Overwater cleaning unmanned ship with collision avoidance function

Abstract

The invention relates to the technical field of water cleaning unmanned ships, in particular to a water cleaning unmanned ship with a collision avoidance function, which comprises a ship body, a garbage collection device, a guide device, a propelling device, a direction control device, an energy storage battery, a collision avoidance device, a control system, a detection module and a lifting device, a groove is formed in the boat body, the garbage collecting device is installed in the groove, guiding devices are installed at the bottoms of the left end and the right end of the groove, a fixing plate is installed at the end, away from the groove, of the boat body, the direction control device is installed on the side wall of the fixing plate, and the control system commands the garbage collecting device to operate. The boat body rotates from the groove and begins to collect garbage floating on the water surface, the guiding device is responsible for guiding the garbage on the two sides of the boat body into the groove, the garbage can be conveniently collected by the garbage collecting device, the automatic garbage collecting system can continuously clean the garbage on the water surface, and the working efficiency is improved while the labor cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned water cleaning boats, and particularly to an unmanned water cleaning boat with a collision avoidance function. Background Art

[0002] As is well known, with the acceleration of the industrialization and urbanization processes, the problem of water pollution has become increasingly severe. In particular, plastic waste, floating objects, etc. pose a serious threat to the water ecosystem and human health. The traditional manual cleaning method is inefficient, costly, and has safety hazards. Therefore, unmanned water cleaning equipment has gradually become a key technology to solve such problems. However, the application of existing unmanned water cleaning equipment in complex water environments still faces many challenges.

[0003] Existing unmanned water cleaning boat equipment usually lacks sufficient intelligent sensing capabilities and cannot navigate and avoid obstacles autonomously in complex environments, resulting in frequent collisions that damage the equipment. Moreover, frequent collisions cause fatigue damage to the hull structure. Traditional anti-collision designs such as rigid guard plates have limited energy absorption effects, and the impact force is directly transmitted to the core components, increasing the maintenance frequency and operating costs. In addition, the garbage collection efficiency is low, and the mobility and adaptability are poor. Therefore, it is necessary to propose solutions to these technical problems. Summary of the Invention

[0004] (I) Technical Problems to be Solved

[0005] In view of the deficiencies of the prior art, the present invention provides an unmanned water cleaning boat with a collision avoidance function.

[0006] (II) Technical Solutions

[0007] To achieve the above object, the present invention provides the following technical solution: An unmanned water cleaning boat with a collision avoidance function, comprising a hull, a garbage collection device, a guiding device, a propulsion device, a direction control device, an energy storage battery, an anti-collision device, a control system, a detection module, and a lifting device. A groove is opened at one end of the hull, and the garbage collection device is installed in the groove. The guiding devices are installed at the bottoms of the left and right ends of the groove. A fixing plate is installed at the end of the hull away from the groove, and the direction control device is installed on the side wall of the fixing plate. The propulsion devices are installed on both sides of the end of the hull close to the direction control device. Two groups of the anti-collision devices are symmetrically installed at the end of the hull away from the direction control device. Two groups of the energy storage batteries are symmetrically installed in the hull. A support frame is installed at the end of the hull close to the anti-collision device, and the control system is installed at the top of the support frame through the lifting device. The control system is internally provided with a communication module, and the detection module is installed at the top of the control system.

[0008] Furthermore, the present invention is improved in that the anti-collision device includes an anti-collision arc plate, a support cylinder, a sliding rod, a spring and a rubber block. A plurality of groups of the support cylinders distributed up and down symmetrically with respect to the central axis of the groove are installed at one end of the hull away from the direction control device. The sliding rod is slidably installed in the support cylinder. The anti-collision arc plate is fixedly installed at one end of the sliding rod away from the support cylinder. The spring is sleeved on the outer walls of the support cylinder and the sliding rod. A plurality of groups of the rubber blocks are installed between the inner walls of the left and right ends of the anti-collision arc plate and the hull.

[0009] Furthermore, the present invention is improved in that the detection module includes a mounting seat, a camera, a sonar and a lidar. The mounting seat is rotatably installed at the top end of the control system. The camera is installed in the middle of the mounting seat. The sonar is installed at one end of the top wall of the mounting seat. The lidar is installed at the other end of the top wall of the mounting seat.

[0010] Furthermore, the present invention is improved in that the garbage collection device includes a collection motor, a collection shaft, collection blades, a collection box, a rectangular groove and a water filtering hole. The collection shaft is rotatably installed in the groove. The collection motor is installed at one end of the collection motor. A plurality of groups of the collection blades are annularly installed on the outer wall of the collection shaft. The collection box is inclinedly installed at one end of the groove close to the direction control device. A plurality of the water filtering holes are formed in the bottom wall of the collection box. A plurality of groups of the rectangular grooves are formed at one end of the collection box close to the collection shaft. The rectangular grooves are adapted to the collection blades.

