Water surface cleaning robot and garbage identification method

Abstract

The invention belongs to the technical field of water surface cleaning, and particularly relates to a water surface cleaning robot and a garbage recognition method. A mounting groove is formed in the inner surface wall of the cleaning robot body, and a limiting column is fixedly connected to the inner surface wall of the cleaning robot body; in the working process, an electric push rod is arranged, after the electric push rod is started, a connecting plate and a transmission rack integrally ascend, a transmission gear is driven to rotate, then an external gear is driven to rotate, then the external gear can drive the transmission rack to guide and slide on a guide block through a guide rod, and the purpose that the main body structure is integrally contracted and clamped is achieved; according to the water surface cleaning robot, the limiting columns do not limit the clamping blocks in the clamping main body any more, then after the clamping main body retracts into the transmission groove, the effects that the collecting frame is conveniently taken out, and garbage is conveniently collected after being moved are achieved, and the problems that the collecting frame in the water surface cleaning robot is inconvenient to disassemble, move and limit are solved.

Description

Technical Field

[0001] This invention belongs to the field of water surface cleaning technology, specifically a water surface cleaning robot and a garbage identification method. Background Technology

[0002] A water surface cleaning robot is a smart sanitation device specifically designed for aquatic environments. It typically adopts a boat-shaped or platform-type design and is driven by solar energy, batteries, or hybrid power. It can navigate on the water surface autonomously or remotely. Its core function is to identify, collect, and process floating debris. These robots can usually operate autonomously in water bodies such as lakes, rivers, and ports.

[0003] As disclosed in Chinese Patent No. CN120288194B, a water surface cleaning robot belongs to the technical field of water surface cleaning equipment. This water surface cleaning robot includes a frame, a storage mechanism, a roller brush mechanism, and a traveling mechanism. The frame has a through groove running from front to back. The roller brush mechanism is located at the front end of the through groove, the storage mechanism is located in the middle of the through groove, and the traveling mechanism is located at the rear end of the through groove. The roller brush mechanism includes a drive assembly, roller brush plates, a spindle, a positioning sleeve, and an end cap. The drive assembly is fixed to one side of the frame, and the other side of the frame has a mounting cylinder. The positioning sleeve is embedded in and fixed to the mounting cylinder. Several roller brush plates are sleeved on the spindle and rotate synchronously with the spindle. One end of the spindle is poweredly connected to the drive assembly, and the other end of the spindle is rotatably connected to the inner end of the positioning sleeve through a bearing. A locking assembly is provided between the outer end of the positioning sleeve and the end cap to allow for quick connection and separation of the two. The locking assembly allows the roller brush plates to be quickly removed from the frame without disassembling the drive assembly.

[0004] Existing water surface cleaning robots need to collect garbage on the water surface during use, which requires the garbage to be stored inside the collection box. However, when the collection box is full, it needs to be disassembled to empty the garbage. But disassembling the collection box is extremely inconvenient. Therefore, this paper proposes a water surface cleaning robot and a garbage identification method to address the above problems. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies and solve at least one of the technical problems mentioned in the background art, this invention proposes a water surface cleaning robot and a garbage identification method.

[0006] The technical solution adopted by this invention to solve its technical problem is as follows: A water surface cleaning robot of this invention includes a cleaning robot body; an installation groove is formed on the inner surface wall of the cleaning robot body; a limit post is fixedly connected to the inner surface wall of the cleaning robot body; a collection frame is slidably connected to the inner surface wall of the cleaning robot body; a protective plate is fixedly connected to the outer surface wall of the collection frame; transmission grooves are formed on both sides of the collection frame; guide blocks are fixedly connected to both sides of the collection frame; an electric push rod is installed on the top of each guide block; a connecting plate is fixedly connected to the output end of each electric push rod; and the electric push rods are electrically connected to each other. An auxiliary frame is fixedly connected to one side of the connecting plate, and a handle is fixedly connected between the auxiliary frames. A lifting toothed rod is fixedly connected to the bottom of the connecting plate, and a connecting rod is fixedly connected between the lifting toothed rods. Transmission gears are rotatably connected to both sides of the collection frame. The transmission gears mesh with one side of the lifting toothed rod. A large gear is fixedly connected to one side of the transmission gear, and an external gear is fixedly connected to one side of the large gear. A guide rod is slidably connected to the inner surface of the guide block. A transmission toothed rod is fixedly connected to one end of the guide rod. The transmission toothed rod meshes with the bottom of the external gear, and a snap-fit ​​body is fixedly connected to one end of the transmission toothed rod.

[0007] Preferably, a baffle is rotatably connected to one side of the collection frame, a rotating gear is fixedly connected to the outer wall of the baffle, a central gear is rotatably connected to both sides of the collection frame, the central gear meshes with one side of the rotating gear, an auxiliary block is fixedly connected to the outer wall of the collection frame, a rotating rod is rotatably connected to the inner wall of the auxiliary block, a bottom gear is fixedly connected to the bottom of the rotating rod, the bottom gear meshes with one side of the central gear, and a first bevel gear is fixedly connected to the top of the rotating rod.

