Water surface automatic driving cleaning robot based on visual recognition

Abstract

The invention belongs to the technical field of intelligent unmanned cleaning ships, and mainly relates to a water surface automatic driving cleaning robot based on visual recognition, which comprises a ship body, a garbage can is arranged in the ship body, the garbage can is provided with a garbage inlet and a garbage outlet, and a rear filter door is hinged to the garbage outlet; a garbage pushing assembly is movably assembled between the garbage inlet and the garbage outlet in the garbage can, and the garbage pushing assembly comprises a garbage pushing plate capable of being turned over. When the ship arrives at the shore, the garbage outlet is in butt joint with a garbage station on the shore, and the garbage push plate moves to push the garbage, so that the garbage is discharged from the garbage can, manual cleaning of the garbage in the garbage can is avoided, the working efficiency is improved, the garbage cleaning frequency of the ship is increased in unit time, and the water surface garbage cleaning efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent unmanned cleaning boats, and mainly relates to an automatic driving cleaning robot based on visual recognition of water surface. Background Art

[0002] In recent years, with the rapid development of new generation technologies such as artificial intelligence and the Internet of Things, the technology of intelligent electric cleaning boats has made significant progress. These boats integrate cutting-edge artificial intelligence technology, high-efficiency clean energy systems, and emerging environmental adaptation designs, and can complete water surface cleaning tasks efficiently and accurately.

[0003] Smart electric cleaning boats are usually equipped with long-arm mechanical interception arms that can be flexibly extended to reach every corner of the water surface and quickly collect floating garbage. At the same time, combined with an efficient automation system, these boats are not restricted by water areas when cleaning, and can easily reach ports, lakes or rivers. In addition, some smart electric cleaning boats also have the functions of clearing and skimming oil pollution on the water surface, which can comprehensively solve the problem of water surface pollution.

[0004] In order to further improve cleaning efficiency, smart electric cleaning boats are often used in combination with drone inspection systems. Drones can accurately locate dirt sources and garbage accumulation points in the water area through high-definition cameras and real-time data analysis, providing scientific operation guidance for cleaning boats. This joint operation mode not only improves work efficiency, but also achieves optimal resource allocation.

[0005] The patent application document with publication number CN117985193A discloses an inflatable unmanned cleaning boat and a method for using the same, wherein the inflatable unmanned cleaning boat includes a hull and a cleaning and collecting mechanism; a control module and a power module are provided on the hull, and the power module is electrically connected to the control module; the hull includes a support frame, and floats are provided on opposite sides of the support frame; the cleaning and collecting mechanism includes an interception cage, which is detachably mounted on the support frame and is located between the two floats, with the bottom of the interception cage extending to the bottom of the float, and the interception cage is provided with an opening on one side close to the bow end of the hull to form an open side.

[0006] However, the garbage bins on the inflatable unmanned cleaning boat need to be cleaned manually. When the boat frequently turns back, personnel need to clean the garbage frequently, and the manual cleaning efficiency is low. Therefore, the smart electric cleaning boat cannot effectively handle a large amount of garbage, which limits its efficiency in practical applications. Summary of the invention The present invention provides an automatic driving cleaning robot based on visual recognition on the water surface, so as to solve the problem that the garbage bin of the intelligent electric cleaning boat in the prior art needs to be cleaned manually, resulting in low garbage cleaning efficiency.

[0007] To solve the above problems, the present invention adopts the following technical solutions: A water surface automatic driving cleaning robot based on visual recognition comprises a hull, a garbage bin is arranged in the hull, the garbage bin has a garbage inlet and a garbage outlet, a rear filter door which can close and open the garbage outlet is hinged at the garbage outlet, a garbage pushing assembly is movably assembled between the garbage inlet and the garbage outlet in the garbage bin, the garbage pushing assembly comprises a garbage pushing plate which can be turned over, and the garbage pushing plate has a garbage cleaning state and a self-cleaning state; When in the garbage cleaning state, the garbage push plate is opened and the rear filter door is closed, so that the garbage can enter the garbage bin from the garbage inlet; When in the self-cleaning state, the garbage push plate is closed, the rear filter door is opened, and the garbage push plate moves to push the garbage out of the garbage bin.

