Water surface garbage cleaning ship

Abstract

The invention provides a water surface garbage cleaning ship, relates to the technical field of water surface cleaning, and adopts organic combination of an oblique telescopic rod and a connecting rod assembly, so that a ship body can be adjusted in real time according to the width change of a water area, the limitation that the width of the ship body is fixed in a traditional design is broken through, and the flexibility and adaptability of operation are greatly improved. And secondly, the angle of the buoy is adjusted through the horizontal telescopic rod, the operation breadth can be effectively changed, water surface garbage can be accurately guided to be gathered to the garbage collection assembly, the position of the buoy can be dynamically adjusted according to the distribution of the garbage, the garbage collection efficiency is greatly improved, and the cleaning completeness under different water flow and garbage density conditions is guaranteed. In addition, the two horizontal telescopic rods synchronously and symmetrically move, it can be ensured that the buoy rotates symmetrically in the horizontal plane, the counter-acting force in the horizontal direction is offset to the maximum degree, and therefore deviation of unilateral force is avoided, and the navigation stability is kept.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water surface cleaning, in particular to a water surface garbage cleaning ship. BACKGROUND

[0002] With the acceleration of urbanization and the increase of human activities, the floating garbage such as plastic bottles, foams and abandoned fishing nets in rivers, lakes and other water areas is increasing, which not only destroys the ecological balance, but also threatens the drinking water safety of the residents along the coast and the local economic development. The traditional manual salvage has low efficiency and high labor intensity, and it is more difficult to carry out in bad weather or narrow and complex water areas, and it is difficult to meet the garbage cleaning demand of large range and dispersed water body.

[0003] In recent years, water surface garbage cleaning unmanned ships centered on unmanned technology and intelligent control have rapidly emerged. Such unmanned ships are usually equipped with high-definition cameras, laser radars, inertial navigation systems and other sensors, and combined with advanced visual recognition and path planning algorithms, they can autonomously detect and locate floating garbage in all-weather and complex environments, achieving high-precision and low-risk automatic cleaning operations. Compared with manual salvage, the cleaning efficiency of unmanned ships is significantly improved, and the labor cost and safety hazards can be effectively reduced, which has become an important development direction in the field of water surface garbage treatment.

[0004] However, most existing water surface garbage cleaning unmanned ships adopt fixed ship body structure design, which can maintain a larger cleaning width when working in wide water areas, but it is difficult to flexibly adapt to limited water areas such as narrow rivers and bridge pier gaps; on the contrary, the slender ship body designed to pass through narrow areas cannot provide sufficient collection width, and both are often difficult to balance. The limitations of fixed structure make the unmanned ship often face the bottleneck of "width and passability cannot be achieved" in actual engineering, which affects its promotion and application effect.

[0005] In view of the above contradiction, patent CN114954812B proposes a deformable structure design that drives the first ship body and the second ship body to rotate relative to each other through a rotary drive device, so as to realize the folding and unfolding of the ship body. The scheme is unfolded in wider water areas to expand the garbage collection range, and is folded into a straight and narrow mode in narrow waterways to realize flexible passage. Although this design theoretically balances the needs of cleaning width and narrow passability, the ship body can only be folded at a fixed angle of 180°, and the deformation mode lacks flexibility, which limits its adaptability in variable water areas. In addition, the rotary guide rod mechanism of this scheme exerts force on the second ship body while exerting reverse force on the first ship body, which affects the sailing angle of the first ship body, causing deflection and affecting the stability of the operation. SUMMARY

[0006] The application aims at the deficiencies in the prior art and provides a water surface garbage cleaning ship.

[0007] To achieve the above object, the application adopts the technical scheme as follows. The application provides a water surface garbage cleaning ship, which comprises a ship body, a garbage collecting assembly and two floating buoys respectively installed on both sides of the ship body along the width direction, a garbage storage groove is formed on the top surface of the ship body, the garbage collecting assembly is installed on the rear end of the ship body in a liftable manner, and is used for collecting water surface garbage and moving along the height direction of the ship body to pour the water surface garbage into the garbage storage groove. The application further comprises a connecting rod assembly and two oblique telescopic rods, each floating buoy is movably connected to the ship body through the connecting rod assembly, the fixed ends of the two oblique telescopic rods are connected to the ship body on both sides along the width direction, and the telescopic ends are connected to the connecting rod assemblies on the corresponding sides, the two oblique telescopic rods are synchronously telescoped under the drive, thereby driving the corresponding connecting rod assemblies to rotate symmetrically in a vertical plane about the connecting points of the connecting rod assemblies with the ship body, so as to drive the two floating buoys to synchronously approach or move away from the ship body. The application further comprises a ball head connecting rod and two horizontal telescopic rods, the fixed ends of the two horizontal telescopic rods are connected to different connecting rod assemblies through the ball head connecting rod, and the telescopic ends are connected to the corresponding floating buoys, the floating buoys are movably connected to the connecting rod assemblies through vertical connecting shafts, and the two horizontal telescopic rods are synchronously telescoped under the drive, thereby driving the two floating buoys to rotate symmetrically in a horizontal plane about the corresponding vertical connecting shafts, so as to change the included angle between the two floating buoys.

[0008] Further, the application further comprises a damping assembly, the vertical connecting shaft is connected to the floating buoy through the damping assembly, the damping assembly comprises a damping support and an elastic member, one end of the damping support is connected to the end of the vertical connecting shaft away from the connecting rod assembly, the other end of the damping support is movably connected to the top surface of the floating buoy, and the two ends of the elastic member are connected to the top surface of the floating buoy and the damping support respectively.

[0009] Further, the connecting rod assembly comprises two first connecting rods which are parallel and spaced apart along the length direction of the ship body, one end of each first connecting rod is hingedly connected to the side surface of the ship body, a first horizontal connecting rod and a second horizontal connecting rod which are parallel and spaced apart are connected between the two first connecting rods, the telescopic end of the oblique telescopic rod is hingedly connected to the first horizontal connecting rod, and the second horizontal connecting rod is movably connected to the top surface of the floating buoy through a vertical connecting shaft.

