Visual control water surface floating object cleaning equipment

Abstract

The invention discloses visual control water surface floating object cleaning equipment. The visual control water surface floating object cleaning equipment comprises a frame body and an object fishing mechanism arranged on the frame body; the floating object fishing device is characterized by further comprising a driving assembly used for driving the object fishing mechanism to fish and transfer floating objects in a preset water area; the collecting mechanism is used for collecting the floating objects fished and transferred by the object fishing mechanism; the visual management and control mechanism comprises a visual identification module in electric connection or communication connection with the driving assembly, and the visual identification module is used for identifying the number and / or flow velocity of floating objects in a preset water area and is used in cooperation with the driving assembly; the driving assembly and the collecting mechanism are used for adaptively adjusting the fishing frequency and / or the fishing speed of the fishing mechanism according to the number and / or the flow speed of the floating objects in the preset water area, so that the whole system can dynamically respond to the change condition of the floating objects in the water area; and finally, the overall technical effects of improving the precision and efficiency of cleaning operation and improving the energy utilization rate are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water area cleaning, in particular to a visual control water surface floating object cleaning device. BACKGROUND

[0002] With the acceleration of urbanization and frequent human activities, the water surface floating object pollution problem of rivers, lakes, reservoirs, ports and other water areas is becoming increasingly prominent. These floating objects mainly include plastic garbage, tree leaves and branches, algae and other waste, which not only destroys the water landscape, affects the ecological environment, but also may block waterways, hinder navigation, and even threaten the safety of aquatic organisms and water quality.

[0003] Traditional water surface floating object cleaning mainly relies on manual salvage or simple mechanized equipment. Manual salvage is low in efficiency, high in labor intensity, high in operation risk, and difficult to deal with large-area or continuously generated floating objects. Although the existing mechanized cleaning equipment (such as cleaning ships, trash racks, conveyor belt type collectors, etc.) improves the efficiency to some extent, its working mode is mostly fixed or relies on manual control, and the intelligent degree is insufficient. These devices usually cannot real-time perceive the actual distribution state (such as quantity, flow rate, aggregation area, etc.) of the water area floating objects, so they cannot dynamically adjust the operation strategy, resulting in energy waste, uneven cleaning coverage, weak response to sudden pollution, etc. Especially in the case of sudden increase in the number of floating objects or rapid drifting under the influence of water flow, the fixed rhythm equipment often appears "not enough to salvage" or "idling" phenomenon, and the cleaning efficiency is greatly reduced.

[0004] In recent years, the rapid development of machine vision and automatic control technology provides a new solution for intelligent environmental protection equipment. The application of visual recognition technology to water surface monitoring can realize automatic detection, positioning and state analysis of floating objects. However, how to deeply integrate and real-time link the visual recognition information with the execution mechanism (such as salvage and conveying mechanism) of the cleaning equipment to form a "perception-decision-execution" integrated closed-loop control system, so that the equipment can adaptively adjust the timing, frequency and speed of salvage action according to the real-time dynamics (such as quantity density and drifting speed) of the water surface floating objects, thereby realizing efficient, accurate and energy-saving adaptive cleaning, is still a technical problem to be solved in this field. Therefore, the present application of a visual control water surface floating object cleaning device is used to solve the above problems. SUMMARY

[0005] In order to overcome the deficiencies of the prior art, the present application provides a visual control water surface floating object cleaning device.

[0006] The technical scheme adopted by the present application to solve its technical problems is: The present application provides a visual control water surface floating object cleaning device, comprising a frame body and a salvage mechanism arranged on the frame body; characterized in that it further comprises: a driving assembly for driving the fishing mechanism to fish and move the floating objects in the preset water area; a collecting mechanism for collecting the floating objects fished and moved by the fishing mechanism; a visual control mechanism including a visual recognition module electrically connected or communicatively connected with the driving assembly, the visual recognition module being configured to identify the quantity and / or flow rate of the floating objects in the preset water area, and being configured to cooperate with the driving assembly to adaptively adjust the fishing frequency and / or fishing speed of the fishing mechanism according to the quantity and / or flow rate of the floating objects in the preset water area.

