Intelligent cleaning robot for water surface garbage and working method thereof

Abstract

The invention discloses a water surface garbage intelligent cleaning robot and a working method thereof, and relates to the technical field of water surface garbage cleaning equipment, and the water surface garbage intelligent cleaning robot is divided into six modules including a control module, a motion module, a Beidou navigation module, a visual identification module, a monitoring module and a power generation module. The motion module uses four propellers equipped with L298N to perform differential rotation to maintain the operation stability of the device, the visual identification module uses a batch confirmation method to accurately identify water surface garbage, and then the Beidou navigation module plans an optimal route for going; the detection module uses an intelligent dual-purpose infrared induction device to monitor the operation stability of the device in real time and monitor the garbage amount in a garbage recycling bin; the power generation module uses an electromagnetic rotation power generation system, a water flow power generation system and a solar power generation system. Water flow in the device is vortex-shaped so as to facilitate water drainage and garbage recovery, and electromagnetic power generation increases endurance while the rotating shaft rotates the water flow to form vortex. The garbage can has the advantages of comprehensive functions, long endurance time and high-efficiency and rapid garbage recovery. The device is reasonable in design and has high popularization value.

Description

Technical Field

[0001] The invention belongs to the technical field of water surface garbage cleaning equipment, and in particular relates to a water surface garbage intelligent cleaning robot and a working method thereof. Background Art

[0002] With the rapid development of global industrialization and urbanization, water pollution has become an increasingly serious environmental problem, especially the garbage on the water surface, which not only destroys the beauty of the water area, but also poses a threat to the ecosystem and human health. Therefore, cleaning the garbage on the water surface is urgent. Most of the existing water surface cleaning equipment has a single function and can only handle garbage at a fixed location. The operation is complicated. However, the garbage on the water surface often floats everywhere on the water surface, so multiple devices are required to handle it, which greatly increases the cleaning cost. Summary of the invention

[0003] The purpose of the present invention is to solve at least one of the technical problems existing in the prior art, and to provide an intelligent surface garbage cleaning robot and a working method thereof, which can solve the background technical problems.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an intelligent cleaning robot for surface garbage, comprising a recycling barrel in the shape of a barrel, characterized in that: a buoy is arranged around the upper end of the recycling barrel, the recycling barrel and the buoy are fixedly connected, a hollow fixed plate is arranged on the upper end of the recycling barrel, an inclined extension ring is fixedly connected to the upper end of the hollow fixed plate, eight infrared sensing devices for monitoring the stability of the recycling barrel and the amount of garbage are fixedly arranged around the inclined extension ring, four support rods are passed through the four sides of the hollow fixed plate, the support rods are composed of a first support rod and a second support rod, a spiral extension rod is fixedly connected to the lower side of the first support rod, the right end of the spiral extension rod is fixedly connected to an underwater propeller for moving the device, and a propeller is arranged on the outer side of the underwater propeller; a spiral power generation support rod is fixedly arranged on each of the left and right ends of the recycling barrel, the spiral power generation support rod is fixedly connected to a spiral power generation device for generating electricity using water power, and the spiral power generation device is fixedly connected to spiral power generation fan blades. The lower end of the second support rod is fixedly connected to the hollow fixed plate, the second support rod passes through the inclined extension ring, the upper ends of the four second support rods are fixedly connected to a support platform, the upper end of the support platform is fixed with four telescopic rods, and the upper part of the four telescopic rods is fixedly connected to a solar panel for generating electricity using solar energy; a pillar rod is fixedly connected to the upper part of the support platform, and a camera device for identifying garbage is fixedly connected between the pillar rod and the solar panel; the interior of the recycling bin is hollow and a garbage recycling box is fixed at the upper end of the interior, and an annular fixed card slot is fixedly provided on the upper end of the garbage recycling box. An annular drainage board is fixedly connected to the bottom end of the collection box, two bar magnets for forming an internal magnetic field are arranged inside the recycling bin, and a water pump device is arranged at the bottom end of the recycling bin; a rotating shaft base is fixedly arranged at the center of the bottom end of the recycling bin, a rotating shaft is fixedly arranged at the upper end of the rotating shaft base, and three "L"-shaped rotating rods for cutting magnetic lines of induction to generate electricity are fixedly connected to the rotating shaft; an inner support rod is fixedly connected to the upper end of the rotating shaft, a rotating shaft motor is contained inside the rotating shaft, the rotating rod and the bar magnet constitute an electromagnetic power generation device, and the upper end of the inner support rod is fixedly connected to the annular drainage board.

