Water area cleaning robot based on solar driving

Abstract

The invention belongs to the technical field of environmental protection equipment, and provides a solar-driven water area cleaning robot which comprises a ship body, a connecting bridge arranged in the ship body, mounting frames arranged at the top of the ship body, a supporting plate arranged between the tops of the two mounting frames, a system control bin arranged at the top of the supporting plate, and solar panels arranged on the two sides of the system control bin. A garbage temporary storage cabin is arranged between the two mounting frames and at the top of the connecting bridge, a garbage conveying assembly is arranged at the front end of the ship body, and the garbage conveying assembly conveys underwater garbage upwards into the garbage temporary storage cabin; the device further comprises an identification obstacle avoidance assembly which is installed at the top of the supporting plate, and a power assembly is arranged at the bottom of the ship body. According to the designed robot, the solar power supply system is carried on the robot, energy waste is reduced, carbon emission is reduced, and compared with a traditional cleaning mode, the fishing efficiency is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of environmental protection equipment, and specifically relates to a water area cleaning robot driven by solar energy. Background Art

[0002] With the acceleration of the global urbanization and industrialization processes, the problem of water area pollution has become a major challenge threatening the ecosystem and human health. According to statistics, about 8 million tons of plastic waste enter the ocean globally every year, and the pollution situation in inland lakes and rivers is equally severe. Problems such as algal blooms, oil spills, and microplastic penetration have led to eutrophication of water bodies and a sharp reduction in biodiversity. Traditional water area cleaning technologies mainly rely on manual salvage and fuel-driven equipment, and the specific problems are as follows:

[0003] Manual cleaning relies on the cooperation of boats and manpower, with extremely low operation efficiency and potential safety hazards. For example, in large lakes or fast-flowing river channels, workers need to be exposed to harsh environments for a long time, and the salvage depth is limited, making it difficult to clean underwater suspended garbage.

[0004] Traditional cleaning boats mostly use diesel engines as power sources. The carbon dioxide, nitrogen oxides, and oil spills emitted during their operation will exacerbate water pollution. In addition, the existing large cleaning boats are limited in application in small water areas and cannot be used for garbage cleaning in small water areas such as landscape lakes in gardens, narrow river channels, aquaculture ponds, and reservoirs. Summary of the Invention

[0005] In order to solve the above technical problems, the present invention provides a water area cleaning robot driven by solar energy to solve the problems of high energy consumption, low efficiency, and high cost in the prior art when salvaging floating garbage on the water surface.

[0006] A water area cleaning robot driven by solar energy includes a hull. A connecting bridge is provided inside the hull. An installation frame is provided on the top of the hull. A support plate is provided between the tops of the two installation frames. A system control cabin is provided on the top of the support plate. Solar panels are provided on both sides of the system control cabin. A garbage temporary storage cabin is provided between the two installation frames and on the top of the connecting bridge. A garbage conveying component is provided at the front end of the hull. The garbage conveying component conveys underwater garbage upwards into the garbage temporary storage cabin;

[0007] It further includes an identification and obstacle avoidance component. The identification and obstacle avoidance component is installed on the top of the support plate. A power component is provided at the bottom of the hull. The solar panels supply power to the garbage conveying component, the identification and obstacle avoidance component, and the power component.

[0008] Preferably, the hull adopts the structural design of a catamaran. The hull is slender and symmetrically distributed in parallel. The connecting bridges are spaced between the two hulls, and the connecting bridges are made of a metal frame material.

[0009] Preferably, the power assembly includes a streamlined floating body, a missile-shaped floating body, and an underwater thruster. The streamlined floating bodies are spaced between the bottom of the hull and the connecting bridge. The number of missile-shaped floating bodies is two and they are respectively installed at the bottom of the hull. The two missile-shaped floating bodies are located on the outermost side. The underwater thruster is externally powered and installed at the tail end of the missile-shaped floating body. The underwater thruster adopts a split propulsion method.

[0010] Preferably, the garbage conveying assembly includes a mounting plate, a power belt, a driving shaft, a driven shaft, a conveyor belt, and a garbage collection plate. The mounting plates are symmetrically installed on the opposite surfaces of the two hulls. The mounting plates are inclined downward and the height is lower closer to the front end of the mounting plate. The driving shaft is rotatably connected between the two mounting plates and is installed near the top of the mounting plate. The driven shaft is rotatably connected between the two mounting plates and is installed near the bottom of the mounting plate. The power belt is connected to the driving shaft and the driven shaft and is symmetrically arranged.