[0007] Preferably, the visual control mechanism further includes a support for mounting the visual recognition module, the support being arranged on the upstream side of the frame body, and the visual recognition module includes a visible light camera structure and an infrared camera structure, the visible light camera structure and the infrared camera structure being respectively configured to ensure the identification of the floating objects during the day and at night, to monitor the preset water area uninterruptedly for 24 hours a day, and to ensure that the quantity, type and motion trajectory of the floating objects can be stably and accurately identified under different lighting conditions (whether it is strong light during the day or extremely dark environment at night), thereby providing a data sensing basis with all-weather and high reliability for subsequent intelligent decision-making.

[0008] Preferably, the visual recognition module further includes a photosensitive resistance sensor and a light supplement array, the photosensitive resistance sensor being configured to detect the ambient light intensity, and the light supplement array being configured to cooperate with the photosensitive resistance sensor to supplement light to the camera structure according to the detection result, thereby realizing adaptive compensation of the ambient light, effectively solving the problem of image quality degradation under complex lighting conditions such as backlight, dusk and dawn, and thereby ensuring that the camera can capture clear contrast and rich detail water surface images at any time, greatly improving the robustness and accuracy of the visual recognition system.

[0009] Preferably, the light supplement array includes infrared light supplement lamp beads and LED light supplement lamp beads, the infrared light supplement lamp beads and the LED light supplement lamp beads being respectively configured to enable infrared light supplement and visible light supplement; when the ambient light intensity is greater than 500 lux during the day, the infrared light supplement and the visible light supplement are turned off; when the ambient light intensity is between 10 lux and 500 lux during a rainy day or during the hours of 3 am and 11 am, the visible light supplement is started; When the ambient light intensity is 0-5 lux at night, the visible light fill light is turned off and the infrared light fill light is enabled to meet the identification requirements in the night or dark environment, realizing precise and energy-saving switching of the fill light mode and intensity. Not only does it realize low-interference monitoring through invisible infrared light in extremely dark light, but also avoids underexposure through dynamic adjustment of the visible light fill light in medium light, ultimately significantly optimizing the overall energy consumption of the system while ensuring the best identification effect.

[0010] Preferably, a conveying belt driven by a driving assembly is rotatably arranged on the frame body, and a plurality of fishing mechanisms are equidistantly arranged on the conveying belt. The driving assembly is arranged on the frame body to drive the conveying belt to rotate relative to the frame body, thereby driving the fishing mechanisms to fish and move the floating objects in the preset water area, realizing continuous and automatic assembly line operation from identification to fishing, so that the device can clean the water area in a cycle and without dead angle at a constant pace or a pace adjusted according to instructions, and the intermittent manual fishing is changed into efficient and continuous mechanical collection, greatly improving the floating object processing capacity per unit time.

[0011] Preferably, the fishing mechanism comprises a connecting frame and a fishing net arranged on the connecting frame. The connecting frame comprises a first frame portion arranged on the conveying belt and a second frame portion slidingly arranged on the first frame portion. The fishing net is arranged at an end of the second frame portion away from the first frame portion. A first driving member is further arranged on the first frame portion to drive the second frame portion to slide relative to the first frame portion, thereby driving the fishing net to rise and fall with the water level, realizing automatic adjustment of the fishing component following the change of the water level (such as the rise and fall caused by tides, flood discharge and drought), ensuring that the fishing net can always work at the optimal draft depth when the water level fluctuates within a certain range, avoiding idling due to too low water level and missing fishing due to too high water level, and greatly enhancing the working adaptability and reliability of the device under various water level conditions.

[0012] Preferably, the collecting mechanism comprises a stake body and a collecting net. A second driving member for driving the collecting net to move relative to the stake body is arranged on the stake body. The second driving member drives the collecting net to collect and / or transfer the floating objects fished and moved by the fishing net, realizing coordinated operation and physical separation with the fishing mechanism. The collecting net can receive the conveyed floating objects and temporarily store or transfer them at regular intervals, ensuring smooth and continuous fishing process and avoiding secondary scattering of the fished objects. It is also convenient for subsequent centralized cleaning and disposal, and can realize full-process automatic collection and closed loop.

[0013] Preferably, the fishing net comprises a plurality of vertical plates arranged in an array on the connecting frame, the moving path of the fishing net is parallel to the horizontal plane in the preset water area, the distance from the vertical plates close to the upstream of the preset water area to the stake is equal to the distance from the vertical plates far from the upstream of the preset water area to the stake, and both are greater than the distance from the vertical plates between the vertical plates close to the upstream of the preset water area and the vertical plates far from the upstream of the preset water area to the stake, thereby creating a dynamic inwardly converging conveying channel for continuously guiding the floating objects from the two sides to the center of the path and converging during the moving process, effectively preventing the floating objects from escaping from the edge due to water flow or inertia during the moving process, ensuring that most of the intercepted floating objects can be stably and efficiently conveyed to the collecting mechanism, and improving the success rate and integrity of single moving.