[0008] Preferably, small gears are rotatably connected to both sides of the collection frame, and a second bevel gear is fixedly connected to one side of the small gear. The second bevel gear meshes with the top of the first bevel gear, and the small gear is connected to a transmission chain through a large gear transmission.

[0009] Preferably, a central rod is fixedly connected to the inner wall of the snap-fit ​​body, and an outer rod is slidably connected to the outer wall of the central rod.

[0010] Preferably, one end of the external rod is fixedly connected to an internal slider, one end of the internal slider is fixedly connected to a locking block, and the internal slider is fixedly connected to a spring through a locking body.

[0011] Preferably, a hydrophobic plate is fixedly connected to one side of the collection frame, and a drainage plate is fixedly connected to the bottom of the collection frame.

[0012] Preferably, the main body of the cleaning robot has preset slots on both sides, a servo motor is installed on one side of the main body of the cleaning robot, a motor rod is fixedly connected to the output end of the servo motor, a feeding auxiliary plate is fixedly connected to the outer wall of the motor rod, and the feeding auxiliary plate has water flow holes.

[0013] Preferably, a lightweight frame is fixedly connected to the outer wall of the main body of the cleaning robot, a float bladder is fixedly connected to the bottom of the lightweight frame, and a drive propeller is installed on the top of the lightweight frame.

[0014] Preferably, a processor is installed on the top of the cleaning robot body, a vision detector is installed on one side of the processor, a signal receiver is installed on the top of the cleaning robot body, and the output end of the processor is electrically connected to a connecting line, which is electrically connected to the input end of the drive paddle.

[0015] A method for identifying waste, the method of use includes the following steps:

[0016] S1: Visual detector, used to identify transparent or reflective waste, such as plastic bags or glass images. It collects external information under different lighting conditions through dynamic white balance adjustment. At the same time, it adopts a ripple suppression algorithm, uses wavelet transform to reduce the impact of water surface ripples, and uses the CLAHE algorithm to improve contrast and highlight the edges of the waste.

[0017] S2: Through the processor, the built-in processing module structure allows the information collected by the visual detector to be output to the processor for processing. It uses a lightweight YOLOv5s model for initial garbage localization, outputs potential garbage bounding boxes, uses an improved Mask R-CNN for pixel-level segmentation, adds an attention mechanism module to enhance sensitivity to small-sized garbage, and outputs accurate garbage masks and preliminary classification results.

[0018] S3: By setting up a signal receiver to exchange information data with the external network, and with the help of online incremental learning, it can automatically adjust the detection parameters according to time and weather after acquiring external light information for newly emerging types of garbage, and optimize according to regional specificity: adjust the recognition strategy for different water areas.

[0019] The beneficial effects of this invention are:

[0020] This invention relates to a water surface cleaning robot and a waste identification method. By incorporating an electric push rod, the connecting plate and transmission rack rise as a whole after activation. This drives the transmission gear to rotate, which in turn rotates the external gear. The external gear then drives the transmission rack to slide along the guide block using a guide rod. This achieves the overall retraction and locking of the main body structure, eliminating the function of the limiting post in restricting the locking block inside the main body. When the locking body retracts into the transmission groove, it facilitates the removal of the collection frame, making waste collection easier. This solves the problems of inconvenient disassembly and movement of the collection frame and the difficulty in convenient locking within the water surface cleaning robot.

[0021] This invention relates to a water surface cleaning robot and a waste identification method. By incorporating a large gear, the lifting rod rotates during its ascent, driving the transmission gear to rotate. Simultaneously, the large gear, via a transmission chain, drives a smaller gear to rotate. Combined with bevel gears and gear transmission, this allows the baffle to rotate as the lifting rod rises. This achieves the effect of simultaneously closing the baffle during the retraction of the main body, thus solving the problem of waste overflow caused by the baffle failing to close synchronously with the collection frame.

[0022] This invention relates to a water surface cleaning robot and a waste identification method. By setting a locking block, the locking block engages with the bottom of a limiting post, thereby limiting the release of the collection frame. During the installation of the collection frame, the locking block contacts the limiting post, causing it to retract into the locking body and compress the spring. Once the locking block reaches the bottom of the limiting post, the spring ejects it again for further limiting. This method facilitates the installation and fixation of the collection frame, solving the problem of inconvenient installation and fixation during subsequent installation processes. Attached Figure Description

[0023] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0024] Figure 1 This is a perspective view of the entire invention;

[0025] Figure 2 This is a side view of the present invention;

[0026] Figure 3 This is an exploded view of the present invention;

[0027] Figure 4 This is a schematic diagram of the main structure of the cleaning robot in this invention;

[0028] Figure 5 This is a schematic diagram of the collection frame structure in this invention;

[0029] Figure 6 This is a side view of the collection box in this invention;

[0030] Figure 7 This is a cross-sectional view of the snap-fit ​​body in this invention;

[0031] Figure 8 This is an enlarged view of point A in this invention;

[0032] Figure 9 This is an enlarged view of point B in this invention;

[0033] Figure 10 Enlarged view of point C in this invention;

[0034] Figure 11 This is a schematic diagram of the waste identification method in this invention.