[0011] Preferably, the conveyor belt is also connected to the driving shaft and the driven shaft and is between the two power belts. The conveyor belt is rotatably connected to the driving shaft. One end of the driving shaft extending out of the mounting plate is provided with a positioning plate. The positioning plate is fixedly connected to the hull. A motor one is provided on the outer side wall of one of the positioning plates. The output shaft of the motor one is connected to the driving shaft.

[0012] Preferably, the conveyor belt is also in an inclined manner, and the top of the conveyor belt extends into the garbage storage cabin. The bottom of the conveyor belt enters the water. A garbage gathering net is provided on the front end face of the mounting plate. The two gathering nets are in an outward expanding manner. The unfolded cross-sectional profile of the conveyor belt is rectangular. Multiple layers of spaced water leakage holes one are provided on the conveyor belt. The garbage collection plates are spaced between adjacent two layers of the water leakage holes one.

[0013] Preferably, the recognition and obstacle avoidance assembly includes a pan-tilt camera and an ultrasonic generator. The pan-tilt camera is installed on the top of the support plate and in front of the system control cabin. The ultrasonic generator is arranged in front of the pan-tilt camera. A warning light is provided on the top of the system control cabin. An antenna is provided on the top of the warning light.

[0014] Preferably, a garbage inlet is provided at the front end of the garbage temporary storage cabin. A baffle is provided at the bottom of the garbage inlet. The baffle is fixedly installed on the front end face of the garbage temporary storage cabin. Lead screws are symmetrically provided on the baffle and the back plate of the garbage temporary storage cabin. A ball nut is provided on each lead screw, and a compression plate fixedly connected is provided on the two ball nuts.

[0015] Preferably, a motor two connected to an external power supply is provided on the outer wall of the back plate of the garbage temporary storage cabin. The output shaft of the motor two is connected to the lead screw. Leakage holes two are provided at intervals on the bottom plate of the garbage temporary storage cabin.

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

[0017] 1. Through the designed hull of the present invention, an installation frame is installed on the hull, a support plate is arranged between the two installation frames, and solar panels are designed on both sides of the system control cabin at the top of the support plate, which can convert solar energy into electrical energy, thereby providing power for the garbage conveying component and the power component, and transporting the garbage on the water surface into the garbage temporary storage cabin through the garbage conveying component. It can not only be applicable to the garbage cleaning of small waters, filling the gap in intelligent cleaning of small waters, but also use the solar panels to assist in power supply to replace the traditional diesel engine, reduce the dependence on fossil energy, effectively reduce carbon emissions, and ensure the long-term low-power operation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the component structure of the overall water area cleaning robot of the present invention;

[0019] Figure 2 Schematic diagram of the component structure of the hull and the power component, etc. of the present invention;

[0020] Figure 3 Schematic diagram of the component structure of the garbage temporary storage cabin and the garbage conveying component, etc. of the present invention;

[0021] Figure 4 Schematic diagram of the component structure of the power belt and the driving shaft, etc. of the present invention;

[0022] Figure 5 Schematic diagram of the component structure of the installation frame and the recognition and obstacle avoidance component, etc. of the present invention;

[0023] Figure 6 Schematic diagram of the structure of the garbage temporary storage cabin and the baffle, etc. of the component of the present invention;

[0024] Figure 7 Cross-sectional view of the internal structure of the garbage temporary storage cabin of the present invention;

[0025] Figure 8 Flow chart of the recognition and obstacle avoidance principle of the present invention;

[0026] Figure 9 Schematic diagram of the automatic cruise of the robot of the present invention;

[0027] Figure 10 Schematic diagram of the AprilTag marker of the Gps + vision navigation system of the present invention;

[0028] Figure 11 Schematic diagram of the 3D values obtained by the AprilTag marker of the present invention;

[0029] Figure 12 Principle diagram of obstacle avoidance of the present invention;

[0030] Figure 13 Simulation diagram of obstacle avoidance of the present invention;

[0031] Figure 14 Coordinate system diagram of the camera of the present invention.