[0014] Preferably, the plurality of vertical plates are arranged in an arc-shaped array, and each vertical plate is arranged obliquely relative to the horizontal plane of the preset water area, the cross section of the vertical plate is in a shuttle shape, and the shuttle-shaped vertical plate is provided with an avoiding hole in the width direction of the cross section, and the shuttle-shaped and oblique design greatly reduces the resistance in water, thereby reducing the driving energy consumption; the avoiding hole can allow part of the water flow to pass through, thereby significantly reducing the water resistance while efficiently collecting large floating garbage.

[0015] Preferably, the water surface floating object cleaning device comprises a water level sensor and a flow rate sensor, the water level sensor is used for detecting the water level height in the preset water area, and is used in cooperation with the first driving part to ensure that when the water level change amplitude exceeds the preset floating range, the first driving part drives the fishing net to move upward or downward, the flow rate sensor is used for detecting the flow rate of the water level, and when the water flow speed approaches zero, the driving assembly and the second driving part are paused, and the visual control mechanism is operated in a low-power mode to save energy, thereby realizing deep coupling and adaptive management of the working state of the device and the hydrological environment, automatically correcting the working plane according to the water level, intelligently starting and stopping according to the flow rate (such as hibernating to save energy in still water), and maintaining the basic monitoring of the visual system in the low-power mode, so that the device becomes an intelligent water body cleaning system that can “perceive the environment, think and decide, act efficiently, and save energy in standby mode”, and realizes the best balance of cleaning efficiency, device durability and energy economy in complex natural environment.

[0016] The beneficial effects of the present application are: through the integration of the fishing mechanism, the driving assembly, the collecting mechanism and the visual control mechanism in the frame, the automatic and intelligent cleaning of the floating objects in the preset water area is realized, the visual identification module of the visual control mechanism and the driving assembly work cooperatively, the number and flow rate of the floating objects are identified in real time, the fishing time and speed of the fishing mechanism are adaptively adjusted, so that the whole system can dynamically respond to the change condition of the floating objects in the water area, and finally the overall technical effects of improving the cleaning operation accuracy, efficiency and energy utilization rate are achieved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced, and the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0018] The present application will be further described below in combination with the drawings and embodiments.

[0019] Figure 1 is a structural schematic diagram of the water surface floating object cleaning equipment of the present application; Figure 2 is a structural schematic diagram of the visual control mechanism of the present application; Figure 3 is a structural schematic diagram of the driving assembly and the object fishing mechanism of the present application; Figure 4 is a schematic diagram of the communication connection relationship between the sensor and the related module and the central control system of the present application; Figure 5 is a top view schematic diagram of the object fishing net of the present application; Figure 6 is a structural schematic diagram of the collecting mechanism of the present application.

[0020] The reference signs include: 1, frame body; 2, object fishing mechanism; 3, driving assembly; 4, collecting mechanism; 5, visual control mechanism; 6, water level sensor; 7, flow rate sensor; 21, connecting frame; 211, first frame part; 212, second frame part; 22, object fishing net; 31, conveying belt; 51, visual identification module; 511, photosensitive resistance sensor; 512, light supplement array; 52, support. DETAILED DESCRIPTION

[0021] Referring to Figures 1 to 6 A visual control water surface floating object cleaning equipment, comprising a frame body 1, the frame body 1 is provided with an object fishing mechanism 2; further comprising: a driving assembly 3, for driving the object fishing mechanism 2 to fish and transfer the floating objects in the preset water area; a collecting mechanism 4, for collecting the floating objects fished and transferred by the object fishing mechanism 2; a visual control mechanism 5, comprising a visual identification module 51 electrically connected or communicatively connected with the driving assembly 3, the visual identification module 51 is used for identifying the number and / or flow rate of the floating objects in the preset water area, and is used in cooperation with the driving assembly 3, so as to drive the driving assembly 3 and the collecting mechanism 4 to adaptively adjust the fishing frequency and / or fishing speed of the object fishing mechanism 2 according to the number and / or flow rate of the floating objects in the preset water area.