[0011] Furthermore, the present invention is improved in that the guiding device includes a guiding groove, a guiding motor, a worm, a worm gear, a guiding shaft and guiding blades. The guiding grooves are formed in the bottom walls of the left and right ends of the hull. Two cavities are symmetrically formed at both ends of the hull with respect to the central axis of the groove. The guiding motors are installed in the two cavities. The output end of the guiding motor is installed with the worm. Two groups of the worm gears are symmetrically engaged with each worm. The bottom end of the worm gear is installed with the guiding shaft. The bottom end of the guiding shaft penetrates through the cavity and extends into the groove, and a plurality of groups of the guiding blades are annularly installed.

[0012] Furthermore, the present invention is improved in that the propulsion device includes a propulsion motor, a driving gear, a driven gear, a propulsion shaft and propulsion blades. Accommodation cavities are formed in the inner parts of the left and right ends of the hull close to the direction control device. The propulsion motor is installed in the accommodation cavity. The output end of the propulsion motor is installed with the driving gear. The driven gear is meshed and installed at the bottom end of the driving gear. The propulsion shaft is installed in the middle of the driven gear. The propulsion shaft penetrates through the accommodation cavity and extends outside the hull, and a plurality of groups of the propulsion blades are annularly installed.

[0013] Furthermore, the present invention is improved in that the direction control device includes a horizontal plate, a first electric telescopic rod, and a direction control plate. One end side wall of the fixed plate away from the hull is fixedly installed with the horizontal plate. The end of the horizontal plate is rotatably installed with the direction control plate. The side wall of the fixed plate is hingedly installed with the first electric telescopic rod. The output end of the first electric telescopic rod is hingedly connected to the upper end side wall of the direction control plate.

[0014] Furthermore, the present invention is improved in that the lifting device includes a second electric telescopic rod. The second electric telescopic rod is installed on the top wall of the support frame. The top end output end of the second electric telescopic rod is installed with the control system.

[0015] Furthermore, the present invention is improved in that two groups of anti-collision floating cylinders are symmetrically installed on the left and right end side walls of the hull in an up-and-down manner.

[0016] Furthermore, the present invention is improved in that two groups of L-shaped frames are symmetrically installed on the top wall of the hull. The top walls of the two groups of L-shaped frames are both installed with solar panels. The solar panels are connected to the corresponding energy storage batteries through wires.

[0017] (III) Beneficial Effects

[0018] Compared with the prior art, the present invention provides an unmanned surface cleaning boat with a collision avoidance function, having the following beneficial effects:

[0019] This unmanned surface cleaning boat with a collision avoidance function, through the designed detection module, control system, and lifting device, combined with a camera, sonar, and lidar, provides a full range of monitoring of the water surface and underwater. The camera is used to identify the position, size, and shape of the garbage. The sonar is used to detect underwater obstacles. The lidar generates a high-precision topographic map. Based on the real-time data, the control system can dynamically adjust the navigation route to avoid obstacles and reduce the collision risk. By adjusting the height of the mounting seat and the detection module through the second electric telescopic rod, the working height of the sensor can be flexibly adjusted according to the actual environmental conditions. For example, when operating in high grass, the detection module can be raised to avoid interference, or when operating in open water, the height can be lowered to obtain a clearer close-range image.

[0020] This water cleaning unmanned boat with collision avoidance function, through the designed anti-collision device and anti-collision buoy, when encountering an obstacle, the anti-collision arc plate first bears the impact force. The springs sleeved on the outer walls of the support cylinder and the sliding rod will be compressed when being impacted, absorbing part of the impact energy and reducing the force directly transmitted to the boat body. There are multiple groups of rubber blocks installed between the inner walls of the left and right ends of the anti-collision arc plate and the boat body, further absorbing the remaining impact energy, and at the same time playing a role in shock absorption and noise reduction. The sliding rod can move freely inside the support cylinder, allowing the anti-collision arc plate to make corresponding displacements according to the change of external pressure, protecting the end of the boat body and reducing collision damage. Since most of the impact force is absorbed by the anti-collision device rather than directly acting on the end of the boat body, this helps to reduce the wear and damage of the boat body itself, thus prolonging the service life of the entire device. By symmetrically installing anti-collision buoys on the upper and lower sides of the boat body, side collision protection can be provided for the unmanned boat, not limited to horizontal impacts. The anti-collision buoy can effectively absorb and disperse the impact force generated during the collision, reducing the energy directly acting on the boat body structure, thereby reducing the risk of damage to the boat body.

[0021] This water cleaning unmanned boat with collision avoidance function, through the set propulsion device and direction control device, the independently controlled propulsion devices on both sides include a propulsion motor, a driving gear, a driven gear, a propulsion shaft and a propulsion blade, providing flexible direction and speed adjustment capabilities. By adjusting the speed or direction of one side propulsion motor, the unmanned boat can achieve complex maneuvering actions such as turning and side shifting. By precisely adjusting the angle of the direction control board through the first electric telescopic rod, very fine direction adjustment can be achieved. During the entire turning process, the detection module continuously monitors the position of the unmanned boat and the surrounding environment, and adjusts the length of the first electric telescopic rod in real time through the control system to ensure that the unmanned boat travels safely and accurately according to the preset path.

