the route, thereby improving the terrain and weather adaptability of the unmanned working boat. In S1, the camera equipment on the unmanned operation boat uses an infrared camera. When operating during the day, the unmanned operation boat relies on natural light to use the camera to collect images. When operating at night, the infrared camera is switched on and the lighting equipment is turned on at the same time, so as to identify garbage and the surrounding environment at night. At the same time, according to the change of light intensity, the image recognition system adjusts the parameters of the image recognition algorithm to adapt to the image characteristics under different lighting conditions; In this embodiment, the efficiency and safety of the lake cleaning unmanned operation boat are improved, the intensity of manual labor is reduced, the degree of automation of lake cleaning is improved, and the garbage collection range of the unmanned operation boat is adjusted by adjusting the position and angle of the garbage collection component to facilitate the unmanned operation boat to adapt to the narrower lake cleaning area. The image recognition system is used to pre-process the received images to improve the accuracy of garbage recognition by the unmanned boat. The lake environment is sensed by sensors to timely adjust the operation of the unmanned boat and improve the terrain and weather adaptability of the unmanned operation boat.

[0021] Example 2 On the basis of Example 1, a method for operating an unmanned lake cleaning operation boat of the present invention comprises a processing device, a garbage collection component, a driving device, a hull 101, a bracket 102, multiple groups of rollers 103, a conveyor belt 104, multiple groups of conveyor plates 105, a box 106, a screen plate 107, a water pump 108 and a collecting trough 109, the bracket 102 is mounted on the outer wall of the hull 101, the multiple groups of rollers 103 are rotatably mounted on the bracket 102, the conveyor belt 104 is sleeved on the outer wall of the multiple groups of rollers 103, the multiple groups of conveyor plates 105 are circumferentially arranged on the outer wall of the conveyor belt 104, the box 106 is mounted on the outer wall of the hull 101, and the box 106 is arranged at the lower rear of the conveyor belt 104, and the box A processing device is provided in 106, and the processing device is used for dehydrating and crushing the garbage. One end of the screen plate 107 is rotatably mounted on the inner wall of the box body 106, and a discharge port is provided on the outer wall of the box body 106. The screen plate 107 is communicated with the discharge port, and the processing device is used to drive the screen plate 107 to vibrate. The garbage collection assembly is provided on the outer wall of the hull 101, and the garbage collection assembly is used for centralized processing of the garbage. The driving device is provided on the bracket 102 and the box body 106, and the driving device is used to provide power for the rotation of the roller shaft 103, and the driving device is used to provide power for the processing device. The water pump 108 is installed on the outer wall of the hull 101, and the input end of the water pump 108 is communicated with the box body 106. The collecting tank 109 is provided on the hull 101; The garbage collection assembly includes a guide device, two sets of chassis 201, two sets of first motors 202, two sets of universal joints 203, two sets of rotating shafts 204, two sets of spiral blades 205, two sets of first guide plates 206 and two sets of second guide plates 207. The two sets of chassis 201 are installed on the outer side wall of the hull 101, and the two sets of chassis 201 are respectively arranged on both sides of the conveyor belt 104, the two sets of first motors 202 are respectively installed on the outer side walls of the two sets of chassis 201, and the quantum valley universal joints 203 are respectively installed to rotate the two sets of chassis 201. 01, and two sets of universal joints 203 are respectively connected to the output ends of the two sets of first motors 202, two sets of rotating shafts 204 are respectively installed on the other ends of the two sets of universal joints 203, and a guide device is provided on the chassis 201, the guide device is used to drive the rotating shaft 204 to swing horizontally, two sets of spiral blades 205 are respectively installed on the outer walls of the two sets of rotating shafts 204, two sets of first guide plates 206 are respectively installed on the guide devices, and two sets of second guide plates 207 are respectively connected to the outer walls of the two sets of first guide plates 206; The processing device includes two groups of roller pressing cylinders 301, two groups of crushing rollers 302, a cover body 303, a support shaft 304 and an eccentric wheel 305. The two groups of roller pressing cylinders 301 are both rotatably mounted on the inner wall of the box body 106, the two groups of crushing rollers 302 are both rotatably mounted on the inner wall of the box body 106, and the two groups of crushing rollers 302 are arranged below the two groups of roller pressing cylinders 301, the cover body 303 is mounted on the inner wall of the box body 106, the support shaft 304 is rotatably mounted on the inner wall of the box body 106, the eccentric wheel 305 is mounted on the outer wall of the support shaft 304, and the outer wall of the eccentric wheel 305 is in contact with