[0022] Through the above structural arrangement, in use, through the integrated fishing mechanism 2, the driving assembly 3, the collection mechanism 4 and the visual control mechanism 5 of the frame body 1, the automatic and intelligent cleaning of the floating objects in the preset water area is realized, the visual identification module 51 of the visual control mechanism 5 cooperates with the driving assembly 3, the number and flow rate of the floating objects are identified in real time, the fishing time and speed of the fishing mechanism 2 are adaptively adjusted, so that the whole system can dynamically respond to the change condition of the floating objects in the water area, and finally the overall technical effects of improving the cleaning operation accuracy, efficiency and energy utilization rate are achieved.

[0023] Specifically, the visual control mechanism 5 further comprises a support 52 for installing the visual identification module 51, the support 52 is arranged on the upstream side and / or the downstream side of the frame body 1, and the visual identification module 51 is arranged on the upper end of the frame body 1. The visual identification module 51 comprises a visible light camera structure and an infrared camera structure, which are respectively used to ensure the identification of floating objects during the day and at night, and to monitor the preset water area continuously for 24 hours a day, so as to ensure that the number, type and motion trail of the floating objects can be stably and accurately identified under different lighting conditions (whether it is strong light during the day or extremely dark environment at night), and to provide all-weather and high-reliability data sensing basis for subsequent intelligent decision-making.

[0024] The support 52 is arranged on the river bank, and of course the support 52 can also be formed by means of a bridge. If it is used in a lake, the support 52 will be installed on the bank of the lake, and the frame body 1 and the support 52 are also arranged on the bank or formed by means of a bridge.

[0025] Specifically, the visual identification module 51 further comprises a photosensitive resistance sensor 511 and a light supplement array 512. The photosensitive resistance sensor 511 is used to detect the environmental light intensity, and the light supplement array 512 is used in cooperation with the photosensitive resistance sensor 511 to supplement light to the camera structure according to the detection result, so as to realize adaptive compensation of the environmental light, effectively solve the problem of image quality decline under complex lighting conditions such as backlight, dusk and dawn, and thus ensure that the camera can capture clear contrast and rich detail water surface images at any time, greatly improving the robustness and accuracy of the visual identification system.

[0026] The visual identification module 51 further comprises a solar panel, and a storage battery can also be installed to collect and store the power generated by the solar panel.

[0027] Specifically, the light supplement array 512 comprises infrared light supplement lamp beads and LED light supplement lamp beads, which are respectively used to enable infrared light supplement and visible light supplement; When the environmental light intensity is greater than 500 lux during the day, the infrared light supplement and the visible light supplement are turned off. Visible light compensation light is started when the ambient light intensity is located at 10-500 lux such as in rainy days or dawn and dusk periods; At night, when the ambient light intensity is located at 0-5 lux, the visible light compensation light is turned off, and the infrared light compensation light is enabled to meet the identification requirements in the night or dark environment, realizing the precise and energy-saving switching of the compensation light mode and intensity. Not only does it realize low-interference monitoring through invisible infrared light in extremely dark light, but also avoids underexposure through dynamic adjustment of visible light compensation light in moderate light, ultimately ensuring the best identification effect while significantly optimizing the overall energy consumption of the system.

[0028] The local true solar time is used as a reference. This document aims to describe the time period between night and day when visible light compensation light can be started. Of course, infrared light compensation light can also be enabled according to actual conditions.

[0029] Specifically, the frame body 1 is rotatably provided with a conveying belt 31 driven by a driving assembly 3. The fishing mechanism 2 is provided with a plurality of fishing mechanisms 2, which are equally spaced on the conveying belt 31. The driving assembly 3 is provided on the frame body 1 to drive the conveying belt 31 to rotate relative to the frame body 1. Then, the fishing mechanism 2 drives the floating objects in the pre-set water area to be fished and transported, realizing continuous and automatic assembly line operation from identification to fishing. The device can cycle through the water area without dead angles at a constant pace or according to the adjusted pace according to the instructions, converting intermittent manual fishing into efficient and continuous mechanical collection, greatly improving the floating object processing capacity per unit time.