[0022] This water cleaning unmanned boat with collision avoidance function, through the set garbage cleaning device and guiding device, by combining the rotary collecting blades and the adapted rectangular groove design, as well as the directional water flow generated by the guiding device, greatly improves the efficiency of garbage collection, enabling the unmanned boat to complete more cleaning tasks in a shorter time. The efficient garbage collection and guiding mechanism reduces the risk of equipment failure. Through optimized design and intelligent management, it reduces energy consumption and maintenance costs, while increasing the service life of the equipment and reducing the overall operation cost. Brief Description of the Drawings

[0023] Figure 1 Schematic Structure of the Present Invention Figure 1 ;

[0024] Figure 2 In the Present Invention Figure 1 Enlarged Structure Schematic Diagram of Local Area A;

[0025] Figure 3In the present invention Figure 1 is a schematic enlarged view of the local part B in the present invention;

[0026] Figure 4 is a schematic structural view of the present invention Figure 2 ;

[0027] Figure 5 is a schematic three-dimensional structure view after the anti-collision arc plate in the present invention is hidden;

[0028] Figure 6 In the present invention Figure 5 is a schematic enlarged view of the local part C in the present invention;

[0029] Figure 7 is a schematic three-dimensional structure view of a partial half-section of the hull in the present invention.

[0030] In the figure: 1, hull; 2, energy storage battery; 3, control system; 4, groove; 5, fixing plate; 6, support frame; 7, anti-collision arc plate; 8, support cylinder; 9, sliding rod; 10, spring; 11, rubber block; 12, mounting seat; 13, camera; 14, sonar; 15, lidar; 16, collecting motor; 17, collecting shaft; 18, collecting blade; 19, collecting box; 20, rectangular groove; 21, water filtering hole; 22, guiding groove; 23, guiding motor; 24, worm; 25, worm gear; 26, guiding shaft; 27, guiding blade; 28, propulsion motor; 29, driving gear; 30, driven gear; 31, propulsion shaft; 32, propulsion blade; 33, cross plate; 34, first electric telescopic rod; 35, direction control plate; 36, second electric telescopic rod; 37, anti-collision buoy; 38, L-shaped frame; 39, solar panel. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0032] Please refer to Figures 1 - 4, An unmanned surface vessel with collision avoidance function, comprising a hull 1, a garbage collection device, a guiding device, a propulsion device, a direction control device, an energy storage battery 2, a collision avoidance device, a control system 3, a detection module and a lifting device. A groove 4 is formed at one end of the hull 1, and the garbage collection device is installed in the groove 4. Guiding devices are installed at the bottoms of the left and right ends of the groove 4. A fixing plate 5 is installed at one end of the hull 1 away from the groove 4, and the direction control device is installed on the side wall of the fixing plate 5. Propulsion devices are installed on both sides of one end of the hull 1 close to the direction control device. Two groups of the collision avoidance devices are symmetrically installed at both ends of the hull 1 away from the direction control device. Two groups of the energy storage batteries 2 are symmetrically installed in the hull 1. A support frame 6 is installed at one end of the hull 1 close to the collision avoidance device, and the control system 3 is installed at the top of the support frame 6 through the lifting device. The control system 3 is built-in with a communication module, and the detection module is installed at the top of the control system 3. In the embodiment, when in use, the unmanned surface vessel is powered on and started by the energy storage battery 2, and the control system 3 performs self-check and initialization settings, including inspections of the detection module, communication module, propulsion device, direction control device, etc. The detection module starts to work, monitors the surrounding water area environment in real time, and transmits the data to the control system 3. The control system 3 analyzes and processes based on this information, formulates or adjusts the navigation route to avoid obstacles. When the unmanned surface vessel approaches the surface garbage, the control system 3 commands the garbage collection device to operate, rotates from the groove 4 and starts to collect the garbage floating on the water surface. The guiding device is responsible for guiding the garbage on both sides of the hull 1 into the groove 4, facilitating the garbage collection device to collect it. If the detection module finds an obstacle ahead, the control system 3 will adjust the course or speed through the direction control device and the propulsion device according to the position and distance of the obstacle to avoid collision. Through the built-in communication module, the unmanned surface vessel can keep in touch with the remote monitoring center, allowing the operator to intervene when necessary. The automated garbage collection system can continuously clean the surface garbage, reducing the labor cost while improving the work efficiency. The detection module integrating multiple sensors and the intelligent control system 3 ensure that the unmanned surface vessel can autonomously identify obstacles and take appropriate measures to avoid collision in a complex water area environment, increasing the safety and reliability of the equipment. The design of the propulsion device and the direction control device enables the unmanned surface vessel to have good maneuverability and can quickly change the direction or speed according to needs to adapt to different operation requirements. The ability to support remote monitoring and control allows the operator to supervise and manage the working state of the unmanned surface vessel at any time and place and make a timely response. The collision avoidance device not only helps to protect the end of the hull 1 from damage, but also may increase the overall structural stability, especially important when operating under bad weather conditions.