[0010] Further, the connecting rod assembly further comprises two second connecting rods which are parallel and spaced apart along the length direction of the ship body, one end of each second connecting rod is hingedly connected to the side surface of the ship body, each second connecting rod is parallel and spaced apart along the height direction of the ship body with a different first connecting rod, a vertical connecting rod is hingedly connected between the first connecting rod and the second connecting rod which are located in the same vertical plane, and the second horizontal connecting rod is perpendicularly connected between the two vertical connecting rods.

[0011] Further, the garbage collection assembly comprises a conveying frame, a garbage can and a gripper, the conveying frame is fixedly installed at the rear end of the ship body, the garbage can is placed in the annular support at the bottom end of the conveying frame, and the top surface of the garbage can is below the water surface to collect the water surface garbage, and the gripper is slidingly installed on the conveying frame to grab the garbage can and drive the garbage can to move along the height direction of the ship body to pour the water surface garbage in the garbage can into the garbage storage tank.

[0012] Further, the garbage collection assembly further comprises an interception net, both ends of the interception net are connected to the two buoys respectively, the interception net is located on the side away from the ship body of the garbage can, and the top surface of the interception net is higher than the water surface to intercept the water surface garbage around the garbage can.

[0013] Further, a water pump and a first sensor are installed in the garbage can, the water pump is used to suck the water surface garbage into the garbage can, and the first sensor is used to detect the accumulation state of the water surface garbage in the garbage can.

[0014] Further, the distance between the horizontal telescopic rod and the rear end of the buoy is less than the distance between the horizontal telescopic rod and the front end of the buoy, when the water surface garbage cleaning ship is in the cleaning state, the two horizontal telescopic rods are synchronously stretched to drive the two buoys to rotate towards each other to make them arranged in an eight-character shape, and when the water surface garbage cleaning ship is in the navigation state, the two horizontal telescopic rods are synchronously contracted to drive the two buoys to rotate away from each other to make them arranged in parallel.

[0015] Further, an electric control assembly is further installed at the front end of the ship body, the electric control assembly is electrically connected with the oblique telescopic rod and the horizontal telescopic rod respectively, and is used to control the synchronous extension and contraction of the oblique telescopic rod and the horizontal telescopic rod.

[0016] Further, the electric control assembly comprises a circuit board, on which UCOS-III runs to schedule the real-time functions; an image acquisition module and a preprocessing module, which are used to acquire the water surface garbage image data around the ship body in real time, and to pre-process the image data; a target detection module based on YOLOv8 model, which is used to input the pre-processed image data, to output the category and position information of the water surface garbage after multi-scale feature extraction and fusion of the pre-processed image data; a ROS distributed multi-node communication module, which is used to transmit the output result of the target detection module to the UCOS-III.

[0017] The beneficial effects of the present application include: The application provides a water surface garbage cleaning ship, first, through the organic combination of the oblique telescopic rod and the connecting rod assembly, the dynamic adjustment of the ship body width can be successfully realized. Through this design, the ship body can be adjusted in real time according to the width change of the water area, breaking the limitation of the fixed ship body width in the traditional design. The design can flexibly adjust the ship body width according to the needs of different water environment, greatly improving the flexibility and adaptability of the operation. Secondly, through the use of horizontal telescopic rod to adjust the angle of the float, the operation width can be effectively changed and the water surface garbage can be accurately guided to the garbage collection assembly, and the float can also dynamically adjust the position according to the distribution of the garbage, which greatly improves the garbage collection efficiency and ensures the cleaning integrity under different water flow and garbage density conditions. In addition, the synchronous and symmetrical movement of the two horizontal telescopic rods can ensure the symmetrical rotation of the float in the horizontal plane, which can maximize the counteracting force in the horizontal direction, thereby avoiding the deviation of unilateral force and maintaining the stability of navigation.

[0018] In summary, the application not only overcomes the limitations brought by the traditional ship body rotation folding method, provides more flexible and dynamic adjustment capability, but also optimizes the float control and eliminates the reaction force, significantly improves the operation stability and efficiency of the water surface garbage cleaning ship in various complex water environment, and provides a more reliable solution for water surface garbage cleaning in future variable environment. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0020] Figure 1 A structure schematic view of a water surface garbage cleaning ship provided by the application in a navigation state; Figure 2 A structure schematic view of a water surface garbage cleaning ship provided by the application in a cleaning state; Figure 3 A structure schematic view of a ship body and a garbage collection assembly of a water surface garbage cleaning ship provided by the application; Figure 4 A structure schematic view of a first connecting assembly of a water surface garbage cleaning ship provided by the application; Figure 5 A structure schematic view of a second connecting assembly of a water surface garbage cleaning ship provided by the application; Figure 6 A structure schematic view of a damping assembly of a water surface garbage cleaning ship provided by the application; Figure 7 A general control flow chart of an electric control assembly of a water surface garbage cleaning ship provided in the present application; Figure 8 An intelligent identification and path planning control chart of a target detection module of a water surface garbage cleaning ship provided in the present application; Figure 9 A ROS distributed multi-node communication chart of a water surface garbage cleaning ship provided in the present application.

[0021] Icon: 1-ship body; 10-garbage storage tank; 2-garbage collection assembly; 20-conveying frame; 21-garbage can; 22-gripper; 23-intercepting net; 30-buoy; 31-vertical connecting shaft; 32-first connecting assembly; 320-oblique telescopic rod; 321-first connecting rod; 322-first horizontal connecting rod; 323-second horizontal connecting rod; 324-second connecting rod; 325-vertical connecting rod; 33-second connecting assembly; 330-horizontal telescopic rod; 331-ball head connecting rod; 332-third connecting rod; 333-heightening base; 334-L-shaped support; 34-damping assembly; 340-damping support; 341-elastic member; 35-propeller; 40-image acquisition module. DETAILED DESCRIPTION

[0022] In order to make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The components of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. It should be noted that the various features in the embodiments of the present application can be combined with each other without conflict, and the combined embodiments are still within the protection scope of the present application.

[0024] It should be noted that: similar reference numerals and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings.

[0025] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship commonly used when the product of the present application is used, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" and the like are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0026] In addition, the terms "horizontal", "vertical" and the like do not mean that the components must be absolutely horizontal or vertical, but can be slightly inclined. For example, "horizontal" only means that it is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0027] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "arrangement", "installation", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0028] The technical solutions of the present application will be described in detail below with specific embodiments.