[0030] Specifically, the fishing mechanism 2 includes a connecting frame 21 and a fishing net 22 provided on the connecting frame 21. The connecting frame 21 includes a first frame part 211 provided on the conveying belt 31 and a second frame part 212 slidingly provided on the first frame part 211. The fishing net 22 is provided at an end of the second frame part 212 away from the first frame part 211. A first driving member is also provided on the first frame part 211. The first driving member is used to drive the second frame part 212 to slide relative to the first frame part 211, thereby driving the fishing net 22 to rise and fall with the water level, realizing automatic adjustment of the fishing component following the water level changes (such as tides, flood discharge, and drought-induced fluctuations), ensuring that the fishing net 22 can always operate at the optimal draft depth when the water level fluctuates within a certain range, avoiding both idling due to low water level and missing fishing due to high water level, and greatly enhancing the working adaptability and reliability of the device under various water level conditions.

[0031] Of course, the first driving member can also be provided on the frame body 1. The first driving member can adjust the height of the fishing net 22 by driving the position of the second frame part 212 relative to the first frame part 211.

[0032] Specifically, the collecting mechanism 4 comprises a stake body and a collecting net, the stake body is provided with a second driving member for driving the collecting net to be movably arranged relative to the stake body, the second driving member is used for driving the collecting net to collect and / or transfer the floating objects fished by the fishing net 22, realizing the cooperative operation and physical separation with the fishing mechanism 2, the collecting net can accommodate the transferred floating objects and perform centralized temporary storage or timed transfer, ensuring the smoothness and continuity of the fishing process, avoiding the secondary scattering of the fished objects; it is also convenient for subsequent centralized cleaning and removal or processing, and can realize full-process automatic collection and closed loop.

[0033] Specifically, the collecting mechanism 4 can also be a garbage conveying mechanism, one part of the collecting mechanism 4 is located in water, and the other part extends out of the water surface to transfer the floating objects to other places, and a stake body and a second driving member can also be provided, the second driving member is arranged in the stake body, and the second driving member is used to adjust the angle or height of the collecting mechanism 4 in cooperation with the fishing mechanism 2 to realize the cleaning of the floating objects.

[0034] Specifically, the fishing net 22 comprises a plurality of vertical plates arranged in an array on the connecting frame 21, the moving path of the fishing net 22 is parallel to the horizontal plane in the preset water area, the distance from the vertical plates close to the upstream of the preset water area to the stake body is equal to the distance from the vertical plates away from the upstream of the preset water area to the stake body, and both are greater than the distance from the vertical plates between the vertical plates close to the upstream of the preset water area and the vertical plates away from the upstream of the preset water area to the stake body, forming a converging channel, which creates a dynamic inward converging conveying channel, for continuously guiding the floating objects from the two sides to the center of the path and converging in the transfer process, effectively preventing the floating objects from escaping from the edge due to water flow or inertia in the transfer process, ensuring that most of the intercepted floating objects can be stably and efficiently conveyed to the collecting mechanism 4, and improving the success rate and integrity of single transfer.

[0035] Specifically, the plurality of vertical plates are arranged in an arc array, and each vertical plate is arranged obliquely relative to the horizontal plane of the preset water area, the cross section of the vertical plate is in the shape of a shuttle, and the shuttle-shaped vertical plate is provided with an avoiding hole in the width direction of the cross section, the shuttle-shaped and oblique design greatly reduces the resistance in water, thereby reducing the driving energy consumption; the avoiding hole can allow part of the water flow to pass through, while efficiently collecting large floating garbage, significantly reducing the water resistance.

[0036] The visual control mechanism 5 is provided with at least two groups, the two groups of visual control mechanisms 5 are arranged at the upstream and downstream of the river or lake outside, and the two groups of visual control mechanisms 5 are located on both sides of the fishing mechanism 2, and the downstream visual control mechanism 5 is used to detect the fishing effect of the fishing mechanism 2 in cooperation with the upstream visual control mechanism 5.

[0037] Meanwhile, the upstream visual control mechanism 5 can collect the direction and distance of the floating object floating in a unit of time and send the data to the central control system, and the central control system calculates the water flow direction and the moving speed of the floating object on the water flow according to the direction and distance of the floating object floating, and controls the driving assembly 3 to work after a certain time.

[0038] The central control system can be external, and the connection relationship between the central control system and each mechanism can be electrical connection or signal connection.