[0032] In the figure:

[0033] 1. Hull; 2. Connecting bridge; 3. Installation frame; 4. Support plate; 5. System control compartment; 6. Solar panel; 7. Temporary garbage storage compartment; 8. Streamlined floating body; 9. Missile-shaped floating body; 10. Underwater thruster; 11. Installation plate; 12. Power belt; 13. Driving shaft; 14. Driven shaft; 15. Conveyor belt; 16. Garbage collection plate; 17. Positioning plate; 18. Motor 1; 19. Garbage gathering net; 20. Leakage hole 1; 21. Pan-tilt camera; 22. Ultrasonic generator; 23. Warning light; 24. Antenna; 25. Garbage inlet; 26. Baffle; 27. Lead screw; 28. Ball nut; 29. Compression plate; 30. Motor 2; 31. Leakage hole 2. Specific embodiments

[0034] The following further describes the embodiments of the present invention in detail in conjunction with the drawings and embodiments. The following embodiments are used to illustrate the present invention, but cannot be used to limit the scope of the present invention.

[0035] As shown in the attached Figure 1 to the attached Figure 14 shown:

[0036] Embodiment 1: The present invention provides a water area cleaning robot driven by solar energy, including a hull 1, a connecting bridge 2 is arranged inside the hull 1, an installation frame 3 is arranged on the top of the hull 1, a support plate 4 is arranged between the tops of the two installation frames 3, a system control compartment 5 is arranged on the top of the support plate 4, solar panels 6 are arranged on both sides of the system control compartment 5, a temporary garbage storage compartment 7 is arranged between the two installation frames 3 and on the top of the connecting bridge 2, and a garbage conveying assembly is arranged at the front end of the hull 1, and the garbage conveying assembly conveys the underwater garbage upwards into the temporary garbage storage compartment 7;

[0037] It also includes an obstacle recognition and avoidance component. The obstacle recognition and avoidance component is installed on the top of the support plate 4. A power component is provided at the bottom of the hull 1. The solar panel 6 supplies power to the garbage conveying component, the obstacle recognition and avoidance component, and the power component.

[0038] It should be noted that through the designed hull 1, an installation frame 3 is installed on the hull 1, a support plate 4 is arranged between the two installation frames 3, and solar panels 6 are designed on both sides of the system control cabin 5 at the top of the support plate 4, which can convert solar energy into electrical energy, so as to provide power for the garbage conveying component and the power component, and transport the garbage on the water surface into the garbage temporary storage cabin 7 through the garbage conveying component. It can not only be applied to the garbage cleaning of small waters, filling the gap of intelligent cleaning of small waters, but also use the solar panel 6 to assist in power supply to replace the traditional diesel engine, reduce the dependence on fossil energy, effectively reduce carbon emissions, and ensure the long-term low-power operation of the robot.

[0039] Through the provided system control cabin 5, a power module and a control module are built in the system control cabin 5. The electrical energy converted by the solar panel 6 is stored in the power module, so as to provide power for the robot. The provided control module can control the robot.

[0040] In this embodiment, the hull 1 adopts a catamaran structure design. The hull 1 is slender and symmetrically distributed in parallel. The connecting bridges 2 are spaced apart between the two hulls 1, and the connecting bridges 2 are made of metal frame material.

[0041] It should be noted that by designing the hull 1 in the form of a catamaran and the bottom of the hull 1 in a streamlined form, the water resistance can be reduced. Compared with the traditional single-hull ship, the structural characteristics of the catamaran have significant advantages in terms of stability, load capacity, and navigation efficiency. The connecting bridge 2 is designed as a metal material, which can improve the rigid structure after being connected to the hull 1, and can ensure the supporting force for it after the garbage temporary storage cabin 7 is placed on it.

[0042] In this embodiment, the power component includes a streamlined floating body 8, a missile-shaped floating body 9, and an underwater thruster 10. The streamlined floating bodies 8 are spaced apart at the bottom of the hull 1 and the connecting bridge 2. The number of missile-shaped floating bodies 9 is two and they are respectively installed at the bottom of the hull 1. The two missile-shaped floating bodies 9 are located on the outermost side. The underwater thruster 10 is externally powered and installed at the tail end of the missile-shaped floating body 9. The underwater thruster 10 adopts a split propulsion method.