[0029] The present application provides a water surface garbage cleaning ship with flexible structure and strong adaptability, which is suitable for efficient recovery of floating garbage in various water environments. The cleaning ship mainly comprises a ship body 1, a garbage collection assembly 2 and two floating cylinder assemblies arranged symmetrically left and right, and adopts a catamaran structure design, which can realize dynamic adjustment of the working width on the basis of maintaining the stability of navigation, and significantly improves the garbage collection efficiency and environmental adaptability.

[0030] Specifically, as shown in Figures 1 to 3 The top surface of the ship body 1 is provided with a garbage storage tank 10 for temporarily storing the collected water surface garbage. The garbage collection assembly 2 arranged at the rear end of the ship body 1 adopts a lifting structure and can move along the height direction of the ship body 1. After collecting the garbage, the assembly can be actively lifted to a height higher than that of the garbage storage tank 10, and the garbage can be poured into the tank by gravity or mechanical overturning, realizing closed-loop control of automatic collection and automatic feeding. This structure effectively avoids the inconvenience of frequent dumping or unloading in the manual cleaning process, and improves the automation operation efficiency.

[0031] Two pontoon assemblies are respectively installed on the left and right sides of the hull 1, i.e., on both sides of the hull 1 in the width direction. Each pontoon assembly comprises a pontoon 30, a vertical connecting shaft 31, a first connecting assembly 32, and a second connecting assembly 33. The pontoon 30 is in the shape of a long strip and is partially submerged below the water surface, cooperates with the centrally suspended hull 1 to form a typical catamaran structure, and makes the overall center of gravity of the hull 1 more stable and the anti-tilting ability stronger, which is conducive to keeping balance under unstable water flow or wave disturbance and provides a stable platform for garbage cleaning operation.

[0032] As shown in Figure 4 The first connecting assembly 32 mainly realizes the left-right folding and unfolding function between the pontoon 30 and the hull 1, and comprises an oblique telescopic rod 320 and a connecting rod assembly. The fixed end of the oblique telescopic rod 320 is installed on the side of the hull 1 by a rotating connection, the telescopic end is rotatably connected to the connecting rod assembly, one end of the connecting rod assembly is also rotatably connected to the side of the hull 1, and the other end is rotatably connected to the top surface of the pontoon 30 through the vertical connecting shaft 31, so that the angle between the oblique telescopic rod 320, the hull 1, the connecting rod assembly, and the pontoon 30 can be flexibly changed. The connecting point of the oblique telescopic rod 320 and the hull 1 is higher than the connecting point of the connecting rod assembly and the hull 1. By controlling the telescopic length of the oblique telescopic rod 320, the connecting rod assemblies on both sides can be driven to rotate symmetrically in the vertical plane around the connecting point with the hull 1, and the two pontoons 30 are simultaneously offset inward and upward or outward and downward in the vertical plane to approach or move away from the hull 1, so as to realize the adjustment of the overall width of the cleaning ship. Especially when the ship needs to pass through narrow bridge holes, river channels, and urban landscape water systems, etc. limited space, this function can effectively fold the pontoon 30; and when operating in an open area, the pontoon 30 can be unfolded to improve the coverage of garbage collection, thereby improving the application range and flexibility of the cleaning ship. In addition, during the movement of the pontoon 30, due to the hinged relationship between the pontoon 30 and the connecting rod assembly, the pontoon 30 can rotate relative to the connecting rod assembly when the angle of the connecting rod assembly changes, so that the plane of the pontoon 30 can always be kept parallel to the water surface, effectively ensuring the longitudinal and transverse stability of the hull 1, and avoiding the situation that the uneven stress on the pontoon 30 due to tilting affects the operation.

[0033] As shown in Figure 5As shown, the second connection assembly 33 realizes the angle adjustment of the float 30 in the horizontal direction, further expanding the garbage collection range. The assembly includes a horizontal telescopic rod 330 and a ball head connecting rod 331, the fixed end of which is connected to the connecting rod assembly through the ball head connecting rod 331, and the telescopic end is connected to the raised base 333 on the top surface of the float 30 through a third connecting rod 332. The arrangement of the ball head connecting rod 331 provides support for the fixed end of the horizontal telescopic rod 330, and on the other hand, enables the horizontal telescopic rod 330 to adapt to the rotation of the float 30. The synchronous telescoping of the horizontal telescopic rods 330 on both sides of the hull 1 enables the two floats 30 to rotate symmetrically in the horizontal plane around the vertical connecting shaft 31, i.e., the front ends of the floats 30 open or close, thereby controlling the collection range of the cleaning ship on the water surface. As shown, Figure 2 As shown, when the two floats 30 are opened to a certain angle to form a V-shaped arrangement, they can guide the floating garbage to the central collection assembly and effectively expand the collection area, improve the garbage capture capacity per unit time, and improve the garbage collection efficiency. As shown, Figure 1 When the floats 30 are closed to a parallel arrangement, i.e., the length direction of the floats 30 is parallel to the length direction of the hull 1, it helps the hull 1 to pass through narrow spaces and reduce the resistance. In the cleaning state, the oblique telescopic rod 320 and the horizontal telescopic rod 330 can be controlled to extend to the maximum position, so that the cleaning ship is in a wide-body, open-angle state, at which the overall working range is maximum and the garbage guiding effect is strongest, greatly improving the working efficiency; while in the navigation state or when passing through restricted spaces, the oblique telescopic rod 320 and the horizontal telescopic rod 330 can be retracted to the shortest, and the floats 30 are arranged in parallel, the overall width of the ship is minimized, thereby achieving high maneuverability while maintaining buoyancy and stability.

[0034] It should be understood that when the two horizontal telescopic rods move synchronously and symmetrically, the symmetric rotation of the two floats in the horizontal plane can be ensured, and the horizontal reaction force can be offset to the greatest extent, thereby avoiding the deviation of unilateral force and maintaining the stability of navigation. However, according to the water conditions and garbage distribution in actual navigation, the system can also selectively control the telescoping of the unilateral float independently to achieve more flexible adaptability and working efficiency.