[0039] Specifically, the water surface floating object cleaning device comprises a water level sensor 6 and a flow rate sensor 7. The water level sensor 6 is used to detect the water level height in the preset water area, and is used in cooperation with the first driving part to ensure that when the water level change amplitude exceeds the preset floating range, the first driving part drives the fishing net 22 to move upward or downward. The flow rate sensor 7 is used to detect the flow rate of the water level. When the water flow speed approaches zero, the driving assembly 3 and the second driving part are paused, and the visual control mechanism 5 is operated at low power to save energy, realizing deep coupling and adaptive management of the working state of the device and the hydrological environment, automatically correcting the working plane according to the water level, intelligently starting and stopping according to the flow rate (e.g. hibernating to save energy in still water), and maintaining basic monitoring of the visual system in low-power mode. Ultimately, the device becomes an intelligent water body cleaning system that can "perceive the environment, think and decide, act efficiently, and save energy in standby mode", achieving the best balance between cleaning efficiency, device durability and energy economy in complex natural environments.

[0040] Of course, the water level sensor 6 and the flow rate sensor 7 can be used in cooperation with the visual control mechanism 5. For example, when the water level sensor 6 and the flow rate sensor 7 fail, the visual control mechanism 5 can send the data obtained by referring to the object to the central control system for the central control system to make a decision to save time for manual maintenance. For example, a water level reference rod can be set up in the water area monitored by the visual control mechanism 5. The water level reference rod can be vertically or obliquely set on the shore slope.

[0041] The cleaning method of the visual control water surface floating object cleaning device is as follows: S1: Water environment and floating object information collection The visual control mechanism 5 set upstream of the preset water area is used to monitor the water surface in real time and collect image information of the floating objects on the water surface. At the same time, the light-dependent resistor sensor 511 detects the environmental light intensity, and the LED light compensation array 512 is controlled according to the light conditions to ensure the image collection quality.

[0042] S2: Floating object identification and parameter calculation The central control system analyzes the images collected by the visual identification module 51, identifies the number and motion trajectory of the floating objects, and calculates the water flow direction and floating object flow rate parameters according to the displacement direction and distance of the floating objects in a unit of time.

[0043] S3: Comprehensive assessment of environmental conditions The system acquires water level information detected by water level sensor 6 and water flow velocity information detected by flow velocity sensor 7, and compares the water level and flow velocity data with the visual recognition results to determine whether the current water area meets the conditions for salvage operation.

[0044] S4: Adaptive Decision-Making for Job Strategies The central control system generates corresponding cleaning strategies based on the number of floating objects, their flow rate, water level, and water flow conditions, and adaptively sets the working time, retrieval time, and operating speed of the retrieval mechanism 2.

[0045] S5: The salvage team performs salvage operations. The drive component 3 drives the conveyor belt 31 to run, enabling the retrieval mechanism 2 to retrieve floating objects; at the same time, the first drive component drives the retrieval net 22 to adjust up and down according to the water level change, so that the retrieval net 22 is always kept at the optimal retrieval depth.

[0046] S6: Floating Object Transfer and Collection The retrieved floating objects move along the conveying path with the retrieval mechanism 2 and converge towards the center under the action of the vertical plate guide structure, and are finally transported to the collection mechanism 4; the collection net of the collection mechanism 4 centrally stores or transfers the floating objects in real time.

[0047] S7: Cleaning Effectiveness Detection and Energy Management The cleaning effect is evaluated by detecting the water surface condition after retrieval through the visual control mechanism set downstream; when the current water flow speed approaches zero or there are no obvious floating objects in the water, the drive component 3 and the collection mechanism 4 stop operating, and the visual control mechanism 5 enters a low power monitoring mode. At the same time, the upstream and downstream visual control mechanisms can also play a good role when the water flow direction changes.

[0048] The above descriptions provide one or more embodiments in conjunction with specific details, but do not imply that the specific implementation of the present invention is limited to these descriptions. Any methods or structures that are similar to or identical to those of the present invention, or any technical deductions or substitutions made based on the concept of the present invention, should be considered within the scope of protection of the present invention.

Claims

1. A visually controlled floating debris removal device, comprising a frame (1) and a debris retrieval mechanism (2) mounted on the frame (1); characterized in that, Also includes: Drive component (3) is used to drive the retrieval mechanism (2) to retrieve and transfer floating objects in the preset water area; Collection mechanism (4) is used to collect the floating objects retrieved and transferred by the retrieval mechanism (2); The visual control mechanism (5) includes a visual recognition module (51) that is electrically or communicatively connected to the drive component (3). The visual recognition module (51) is used to identify the number and / or flow rate of floating objects in a preset water area and is used in conjunction with the drive component (3) to enable the drive component (3) and the collection mechanism (4) to adaptively adjust the retrieval frequency and / or retrieval speed of the retrieval mechanism (2) according to the number and / or flow rate of floating objects in the preset water area.