[0043] It should be noted that by setting the streamlined floating body 8 and the missile-shaped floating body 9, both floating bodies provide buoyancy for the robot underwater. When the robot is not loaded with garbage, the two missile-shaped floating bodies 9 provide buoyancy, and the waterline is above the missile-shaped floating body 9 and below the strut of the hull 1; when loaded, the three streamlined floating bodies 8 provide reserve buoyancy, and the waterline slowly rises, above the strut of the hull 1 and below the deck. Thus, on the one hand, the water flow resistance can be reduced, the driving stability can be improved, and the energy consumption can be further reduced.

[0044] The underwater thruster 10 is designed in a separated manner, and each underwater part can work independently, thereby enhancing the steering flexibility and power redundancy, and better controlling the cleaning robot on the small water surface.

[0045] In this embodiment, the garbage conveying assembly includes a mounting plate 11, a power belt 12, a driving shaft 13, a driven shaft 14, a conveyor belt 15 and a garbage collection plate 16. The mounting plates 11 are symmetrically installed on the opposite surfaces of the two hulls 1. The mounting plates 11 are inclined downward and the height is lower closer to the front end of the mounting plate 11. The driving shaft 13 is rotatably connected between the two mounting plates 11 and is installed near the top of the mounting plate 11. The driven shaft 14 is rotatably connected between the two mounting plates 11 and is installed near the bottom of the mounting plate 11. The power belt 12 is connected to the driving shaft 13 and the driven shaft 14 and is symmetrically arranged.

[0046] It should be noted that through the set garbage conveying assembly, the power belt 12 is connected to the driving shaft 13 and the driven shaft 14. Thus, when the first motor 18 is started, it will drive the driving shaft 13 to rotate. The driving shaft 13 is rotationally connected to the power belt 12, driving the power belt 12 to move and cooperate with the driven shaft 14, thereby providing power for the movement of the conveyor belt 15.

[0047] In this embodiment, the conveyor belt 15 is also connected to the driving shaft 13 and the driven shaft 14 and is between the two power belts 12. The conveyor belt 15 is rotationally connected to the driving shaft 13. One end of the driving shaft 13 extending out of the mounting plate 11 is provided with a positioning plate 17, and the positioning plate 17 is fixedly connected to the hull 1. A first motor 18 is provided on the outer side wall of one of the positioning plates 17, and the output shaft of the first motor 18 is connected to the driving shaft 13.

[0048] It should be noted that through the set conveyor belt 15, the conveyor belt 15 is also connected to the driving shaft 13. Through the friction between the two, the conveyor belt 15 is driven to rotate, so that the garbage can be conveyed upward from the water surface all the way and finally enter the garbage temporary storage cabin 7.

[0049] In this embodiment, the conveyor belt 15 is also inclined, and the top of the conveyor belt 15 extends into the garbage temporary storage compartment 7, the bottom of the conveyor belt 15 enters underwater, and the front end face of the mounting plate 11 is provided with a garbage collection net 19, and the two collection nets are expanded outward. The unfolded cross-sectional profile of the conveyor belt 15 is rectangular, and multiple layers of leakage holes 20 are provided on the conveyor belt 15 at intervals, and the garbage collection plates 16 are spaced between two adjacent layers of leakage holes 20.

[0050] It should be noted that the top of the conveyor belt 15 is extended into the garbage temporary storage compartment 7, so that the garbage on the water surface will eventually be transported to the garbage temporary storage compartment 7. The garbage collecting plates 16 are installed on the conveyor belt 15 and are distributed at intervals. When the conveyor belt 15 rotates, the garbage collecting plates 16 above can be driven to move upward from underwater, so as to better bring the garbage on the water surface to the conveyor belt 15 for transportation, thereby improving the degree of garbage picking. A water leakage hole 20 is designed on the conveyor belt 15. Since the garbage collecting plate 16 will bring up water after rotating up from underwater, it can flow out from the water leakage hole 20, and in the process of transporting the garbage to the garbage temporary storage compartment 7, the water in the garbage can flow out, thereby reducing the situation where water enters the garbage temporary storage compartment 7 and increases the load.

[0051] In this embodiment, the obstacle avoidance component includes a gimbal camera 21 and an ultrasonic generator 22. The gimbal camera 21 is installed on the top of the support plate 4 and in front of the system control compartment 5. The ultrasonic generator 22 is arranged in front of the gimbal camera 21. There is a warning light 23 on the top of the system control compartment 5, and an antenna 24 is arranged on the top of the warning light 23.