[0033] In this solution, the anti-collision device includes an anti-collision arc plate 7, a support cylinder 8, a sliding rod 9, a spring 10, and a rubber block 11. At one end of the hull 1 away from the direction control device, multiple groups of the support cylinders 8 distributed up and down are symmetrically installed with respect to the central axis of the groove 4. The sliding rod 9 is slidably installed in the support cylinder 8. The anti-collision arc plate 7 is fixedly installed at one end of the sliding rod 9 away from the support cylinder 8. The spring 10 is sleeved on the outer walls of the support cylinder 8 and the sliding rod 9. Multiple groups of the rubber blocks 11 are installed between the inner walls at the left and right ends of the anti-collision arc plate 7 and the hull 1. Each group of support cylinders 8 has a sliding rod 9 slidably installed therein. The sliding rod 9 can move freely inside the support cylinder 8, allowing the anti-collision arc plate 7 to make corresponding displacements according to changes in external pressure. One end of the sliding rod 9 is fixedly connected to the anti-collision arc plate 7. When encountering an obstacle, the anti-collision arc plate 7 first contacts and bears the impact force. The spring 10 sleeved on the outer walls of the support cylinder 8 and the sliding rod 9 will be compressed when being impacted, absorbing part of the impact energy and reducing the force directly transmitted to the hull 1. Multiple groups of the rubber blocks 11 are installed between the inner walls at the left and right ends of the anti-collision arc plate 7 and the hull 1, further absorbing the remaining impact energy and simultaneously playing a role in shock absorption and noise reduction. By combining the rigid anti-collision arc plate 7, the spring 10 with good elasticity, and the soft rubber block 11, a multi-level protection system is formed, which can effectively disperse and absorb impact forces of different intensities. The design of the sliding rod 9 and the support cylinder 8 enables the anti-collision arc plate 7 to flexibly adjust its position according to the actual collision situation, reducing the collision damage suffered by the end of the hull 1. Since most of the impact force is absorbed by the anti-collision device rather than directly acting on the end of the hull 1, this helps to reduce the wear and damage of the hull 1 itself, thereby extending the service life of the entire device. The reliable anti-collision design increases the safety factor of the unmanned boat when operating in a complex water environment and reduces the risk of mission interruption or equipment failure caused by accidental collisions.

[0034] In this solution, the detection module includes a mounting base 12, a camera 13, a sonar 14, and a lidar 15. The mounting base 12 is rotatably installed at the top of the control system 3. The camera 13 is installed in the middle of the mounting base 12. The sonar 14 is installed at one end of the top wall of the mounting base 12, and the lidar 15 is installed at the other end of the top wall of the mounting base 12. The camera 13, as a visual sensor, is responsible for capturing real-time image information of the surrounding environment. It can identify the position, size, and shape of surface garbage and assist the control system 3 in path planning. The sonar 14 is mainly used for underwater detection. By emitting and receiving sound waves, it measures the distance to obstacles. For obstacles in the water or near the water surface, such as floating objects and reefs, the sonar 14 can provide accurate distance information. The lidar 15 scans the surrounding three-dimensional space to generate high-precision map data. It is particularly suitable for identifying obstacles in the air and near the water surface, providing detailed terrain and obstacle distribution information for the unmanned boat. Moreover, the rotational design of the mounting base 12 can control the detection direction of the detection module through the control system 3 (the rotation method of the mounting base 12 is a common rotation drive method on the market and will not be specifically described here), providing more comprehensive detection. By combining different types of sensors (the camera 13, the sonar 14, and the lidar 15), the unmanned boat can obtain a comprehensive understanding of its surrounding environment, not limited to the water surface situation but also including potential threats underwater. The multi-sensor fusion technology improves the ability of the unmanned boat to identify and avoid obstacles in complex water environments. For example, the lidar 15 can accurately draw the contour of the obstacle ahead, while the sonar 14 can effectively detect underwater obstacles. The two complement each other, greatly reducing the collision risk. The high-definition images provided by the camera 13 help to more accurately locate surface garbage, enabling the garbage collection device to work more efficiently and reducing the possibility of misoperation. Different sensors are optimized for their respective best working conditions, which means that the unmanned boat can maintain a good operating state whether in clear or turbid waters, during the day or at night.