the bottom surface of the screen plate 107; The driving device includes a second motor 401, a pulley 402, a belt 403, a first gear 404 and two groups of second gears 405. The second motor 401 is installed on the outer side wall of the bracket 102, and the output end of the second motor 401 is concentrically connected to the uppermost roller shaft 103. The uppermost roller shaft 103 and the first group of roller pressing cylinders 301 are driven by the first group of pulleys 402 and the belt 403. The second group of roller pressing cylinders 301 and the first group of crushing rollers 302 are driven by the second group of pulleys 402 and the belt 403. The second group of crushing rollers 302 and the support shaft 304 are driven by the third group of pulleys 402 and the belt 403. The two groups of first gears 404 are respectively installed at the ends of the two groups of roller pressing cylinders 301, and the two groups of first gears 404 are meshed. The two groups of second gears 405 are respectively installed at the ends of the two groups of crushing rollers 302, and the two groups of crushing rollers 302 are meshed. The guide device includes two sets of third motors 501 and two sets of bases 502. The two sets of third motors 501 are respectively mounted on the inner side walls of the two sets of chassis 201. The two sets of bases 502 are respectively arranged on the output ends of the two sets of third motors 501. The two sets of bases 502 are respectively slidably mounted on the two sets of chassis 201. The two sets of rotating shafts 204 are rotatably mounted on the outer side walls of the two sets of bases 502. The outer side walls of the two sets of first guide plates 206 are respectively connected to the outer side walls of the two sets of bases 502. It also includes an electric cylinder 601 and a conveying plate 602, wherein the fixed end of the electric cylinder 601 is rotatably mounted on the outer wall of the box 106, the movable end of the electric cylinder 601 is rotatably connected to the outer wall of the conveying plate 602, and the end of the conveying plate 602 is rotatably mounted on the outer wall of the box 106; It also includes a wireless signal transmitter 701, a camera 702 and a sensor 703, which are respectively installed on the outer side wall of the hull 101; In this embodiment, the uppermost roller 103 is driven to rotate by a driving device, so that the roller 103 drives the conveyor belt 104 to rotate, and the conveyor belt 104 drives the multiple sets of conveyor plates 105 to move circumferentially, and move to the garbage collection area through the hull 101, so that the garbage is lifted and transported upward by the conveyor belt 104 and the conveyor plates 105, and then the garbage enters the box 106, and the garbage is dehydrated and crushed by the processing device in the box 106, thereby reducing the space occupied by garbage storage and increasing the garbage collection capacity of the workboat. The garbage on both sides of the hull 101 is transported to the middle by the garbage collection assembly, so as to facilitate The conveyor belt 104 collects the surrounding garbage, increases the garbage collection range of the unmanned operation ship, and improves the garbage collection efficiency. The two sets of rotating shafts 204 are driven to swing horizontally through the guide device, so that the two sets of rotating shafts 204 extend to the two sides of the hull 101. When collecting garbage, the two sets of first motors 202 drive the two sets of universal joints 203 to rotate, so that the two sets of universal joints 203 drive the two sets of rotating shafts 204 to rotate. After the two sets of rotating shafts 204 rotate, they drive the two sets of spiral blades 205 to rotate, so that the two sets of spiral blades 205 transport the garbage to the conveyor belt 104 in a concentrated manner. Through the two sets of first guide plates 206 and the two sets of second The guide plate 207 guides and transports the garbage, so that the garbage is transported to the conveyor belt 104, and the garbage collection range is improved. When the hull 101 travels on the rapid lake, the guide device drives the two sets of rotating shafts 204 to swing and adjust the angle, so that the two sets of rotating shafts 204 adjust the center of gravity of the hull 101, and at the same time cooperates with the two sets of first guide plates 206 to guide the water flow, so as to improve the driving stability of the hull 101. The conveyor belt 104 lifts and transports the garbage to between the two sets of roller cylinders 301. The two sets of roller cylinders 301 rotate in opposite directions, so that the two sets of roller cylinders 301 roll the garbage downward and transport it, so that The moisture in the garbage is squeezed out to improve the dehydration effect of the garbage, and then the garbage is pulverized by rotating two sets of pulverizing rollers 302. The pulverized garbage falls onto the screen plate 107, and the moisture in the garbage passes through the screen plate 107 and falls to the bottom of the box 106. The eccentric wheel 305 is driven to rotate by the support shaft 304, so that the eccentric wheel 305 supports the screen plate 107 to swing up and down, so that the screen plate 107 vibrates and transports the garbage. The vibrated garbage is transported through the discharge port of the box 106 to the collection tank 109 for storage. By turning on the water pump 108, the water in the box 106 is pumped out and discharged by the water pump 108.