[0008] It has the following beneficial effects: after the garbage is collected, the ship docks, the garbage outlet will be connected to the garbage station on the shore, the rear filter door will open, and the garbage push plate will move to push the garbage, so that the garbage is discharged from the garbage bin to the garbage station, thus avoiding manual cleaning of the garbage in the garbage bin, improving work efficiency, and enabling the ship to increase the number of times the surface garbage is cleaned per unit time, thereby improving the efficiency of surface garbage cleaning.

[0009] Furthermore, a garbage cleaning mechanism is provided in the hull, and the garbage cleaning mechanism includes the garbage bin, which has a garbage inlet and a garbage outlet, and the garbage pushing assembly is provided at the garbage inlet of the garbage bin, and the garbage pushing assembly includes a moving seat slidably mounted on the garbage bin, and the moving seat is used to move in the direction between the garbage inlet and the garbage outlet, and the garbage pushing plate is rotatably mounted on the moving seat around an axis extending in the left and right directions, and a first driving unit for driving the garbage pushing plate to rotate is provided on the moving seat, and the garbage pushing assembly also includes a second driving unit installed on the garbage bin, and the second driving unit drives the moving seat to move, and a rear door assembly is provided at the garbage outlet of the garbage bin, and the rear door assembly includes a third driving unit mounted on the garbage bin and the rear filter door rotatably mounted on the garbage bin around an axis extending in the left and right directions, and the third driving unit drives the rear filter door to rotate.

[0010] It has the following beneficial effects: after the garbage is collected, the ship docks, the garbage outlet will be connected to the garbage station on the shore, the rear filter door will open, and the garbage push plate will move to push the garbage, so that the garbage is discharged from the garbage bin to the garbage station, thus avoiding manual cleaning of the garbage in the garbage bin, improving work efficiency, and enabling the ship to increase the number of times the surface garbage is cleaned per unit time, thereby improving the efficiency of surface garbage cleaning.

[0011] Furthermore, a mounting frame is fixedly installed in the hull, and the mounting frame is provided with a first motor and two sets of swing arms arranged at intervals and connected to the first motor in transmission. The two sets of swing arms are arranged at intervals on two opposite sides of the mounting frame, and the two sets of swing arms are ball-hinged on two opposite outer walls of the trash bin so that when the first motor is running, the trash bin can be driven to move through the two sets of swing arms.

[0012] The invention has the following beneficial effects: the first motor drives the garbage bin to move through two sets of swing arms, so that the garbage bin can dock with the garbage station on the shore; at the same time, when the garbage bin moves, the garbage bin is slightly tilted, so that the excess river water in the garbage bin can be discharged to prevent the river water from being transported into the garbage station.

[0013] Furthermore, the first driving unit includes a first mounting seat fixedly assembled on the movable seat and a first linear driving member arranged on the first mounting seat, and the first linear driving member is hinged to the garbage pushing plate to drive the garbage pushing plate to rotate.

[0014] The invention has the following beneficial effects: when collecting garbage on the water surface, the first linear drive component will drive the garbage push plate to open the garbage inlet of the garbage bin so that the garbage can enter the garbage bin; when the garbage needs to be discharged, the first linear drive component will drive the garbage push plate to close the garbage inlet of the garbage bin.

[0015] Furthermore, the second driving unit includes a second motor and two slide rails provided on the garbage bin, each slide rail extending in the direction between the garbage inlet and the garbage outlet, the two slide rails being arranged on opposite sides of the garbage bin, the movable seat being slidably arranged on the two slide rails, and the second motor being transmission-connected to the movable seat to drive its movement.

[0016] The invention has the following beneficial effects: when the garbage needs to be discharged, the second motor will drive the moving seat to move, thereby driving the garbage pushing plate to push the garbage in the garbage bin to be discharged.

[0017] Furthermore, the third driving unit includes a second mounting seat fixedly mounted on the garbage bin and a second linear driving member arranged on the second mounting seat, and the second linear driving member is hinged to the rear filter door to drive the rear filter door to rotate.