[0035] In this solution, the garbage collection device includes a collection motor 16, a collection shaft 17, collection blades 18, a collection box 19, a rectangular groove 20, and a water filtering hole 21. The collection shaft 17 is rotatably installed in the groove 4. One end of the collection motor 16 is installed with the collection motor 16. A plurality of groups of the collection blades 18 are annularly installed on the outer wall of the collection shaft 17. The collection box 19 is inclined and installed at one end of the groove 4 close to the direction control device. A plurality of the water filtering holes 21 are opened on the bottom wall of the collection box 19. A plurality of groups of the rectangular grooves 20 are opened at one end of the collection box 19 close to the collection shaft 17. The rectangular grooves 20 are adapted to the collection blades 18. When the unmanned boat starts to perform the task, the control system 3 will activate the garbage collection motor 16, which will drive the rotation of the collection shaft 17 installed in the groove 4. As the collection shaft 17 rotates, the plurality of groups of collection blades 18 fixed on its outer wall also rotate. These blades are designed to capture and push the floating garbage on the water surface into the collection box 19. A plurality of rectangular grooves 20 are opened at one end of the collection box 19 close to the collection shaft 17. These rectangular grooves 20 match the design of the collection blades 18. When the collection blades 18 rotate to a position close to the collection box 19, they will pass through the rectangular grooves 20, thus effectively pushing the garbage from the water into the collection box 19. A plurality of water filtering holes 21 are provided at the bottom of the collection box 19, allowing water to pass through but blocking larger garbage fragments, ensuring that the garbage is effectively collected without carrying too much water. During the operation, the control system 3 can dynamically adjust the speed of the collection motor 16 and the position of the direction control device according to the data fed back by the sensors to optimize the garbage collection efficiency. Once the collection box 19 reaches the capacity limit or the task ends, the unmanned boat can return to the base for garbage unloading and equipment inspection. By cleverly combining the design of the rotary collection blades 18 and the adapted rectangular grooves 20, the garbage collection device can efficiently capture various types of floating garbage from the water, including plastic bottles, paper, and other small waste. The water filtering holes 21 provided at the bottom of the collection box 19 not only reduce the water content in the collected garbage, reduce the overall weight, but also avoid the problem of affecting subsequent processing due to excessive water accumulation. This design makes the garbage collection device applicable to different sizes and types of garbage, improving its applicability in various water environments.

[0036] In this solution, the guiding device includes a guiding groove 22, a guiding motor 23, a worm 24, a worm gear 25, a guiding shaft 26, and guiding vanes 27. The guiding grooves 22 are provided on the bottom walls at both left and right ends of the hull 1. Two sets of cavities are symmetrically provided at both ends of the central axis of the groove 4 inside the hull 1. The guiding motors 23 are installed in both sets of cavities. The output end of the guiding motor 23 is equipped with the worm 24. Two sets of the worm gears 25 are symmetrically meshed with each worm 24. The bottom end of the worm gear 25 is equipped with the guiding shaft 26. The bottom end of the guiding shaft 26 penetrates through the cavity and extends into the groove 4, and multiple groups of the guiding vanes 27 are annularly installed. When the unmanned boat approaches the surface garbage, the control system 3 will activate the guiding motor 23 located in the internal cavity of the hull 1. After the guiding motor 23 starts, the worm 24 rotates to drive the worm gear 25 to rotate. The bottom end of the worm gear 25 is equipped with the guiding shaft 26. As the worm gear 25 rotates, the guiding shaft 26 rotates accordingly, and then the guiding vanes 27 start to work. The guiding vanes 27 can generate a directional water flow during rotation. This water flow can effectively push the surrounding floating garbage towards the collection area, that is, the position close to the collection shaft 17. When the collection blades 18 on the collection shaft 17 start to rotate, they will cooperate with the water flow generated by the guiding vanes 27 to more efficiently capture and push the garbage into the collection box 19. In this way, a complete set of automated processes from garbage discovery, guiding to final collection is formed. By utilizing the directional water flow generated by the guiding vanes 27, the probability of the garbage being guided into the collection area can be significantly increased, making the collection process smoother and more efficient. The guiding device not only helps with garbage collection but also can, to a certain extent, improve the water flow state around the hull 1 and reduce the impact of water flow changes on the stability of the hull 1, which is particularly important in complex water environments.

[0037] In this solution, the propulsion device includes a propulsion motor 28, a driving gear 29, a driven gear 30, a propulsion shaft 31, and propulsion blades 32. Accommodation cavities are provided inside the left and right ends of the hull 1 close to the direction control device. The propulsion motor 28 is installed inside the accommodation cavities. The output end of the propulsion motor 28 is equipped with the driving gear 29. The bottom end of the driving gear 29 is meshed and installed with the driven gear 30. The middle of the driven gear 30 is installed with the propulsion shaft 31. The propulsion shaft 31 penetrates the accommodation cavity and extends outside the hull 1, and multiple groups of the propulsion blades 32 are annularly installed. When the unmanned boat needs to move or adjust its position, the control system 3 will activate the propulsion motors 28 located in the accommodation cavities inside the left and right ends of the hull 1. Each accommodation cavity independently controls the propulsion device on one side to ensure flexible adjustment of direction and speed. After the propulsion motor 28 is started, the driving gear 29 rotates to drive the driven gear 30 to rotate. As the driven gear 30 rotates, the propulsion shaft 31 rotates accordingly, and then the propulsion blades 32 start to work. The propulsion blades 32 rotate at high speed in the water, generating forward or backward thrust by cutting the water flow. The forward or backward movement is determined by the rotation direction of the propulsion blades 32. Since the propulsion devices on both sides can be independently controlled, by adjusting the speed or direction of one side of the propulsion motor 28, the unmanned boat can achieve complex maneuvering actions such as turning and side shifting. For example, if one side of the propulsion device stops working while the other side continues to operate, the unmanned boat will turn in the opposite direction. The use of the gear transmission system with the driving gear 29 and the driven gear 30 ensures the effective transmission of power, improves the energy utilization rate, and makes the propulsion device more energy-efficient and efficient.