[0052] It should be noted that, through the designed pan-tilt camera, the situation on the water surface can be monitored in real time. The pan-tilt camera is interconnected with the intelligent recognition mode, so that when encountering garbage, the robot can move to the garbage to collect it, and cooperate with the ultrasonic generator 22. At the same time, it can also detect non-cleaning targets (obstacles) on the water surface and avoid them. The pan-tilt camera can identify common garbage on the water surface such as plastic bottles, leaves, etc., and common non-cleaning targets (obstacles) such as lotus leaves, stones, etc., and further path planning, garbage cleaning and obstacle avoidance actions can be carried out to achieve "carpet-style" automatic cruising and remote monitoring of the entire water surface, reduce human intervention, optimize the operation path, and help achieve energy conservation and emission reduction goals.

[0053] After the warning light 23 hits an obstacle and stops moving, the warning light 23 can make a sound, thereby reminding the staff in time.

[0054] In this embodiment, a garbage inlet 25 is provided at the front end of the garbage storage cabin 7. A baffle 26 is provided at the bottom of the garbage inlet 25. The baffle 26 is fixedly installed on the front end face of the garbage storage cabin 7. Symmetrically arranged lead screws 27 are provided on the baffle 26 and the back plate of the garbage storage cabin 7. A ball nut 28 is provided on each lead screw 27. A compression plate 29 fixedly connected is provided on the two ball nuts 28.

[0055] It should be noted that by designing the baffle 26 at the front end of the garbage storage cabin 7, when the garbage enters the garbage storage cabin 7, the situation that the garbage comes out from the front end of the garbage storage cabin 7 can be avoided. The lead screw 27 is arranged inside the garbage storage cabin 7. The lead screw 27 and the ball nut 28 cooperate with each other. When the lead screw 27 rotates, the ball nut 28 moves horizontally on the lead screw, driving the compression plate 29 to squeeze the garbage in the garbage storage cabin 7. This not only prolongs the single operation time (reduces the return flight frequency), but also prevents large-volume garbage (such as plastic bottles and foam) from occupying space.

[0056] In this embodiment, a motor two 30 connected to an external power supply is provided on the outer wall of the back plate of the garbage storage cabin 7. The output shaft of the motor two 30 is connected to the lead screw 27. Water leakage holes two 31 are provided at intervals on the bottom plate of the garbage storage cabin 7.

[0057] It should be noted that the water leakage holes two 31 are arranged at intervals on the bottom plate of the garbage storage cabin 7. Thus, when the compression plate 29 compresses the garbage in the garbage storage cabin 7, the water in some garbage can be squeezed out and flow out through the water leakage holes two 31 to the outside, which can further reduce the weight of the garbage storage cabin 7.

[0058] Supplementary description of the above embodiment: It is mentioned above that in the intelligent recognition mode, the robot can identify floating garbage on the water surface and clean it, and at the same time can also detect non-cleaning targets (obstacles) on the water surface and avoid them. The visual recognition module is used to identify common garbage on the water surface such as plastic bottles and leaves, and common non-cleaning targets (obstacles) such as lotus leaves and stones. At the same time, the relative positions of these objects with respect to the robot are compared to perform further path planning, garbage cleaning, and obstacle avoidance actions.

[0059] Among them, in order to overcome the disadvantages of low robustness and high design difficulty in manually extracting features of traditional recognition methods, multi-object detection based on the YOLO v8 vision algorithm is adopted. To meet the requirements of the YOLO v8 vision algorithm for this project, the model is first trained on a large-scale dataset, and the obtained parameters are used as initial values. Then, it is retrained on the target training dataset to optimize the parameters. Through repeated iteration, a network model that better meets the expectations is obtained. During the training process with a large amount of data, the convergence of the loss function is observed in real time. Then, the performance of the algorithm is tested in combination with the actual scenario to enable it to overcome the misdetection caused by waves, glints of light, and garbage overlap. It has good accuracy and real-time performance for different clarity levels and different test angles, and can be applied to engineering practice to meet the recognition and real-time requirements of the robot.

[0060] Moreover, semantic information with a high degree of non-linearity can be obtained, which can greatly improve the classification accuracy. The robot uses the local information detected by the camera, corrects the path by means of interruption, and conducts path planning within the rolling window. After implementing the strategy, as the window advances, the robot obtains new environmental information, and at the same time synchronizes mapping and construction, realizing the combination of optimization and feedback. The artificial potential field algorithm is adopted. When there is no garbage in the field of view, the robot moves along the preset path to the unsearched area to clean up the garbage and avoid obstacles to form the optimal path.