[0018] The invention has the following beneficial effects: when collecting garbage on the water surface, the second linear drive component will drive the rear filter door to close the garbage outlet of the garbage bin, so that the garbage can stay in the garbage bin; when the garbage needs to be discharged, the second linear drive component will drive the rear filter door to open the garbage outlet of the garbage bin, so that the garbage can be discharged from the garbage outlet.

[0019] Furthermore, the front end of the hull is equipped with two mechanical interception arms, one end of the two mechanical interception arms extends out of the hull and extends in directions away from each other to form a trumpet-shaped structure.

[0020] The invention has the following beneficial effects: the two mechanical interception arms are in a trumpet-shaped structure, so that when the ship is traveling in a narrow river channel, the two mechanical interception arms first contact the rocks on the shore, thus avoiding the collision between the ship and the rocks on the shore and ensuring the safety of the ship.

[0021] Furthermore, each of the mechanical intercepting arms comprises a main mechanical arm, a main cantilever mechanism driving the main mechanical arm to rotate horizontally, a secondary mechanical arm, and a secondary cantilever mechanism driving the secondary mechanical arm to rotate horizontally, wherein the main cantilever mechanism is arranged on the hull, the first end of the main mechanical arm is transmission-connected to the main cantilever mechanism, the second end of the main mechanical arm is hinged to the secondary mechanical arm, and the secondary cantilever mechanism is arranged on the main mechanical arm; The main mechanical arm and the auxiliary mechanical arm are both provided with follower wheels.

[0022] Further, each of the mechanical intercepting arms comprises a bracket fixedly mounted on the hull, and the main cantilever mechanism is mounted on the bracket; The main cantilever mechanism includes a first mounting member fixed on the bracket, a third motor provided on the first mounting member, and a main rotating shaft drivingly connected to the third motor, the main rotating shaft being drivingly connected to the main mechanical arm to drive the main mechanical arm to rotate horizontally; The auxiliary cantilever mechanism includes a second mounting member fixed on the main robotic arm and a third linear drive member arranged on the second mounting member. The second end of the main robotic arm is hinged to the auxiliary robotic arm through a hinge shaft, and the auxiliary robotic arm is fixed on the hinge shaft. The telescopic end of the third linear drive member is connected with a rack, and one end of the hinge shaft is coaxially provided with a gear meshing with the rack. The third linear drive member is driven by a gear rack to rotate the auxiliary robotic arm in the horizontal direction.

[0023] Furthermore, the hull also includes a skeleton and two floats arranged on opposite sides of the skeleton. The rear end of the skeleton is provided with a propeller for driving the movement of the ship. The skeleton is provided with a control unit, which is electrically connected to the propeller, the third motor and the third linear drive to control their operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein: Figure 1 It is a structural schematic diagram of the present invention from a first viewing angle; Figure 2 It is a structural schematic diagram of the second viewing angle of the present invention; Figure 3 It is a schematic diagram of the structure of the garbage cleaning mechanism and the frame; Figure 4 It is a structural schematic diagram of the coordination between the garbage cleaning mechanism and the rotating mechanism; Figure 5 It is a schematic diagram of the structure of the garbage cleaning organization; Figure 6 It is a structural schematic diagram of the rotating mechanism from the first perspective; Figure 7 It is a structural schematic diagram of the rotating mechanism from a second viewing angle; Figure 8 It is a schematic diagram of the structure of the mechanical interception arm; Fig. 9 for Figure 8 The enlarged view of point A in the middle; Fig.10 is a structural schematic diagram of the main cantilever mechanism; Fig.11 It is a structural schematic diagram of the auxiliary cantilever mechanism.