[0005] As a further solution of the invention, the water pump device is fixedly connected to a drain outlet, the drain outlet is located outside the recovery barrel, the drain outlet is fixedly connected to internal and external water pipes, the internal and external water pipes are fixedly connected to a water pump support shell, and the water pump support shell and the internal and external water pipes are fixedly connected via a fixed waterproof shell.

[0006] As a further solution of the invention, a water pump blade guide column is fixedly arranged in the center of the water pump support shell, and the water pump blade guide column is fixedly connected to the built-in blades of the water pump. The inner and outer water pipes are provided with internal water suction ports, and the internal water suction ports are located inside the recovery barrel.

[0007] As a further solution of the invention, the fixed waterproof shell is fixedly connected to the water pump cover, the water pump cover is connected to the water pump support shell by screws, and the water pump support shell is connected to the inner and outer water pipes by rivets.

[0008] As a further solution of the invention, a battery is provided above the support platform, and the output end of the battery supplies power to the microcontroller, underwater thruster, water pump motor, camera device, infrared sensing device and rotating shaft motor respectively through a voltage conversion circuit, and the spiral power generation device, electromagnetic power generation device and solar panel jointly supply power to the battery.

[0009] As a further solution of the invention, the microcontroller based on STM32 constitutes a control module, the underwater thruster, water pump motor and rotating shaft motor constitute a motion module controlled by L298N, the infrared sensing device constitutes a monitoring module, and the camera device controlled by Openmv constitutes a visual recognition module.

[0010] As a further solution of the invention, the spiral power generation device, the electromagnetic power generation device and the solar cell panel constitute a power generation module, the microcontroller contains Beidou navigation system software, and the Beidou navigation system constitutes a navigation module.

[0011] The present invention also provides a working method of a water surface garbage intelligent cleaning robot, comprising the following steps:

[0012] Step 1. Under the guidance of Beidou navigation, the device cruises along the designed zigzag route and accurately identifies surface garbage through the batch confirmation method of Openmv visual recognition module. When foreign objects are identified for the first time, the device moves forward under the guidance of the Beidou navigation system and conducts a second refined monitoring within a radius of one meter to determine whether the foreign objects are garbage that needs to be recycled. The device controls the forward and reverse rotation and speed of the propeller through the L298N motor to generate different thrusts, so that the device turns and moves, realizing the device's autonomous cruising function to move to the garbage in batches.

[0013] Step 2: Under the pumping action of the water pump and the rotation action of the rotating rod, negative pressure is formed in the barrel and the water in the barrel forms a vortex, and the garbage is thrown to the barrel wall by the centrifugal force.

[0014] Step 3: Use an infrared sensing device to determine the distance between different positions of the top of the inclined extension circle and the water surface to determine whether the robot is stable during navigation; use an infrared sensing device to monitor the distance between the garbage and the top of the recycling bin, and when it detects that the collected garbage has reached the saturation value, it will stop collecting and move to the specified point.

[0015] Step 4: Use underwater spiral power generation devices, solar power generation devices, and electromagnetic power generation devices in combination with energy storage to increase battery life and achieve long-term work.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention drives the rotating rod through the rotating shaft motor. Under the physical characteristics of the inclined extension ring, the rotating rod rotates so that the water inside the recycling bucket easily forms a vortex, which is then more easily sucked by the water pump. At the same time, the vortex-shaped water flow causes the garbage to be thrown to the bucket wall by the centrifugal force, thereby improving the space utilization rate of the garbage recycling net bag. The rotating rod of the present invention adopts an outer glass and inner iron core structure. It rotates and cuts the magnetic flux lines in the magnetic field formed by the bar magnet to generate alternating current, and charges the battery through the voltage conversion circuit, thereby improving the endurance of the device.

[0018] 2. The present invention has an intelligent management system, which can realize positioning services through the Beidou navigation module, and accurately identify surface garbage through the batch confirmation method of the Openmv visual recognition module. The L298N motor controls the forward and reverse rotation and speed of the propeller to generate different thrusts, so that the device turns and realizes the autonomous cruising function of the device, effectively reducing the workload of artificial surface garbage treatment, realizing the intelligence and efficiency of surface garbage treatment, and reducing the cost of surface garbage treatment.