[0061] Automatic cruise mode: Without manual control, the robot automatically conducts a "carpet-style" scan of the entire water surface to clean up garbage. As Figure 9 shown, the robot determines the target direction through the built-in GPS module and gyroscope, and can ensure straight-line advancement. There is 1 ultrasonic transmitter controlled by a servo motor installed on the front side. The servo motor drives the ultrasonic transmitter to operate, which can detect the distances between the front side, left side, right side, and obstacles or the lake shore.

[0062] Specifically, after entering the autonomous cruise mode, the robot first moves straight. If it encounters an obstacle, through the algorithm, a feasible avoidance path is calculated, and the entire lake surface is traversed in a loop according to this broken-line trajectory. The working schematic diagram of the robot in the automatic cruise mode is as Figure 10 shown.

[0063] In the autonomous cruise mode, the machine vision module assists in its work, and can detect non-cleaning targets on the lake surface, such as lotus leaves, stones, etc. The robot can avoid them autonomously and continue with the straight-line and back-and-forth full-coverage cleaning. After the cleaning operation is completed, the GPS + vision navigation system is used to make the robot return to the mooring point accurately and without error. During the rough GPS navigation process, vision tracking algorithms are used, such as Figure 13As shown, identify the AprilTag logo. AprilTag is a visual fiducial system that can be used for various tasks, including AR, robotics, and camera calibration. The AprilTag detection program can calculate the precise 3D position, orientation, and ID relative to the camera. Attach this tag to the docking point, and the camera can obtain 3D data information (such as Figure 11 as shown, only the z-axis distance and the z-axis deviation angle among them) for positioning, and then accurately return to the docking point.

[0064] Autonomous obstacle avoidance analysis: The operation of the mobile robot in the environment is virtualized as operating in an abstract artificial field. The target generates a gravitational field for the robot, so the target generates "gravitational force" on the robot; the obstacle generates a repulsive field for the robot, so the obstacle generates "repulsive force" on the robot. Finally, the movement of the robot is controlled under the combined action of the "gravitational force" and the "repulsive force". The schematic diagram of obstacle avoidance is as Figure 12 shown, and the simulation diagram is as Figure 13 shown.

[0065] The expressions of the gravitational field and the repulsive field are as follows:

[0066]

[0067] The gravitational force and the repulsive force generated according to the negative gradient function are respectively:

[0068] F at =-grad[U at (X)]=η(X-X goal )

[0069]

[0070] In the formula: η is the gravitational gain; X is the coordinate of the moving body; X goal is the coordinate of the target, which is a vector, with a magnitude of |X-X goal |, and the direction is from the moving body to the target; k is the repulsive force gain coefficient; p is the distance between the moving body and the obstacle; p0 is the obstacle influence range, which is a positive constant. The resultant force and the magnitude of the resultant force received by the moving body during movement are obtained by vector summation of the gravitational force and the repulsive force.

[0071] During the cruise, the camera pan-tilt continuously scans the water surface to detect foreign objects. If a foreign object is detected, it will deviate from the predetermined course. As Figure 14 shown, when the image of the foreign object p appears in the camera coordinate plane, it can be considered as the yaw angle. From the arctangent function image, it can be known that: (001 is a fixed value), θ(y) is within the domain Inside, it increases monotonically. When the camera detects a foreign object, θ≠0, the main function of yaw: yaw = θ (yaw converges to θ), which is input into the PID controller.

[0072] The embodiments of the present invention are given for purposes of illustration and description. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A water area cleaning robot driven by solar energy, characterized in that: include: A hull (1), wherein a connecting bridge (2) is arranged inside the hull (1), a mounting frame (3) is arranged on the top of the hull (1), a support plate (4) is arranged between the tops of two mounting frames (3), a system control compartment (5) is arranged on the top of the support plate (4), solar panels (6) are arranged on both sides of the system control compartment (5), a garbage temporary storage compartment (7) is arranged between the two mounting frames (3) and on the top of the connecting bridge (2), and a garbage conveying component is arranged at the front end of the hull (1), and the garbage conveying component conveys underwater garbage upwards into the garbage temporary storage compartment (7); It also includes an obstacle avoidance identification component, which is installed on the top of the support plate (4). A power component is provided at the bottom of the hull (1). The solar panel (6) supplies power to the garbage conveying component, the obstacle avoidance identification component and the power component.