[0025] Description of reference numerals: 1. Floating body; 2. Frame; 3. Garbage cleaning mechanism; 4. Control unit; 5. Mechanical interception arm; 6. Main cantilever mechanism; 7. Main mechanical arm; 8. Auxiliary cantilever mechanism; 9. Auxiliary mechanical arm; 10. Avoidance gap; 11. Bracket; 12. Follower wheel; 13. Rotation mechanism; 14. Garbage bin; 15. Garbage inlet; 16. Garbage outlet; 17. Moving seat; 18. First mounting seat; 19. First linear drive member; 20. Garbage push plate; 21. Second motor; 22. Slide rail; 23. Second mounting seat; 24. Second linear drive member; 25. Rear filter door; 26. Mounting frame; 27. First motor; 28. Reducer; 29. ​​Auxiliary arm; 30. Main arm; 31. Swing arm; 32. Articulated shaft; 33. First mounting member; 34. Third motor; 35. Main rotating shaft; 36. Second mounting member; 37. Third linear drive member; 38. Rack; 39. Gear; 40. Limiter. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Those skilled in the art should know that the embodiments described below are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0027] Various non-limiting embodiments of the present invention are described in detail below. Any number of elements in the accompanying drawings is for illustration and not for limitation, and any naming is only for distinction and does not have any limiting meaning. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0028] like Figure 1 , Figure 2 As shown, a water surface automatic driving cleaning robot based on visual recognition includes a hull, the hull includes a skeleton 2 and two floats 1 arranged on opposite sides of the skeleton 2, and the skeleton 2 floats on the water surface by relying on the two floats 1. A garbage cleaning mechanism 3 is arranged in the skeleton 2, and the garbage cleaning mechanism 3 has two states: a garbage cleaning state and a self-cleaning state. The garbage cleaning state refers to the state in which garbage is collected into the garbage cleaning mechanism 3 during the process of the ship traveling on the water surface. The self-cleaning state refers to the state in which the garbage cleaning mechanism 3 is full of garbage and the garbage cleaning mechanism 3 cleans and discharges the garbage.

[0029] In this embodiment, Figure 3-Figure 5 As shown, the garbage cleaning mechanism 3 includes a garbage bin 14, which has a garbage inlet 15 and a garbage outlet 16, and also has an upper opening, that is, the garbage bin 14 only has a bin bottom and two outer side walls arranged opposite to each other in the left and right directions of the bin bottom. The garbage inlet 15 of the garbage bin 14 is located at the front end of the boat, and the garbage outlet 16 of the garbage bin 14 is located at the rear end of the boat.

[0030] A garbage pushing assembly is provided at the garbage inlet 15 of the garbage bin 14. The garbage pushing assembly includes a moving seat 17 slidably mounted on the garbage bin 14. The moving seat 17 is used to move in the direction between the garbage inlet 15 and the garbage outlet 16. A garbage pushing plate 20 is rotatably mounted on the moving seat 17 around an axis extending in the left-right direction. The garbage pushing plate 20 has filter holes, that is, river water can pass through the garbage pushing plate 20. A first driving unit for driving the garbage pushing plate 20 to rotate is provided on the moving seat 17. The garbage pushing assembly also includes a second driving unit installed on the garbage bin 14. The second driving unit drives the moving seat 17 to move, thereby driving the garbage pushing plate 20 to move.

[0031] In this embodiment, the first driving unit includes a first mounting seat 18 fixedly assembled on the movable seat 17 and a first linear driving member 19 arranged on the first mounting seat 18. The first linear driving member 19 is hinged to the garbage push plate 20 to drive it to rotate, that is, the fixed end of the first linear driving member 19 is hinged to the first mounting seat 18, and the telescopic end of the first linear driving member 19 is hinged to the garbage push plate 20.

[0032] In this embodiment, the first linear drive member 19 is an electric push rod.

[0033] In other embodiments, the first linear drive member 19 is a cylinder, or a screw nut pair, or a hydraulic cylinder.

[0034] When collecting garbage on the water surface, the first linear drive component 19 will drive the garbage push plate 20 to open the garbage inlet 15 of the garbage bin 14 so that the garbage can enter the garbage bin 14. When the garbage needs to be discharged, the first linear drive component 19 will drive the garbage push plate 20 to close the garbage inlet 15 of the garbage bin 14.

[0035] In this embodiment, the second driving unit includes a second motor 21 and two slide rails 22 provided on the garbage bin 14. Each slide rail 22 extends in the direction between the garbage inlet 15 and the garbage outlet 16. The two slide rails 22 are arranged on opposite sides of the garbage bin 14. The moving seat 17 is slidably arranged on the two slide rails 22. The second motor 21 is transmission-connected to the moving seat 17 to drive it to move in the direction in which the slide rails 22 extend.