[0035] In summary, the water surface garbage cleaning ship, by adopting a multi-stage telescopic adjustment structure, not only can flexibly adjust the overall width of the cleaning ship to adapt to different water areas, but also can change the working angle in real time to optimize the garbage guiding path and effectively expand the garbage collection area, improve the garbage collection efficiency, and achieve a good balance between stability, collection efficiency and passability, with the advantages of stable structure, flexible control, wide application range, high degree of automation, etc.

[0036] Further, as shown in Figure 4 and Figure 5As shown, the linkage assembly is composed of multiple linkages arranged in different directions, and the controllable movement of the pontoon 30 is achieved through the hinged and synchronous mechanism. First, the linkage assembly includes two first linkages 321 arranged in parallel and at intervals along the length direction of the hull 1, and two second linkages 324 arranged in parallel and at intervals along the height direction of the hull 1 respectively with different first linkages 321, wherein one first linkage 321 and one second linkage 324 are located in the same vertical plane, and the other pair of linkages are located in another vertical plane. One end of each first linkage 321 is connected to the side of the hull 1 through a hinge, and the other end is hingedly connected to the upper end of the vertical linkage 325 in the same vertical plane through a hexagonal socket bolt or a pin shaft; and one end of each second linkage 324 is also hingedly connected to the side of the hull 1, and the other end is hingedly connected to the lower end of the vertical linkage 325 in the same plane through a hexagonal socket bolt or a pin shaft. Thus, in the respective vertical planes, the first linkages 321, the second linkages 324, the vertical linkages 325, and the connecting lines of the hinge points with the hull 1 together form a deformable parallelogram structure. The parallelogram can ensure that the first linkages 321 and the second linkages 324 change synchronously at the same angle when an external force or drive is applied, and the vertical linkages 325 located therebetween always remain vertical, thereby providing a stable geometric support foundation for the pontoon 30.

[0037] In order to ensure the consistent movement of the two sets of parallelogram structures and stably bear the load of the pontoon 30, the first linkages 321 of the two sets of structures are further connected to each other through a first horizontal linkage 322 arranged horizontally. The middle part of the first horizontal linkage 322 is hingedly connected to the telescopic end of the oblique telescopic rod 320 and always remains horizontal. When the oblique telescopic rod 320 is telescoped, the output force thereof is evenly distributed to the two sets of parallelogram structures through the first horizontal linkage 322, thereby driving all the first linkages 321 and the second linkages 324 to synchronously change the angle and height. Since the first horizontal linkage 322 does not deviate from the horizontal nor distort the synchronous plane during the entire process, the entire linkage assembly can maintain the rigidity of the structure and the smoothness of the movement during telescopic switching, thereby ensuring that the pontoon 30 is parallel to the water surface and will not tilt or deviate due to synchronization failure. Generally, when the oblique telescopic rods 320 on both sides are stretched to the maximum stroke, the telescopic end will push the first horizontal linkage 322 outward to the limit position, thereby straightening the first linkages 321 and the second linkages 324 in the two sets of parallelogram mechanisms, so that the originally inclined linkages are restored to the horizontal and vertical orthogonal arrangement in the vertical plane, i.e., the parallelogram is flattened into a rectangular structure, at this time, the first linkages 321 and the second linkages 324 are both horizontal rods. The rectangular structure can resist the lateral impact of the water flow and waves to the greatest extent, so that the pontoon 30 always remains parallel to the water surface and fixed relative to the hull 1.

[0038] To establish the necessary vertical difference between the pontoon 30 and the hull 1 and provide space for the free rotation and lifting stroke of the pontoon 30, the lower part of each vertical connecting rod 325 is further provided with an elongated section extending downward. The second horizontal connecting rod 323 is vertically fixedly connected between the two elongated sections, and is rotationally connected to the top surface of the pontoon 30 through the vertical connecting shaft 31 connected to the bottom thereof, and is connected at a right angle to the vertical connecting rod 325. The horizontal posture of the second horizontal connecting rod 323 remains unchanged when the parallelogram structure is deformed, and the vertical connecting shaft 31 allows the pontoon 30 to rotate around the vertical axis. This design not only provides rigid support for the pontoon 30 through the connecting rod mechanism, but also allows the pontoon 30 to be driven to adjust the posture to adapt to different operating states while maintaining parallelism with the water surface, ensuring excellent hydrodynamic characteristics and operating stability. Connecting the second horizontal connecting rod 323 between the elongated sections of the two vertical connecting rods 325 can provide sufficient height difference while keeping the bottom of the hull 1 always above the water surface, avoiding interference between the pontoon 30 and the bottom of the hull 1 during navigation or garbage cleaning. The overall structure is simple and efficient, greatly improving the reliability and response speed of the pontoon 30 movement, while reducing mechanism fatigue and wear and reducing energy consumption, providing solid technical support and significant performance advantages for efficient and stable operation of the water surface garbage cleaning ship in variable water environments. In addition, the L-shaped bracket 334 is connected to the rear end of the second horizontal connecting rod 323, one end of the ball head connecting rod 331 is connected to the vertical section of the L-shaped bracket 334, and the other end is connected to the fixed end of the horizontal telescopic rod 330.

[0039] Further, the distance between the horizontal telescopic rod 330 and the rear end of the pontoon 30 is less than the distance between the horizontal telescopic rod 330 and the front end of the pontoon 30. Thus, when the horizontal telescopic rod 330 performs the telescopic action, it can drive the pontoon 30 to rotate precisely around the vertical connecting shaft 31.

[0040] Specifically, when the water surface garbage cleaning ship switches to the cleaning state, the horizontal telescopic rods 330 on both sides are driven to expand synchronously. Since the rear end of the telescopic rod is closer to the rear of the pontoon 30, the thrust is first applied to the rear end, causing the rear end of each pontoon 30 to retract toward the center of the hull 1, and the front end of the pontoon 30 to expand outward relative to the sides of the hull 1, i.e., the left and right pontoon 30 rotate toward each other, forming an eight-shaped arrangement, and the central opening collects floating garbage like a funnel toward the center of the hull 1, effectively guiding and expanding the cleaning range.