[0019] 3. The present invention uses an infrared sensing device to determine the distance between different positions of the top of the inclined extension circle and the water surface, and determines whether the robot is stable during navigation, and then adjusts the rotation speed of the four propellers through a microcontroller to ensure the stability of the barrel body during navigation to ensure accurate garbage cleaning; at the same time, the infrared sensing device realizes a self-loading capacity recognition function. When the collected garbage reaches the saturation value, it will stop collecting and move to the specified point, avoiding the problem of power loss caused by garbage overloading. The barrel body volume is determined according to mathematical modeling analysis to determine the most energy-saving garbage volume, which ensures energy saving and improves endurance while ensuring collection efficiency.

[0020] 4. The present invention adopts an underwater spiral power generation device to fully utilize the energy of water flow during the movement of the hull, and drives the rotation of the spiral power generation fan blades through the water flow. The spiral power generation device converts it into electrical energy and stores it in the battery. Combined with the solar power generation device and the electromagnetic power generation device, the endurance of the device is greatly improved, and the problem of power supply for long-term water operation of the device is solved. At the same time, the design position of the spiral power generation device conforms to the principles of fluid dynamics, which can better reduce energy consumption and has a high development prospect.

[0021] In summary, the present invention can effectively clean up garbage on the water surface and control water pollution. At the same time, its scientific power structure design and appearance structure achieve long endurance and long-term operation. Its simple mechanical structure and reasonable design have good promotion value. The present invention realizes the combination of intelligence and high efficiency and has good development prospects.

[0022] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention.

[0024] Figure 2 It is a right side half-section view of the present invention.

[0025] Figure 3 It is a partial top view of the present invention.

[0026] Figure 4 It is a top view of a half section of the present invention.

[0027] Figure 5 It is a schematic structural diagram of the water pump device of the present invention.

[0028] Figure 6 It is a circuit principle block diagram of the present invention.

[0029] Figure 7 This is a module classification block diagram of the present invention.

[0030] Figure numerals: 1, recycling bucket; 2, buoy; 3, inclined extension ring; 4, support platform; 5, solar panel; 6, support rod; 6-1, first support rod; 6-2, second support rod; 7, telescopic rod; 8, pillar rod; 9, camera device; 10, battery; 11, hollow fixed plate; 12, spiral power generation fan blade; 13, spiral power generation support rod; 14, spiral extension rod; 15, underwater propeller; 16, propeller; 17, garbage recycling box; 18, inner support rod; 19, annular drainage board; 20, water pump device; 20-1, inner water inlet; 20-2, built-in fan blade of water pump; 20-3, water pump support shell; 20-4, inner and outer water pipes; 20- 5. Fixed waterproof shell; 20-6. Water pump blade guide column; 20-7. Rivet; 20-8. Screw; 20-9. Water pump cover; 21. Drain port; 22. Infrared sensing device; 23. Spiral power generation device; 24. Fixed slot; 25. Rotating shaft base; 26. Rotating shaft; 27. Rotating rod; 28. Bar permanent magnet; 29. ​​Water pump motor; 30. Rotating shaft motor; 31. Voltage conversion circuit; 32. Spiral power generation device; 33. Electromagnetic power generation device; 34. Microcontroller; 35. Beidou navigation system; 36. Control module; 37. Motion module; 38. Visual recognition module; 39. Power generation module; 40. Monitoring module; 41. Navigation module. DETAILED DESCRIPTION

[0031] This section will describe 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. Embodiment 1

[0032] See also Figure 1-6 The present invention provides a technical solution: an intelligent cleaning robot for water surface garbage and a working method thereof, comprising a barrel-shaped recycling barrel 1, a garbage recycling box 17 is arranged inside, and a garbage recycling net bag is also provided. The groove at the upper end of the garbage recycling net bag can be loaded and unloaded with the annular fixed card groove 24 at the upper end of the recycling barrel to complete the recycling of collected garbage; the recycling barrel 1 adopts thin-walled lightweight materials to reduce the density of the device, and a buoy 2 is arranged around the upper end of the lightweight recycling barrel 1. A hollow fixed plate 11 is arranged at the upper end of the recycling barrel 1 to fix the first support rod 6-1 and the second support rod 6-2 to ensure the stability of the device during operation; an inclined extension ring 3 is fixedly connected to the upper end of the hollow fixed plate 11 to expand the range of absorbing garbage; eight infrared sensing devices 22 are fixedly arranged around the inclined extension ring 3. When actually used, the eight infrared sensing devices 22 are used to measure the distance between the inclined extension ring 3 and the water surface The distance is used to judge the stability of the device operation and detect the positional relationship between the garbage in the barrel and the hollow fixed plate 11 to judge the amount of garbage collected; a spiral extension rod 14 is fixedly connected to the bottom of the first support rod 6-1, and the right end of the spiral extension rod 14 is fixedly connected to an underwater propeller 15, and the underwater propeller 15 is connected to a propeller 16. In actual application, the forward and reverse rotation and speed of the propeller 16 are controlled by the L298N motor to generate different thrusts, so that the device can be turned. The four propellers 16 can greatly improve the flexibility of the device when it is working and ensure the stability of the device when it is moving. The infrared sensing device 22 monitors the distance between the inclined extension circle 3 and the water surface, and ensures the stability of the device operation by adjusting the speed relationship between the four propellers 16, so that the success rate of garbage collection is greatly improved, unnecessary energy loss is saved, and the endurance of the device is improved.