[0022] like Figures 1 to 12As shown, a method for operating an unmanned lake cleaning boat of the present invention, when working, drives the uppermost roller 103 to rotate through a driving device, so that the roller 103 drives the conveyor belt 104 to rotate, and the conveyor belt 104 drives multiple groups of conveyor plates 105 to move circumferentially, and moves to a garbage collection area through a hull 101, so that the garbage is lifted and transported upward by the conveyor belt 104 and the conveyor plates 105, and then the garbage enters the interior of a box 106, and is dehydrated and crushed by a processing device in the box 106.

[0023] The main functions achieved by the present invention are: to improve the efficiency and safety of the unmanned lake cleaning boat in cleaning the lake surface, to reduce the intensity of manual labor, to improve the degree of automation of lake surface cleaning, to adjust the garbage collection range of the unmanned boat, to facilitate the unmanned boat to adapt to the narrower lake cleaning area, to adjust the operation of the unmanned boat in time, and to improve the terrain and weather adaptability of the unmanned boat.

[0024] The hull 101, water pump 108, first motor 202, second motor 401, third motor 501, electric cylinder 601, wireless signal transmitter 701, camera 702 and sensor 703 of the method for operating an unmanned lake cleaning operation boat of the present invention are purchased on the market, and technicians in the industry only need to install and operate them according to the accompanying instruction manual, without the need for creative labor by technicians in this field.

[0025] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for operating an unmanned lake cleaning operation boat, characterized in that: The following steps are involved: S1. The operator sends control instructions to the unmanned boat through the control center equipment on the shore, so that the unmanned boat can perform cleaning operations. The control instructions are transmitted to the communication equipment of the unmanned boat through the wireless information network. The communication equipment controls the action of the unmanned boat through the controller, and collects information about the lake surface based on the camera equipment and sensors on the unmanned boat. Then the operator sets the parameters of the running speed, cleaning area range and cleaning mode of the unmanned boat according to the information. S2. The perception system automatically analyzes the lake surface information collected by the unmanned operation boat, thereby planning the cleaning path of the unmanned operation boat; S3. During the driving and cleaning work, the unmanned operation boat collects lake surface images in real time through the camera. The camera transmits the collected images and uses the image recognition system to analyze and identify the position, size and shape of the garbage floating on the water surface. The image recognition system also distinguishes the ripples on the water surface, aquatic plants and other interference objects; S4. The unmanned operation boat follows the planned path and sails to the location of the garbage. In the process of approaching the garbage, the boat continuously adjusts its course according to the image of the camera to ensure accurate approach to the garbage. By adjusting the position and angle of the garbage collection component, the garbage collection range of the unmanned operation boat is adjusted, so that the unmanned operation boat can adapt to the narrower lake cleaning area. S5. Use the collection equipment on the unmanned operation boat to collect and process the garbage on the lake surface. When the cleaning task is completed, or when the garbage collection device is full or reaches a certain garbage capacity threshold, the unmanned operation boat sends a signal to notify the control center to arrange for the garbage unloading.