[0041] In contrast, when the cleaning ship enters navigation mode or passes through a narrow waterway, the horizontal telescopic rods 330 on both sides are synchronously retracted. As the length of the telescopic rods gradually shortens, under the action of tension, the rear end of each side of the buoy 30 swings outward, and the front end retracts inward, until the buoy 30 is completely parallel to the two sides of the ship body 1, that is, the left and right buoys 30 rotate away from each other. At this time, the parallel posture of the buoy 30 minimizes the width of the entire ship, not only reducing water resistance and improving the maneuverability and energy efficiency of the cleaning ship, but also facilitating the safe passage of the cleaning ship in narrow spaces.

[0042] Further, a propeller 35 is arranged at the rear end of each buoy 30, and the two propellers 35 can independently control the rotation direction and speed. By forward or reverse rotation of the two propellers 35, the cleaning ship can move forward, backward or make a U-turn in place; and by differential operation of the two propellers 35, that is, one side accelerates, the other side decelerates or reverses, the cleaning ship can flexibly turn and change direction on the water surface with a small radius, supporting intelligent navigation functions such as local path tracking and autonomous obstacle avoidance. This double-propeller 35 control method replaces the traditional rudder-type steering structure, responds faster and moves more smoothly, and is especially suitable for actual cleaning scenarios where water space is limited and the operation path is complex.

[0043] To meet the stability and power performance requirements of water surface operation, in this embodiment, the propeller 35 is a pair of forward and reverse paddle type ROV (Remotely Operated Vehicle) brushless motor propellers, which have the characteristics of compact structure, high waterproof level and strong thrust. The 35A underwater motor special ESC (Electronic Speed Controller) used in conjunction can stably drive the propeller 35 to operate underwater for a long time under high load, ensuring that the propulsion system has good dynamic response and reliability. The forward and reverse paddle design can also effectively counteract the spin torque caused by water flow disturbance, further improving the navigation stability.

[0044] Further, as shown in Figure 6 each buoy assembly further includes a damping assembly 34, and the vertical connecting shaft 31 is connected to the top surface of the buoy 30 through the damping assembly 34 to realize flexible connection between the buoy 30 and the ship body 1 and buffer the impact force caused by water surface fluctuations. Specifically, the damping assembly 34 is composed of a damping bracket 340 and an elastic member 341: one end of the damping bracket 340 is rotatably connected to the end of the vertical connecting shaft 31 away from the second horizontal connecting rod 323, and the other end is hingedly connected to the top surface of the buoy 30; the upper end of the elastic member 341 is fixed to the top surface of the buoy 30, and the lower end is fixed to the damping bracket 340. In this way, when the vertical connecting shaft 31 bears the torque transmitted between the ship body 1 and the buoy 30, the damping bracket 340 can produce a small displacement under the elastic force of the elastic member 341, so that the buoy 30 can not only complete the lifting and folding actions with the connecting rod assembly, but also make a soft and elastic up-and-down swing relative to the ship body 1.

[0045] The elastic member 341 can be made of high-elastic rubber or spring with good fatigue life, and the initial preload can ensure that the force of the buoy 30 on the ship body 1 always falls within the effective compression stroke range of the elastic member 341 in the normal navigation and cleaning state. The damping assembly 34 is integrated between the top surface of the buoy 30 and the vertical connecting shaft 31, and provides a soft connection for the system while the second horizontal connecting rod 323 and the support structure are rigidly positioned, effectively isolating the water surface vibration from the main structure of the ship body 1. When the ship passes through the wave fluctuation or cleaning operation, the buoy 30 will generate corresponding vibration and impact load due to the movement of the connecting rod assembly and the water power. The elastic member 341 absorbs and converts this part of the energy, and disperses the impact force to the damping support 340 and the vertical connecting shaft 31 through its own elastic deformation, avoiding the direct transmission of sharp impact load to the ship body 1 structure; at the same time, the hinged design of the damping support 340 also makes the energy release more gentle, and the relative position relationship between the buoy 30 and the ship body 1 is always stable.

[0046] In general, the damping assembly 34 can effectively absorb and attenuate the wave impact, significantly reduce the vibration response of the whole ship in complex water conditions, reduce the structural fatigue caused by the movement of the buoy 30, improve the operation smoothness and reliability of the equipment, and prolong the service life of the cleaning ship. At the same time, the maintenance period of the whole ship and the assembly is also greatly prolonged, meeting the reliable operation requirements in long-term and high-intensity environment. Especially in the large wave area or high-speed operation mode, this flexible connection can effectively reduce the dynamic load peak of the ship body 1 and the connecting rod assembly, thereby improving the operation stability and safety of the water surface garbage cleaning ship.

[0047] Further, as shown in Figure 3 The garbage collection assembly 2 is composed of a conveying frame 20, a garbage can 21, a gripper 22, a water pump, a first sensor and other parts, which cooperates to complete the whole process of automatic operation from garbage interception, guidance, collection to dumping. First, the conveying frame 20 is fixedly installed at the rear end of the ship body 1, and the top end is slightly higher than the top surface of the ship body 1, and the bottom end is below the water surface, forming a guide channel through the water surface and the garbage storage tank 10 of the ship body 1. In the annular support at the bottom end of the conveying frame 20, the garbage can 21 is arranged, and the top surface of the garbage can 21 is below the water surface, which realizes the unobstructed fishing of the floating garbage on the water surface by using the surface tension of the water at the can rim. A chute is provided on the side of the conveying frame 20, and the gripper 22 is connected with the chute through a sliding block. A plurality of drainage holes are designed at the bottom of the garbage storage tank 10 and the garbage can 21, which are used for filtering water while collecting garbage. This design not only reduces the demand for storage space, but also reduces the overall weight, improves the running speed and load capacity.

[0048] To ensure that the garbage can 21 can continuously and efficiently collect the surface floating objects, a water pump and a first sensor are installed in the can. In operation, the water pump creates a water level difference between the inside and outside of the can, and the water surface floating objects are sucked into the can; the first sensor detects the garbage accumulation height in the garbage can 21 in real time, and when the first sensor detects that the set capacity is reached, the system triggers the action of the gripper 22. The gripper 22 grabs the garbage-filled garbage can 21 and, under the action of the sliding block, rises along the sliding groove to the top, and the top of the sliding groove is arc-shaped. The sliding block is designed as a cylindrical piece. The cooperation of the cylindrical sliding block and the arc-shaped groove makes the gripper 22 automatically overturn, and the garbage can 21 is converted from the "mouth upward and outward" position to the "mouth inclined downward and aligned with the garbage storage groove 10" position, so as to pour the garbage in the can into the garbage storage groove 10 arranged on the top surface of the ship body 1, realizing a one-step process from fishing to unloading. It should be understood that the garbage collection assembly 2 can be arranged in multiple numbers along the width direction of the ship body 1 according to the width of the ship body 1, so as to improve the collection efficiency.