2. The visually controlled floating debris cleaning device according to claim 1, characterized in that: The visual control mechanism (5) also includes a support (52) for installing the visual recognition module (51). The visual recognition module (51) is located at the upper end of the frame (1). The visual recognition module (51) includes a visible light camera structure and an infrared camera structure. The visible light camera structure and the infrared camera structure are used to ensure the recognition of floating objects during the day and at night, respectively.

3. The visually controlled floating debris cleaning device according to claim 2, characterized in that: The visual recognition module (51) also includes a photoresistor sensor (511) and a supplementary light array (512). The photoresistor sensor (511) is used to detect the ambient light intensity and is used in conjunction with the supplementary light array (512) according to the ambient light intensity so that the supplementary light array (512) can supplement the water area imaged by the camera structure according to the detection result.

4. The visually controlled floating debris cleaning device according to claim 3, characterized in that: The supplementary lighting array (512) includes infrared supplementary lighting beads and LED supplementary lighting beads, which are used to enable infrared supplementary lighting and visible light supplementary lighting, respectively. During the daytime, turn off both infrared and visible light supplementary lighting. Activate visible light supplemental lighting during cloudy / rainy days or at dawn / dusk. At night, turn off visible light supplementary lighting and turn on infrared light supplementary lighting to meet the recognition needs in nighttime or dark environments.

5. The visually controlled floating debris cleaning device according to claim 1, characterized in that: The frame (1) is provided with a conveyor belt (31) for being driven by the drive component (3). There are several scooping mechanisms (2), which are equidistantly arranged on the conveyor belt (31). The drive component (3) is located on the frame (1) for driving the conveyor belt (31) to rotate relative to the frame (1), thereby scooping and transferring floating objects in the preset water area through the scooping mechanism (2).

6. A visually controlled floating debris cleaning device according to claim 1 or 5, characterized in that: The retrieval mechanism (2) includes a connecting frame (21) and a retrieval net (22) disposed on the connecting frame (21). The connecting frame (21) includes a first frame part (211) disposed on the conveyor belt (31) and a second frame part (212) slidably disposed on the first frame part (211). The retrieval net (22) is disposed at the end of the second frame part (212) away from the first frame part (211). The first frame part (211) is also provided with a first driving member. The first driving member is used to drive the second frame part (212) to slide relative to the first frame part (211), thereby driving the retrieval net (22) to rise and fall with the water level.

7. The visually controlled floating debris cleaning device according to claim 6, characterized in that: The collection mechanism (4) includes a pile and a collection net. The pile is provided with a second driving member for driving the collection net to move relative to the pile. The second driving member is used to drive the collection net to collect and / or transfer the floating objects retrieved and transferred by the retrieval net (22).

8. The visually controlled floating debris cleaning device according to claim 7, characterized in that: The fishing net (22) includes multiple vertical plates arrayed on the connecting frame (21). The moving path of the fishing net (22) is parallel to the horizontal plane in the preset water area. The distance between the vertical plate near the upstream of the preset water area and the pile is equal to the distance between the vertical plate far from the upstream of the preset water area and the pile, and both are greater than the distance between the vertical plate near the upstream of the preset water area and the vertical plate far from the upstream of the preset water area, forming a gathering channel.

9. A visually controlled floating debris cleaning device according to claim 8, characterized in that: Multiple vertical plates are arranged in an arc-shaped array, and each vertical plate is inclined relative to the horizontal plane of the preset water area. The cross-section of the vertical plate is spindle-shaped, and the vertical plate has a clearance hole in the horizontal width direction.

10. A visually controlled floating debris cleaning device according to claim 7, characterized in that: The floating debris removal equipment includes a water level sensor (6) and a flow velocity sensor (7). The water level sensor (6) is used to detect the water level height in the preset water area and works in conjunction with the first drive component according to the water level height to ensure that when the water level change exceeds the preset floating range, the first drive component drives the debris net (22) to move up or down. The flow velocity sensor (7) is used to detect the water flow velocity. When the water flow velocity approaches zero, the drive component (3) and the second drive component stop working, and the visual control mechanism (5) operates with low power consumption to save energy.

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