2. The method for operating an unmanned lake cleaning boat according to claim 1, characterized in that: In S1, the sensor on the unmanned working boat uses a depth sensor to sense the depth of the water level at the bottom of the boat. When the depth sensor detects that the water depth is less than the set threshold, a signal is sent to the control center, so that the control center controls to reduce the speed of the boat to avoid running aground. When the unmanned working boat is operating in a shallow area, the control center adjusts the angle and power of the propeller, and adjusts the propeller upward by a certain angle to reduce the contact between the bottom of the boat and the bottom of the water. The wind speed and wind direction are measured by using anemometers and wind vanes. The wind data is sent to the control center, so that the control center adjusts the heading and power of the unmanned working boat to offset the interference of wind. When the unmanned working boat is in a slow-flowing area, if the direction of the water flow has a certain angle with the driving direction of the working boat, the actual sailing direction of the boat is made consistent with the preset cleaning path by adjusting the direction of the bow. When the unmanned working boat is in a rapids area, the propeller power is increased by the control center, and the position of the garbage collection component of the unmanned boat is adjusted to adjust the center of gravity distribution of the hull to prevent it from being overturned by the water flow or deviating from the route, thereby improving the terrain and weather adaptability of the unmanned working boat.

3. The method for operating an unmanned lake cleaning operation boat according to claim 1, characterized in that: In S1, the camera equipment on the unmanned working boat uses an infrared camera. When working during the day, the unmanned working boat relies on natural light to use the camera to collect images. When working at night, the infrared camera is switched on and the lighting equipment is turned on at the same time, so as to identify garbage and the surrounding environment at night. At the same time, according to the change of light intensity, the image recognition system adjusts the parameters of the image recognition algorithm to adapt to the image characteristics under different lighting conditions.

4. The method for operating an unmanned lake cleaning operation boat according to claim 1, characterized in that: The unmanned operation boat comprises a processing device, a garbage collection component, a driving device, a hull (101), a bracket (102), a plurality of rollers (103), a conveyor belt (104), a plurality of conveyor plates (105), a box (106), a screen plate (107), a water pump (108) and a collection tank (109), wherein the bracket (102) is mounted on the outer wall of the hull (101), the plurality of rollers (103) are rotatably mounted on the bracket (102), the conveyor belt (104) is sleeved on the outer wall of the plurality of rollers (103), the plurality of conveyor plates (105) are circumferentially arranged on the outer wall of the conveyor belt (104), the box (106) is mounted on the outer wall of the hull (101), and the box (106) is arranged at the rear lower part of the conveyor belt (104), and a processing device is arranged in the box (106). The processing device is used for dehydrating and crushing garbage. One end of the screen plate (107) is rotatably mounted on the inner wall of the box (106). The outer wall of the box (106) is provided with a discharge port. The screen plate (107) is in communication with the discharge port. The processing device is used for driving the screen plate (107) to vibrate. The garbage collection component is arranged on the outer wall of the hull (101). The garbage collection component is used for centralized processing of garbage. The driving device is arranged on the bracket (102) and the box (106). The driving device is used for providing power for the rotation of the roller shaft (103). The driving device is used for providing power to the processing device. The water pump (108) is mounted on the outer wall of the hull (101). The input end of the water pump (108) is in communication with the box (106). The collecting tank (109) is arranged on the hull (101).