[0049] In addition, to prevent the water surface garbage density from being too high and the garbage can 21 from being unable to process, a blocking net 23 is arranged on the side of the garbage can 21 away from the ship body 1. The blocking net 23 is fixed at the rear ends of the left and right floating buoys 30, respectively, and the bottom surface is lower than the water surface and the top surface is higher than the water surface. When the floating garbage density suddenly increases, the blocking net 23 can form a blocking barrier at the last end to concentrate the garbage around the garbage can 21, so as to eliminate omissions and further improve the comprehensiveness and efficiency of the cleaning operation.

[0050] Further, a set of highly integrated electric control assemblies are arranged at the front end of the ship body 1, which are used to accurately and synchronously control the oblique telescopic rod 320 and the horizontal telescopic rod 330, and ensure smooth switching between the cleaning and sailing states. Specifically, the electric control assemblies drive the oblique telescopic rod 320 and the horizontal telescopic rod 330 through electrical connection, and in the cleaning state, the two-stage telescopic rods can be simultaneously stretched to the maximum stroke, so that the floating buoys 30 are moved away from the ship body 1 under the action of the oblique telescopic rod 320 and are rotated to be opened in the form of a splay under the action of the horizontal telescopic rod 330, so as to maximize the garbage collection range. When sailing or passing through a restricted waterway, the two-stage telescopic rods can be synchronously contracted to the shortest length or other appropriate lengths, so that the floating buoys 30 are moved close to the ship body 1 under the action of the oblique telescopic rod 320 and are rotated to be parallel to the ship body 1 under the action of the horizontal telescopic rod 330, thereby significantly reducing the width of the ship body 1 and reducing the water resistance, and improving the passability and sailing efficiency. In the embodiment, the oblique telescopic rod 320 and the horizontal telescopic rod 330 are both electric push rods.

[0051] Specifically, as shown in FIG. 6, the electric control assembly comprises a control box 400, a first electric push rod 410, a second electric push rod 420, a third electric push rod 430 and a fourth electric push rod 440. Figure 7As shown, the electric control assembly adopts a hardware architecture of an STM32F407 master chip + UCOS-III real-time operating system for data processing real-time performance, control cycle accuracy, and implementation of task diversity, realizes layered control through integrated sensor interfaces and actuator driving modules on the circuit board, and in the process of working of the cleaning ship hardware system, multiple tasks such as multi-sensor data processing, multi-actuator control, and multi-decision process complex calculation must be implemented. In this process, traditional bare machine programming cannot meet the real-time performance requirements, so the embodiment adopts the UCOS-III real-time operating system for layered control. The system is divided into two levels: a hardware support layer and a hardware function layer, which cooperatively complete tasks such as data acquisition, information processing, and action execution.

[0052] The hardware support layer reads Euler angles, latitude and longitude, and other attitude information of an IMU and GPS integrated sensor through serial communication; controls the thruster 35 through PWM output to realize navigation of the cleaning ship; realizes bidirectional transmission of control instructions and state feedback with the upper computer through serial communication to realize navigation data and fault diagnosis; and controls the electric push rod through CAN bus communication to realize closed-loop control, controls the electric push rod to extend and retract according to different working states, and realizes transformation of different forms. The hardware function layer UCOS-III performs multi-task management, divides the tasks into three modules of a sensing layer, a decision layer, and an execution layer, and guarantees the real-time performance of each task through priority scheduling. The sensing layer analyzes the original information of the IMU and GPS in real time, outputs attitude and positioning information, and provides basic support for navigation and control; the decision layer calculates key control parameters such as the duty ratio of the thruster 35 and the absolute position of the electric push rod by receiving control instructions issued by the upper computer and combining the current environment and task requirements; and the execution layer controls the forward and reverse rotation and speed of the thruster 35 by setting the PWM duty ratio of the thruster 35 and controls the position of the electric push rod through CAN communication for closed-loop control.

[0053] In order to further enhance the perception ability of the surrounding water surface garbage, the electric control assembly further includes an image acquisition module 40 and a preprocessing module for acquiring water surface garbage image data around the ship body 1 in real time and preprocessing the image data. As shown in Figure 1 and Figure 2 As shown, the image acquisition module 40 selects an Intel RealSense stereo depth camera and is arranged at the front end of the top surface of the ship body 1. The depth field of view angle (FOV) is 87°×58°, and the depth accuracy is better than 2% at a distance of 4 m. The field of view angle of the RGB sensor reaches 90°×65°. The performance parameters of the camera can fully meet the demand of the cleaning ship for target perception.

[0054] In addition, the core goal of the water surface garbage cleaning ship of the present embodiment is to solve the key problems of accurate identification of garbage and efficient path planning in diversified water environments through the collaborative design of mechanical structures and intelligent control technologies. However, the water surface garbage cleaning ship faces significant challenges in actual operation: on the one hand, factors such as water color, light intensity, and garbage observation angle inevitably affect the recognition effect of conventional visual classifiers; on the other hand, the strangeness and complexity of the water environment further increase the difficulty of navigation.

[0055] In view of the above challenges, as shown in Figure 8 The electronic control assembly further includes a target detection module based on the YOLOv8 model, which takes the preprocessed image data as input, performs multi-scale feature extraction and fusion, and outputs the category and position information of the water surface garbage, realizing a YOLOv8-based water surface garbage intelligent recognition and path planning system. In terms of intelligent recognition, a garbage dataset covering different water colors, light intensities, and garbage observation angles is collected, the YOLOv8 model is trained, and the generated model weight is deployed to the on-board computer (upper computer), realizing robust recognition of water surface garbage. In terms of path planning, after identifying the garbage target, the system uses a depth camera to obtain the three-dimensional coordinate information of the target garbage relative to the camera, and fuses laser radar data to construct an environment map, finally generating the optimal path for the cleaning ship to reach the target garbage, and realizing the deformation and path tracking of the cleaning ship by controlling the absolute position of the electric push rod, so as to adapt to more complex water environments.