[0033] Furthermore, a spiral power generation support rod 13 is fixedly provided at each of the left and right ends of the recycling barrel 1, and the spiral power generation support rod 13 is fixedly connected to a spiral power generation device 23. The positions of the spiral power generation support rod 13 and the spiral power generation device 23 are designed in accordance with fluid dynamics, which fully utilizes the water flow energy while ensuring less resistance; the spiral power generation device 23 is fixedly connected to the spiral power generation blade 12. In actual application, the water flow drives the spiral power generation blade 12 to rotate, and the water flow energy is converted into electrical energy and stored in the battery 10 through the conversion of the spiral power generation device 23. A pillar rod 8 is fixedly connected above the support platform 4, and a camera device 9 is fixedly connected between the pillar rod 8 and the solar panel 5. In actual application, the Openmv visual recognition service of the camera device 9 is used to detect garbage, and the navigation module responsible for the positioning service plans the best route, and then the differential rotation propeller equipped with the L298N motor is used to flexibly move to the garbage location for recycling in the most power-saving way.

[0034] Furthermore, a rotating shaft 26 is fixedly provided at the upper end of the rotating shaft base 25, and three "L"-shaped rotating rods 27 are fixedly connected to the rotating shaft 26. In actual application, due to the inclined design of the inclined extension ring, it is easy to form a vortex when water flows down, and the rotating shaft drives the "L"-shaped rotating rod 27 to rotate, so that the water flow in the recycling barrel 1 presents a vortex shape, which is easy to be recovered by the inner water suction port 20-1 of the water pump device 20; at the same time, the vortex-shaped water flow causes the garbage to be thrown to the barrel wall by the centrifugal force, thereby improving the utilization rate of the garbage recycling space in the garbage recycling box 17; two bar permanent magnets 28 are arranged inside the recycling barrel 1, and the rotating rod 27 uses an outer glass and inner iron core structure, which rotates and cuts the magnetic flux lines in the magnetic field formed by the bar permanent magnet 28 to generate alternating current, forming an electromagnetic power generation device 33, and charging the battery 10 through the voltage conversion circuit 31, thereby improving the battery life of the device.

[0035] Furthermore, an annular drainage board 19 is fixedly connected to the bottom end of the garbage recycling box 17. The annular drainage board 19 serves as the bottom end of the garbage recycling box. Combined with the influence of the vortex water flow and its centrifugal force on the position of the garbage, the optimal value of the drainage ring width at different positions of the ring center is calculated through mathematical modeling, so that the water can flow down smoothly. Embodiment 2

[0036] On the basis of implementation case 1, a water pump device 20 is provided at the bottom end of the interior of the recycling barrel 1, and an internal water suction port 20-1 of the water pump device 20 is provided inside the recycling barrel 1. In actual application, the internal water suction port 20-1 sucks the vortex-shaped water flow into the internal and external water pipes 20-4, and under the rotation of the water pump blades, the water flow is discharged from the recycling barrel 1 through the drain port 21; the water pump device 20 undergoes the above process and pumps water at high power to form a negative pressure inside the recycling barrel 1, and the garbage entering the inclined recycling circle 3 is collected into the recycling barrel 1 under the action of the negative pressure of the water flow, and is thrown toward the barrel wall under the action of the centrifugal force of the vortex-shaped water flow; at the same time, under the detection of the infrared sensing device 22, the garbage stops collecting after reaching the saturation value, the water pump device 20 stops working, and the device moves to the specified point under the differential rotation of the propeller 16 equipped with the L298N motor.