[0036] In this embodiment, the second motor 21 is connected to the moving base 17 via a belt transmission.

[0037] In this embodiment, the second motor 21 is a stepping motor.

[0038] When the garbage needs to be discharged, the second motor 21 drives the moving seat 17 to move, thereby driving the garbage pushing plate 20 to push the garbage in the garbage box 14 to be discharged.

[0039] A rear door assembly is provided at the garbage outlet 16 of the garbage bin 14. The rear door assembly includes a third driving unit mounted on the garbage bin 14 and a rear filter door 25 mounted on the garbage bin 14 and rotatable around an axis extending in the left-right direction. The third driving unit drives the rear filter door 25 to rotate.

[0040] In this embodiment, the third driving unit includes a second mounting seat 23 fixedly mounted on the trash bin 14 and a second linear driving member 24 disposed on the second mounting seat 23. The second linear driving member 24 is hinged to the rear filter door 25 to drive the rear filter door 25 to rotate. The second mounting seat 23 has the function of fixing the two outer side walls, which can increase the strength of the trash bin 14.

[0041] In this embodiment, the second linear drive member 24 is an electric push rod.

[0042] In other embodiments, the second linear drive member 24 is a cylinder, or a screw nut pair, or a hydraulic cylinder.

[0043] In this embodiment, the installation position of the first linear drive member 19 is staggered with the installation position of the second linear drive member 24 to prevent the first linear drive member 19 and the second linear drive member 24 from colliding when the second motor 21 drives the moving base 17 to move.

[0044] When collecting garbage on the water surface, the second linear drive component 24 will drive the rear filter door 25 to close the garbage outlet 16 of the garbage bin 14, so that the garbage can stay in the garbage bin 14. When the garbage needs to be discharged, the second linear drive component 24 will drive the rear filter door 25 to open the garbage outlet 16 of the garbage bin 14, so that the garbage can be discharged from the garbage outlet 16.

[0045] In this embodiment, in the garbage cleaning state, the garbage push plate 20 is opened and the rear filter door 25 is closed, so that the garbage can enter the garbage bin 14 from the garbage inlet 15. In the self-cleaning state, the garbage push plate 20 is closed, the rear filter door 25 is opened, and the second driving unit drives the moving seat 17 to move, so that the garbage push plate 20 can push the garbage out of the garbage bin 14.

[0046] When the garbage is collected, the ship docks, the garbage outlet 16 will dock with the garbage station on the shore, the rear filter door 25 will open, and the second drive unit will drive the garbage push plate 20 to move, so that the garbage is discharged from the garbage bin 14 to the garbage station, thus avoiding manual cleaning of the garbage in the garbage bin 14, improving work efficiency, and enabling the ship to increase the number of times the surface garbage is cleaned per unit time, thereby improving the efficiency of surface garbage cleaning.

[0047] In this embodiment, Figure 6 , Figure 7 As shown, a rotating mechanism 13 is also provided in the frame 2, and the rotating mechanism 13 is used to drive the garbage bin 14 to rotate in the frame 2. The rotating mechanism 13 includes a mounting frame 26 fixedly mounted on the frame 2, and a first motor 27 and two sets of swing arms 31 arranged at intervals are provided on the mounting frame 26 and are transmission-connected to the first motor 27. The two sets of swing arms 31 are arranged at intervals on opposite sides of the mounting frame 26, and the two sets of swing arms 31 are ball-jointed on opposite outer side walls of the garbage bin 14, so that when the first motor 27 is running, the garbage bin 14 is driven to move through the two sets of swing arms 31. One set of swing arms 31 is located on the same side, and each set of swing arms 31 includes a main arm 30 and a secondary arm 29, and the main arm 30 is slightly longer than the secondary arm 29, so that when the garbage in the garbage bin 14 is discharged and the garbage bin 14 is rotated into place, the bottom of the garbage bin 14 is slightly tilted, which is conducive to discharging the river water in the garbage bin 14.