[0056] Finally, as shown in Figure 9 The electronic control assembly further includes a ROS distributed multi-node communication module. The present application adopts ROS to build a hierarchical control architecture of the intelligent system based on the distributed multi-node communication mechanism, which effectively supports the implementation of platform functions. Among them, Jetson Nano serves as the master control, relying on ROS to build the master node, and the GPS and IMU receiving nodes, the lower computer communication node, the YOLOv8 visual recognition node, the depth camera sensor node, and the laser radar node form a clear node network. Each node realizes distributed communication through ROS: the GPS and IMU receiving nodes collect GPS and IMU sensor data through serial ports, the lower computer communication node completes bidirectional communication with the lower computer / actuator through serial ports, the YOLOv8 visual recognition node identifies water surface garbage, the depth camera sensor node obtains the three-dimensional coordinate information of the water surface garbage, and the laser radar node perceives environmental information.

[0057] In terms of control logic, ROS facilitates the landing of hierarchical control. In the hardware support layer, the lower machine can receive the motion instructions sent by the upper machine through the ROS communication node, and then control the speed of the thruster 35 and the position of the electric push rod to realize local path tracking and planning; while in the hardware function layer, the ROS node undertakes sensing, decision-making, and task scheduling. In the sensing layer, the GPS and IMU receiving node, the YOLOv8 identification node, the depth camera sensor node, and the laser radar node collect and analyze data in real time and publish them; in the decision-making layer, the main node integrates multi-node information, completes intelligent identification, closed-loop control, path planning, and other decisions, and outputs control instructions; in the execution layer, the lower machine communication node accurately controls the actuator action according to the instructions of the decision-making layer. With the distributed multi-node communication of ROS, the project breaks through the limitations of traditional control architecture, realizes multi-task parallelism and real-time interaction, meets the needs of multi-sensor processing, multi-actuator control, and complex decision-making calculation of the cleaning ship, and lays a solid foundation for the stable operation of the platform in multiple water environments and efficient completion of tasks.

[0058] Specific workflow: The water surface garbage cleaning ship can freely switch between navigation and cleaning states when performing tasks, and realizes full-automatic closed-loop operation from garbage positioning, collection to unloading through a series of coordinated actions.

[0059] As shown in Figure 2 When the cleaning ship receives a new garbage cleaning task and starts, the electric control assembly simultaneously drives the two oblique telescopic rods 320 and the horizontal telescopic rod 330 to quickly extend to the maximum stroke. At this time, the ship body 1 reaches the maximum width, and the left and right floats 30 are arranged in a "figure eight" shape under the moment effect of the inward retraction at the rear end and the outward expansion at the front end, forming a wide funnel channel. After the ship body 1 enters the cleaning state, it first relies on the structural guiding action of the two side floats 30 to collect the scattered floating garbage to the center; then the garbage can 21 uses the surface tension of the can rim and the water level difference created by the internal water pump to self-suck the garbage into the can, forming a second collection layer; finally, the intercepting net 23 arranged at the rear end of the ship body 1 intercepts the water surface garbage, which can effectively block and concentrate the floating objects when the garbage density is high, ensuring that the garbage enters the garbage can 21 without omission, realizing efficient coverage of three-level collection.

[0060] As shown in Figure 1 When the cleaning ship needs to pass through a narrow water area, the electric control assembly controls the oblique telescopic rods 320 and the horizontal telescopic rod 330 to be simultaneously retracted to the shortest state, reducing the overall width to facilitate smooth passage. After passing through the narrow area, it is restored to the cleaning state to continue the garbage cleaning task.

[0061] In the cleaning process, the first sensor in the garbage can 21 continuously monitors the garbage accumulation height, and once the garbage volume reaches the preset capacity, the system starts the mechanical gripper 22. The gripper 22 rises to the top end along the chute of the conveying frame 20, and completes the overturning by the cooperation of the sliding block and the arc-shaped groove, changes "can opening upward" to "can opening downward" and is aligned with the ship top garbage storage tank 10, accurately pours the garbage into the garbage storage tank 10. At the same time, the garbage accumulation height is monitored in real time by image recognition technology, and further assisted by multiple miniature light-sensitive photoelectric sensors arranged above the garbage storage tank 10, the garbage accumulation height of the garbage storage tank 10 is redundantly detected in a non-uniform point distribution manner. When more than 70% of the sensors are triggered, the system judges that the garbage storage tank 10 has reached near full load and automatically issues a return command to avoid the risk of misjudgment due to single volume monitoring.

[0062] In the return phase, the electric control assembly retracts the oblique telescopic rod 320 to a preset width to meet the demand for mobility during the return process; at the same time, the horizontal telescopic rod 330 is synchronously retracted to the shortest length, so that the float 30 is stably folded from the "figure-eight shape" to a state parallel to the ship body 1, greatly reducing water resistance and improving endurance efficiency. After adjustment, the cleaning ship enters the navigation state and returns to the designated area along the predetermined path to unload the garbage, completing the entire garbage collection and transportation process.

[0063] Through the above coordinated control workflow, the present application not only improves the garbage collection efficiency in wide water areas with the optimal layout, but also quickly folds the ship body 1 when passing through narrow waterways, balancing operation efficiency and traffic capacity; the full load judgment and automatic unloading mechanism of multiple sensor fusion greatly improve the intelligence level and reliability of the system, providing a safe, efficient and continuous technical solution for surface garbage cleaning.

[0064] Overall, on the basis of realizing garbage cleaning, the present application integrates a multi-parameter water quality detection module, realizes "cleaning-detection" integrated operation by monitoring the water environment in real time while performing garbage collection tasks. In addition, the device has the ability of autonomous path planning and obstacle avoidance, combined with an intelligent sensing system and a wireless communication module, realizes full-process unmanned operation, improves operation efficiency and intelligence level.