[0038] In this solution, the direction control device includes a cross plate 33, a first electric telescopic rod 34, and a direction control plate 35. One end side wall of the fixed plate 5 away from the hull 1 is fixedly installed with the cross plate 33. The end of the cross plate 33 is rotatably installed with the direction control plate 35. The side wall of the fixed plate 5 is hingedly installed with the first electric telescopic rod 34. The output end of the first electric telescopic rod 34 is hingedly connected to the upper end side wall of the direction control plate 35. When the unmanned boat is stationary or sailing in a straight line, the direction control plate 35 is in a neutral position. At this time, the first electric telescopic rod 34 is at its default length, and the direction control plate 35 maintains a specific angle with the cross plate 33 to ensure that the unmanned boat maintains its current heading. When the control system 3 decides to change the heading of the unmanned boat, for example, to avoid obstacles or execute a predetermined path according to sensor data, it will send an instruction to the first electric telescopic rod 34. The first electric telescopic rod 34 starts to extend or contract. Since one end of it is hingedly installed on the side wall of the fixed plate 5 and the other end is hingedly connected to the upper end side wall of the direction control plate 35, the movement of the telescopic rod will cause the direction control plate 35 to rotate around the rotation connection point with the cross plate 33. As the angle of the direction control plate 35 changes, it will generate different resistance distributions for the water flow, thereby changing the traveling direction of the unmanned boat. Specifically, when the direction control plate 35 biases to one side, the water flow resistance on that side will increase, causing the unmanned boat to turn in the opposite direction. During the entire turning process, the detection module continuously monitors the position of the unmanned boat and the surrounding environment, and adjusts the length of the first electric telescopic rod 34 in real time through the control system 3 to precisely control the angle of the direction control plate 35 and ensure that the unmanned boat sails safely and accurately according to the preset path.

[0039] In this solution, the lifting device includes a second electric telescopic rod 36. The second electric telescopic rod 36 is installed on the top wall of the support frame 6. The top output end of the second electric telescopic rod 36 is installed with the control system 3. Before the unmanned boat starts a mission or is in a standby state, the detection module includes a camera 13, a sonar 14, a lidar 15, etc., which may be in a relatively low position to reduce wind resistance or avoid unnecessary collisions. At this time, the second electric telescopic rod 36 is in a shorter state, and the mounting base 12 and the detection module on it are also in a lower position accordingly. When environmental monitoring or specific mission requirements are needed, such as entering complex waters or requiring a higher perspective for omnidirectional scanning, the control system 3 will send an instruction to the second electric telescopic rod 36. After receiving the instruction, the second electric telescopic rod 36 starts to extend. Therefore, as the telescopic rod extends, the control system 3, the mounting base 12, and the detection module on it will be lifted to a higher position. During the lifting process, the control system 3 can dynamically adjust the length of the second electric telescopic rod 36 according to pre-set height parameters or based on the requirements of the current mission to ensure that the detection module reaches the optimal working height. This allows the device to be flexibly adjusted according to the actual environmental conditions. For example, when operating in tall grass, the detection module is raised to avoid interference, or when in open water, the height is lowered to obtain clearer close-up images. Once the mission is completed or it is necessary to return to the safe mode, the control system 3 will send an instruction again to make the second electric telescopic rod 36 contract, lowering the detection module to the initial safe position. By adjusting the height of the detection module, the field of view and coverage area of the sensor can be optimized in different environments, especially important when it is necessary to cross obstacles or operate in complex terrains.

[0040] In this solution, two groups of anti-collision floating cylinders 37 are symmetrically installed up and down on the left and right side walls of the hull 1. By symmetrically installing the anti-collision floating cylinders 37 on both sides of the hull 1 up and down, side collision protection can be provided for the unmanned boat. This is not limited to horizontal impacts. The anti-collision floating cylinders 37 can effectively absorb and disperse the impact force generated during side collisions, reducing the energy directly acting on the structure of the hull 1, thereby reducing the risk of damage to the hull 1. The anti-collision floating cylinders 37 themselves have buoyancy, increasing the total buoyancy of the entire device, which helps to improve the stability of the unmanned boat on the water surface.