2. The solar-powered water area cleaning robot according to claim 1, characterized in that: The hull (1) adopts a catamaran structural design, the hull (1) is slender and parallel and symmetrically distributed, the connecting bridge (2) is distributed between the two hulls (1) at intervals, and the connecting bridge (2) is made of a metal frame material.

3. The solar-powered water area cleaning robot according to claim 1, characterized in that: The power assembly comprises a streamlined floating body (8), a missile-type floating body (9) and an underwater propeller (10); the streamlined floating bodies (8) are distributed at intervals on the bottom of the hull (1) and the connecting bridge (2); there are two missile-type floating bodies (9) which are respectively installed on the bottom of the hull (1); the two missile-type floating bodies (9) are located at the outermost sides; an external power supply of the underwater propeller (10) is installed at the tail end of the missile-type floating body (9); and the underwater propeller (10) adopts a separate propulsion method.

4. The solar-powered water area cleaning robot according to claim 1, characterized in that: The garbage conveying assembly comprises a mounting plate (11), a power belt (12), a driving shaft (13), a driven shaft (14), a conveying belt (15) and a garbage collecting plate (16); the mounting plate (11) is symmetrically mounted on opposite surfaces of the two hulls (1); the mounting plate (11) is tilted downward and the closer to the front end of the mounting plate (11), the lower the height; the driving shaft (13) is rotatably connected between the two mounting plates (11) and is installed near the top of the mounting plate (11); the driven shaft (14) is rotatably connected between the two mounting plates (11) and is installed near the bottom of the mounting plate (11); the power belt (12) is connected to the driving shaft (13) and the driven shaft (14) and is symmetrically arranged.

5. The solar-powered water area cleaning robot according to claim 4, characterized in that: The conveyor belt (15) is also connected to the driving shaft (13) and the driven shaft (14) and between the two power belts (12). The conveyor belt (15) is rotatably connected to the driving shaft (13). One end of the driving shaft (13) extending out of the mounting plate (11) is provided with a positioning plate (17). The positioning plate (17) is fixedly connected to the hull (1). A motor (18) is provided on the outer side wall of one of the positioning plates (17). The output shaft of the motor (18) is connected to the driving shaft (13).

6. The solar-powered water area cleaning robot according to claim 5, characterized in that: The conveyor belt (15) is also inclined, and the top of the conveyor belt (15) extends into the garbage temporary storage compartment (7), and the bottom of the conveyor belt (15) enters underwater. The front end surface of the mounting plate (11) is provided with a garbage collection net (19), and the two collection nets are in an outward expansion manner. The unfolded cross-sectional profile of the conveyor belt (15) is rectangular. The conveyor belt (15) is provided with multiple layers of leaking holes (20) distributed at intervals, and the garbage collecting plates (16) are distributed between two adjacent layers of the leaking holes (20).

7. The solar-powered water area cleaning robot according to claim 1, characterized in that: The obstacle recognition and avoidance component comprises a pan-tilt camera (21) and an ultrasonic generator (22); the pan-tilt camera (21) is mounted on the top of the support plate (4) and in front of the system control compartment (5); the ultrasonic generator (22) is arranged in front of the pan-tilt camera (21); a warning light (23) is arranged on the top of the system control compartment (5); and an antenna (24) is arranged on the top of the warning light (23).

8. The solar-powered water area cleaning robot according to claim 1, characterized in that: The front end of the garbage temporary storage compartment (7) is provided with a garbage inlet (25), and the bottom of the garbage inlet (25) is provided with a baffle (26), and the baffle (26) is fixedly mounted on the front end surface of the garbage temporary storage compartment (7), and screw rods (27) are symmetrically arranged on the baffle (26) and the back plate of the garbage temporary storage compartment (7), and each of the screw rods (27) is provided with a ball nut (28), and two of the ball nuts (28) are provided with a fixedly connected compression plate (29).

9. The solar-powered water area cleaning robot according to claim 8, characterized in that: A second motor (30) connected to an external power source is provided on the outer wall of the back plate of the temporary garbage storage compartment (7), the output shaft of the second motor (30) is connected to the screw rod (27), and two water leakage holes (31) distributed at intervals are provided on the bottom plate of the temporary garbage storage compartment (7).

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