[0065] In this embodiment, as shown in Figure 1 In the navigation state, the total length of the surface garbage cleaning ship is 1.8 meters, the total width is 2.07 meters, and the garbage collection width inside the float 30 is 1.27 meters. At this time, the ship body 1 has a compact structure and good mobility, especially suitable for flexible traffic and local cleaning operation in limited water areas such as narrow rivers, under bridges and urban landscape water systems.

[0066] As shown in Figure 2As shown, after entering the cleaning state, the cleaning ship drives the pontoons 30 to unfold downward and outward through the diagonal telescopic rods 320 and the horizontal telescopic rods 330, and rotates to form a splayed arrangement. The total length of the hull 1 is slightly reduced to 1.73 meters, and the width of the catamaran is expanded to 2.78 meters. The maximum unfolding angle of the single pontoon 30 is 25°, and the width of the garbage collected inside the pontoon 30 reaches 2.68 meters. The relevant parameters in the two states are compared in the following table.

[0067]

[0068] This change improves the garbage collection efficiency by about 111.02%, significantly improving the coverage and cleaning capacity of floating garbage on the water surface per unit time. At the same time, the wider hull 1 design further enhances the stability of the equipment in open waters, enabling it to maintain stable operation in relatively large waves, ensuring the safety and continuity of the operation. This deformation structure not only takes into account the adaptability of different water environments, but also realizes the quick switching from high mobility to high efficiency operation, fully embodying the flexibility and practicality of the cleaning ship in functional design.

[0069] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A water surface litter cleaning vessel, characterized in that, The garbage collection assembly is installed on the rear end of the hull in a lifting manner, and is used to collect water surface garbage and move along the height direction of the hull to pour the water surface garbage into the garbage storage groove. The connecting rod assembly and the oblique telescopic rod are further included, each of the two floating buoys is movably connected with the hull through the connecting rod assembly, and the fixed ends of the two oblique telescopic rods are respectively connected with the two sides of the hull along the width direction, and the telescopic ends are respectively connected with the connecting rod assemblies on the corresponding sides. The ball head connecting rod and the horizontal telescopic rod are further included, the fixed ends of the two horizontal telescopic rods are connected with different connecting rod assemblies through the ball head connecting rod, and the telescopic ends are respectively connected with the corresponding floating buoys.

2. A water surface litter cleaning boat according to claim 1, characterized in that The vertical connecting shaft is movably connected with the floating buoys through the damping assembly, the damping assembly includes a damping support and an elastic member, one end of the damping support is connected with one end of the vertical connecting shaft away from the connecting rod assembly, and the other end is movably connected with the top surface of the floating buoy, and the two ends of the elastic member are respectively connected with the top surface of the floating buoy and the damping support.

3. A water surface litter cleaning boat according to claim 1 or 2, characterized in that The connecting rod assembly includes two first connecting rods arranged in parallel and at intervals along the length direction of the hull, one end of each of the two first connecting rods is hingedly connected with the side surface of the hull, a first horizontal connecting rod and a second horizontal connecting rod are arranged in parallel and at intervals between the two first connecting rods, the telescopic end of the oblique telescopic rod is hingedly connected with the first horizontal connecting rod, and the second horizontal connecting rod is movably connected with the top surface of the floating buoy through the vertical connecting shaft.

4. A water surface litter cleaning boat according to claim 3, characterized in that The connecting rod assembly further includes two second connecting rods arranged in parallel and at intervals along the length direction of the hull, one end of each of the two second connecting rods is hingedly connected with the side surface of the hull, each of the second connecting rods is arranged in parallel and at intervals with different first connecting rods along the height direction of the hull, a vertical connecting rod is hingedly connected between the first connecting rod and the second connecting rod located in the same vertical plane, and the second horizontal connecting rod is perpendicularly connected between the two vertical connecting rods.

5. A water surface litter cleaning boat according to claim 1 or 2, characterized in that The garbage collection assembly includes a conveying frame, a garbage can and a gripper, the conveying frame is fixedly installed on the rear end of the hull, the garbage can is placed in the annular support at the bottom end of the conveying frame, the top surface of the garbage can is lower than the water surface to collect water surface garbage, and the gripper is slidingly installed on the conveying frame to grab the garbage can and drive the garbage can to move along the height direction of the hull to pour the water surface garbage in the garbage can into the garbage storage groove.

6. A water surface litter cleaning boat according to claim 5, characterized in that The garbage collection assembly further comprises an intercepting net, two ends of the intercepting net are connected to the two floating buoys respectively, the intercepting net is located on the side of the garbage can away from the ship body, and the top surface of the intercepting net is higher than the water surface, so as to intercept the water surface garbage around the garbage can.

7. A water surface litter cleaning boat according to claim 5, characterized in that A water pump and a first sensor are installed in the garbage can, the water pump is used to suck the water surface garbage into the garbage can, and the first sensor is used to detect the accumulation state of the water surface garbage in the garbage can.

8. A water surface litter cleaning boat according to claim 1 or 2, characterized in that The distance between the horizontal telescopic rods and the rear ends of the floating buoys is less than the distance between the horizontal telescopic rods and the front ends of the floating buoys, when the water surface garbage cleaning ship is in the cleaning state, the two horizontal telescopic rods are synchronously stretched, and the two floating buoys are rotated towards each other to form an eight-shaped arrangement, when the water surface garbage cleaning ship is in the sailing state, the two horizontal telescopic rods are synchronously contracted, and the two floating buoys are rotated away from each other to form a parallel arrangement.

9. A water surface litter cleaning boat according to claim 1 or 2, characterized in that An electric control assembly is further installed at the front end of the ship body, the electric control assembly is electrically connected with the oblique telescopic rods and the horizontal telescopic rods respectively, and is used to control the synchronous extension and contraction of the oblique telescopic rods and the horizontal telescopic rods.

10. A water surface litter cleaning boat according to claim 9, characterized in that The electric control assembly comprises a circuit board, on which UCOS-III is run to perform real-time scheduling of various functional tasks; An image acquisition module and a preprocessing module are used to acquire water surface garbage image data around the ship body in real time, and to pre-process the image data; A target detection module based on YOLOv8 model is used to input the pre-processed image data, perform multi-scale feature extraction and fusion, and output the category and position information of the water surface garbage; A ROS distributed multi-node communication module is used to deliver the output results of the target detection module to the UCOS-III.

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