[0037] Furthermore, the device is divided into a control module, a motion module, a navigation module, a visual recognition module, a monitoring module and a power generation module; the control module includes a microcontroller 34 with STM32 as the main control; the motion module includes an underwater thruster 15, a water pump motor 29 and a rotating shaft motor 30, and the navigation module includes a Beidou navigation system; the visual recognition module includes a camera device 9 using Openmv; the monitoring module includes an infrared sensing device 22; the power generation module includes a solar panel 5, a spiral power generation device 23 and an electromagnetic power generation device 33; the battery 9 supplies power to the control module, the motion module navigation module and the monitoring module, and the power generation module charges the battery 9. The scientific and intelligent power consumption and energy-saving power generation system is large The battery life of the device is greatly improved, so that the device can operate for a long time on the water surface, avoiding the problem of the device running out of power before the garbage recycling box 17 is full of garbage; the infrared sensing device 22 of the monitoring module monitors the stability of the device operation and the amount of garbage in the garbage recycling box 17; the device can realize positioning services through the navigation module, and accurately identify surface garbage through the Openmv visual recognition module, and then control the forward and reverse rotation and speed of the propeller through the L298N motor to generate different thrusts, so that the device can turn and realize the autonomous cruising function of the device, effectively reducing the workload of manual surface garbage treatment, realizing the intelligence and efficiency of surface garbage treatment, and reducing the cost of surface garbage treatment.

[0038] Working principle: When actually using the robot to clean different waters on the surface of water, the user can adjust the intelligent surface garbage cleaning robot and its working method according to the working environment. After the Openmv visual recognition module identifies the garbage, the navigation module realizes the garbage positioning service and plans the best route. The L298N motor controls the propeller to efficiently go to the garbage. After reaching the garbage location, the water pump device 20 pumps water at high power and forms a vortex under the rotation of the rotating rod 27, realizing efficient garbage recovery and efficient water pumping by the water pump. After the detection module monitors that the garbage in the garbage recovery box 17 has reached the saturation value, the water pump device 20 stops working and the device moves to the specified point.

[0039] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, 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. An intelligent robot for cleaning water surface garbage, comprising a barrel-shaped recycling barrel (1), characterized in that: A buoy (2) is arranged around the upper end of the recycling barrel (1), and the recycling barrel (1) and the buoy (2) are fixedly connected. A hollow fixed plate (11) is arranged on the upper end of the recycling barrel (1), and an inclined extension ring (3) is fixedly connected to the upper end of the hollow fixed plate (11). Eight infrared sensing devices (22) for monitoring the stability of the recycling barrel and the amount of garbage are fixedly arranged around the inclined extension ring (3). Four support rods (6) are passed through the four sides of the hollow fixed plate (11), and the support rods (6) are composed of a first support rod (6-1) and a second support rod (6-2). -2), wherein a spiral extension rod (14) is fixedly connected below the first support rod (6-1), an underwater propeller (15) for moving the device is fixedly connected to the right end of the spiral extension rod (14), and a propeller (16) is arranged on the outer side of the underwater propeller (15); a spiral power generation support rod (13) is fixedly arranged at each of the left and right ends of the recovery barrel (1), the spiral power generation support rod (13) is fixedly connected to a spiral power generation device (23) for generating electricity using water flow power, and the spiral power generation device (23) is fixedly connected to a spiral power generation fan blade (12). The lower end of the second support rod (6-2) is fixedly connected to the hollow fixed plate (11); the second support rod (6-2) passes through the inclined extension ring (3); the upper ends of the four second support rods (6-2) are fixedly connected to a support platform (4); the upper end of the support platform (4) is fixedly provided with four telescopic rods (7); the upper end of the four telescopic rods (7) is fixedly connected to a solar panel (5) for generating electricity using solar energy; the upper end of the support platform (4) is fixedly connected to a pillar rod (8); a camera device (9) for identifying garbage is fixedly connected between the pillar rod (8) and the solar panel (5); the interior of the recycling bin (1) is hollow and a garbage recycling box (17) is fixedly provided at the upper end of the interior; the upper end of the garbage recycling box (17) is fixedly provided with an annular fixed card slot (24); the garbage recycling box (17) is fixedly provided with a ring-shaped fixed card slot (24); the upper end of ... The bottom end is fixedly connected to an annular drainage plate (19); two bar magnets (28) for forming an internal magnetic field are arranged inside the recycling barrel (1); a water pump device (20) is arranged at the bottom end of the recycling barrel (1); a rotating shaft base (25) is fixedly arranged at the center of the bottom end of the recycling barrel (1); a rotating shaft (26) is fixedly arranged at the upper end of the rotating shaft base (25); the rotating shaft (26) is fixedly connected to three "L"-shaped rotating rods (27) for cutting magnetic flux lines to generate electricity; the upper end of the rotating shaft (26) is fixedly connected to an inner support rod (18); the rotating shaft (26) contains a rotating shaft motor (30); the rotating rod (27) and the bar magnet (28) constitute an electromagnetic power generation device (33); the upper end of the inner support rod (18) is fixedly connected to the annular drainage plate (19).