[0048] The floating body 1 on the same side as the first motor 27 has an escape gap 10 , and the escape gap 10 is used to escape the first motor 27 .

[0049] In this embodiment, the first motor 27 is a stepping motor.

[0050] The first motor 27 drives the garbage bin 14 to move through two sets of swing arms 31, so that the garbage bin 14 can dock with the garbage station on the shore. At the same time, when the garbage bin 14 moves, the garbage bin 14 is slightly tilted, so that the excess river water in the garbage bin 14 can be discharged to prevent the river water from being transported into the garbage station.

[0051] In this embodiment, a reducer 28 is provided on the mounting frame 26, and the reducer 28 is respectively connected to the first motor 27 and the swing arm 31, so that the first motor 27 drives the trash bin 14 to move through the reducer 28. The torque is increased by the reducer 28, and when the trash bin 14 is full of trash, the first motor 27 can more easily drive the trash bin 14 to move.

[0052] Two stoppers 40 are provided on the mounting frame 26. Both stoppers 40 are installed on the swing path of the swing arm 31 to limit the swing angle. When one of the stoppers 40 makes the swing arm 31 swing to the right position, the garbage bin 14 can just dock with the garbage station on the shore. When the other stopper 40 makes the swing arm 31 swing to the right position, the garbage bin 14 is just located inside the frame 2.

[0053] In this embodiment, Figure 1 , Figure 2 As shown, the front end of the frame 2 is equipped with two mechanical interception arms 5, one end of the two mechanical interception arms 5 extends out of the frame 2 and extends in a direction away from each other to form a trumpet-shaped structure. The two mechanical interception arms 5 are in a trumpet-shaped structure, so that when the ship travels in a narrow river channel, the two mechanical interception arms 5 first contact the rocks on the shore, which can avoid the collision between the ship and the rocks on the shore and ensure the safety of the ship.

[0054] like Figure 8-Figure 11 As shown, each mechanical intercepting arm 5 comprises a main robotic arm 7, a main cantilever mechanism 6 for driving the main robotic arm 7 to rotate horizontally, a secondary robotic arm 9 and a secondary cantilever mechanism 8 for driving the secondary robotic arm 9 to rotate horizontally. The main cantilever mechanism 6 is arranged on the skeleton 2, and the first end of the main robotic arm 7 is transmission-connected to the main cantilever mechanism 6 so that the main cantilever mechanism 6 drives the main robotic arm 7 to rotate horizontally. The second end of the main robotic arm 7 is hinged to the secondary robotic arm 9, and the secondary cantilever mechanism 8 is arranged on the main robotic arm 7.

[0055] The main mechanical arm 7 and the auxiliary mechanical arm 9 are both provided with a trailing wheel 12. The trailing wheel 12 will first contact the rocks on the shore, so that the ship can pass smoothly.

[0056] In this embodiment, each mechanical intercepting arm 5 includes a bracket 11 fixedly mounted on the frame 2, and the main cantilever mechanism 6 is mounted on the bracket 11. The main cantilever mechanism 6 includes a first mounting member 33 fixed on the bracket 11, a third motor 34 provided on the first mounting member 33, and a main rotating shaft 35 connected to the third motor 34 in a transmission manner. The axis of the main rotating shaft 35 extends in a vertical direction, and the main rotating shaft 35 is connected to the main mechanical arm 7 in a transmission manner, so that the main mechanical arm 7 can be driven to rotate in a horizontal direction.

[0057] In this embodiment, the third motor 34 is a stepping motor.

[0058] The auxiliary cantilever mechanism 8 includes a second mounting member 36 fixed on the main robotic arm 7 and a third linear drive member 37 arranged on the second mounting member 36. The second end of the main robotic arm 7 is hinged to the auxiliary robotic arm 9 through a hinge shaft 32. The axis of the hinge shaft 32 extends in the vertical direction. The auxiliary robotic arm 9 is fixed on the hinge shaft 32. The telescopic end of the third linear drive member 37 is connected with a rack 38. One end of the hinge shaft 32 is coaxially provided with a gear 39 meshing with the rack 38. The third linear drive member 37 is transmitted through the gear 39 and the rack 38 to make the auxiliary robotic arm 9 rotate horizontally.