5. The method for operating an unmanned lake cleaning operation boat according to claim 4, characterized in that: The garbage collection assembly comprises a guide device, two sets of chassis (201), two sets of first motors (202), two sets of universal joints (203), two sets of rotating shafts (204), two sets of spiral blades (205), two sets of first guide plates (206) and two sets of second guide plates (207). The two sets of chassis (201) are both mounted on the outer side wall of the hull (101), and the two sets of chassis (201) are respectively arranged on both sides of the conveyor belt (104). The two sets of first motors (202) are respectively mounted on the outer side walls of the two sets of chassis (201). The Quantum Valley universal joints (203) are respectively rotatably mounted on the two sets of chassis. The housing (201) is provided with a guide device, which is used to drive the rotating shaft (204) to swing horizontally. The two sets of spiral blades (205) are respectively mounted on the outer walls of the two sets of rotating shafts (204). The two sets of first guide plates (206) are respectively mounted on the guide devices. The two sets of second guide plates (207) are respectively connected to the outer walls of the two sets of first guide plates (206).

6. The method for operating an unmanned lake cleaning operation boat according to claim 4, characterized in that: The processing device comprises two groups of roller pressing cylinders (301), two groups of crushing rollers (302), a cover body (303), a support shaft (304) and an eccentric wheel (305); the two groups of roller pressing cylinders (301) are rotatably mounted on the inner wall of the box body (106); the two groups of crushing rollers (302) are rotatably mounted on the inner wall of the box body (106); the two groups of crushing rollers (302) are arranged below the two groups of roller pressing cylinders (301); the cover body (303) is mounted on the inner wall of the box body (106); the support shaft (304) is rotatably mounted on the inner wall of the box body (106); the eccentric wheel (305) is mounted on the outer wall of the support shaft (304); and the outer wall of the eccentric wheel (305) is in contact with the bottom surface of the screen plate (107).

7. The method for operating an unmanned lake cleaning boat according to claim 4, characterized in that: The driving device comprises a second motor (401), a pulley (402), a belt (403), a first gear (404) and two sets of second gears (405); the second motor (401) is mounted on the outer wall of the bracket (102), and the output end of the second motor (401) is coaxially connected to the uppermost roller shaft (103); the uppermost roller shaft (103) and the first set of roller pressing cylinders (301) are driven by the first set of pulleys (402) and the belt (403); the second set of roller pressing cylinders (301) are driven by the first set of pulleys (402) and the belt (403); The transmission is transmitted between the first group of crushing rollers (302) and the second group of crushing rollers (302) through a second group of pulleys (402) and a belt (403), the transmission is transmitted between the second group of crushing rollers (302) and the support shaft (304) through a third group of pulleys (402) and a belt (403), two groups of first gears (404) are respectively mounted on the ends of the two groups of roller pressing cylinders (301), and the two groups of first gears (404) are meshed, and two groups of second gears (405) are respectively mounted on the ends of the two groups of crushing rollers (302), and the two groups of crushing rollers (302) are meshed.

8. The method for operating an unmanned lake cleaning boat according to claim 5, characterized in that: The guide device comprises two sets of third motors (501) and two sets of bases (502); the two sets of third motors (501) are respectively mounted on the inner side walls of the two sets of chassis (201); the two sets of bases (502) are respectively arranged on the output ends of the two sets of third motors (501); the two sets of bases (502) are respectively slidably mounted on the two sets of chassis (201); the two sets of rotating shafts (204) are rotatably mounted on the outer side walls of the two sets of bases (502); and the outer side walls of the two sets of first guide plates (206) are respectively connected to the outer side walls of the two sets of bases (502).

9. The method for operating an unmanned lake cleaning operation boat according to claim 4, characterized in that: It also includes an electric cylinder (601) and a conveying plate (602), wherein the fixed end of the electric cylinder (601) is rotatably mounted on the outer wall of the box body (106), the movable end of the electric cylinder (601) is rotatably connected to the outer wall of the conveying plate (602), and the end of the conveying plate (602) is rotatably mounted on the outer wall of the box body (106).

10. The method for operating an unmanned lake cleaning operation boat according to claim 4, characterized in that: It also includes a wireless signal transmitter (701), a camera (702) and a sensor (703), wherein the wireless signal transmitter (701), the camera (702) and the sensor (703) are respectively installed on the outer side wall of the hull (101).

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