2. The intelligent water surface garbage cleaning robot according to claim 1, characterized in that: The water pump device (20) is fixedly connected to a drain outlet (21), the drain outlet (21) is located outside the recovery barrel (1), the drain outlet (21) is fixedly connected to internal and external water pipes (20-4), the internal and external water pipes (20-4) are fixedly connected to a water pump support shell (20-3), and the water pump support shell (20-3) and the internal and external water pipes (20-4) are fixedly connected via a fixed waterproof shell (20-5).

3. The intelligent water surface garbage cleaning robot according to claim 1, characterized in that: A water pump blade guide column (20-6) is fixedly arranged at the center of the water pump support shell (20-3), and the water pump blade guide column (20-6) is fixedly connected to the built-in blades (20-2) of the water pump. The inner and outer water guide pipes (20-4) are provided with an inner water suction port (20-1), and the inner water suction port (20-1) is located inside the recovery barrel (1).

4. The intelligent water surface garbage cleaning robot according to claim 1, characterized in that: The fixed waterproof shell (20-5) is fixedly connected to the water pump upper cover (20-9), the water pump upper cover (20-9) is connected to the water pump support shell (20-3) via screws (20-8), and the water pump support shell (20-3) is connected to the inner and outer water pipes (20-4) via rivets (20-7).

5. The intelligent water surface garbage cleaning robot according to claim 1, characterized in that: A storage battery (10) is provided above the support platform (4); the output end of the storage battery (10) supplies power to a microcontroller (34), an underwater propeller (15), a water pump motor (29), a camera device (9), an infrared sensing device (22), and a rotating shaft motor (30) respectively through a voltage conversion circuit (31); and the spiral power generation device (23), the electromagnetic power generation device (33), and the solar cell panel (5) jointly supply power to the storage battery (10).

6. The intelligent water surface garbage cleaning robot according to claim 1, characterized in that: The microcontroller (34) with STM32 as the main control constitutes a control module (36), the underwater propeller (15), the water pump motor (29) and the rotating shaft motor (30) constitute a motion module (37) controlled by L298N, the infrared sensing device constitutes a monitoring module (40), and the camera device (9) controlled by Openmv constitutes a visual recognition module (38).

7. The intelligent water surface garbage cleaning robot according to claim 1, characterized in that: The spiral power generation device (23), the electromagnetic power generation device (33) and the solar cell panel (5) constitute a power generation module (39). The microcontroller (34) contains Beidou navigation system (35) software, and the Beidou navigation system (35) constitutes a navigation module (41).

8. The working method of the intelligent water surface garbage cleaning robot according to any one of claims 1 to 7, characterized in that: The method includes the following steps: Step 1: Under the guidance of Beidou navigation, the device cruises along the designed zigzag route, accurately identifies surface garbage through the batch confirmation method of the Openmv visual recognition module, and identifies foreign objects for the first time. The device goes to the garbage under the guidance of the Beidou navigation system, and conducts a second refined monitoring within a radius of one meter to determine whether the foreign objects are garbage that needs to be recycled. The device controls the forward and reverse rotation and speed of the propeller through the L298N motor to generate different thrusts, so that the device turns and moves, and realizes the autonomous cruising function of the device to go to the garbage in batches. Step 2: Under the pumping action of the water pump and the rotation of the rotating rod, negative pressure is formed in the barrel and the water in the barrel forms a vortex, and the garbage is thrown to the barrel wall by the centrifugal force. Step 3: The distance between the top of the inclined extension circle and the water surface at different positions is determined by the infrared sensing device to determine whether the robot is stable during navigation; the distance between the garbage and the top of the recycling barrel is monitored by the infrared sensing device, and the collection will stop and move to the specified point after the amount of collected garbage reaches the saturation value. Step 4: Use underwater spiral power generation devices, solar power generation devices, and electromagnetic power generation devices in combination with energy storage to increase battery life and achieve long-term work.

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