[0059] When the third linear drive member 37 drives the auxiliary robotic arm 9 to rotate in a direction toward the outside, that is, the third linear drive members 37 on the two mechanical intercepting arms 5 drive the auxiliary robotic arms 9 to rotate in a direction away from each other.

[0060] In this embodiment, the third linear drive member 37 is an electric push rod.

[0061] In other embodiments, the third linear drive member 37 is a cylinder, or a screw nut pair, or a hydraulic cylinder.

[0062] A propeller for driving the movement of the ship is provided at the rear end of the skeleton 2, and a control unit 4 is provided on the skeleton 2. The control unit 4 is electrically connected to the propeller, the first motor 27, the second motor 21, the third motor 34, the first linear drive 19, the second linear drive 24 and the third linear drive 37 to control the operation of these components.

[0063] How the ship works: 1. Scan new waters to create accurate water maps and automatically plan cleaning routes (you can set the cleaning time and frequency yourself).

[0064] 2. After the initial settings are completed, the ship will automatically perform the cleaning task according to the settings; 3. After the cleaning task is completed, or when there is a lot of garbage in the water area that needs to be cleaned multiple times, the ship will automatically return to the dock to self-clean the garbage bin 14 in the ship. After the self-cleaning is completed, the ship will continue to perform the cleaning task until the task is completed and return to the dock to enter standby status.

[0065] The boat uses advanced visual recognition technology to accurately identify and locate garbage on the water surface and in the garbage bin 14, thereby achieving efficient automatic cleaning. Compared with traditional manual cleaning methods, the boat greatly saves labor costs and time costs.

[0066] The ship is equipped with a multi-sensor fusion perception system such as laser radar, millimeter-wave radar, and camera, which can enable it to navigate autonomously and intelligently avoid obstacles to ensure safe operation. This intelligent operation not only improves the cleaning efficiency, but also enhances the accuracy and reliability of the operation.

[0067] The ship is electrically driven, which reduces fuel consumption and carbon emissions and is environmentally friendly. This is of great significance for promoting green development and sustainable development.

[0068] The boat is suitable for various water environments, including lakes, rivers, ports and oceans, and can clean the water surface according to different water types and needs. In addition, for the cleaning of the garbage bin 14, the boat can also automatically process according to the preset program, realizing a fully intelligent and data-based water environmental protection operation and maintenance operation and management closed loop.

Claims

1. A water surface automatic driving cleaning robot based on visual recognition, characterized in that: The hull includes a garbage bin, which has a garbage inlet and a garbage outlet. A rear filter door is hinged at the garbage outlet and can close and open the garbage outlet. A garbage pushing assembly is movably assembled between the garbage inlet and the garbage outlet in the garbage bin. The garbage pushing assembly includes a garbage pushing plate that can be turned over. The garbage pushing plate has a garbage cleaning state and a self-cleaning state. When in the garbage cleaning state, the garbage push plate is opened and the rear filter door is closed, so that the garbage can enter the garbage bin from the garbage inlet; When in the self-cleaning state, the garbage push plate is closed, the rear filter door is opened, and the garbage push plate moves to push the garbage out of the garbage bin.

2. According to claim 1, the automatic driving cleaning robot based on visual recognition on water surface is characterized in that: A garbage cleaning mechanism is provided in the hull, and the garbage cleaning mechanism includes the garbage bin, which has a garbage inlet and a garbage outlet. The garbage pushing assembly is provided at the garbage inlet of the garbage bin, and the garbage pushing assembly includes a moving seat slidably mounted on the garbage bin, the moving seat is used to move in the direction between the garbage inlet and the garbage outlet, the garbage pushing plate is rotatably mounted on the moving seat around an axis extending in the left and right directions, and a first driving unit for driving the garbage pushing plate to rotate is provided on the moving seat, the garbage pushing assembly also includes a second driving unit installed on the garbage bin, the second driving unit drives the moving seat to move, and a rear door assembly is provided at the garbage outlet of the garbage bin, the rear door assembly includes a third driving unit mounted on the garbage bin and the rear filter door rotatably mounted on the garbage bin around an axis extending in the left and right directions, and the third driving unit drives the rear filter door to rotate.