[0041] In this solution, two groups of L-shaped frames 38 are symmetrically installed on the top wall of the hull 1. The top walls of the two groups of L-shaped frames 38 are both equipped with the solar panels 39. The solar panels 39 are connected to the corresponding energy storage batteries 2 through wires. When sunlight shines on the solar panels 39, the photovoltaic cells on the panels convert light energy into electrical energy. The photovoltaic effect causes photons to excite electrons in semiconductor materials, thereby generating an electric current. The generated electrical energy is transmitted from the solar panels 39 to the energy storage batteries 2 through wires to reduce energy loss and meet the special requirements of the water environment. Using solar energy as the main energy source reduces the dependence on traditional fossil fuels, reduces carbon emissions and the release of other pollutants, which is of great significance for environmental protection. As long as there are sufficient sunlight conditions, the solar panels 39 can continuously charge the energy storage batteries 2, which greatly extends the duration that the unmanned boat can continuously work without external power supply.

[0042] An unmanned surface cleaning boat with a collision avoidance function. When it is working, the unmanned boat is powered on and started by the energy storage battery 2. The control system 3 conducts self-check and initialization settings. The detection module starts to work, monitors the surrounding water area environment in real time, and transmits the data to the control system 3. The control system 3 analyzes and processes the data from the camera 13, sonar 14, and lidar 15, identifies the position, size, and shape of the surface garbage, and at the same time detects the distance and position of the surrounding obstacles, formulates or adjusts the navigation route to avoid obstacles. If there is an obstacle ahead, the control system 3 will adjust the heading or speed through the direction control device and the propulsion device according to its position and distance to avoid collision. When necessary, it will maintain contact with the remote monitoring center through the built-in communication module, allowing the operator to intervene when necessary. When the unmanned boat approaches the surface garbage, the control system 3 commands the garbage collection motor 16 to start, drives the collection shaft 17 installed in the groove 4 to rotate, drives the collection blades 18 to capture and push the floating garbage on the water surface into the collection box 19. The guiding motor 23 in the guiding device starts, the worm 24 rotates to drive the worm gear 25 to rotate, and then the guiding blades 27 on the guiding shaft 26 rotate to generate a directional water flow, helping to push the surrounding floating garbage towards the collection area and increasing the probability of the garbage being introduced into the collection area. The bottom of the collection box 19 is provided with water filtering holes 21, allowing water to pass through but blocking larger garbage fragments, ensuring that the garbage is effectively collected without carrying too much water. Two groups of anti-collision floating cylinders 37 symmetrically installed on the upper and lower sides of the side walls at both ends of the unmanned boat provide additional side collision protection, absorb and disperse the impact force generated during the collision, reduce the energy directly acting on the hull 1 structure, and reduce the risk of damage. Moreover, the two groups of anti-collision floating cylinders 37 provide additional side collision protection, increase the overall buoyancy, and improve the stability. The anti-collision device located at one end of the hull 1 away from the direction control device includes an anti-collision arc plate 7, a support cylinder 8, a sliding rod 9, a spring 10, and a rubber block 11. When encountering an obstacle, first, the anti-collision arc plate 7 bears the impact force, and the spring 10 and the rubber block 11 further absorb the remaining impact energy, forming a multi-level protection system. According to the task requirements, the control system 3 adjusts the height of the mounting seat 12 and the detection module through the second electric telescopic rod 36 to optimize the visual range and coverage area of the sensor. The propulsion devices independently controlled on both sides include a propulsion motor 28, a driving gear 29, a driven gear 30, a propulsion shaft 31, and a propulsion blade 32, providing flexible direction and speed adjustment capabilities. The direction control device, including a cross plate 33, a first electric telescopic rod 34, and a direction control plate 35, changes the heading of the unmanned boat as needed. The solar panel 39 installed on the L-shaped frame 38 on the top wall of the hull 1 converts light energy into electrical energy and transmits it to the energy storage battery 2 through a wire, providing continuous power support for the entire system, extending the continuous working duration of the unmanned boat, and reducing the dependence on external power supply replenishment. Through the built-in communication module, the unmanned boat can maintain contact with the remote monitoring center, and the operator can supervise and manage the working status of the unmanned boat at any time and place and make a timely response.Based on the real-time feedback data, the control system 3 can dynamically adjust the working mode of the device, such as changing the garbage collection speed, adjusting the angle of the direction control board 35, etc., to adapt to the changing task requirements.