3. The automatic driving cleaning robot based on visual recognition on water surface according to claim 2 is characterized in that: A mounting frame is fixedly installed in the hull, and a first motor and two sets of swing arms arranged at intervals and connected to the first motor are provided on the mounting frame. The two sets of swing arms are arranged at intervals on two opposite sides of the mounting frame, and the two sets of swing arms are ball-hinged on two opposite outer side walls of the garbage bin so that when the first motor is running, the garbage bin can be driven to move through the two sets of swing arms.

4. The automatic driving cleaning robot based on visual recognition on water surface according to claim 3 is characterized in that: The first driving unit comprises a first mounting seat fixedly mounted on the moving seat and a first linear driving member arranged on the first mounting seat, wherein the first linear driving member is hinged to the garbage pushing plate to drive the garbage pushing plate to rotate.

5. The automatic driving cleaning robot based on visual recognition on water surface according to claim 4 is characterized in that: The second driving unit includes a second motor and two slide rails provided on the garbage bin, each slide rail extending in the direction between the garbage inlet and the garbage outlet, the two slide rails being arranged on opposite sides of the garbage bin, the moving seat being slidably arranged on the two slide rails, and the second motor being transmission-connected to the moving seat to drive its movement.

6. The automatic driving cleaning robot based on visual recognition on water surface according to claim 5 is characterized in that: The third driving unit comprises a second mounting seat fixedly mounted on the garbage bin and a second linear driving member arranged on the second mounting seat, and the second linear driving member is hinged to the rear filter door to drive the rear filter door to rotate.

7. A water surface automatic driving cleaning robot based on visual recognition according to any one of claims 1 to 6, characterized in that: The front end of the hull is equipped with two mechanical interception arms, one end of the two mechanical interception arms protrudes out of the hull and extends in directions away from each other to form a trumpet-shaped structure.

8. The automatic driving cleaning robot based on visual recognition on water surface according to claim 7 is characterized in that: Each of the mechanical intercepting arms comprises a main mechanical arm, a main cantilever mechanism driving the main mechanical arm to rotate horizontally, a secondary mechanical arm, and a secondary cantilever mechanism driving the secondary mechanical arm to rotate horizontally, wherein the main cantilever mechanism is arranged on the hull, the first end of the main mechanical arm is transmission-connected to the main cantilever mechanism, the second end of the main mechanical arm is hinged to the secondary mechanical arm, and the secondary cantilever mechanism is arranged on the main mechanical arm; The main mechanical arm and the auxiliary mechanical arm are both provided with follower wheels.

9. The automatic driving cleaning robot based on visual recognition on water surface according to claim 8 is characterized in that: Each of the mechanical intercepting arms comprises a bracket fixedly mounted on the hull, and the main cantilever mechanism is mounted on the bracket; The main cantilever mechanism includes a first mounting member fixed on the bracket, a third motor provided on the first mounting member, and a main rotating shaft drivingly connected to the third motor, the main rotating shaft being drivingly connected to the main mechanical arm to drive the main mechanical arm to rotate horizontally; The auxiliary cantilever mechanism includes a second mounting member fixed on the main robotic arm and a third linear drive member arranged on the second mounting member. The second end of the main robotic arm is hinged to the auxiliary robotic arm through a hinge shaft, and the auxiliary robotic arm is fixed on the hinge shaft. The telescopic end of the third linear drive member is connected with a rack, and one end of the hinge shaft is coaxially provided with a gear meshing with the rack. The third linear drive member is driven by a gear rack to rotate the auxiliary robotic arm in the horizontal direction.

10. The automatic driving cleaning robot based on visual recognition on water surface according to claim 9, characterized in that: The hull also includes a frame and two floats arranged on opposite sides of the frame. A propeller for driving the ship to move is provided at the rear end of the frame. A control unit is provided on the frame. The control unit is electrically connected to the propeller, the third motor and the third linear drive to control their operation.

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