[0043] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned surface vessel with a collision avoidance function, comprising a hull (1), a garbage collection device, a guiding device, a propulsion device, a direction control device, an energy storage battery (2), a collision avoidance device, a control system (3), a detection module and a lifting device, characterized in that, One end of the hull (1) is provided with a groove (4), and the garbage collection device is installed in the groove (4). Guide devices are installed at the bottoms of the left and right ends of the groove (4). A fixing plate (5) is installed at one end of the hull (1) away from the groove (4), and the direction control device is installed on the side wall of the fixing plate (5). Propulsion devices are installed on both sides of one end of the hull (1) close to the direction control device. Two groups of anti-collision devices are symmetrically installed at both ends of the hull (1) away from the direction control device. Two groups of energy storage batteries (2) are symmetrically installed in the hull (1). A support frame (6) is installed at one end of the hull (1) close to the anti-collision device, and the control system (3) is installed at the top of the support frame (6) through the lifting device. The control system (3) is built-in with a communication module, and a detection module is installed at the top of the control system (3).

2. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, The anti-collision device includes an anti-collision arc plate (7), a support cylinder (8), a sliding rod (9), a spring (10), and a rubber block (11). A plurality of groups of the support cylinders (8) distributed up and down are symmetrically installed at one end of the hull (1) away from the direction control device with the central axis of the groove (4) as the symmetry axis. The sliding rod (9) is slidably installed in the support cylinder (8), and the anti-collision arc plate (7) is fixedly installed at one end of the sliding rod (9) away from the support cylinder (8). The spring (10) is sleeved on the outer walls of the support cylinder (8) and the sliding rod (9). A plurality of groups of the rubber blocks (11) are installed between the inner walls of the left and right ends of the anti-collision arc plate (7) and the hull (1).

3. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, The detection module includes a mounting base (12), a camera (13), a sonar (14), and a lidar (15). The mounting base (12) is rotatably installed at the top of the control system (3). The camera (13) is installed in the middle of the mounting base (12). The sonar (14) is installed at one end of the top wall of the mounting base (12), and the lidar (15) is installed at the other end of the top wall of the mounting base (12).

4. A water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, The garbage collection device includes a collection motor (16), a collection shaft (17), collection blades (18), a collection box (19), a rectangular groove (20), and a water filtering hole (21). The collection shaft (17) is rotatably installed in the groove (4), and the collection motor (16) is installed at one end of the collection shaft (17). A plurality of groups of the collection blades (18) are annularly installed on the outer wall of the collection shaft (17). The collection box (19) is inclinedly installed at one end of the groove (4) close to the direction control device. A plurality of the water filtering holes (21) are opened on the bottom wall of the collection box (19). A plurality of groups of the rectangular grooves (20) are opened at one end of the collection box (19) close to the collection shaft (17), and the rectangular grooves (20) are adapted to the collection blades (18).

5. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, The guiding device includes a guiding groove (22), a guiding motor (23), a worm (24), a worm gear (25), a guiding shaft (26) and guiding vanes (27). The guiding grooves (22) are provided on the bottom walls at the left and right ends of the hull (1). Two groups of cavities are symmetrically provided at both ends of the central axis of the groove (4) inside the hull (1). The guiding motors (23) are installed in both groups of cavities. The output end of the guiding motor (23) is provided with the worm (24). Two groups of the worm gears (25) are symmetrically meshed on each worm (24). The bottom end of the worm gear (25) is provided with the guiding shaft (26). The bottom end of the guiding shaft (26) penetrates through the cavity and extends into the groove (4), and multiple groups of the guiding vanes (27) are annularly installed thereon.

6. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, The propulsion device includes a propulsion motor (28), a driving gear (29), a driven gear (30), a propulsion shaft (31) and propulsion blades (32). Accommodation cavities are provided inside the left and right ends of the hull (1) near the direction control device. The propulsion motors (28) are installed in the accommodation cavities. The output end of the propulsion motor (28) is provided with the driving gear (29). The driven gear (30) is meshed and installed at the bottom end of the driving gear (29). The propulsion shaft (31) is installed in the middle of the driven gear (30). The propulsion shaft (31) penetrates through the accommodation cavity and extends outside the hull (1), and multiple groups of the propulsion blades (32) are annularly installed thereon.

7. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that The direction control device includes a cross plate (33), a first electric telescopic rod (34) and a direction control plate (35). The cross plate (33) is fixedly installed on the side wall of the end of the fixing plate (5) away from the hull (1). The direction control plate (35) is rotatably installed at the end of the cross plate (33). The first electric telescopic rod (34) is hingedly installed on the side wall of the fixing plate (5). The output end of the first electric telescopic rod (34) is hingedly connected to the upper side wall of the direction control plate (35).

8. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, The lifting device includes a second electric telescopic rod (36). The second electric telescopic rod (36) is installed on the top wall of the support frame (6). The top output end of the second electric telescopic rod (36) is provided with the control system (3).

9. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, Two groups of anti-collision floating cylinders (37) are symmetrically installed on the upper and lower sides of the side walls at the left and right ends of the hull (1).

10. The water cleaning unmanned boat with a collision avoidance function according to claim 1, characterized in that, Two groups of L-shaped frames (38) are symmetrically installed on the top wall of the hull (1). The solar panels (39) are installed on the top walls of the two groups of L-shaped frames (38). The solar panels (39) are connected to the corresponding energy storage batteries (2) through wires.

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