[0035] Legend:

[0036] 1. Cleaning robot body; 2. Lightweight frame; 3. Float bladder; 4. Drive propeller; 5. Processor; 6. Connecting cable; 7. Signal receiver; 8. Servo motor; 9. Motor rod; 10. Feeding auxiliary plate; 11. Water flow hole; 12. Collection box; 13. Drainage plate; 14. Water-repellent plate; 15. Preset groove; 16. Vision detector; 17. Protective plate; 18. Baffle; 19. Mounting groove; 20. Limiting post; 21. Connecting plate; 22. Auxiliary frame; 23. Handle; 24. Transmission groove; 25. Lifting teeth 26. Rod; 27. Guide block; 28. Electric actuator; 29. ​​Connecting rod; 30. Guide rod; 31. Transmission rack; 32. Snap-fit ​​body; 33. Auxiliary block; 34. Rotating rod; 35. First bevel gear; 36. Bottom gear; 37. Center gear; 38. Rotating gear; 39. Small gear; 40. Second bevel gear; 41. Transmission chain; 42. Transmission gear; 43. Large gear; 44. External gear; 45. Center rod; 46. External rod; 47. Inner slider; 48. Snap-fit ​​block; 49. Spring. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] Specific implementation examples are given below.

[0039] The following is in conjunction with the appendix Figure 1-11 This application will be described in further detail.

[0040] This application discloses a water surface cleaning robot. (Refer to...) Figure 3 , Figure 6 , Figure 4 and Figure 9 The system includes a cleaning robot body 1; an installation groove 19 is provided on the inner surface of the cleaning robot body 1; a limit post 20 is fixedly connected to the inner surface of the cleaning robot body 1; a collection frame 12 is slidably connected to the inner surface of the cleaning robot body 1; a protective plate 17 is fixedly connected to the outer surface of the collection frame 12; transmission grooves 24 are provided on both sides of the collection frame 12; guide blocks 26 are fixedly connected to both sides of the collection frame 12; electric push rods 27 are installed on the top of each guide block 26; a connecting plate 21 is fixedly connected to the output end of the electric push rod 27; and the electric push rod 27... Electrically connected, an auxiliary frame 22 is fixedly connected to one side of the connecting plate 21, and a handle 23 is fixedly connected between the auxiliary frames 22. A lifting toothed rod 25 is fixedly connected to the bottom of the connecting plate 21, and a connecting rod 28 is fixedly connected between the lifting toothed rods 25. Transmission gears 41 are rotatably connected to both sides of the collection frame 12. The transmission gears 41 mesh with one side of the lifting toothed rod 25. A large gear 42 is fixedly connected to one side of the transmission gear 41, and an external gear 43 is fixedly connected to one side of the large gear 42. A guide rod 29 is slidably connected to the inner surface of the guide block 26. One end of the guide rod 29 is fixedly connected to a transmission rack 30, which meshes with the bottom of the external gear 43. One end of the transmission rack 30 is fixedly connected to a snap-fit ​​body 31. Through the electric push rod 27, when the collection box 12 needs to be disassembled and the garbage dumped, the water surface cleaning robot will control the electric push rod 27 to start, causing the rising connecting plate 21 to drive the lifting rack 25 to rise as a whole. The lifting rack 25 meshes with the transmission gear 41, and the rise of the lifting rack 25 will drive the transmission gear 41 to rotate. The rotation of wheel 41 will synchronously drive the external gear 43 to rotate, and the transmission rack 30 meshes with the external gear 43. As a result, after the external gear 43 rotates, the transmission rack 30 can slide inside the guide block 26 using the limiting post 20 for guidance. This further shrinks the locking body 31, so that the internal structure of the locking body 31 is no longer limited by the limiting post 20. At this time, the collection box 12 is no longer limited and fixed by the cleaning robot body 1, and the user can lift the collection box 12 by pulling the handle 23 for easy dumping of garbage.

[0041] Reference Figure 7 , Figure 8 and Figure 9A baffle 18 is rotatably connected to one side of the collection frame 12. A rotating gear 37 is fixedly connected to the outer wall of the baffle 18. A central gear 36 is rotatably connected to both sides of the collection frame 12. The central gear 36 meshes with one side of the rotating gear 37. An auxiliary block 32 is fixedly connected to the outer wall of the collection frame 12. A rotating rod 33 is rotatably connected to the inner wall of the auxiliary block 32. A bottom gear 35 is fixedly connected to the bottom of the rotating rod 33. The bottom gear 35 meshes with one side of the central gear 36. A first bevel gear 34 is fixedly connected to the top of the rotating rod 33. By setting the baffle 18, the baffle 18 will be in an open state when it is inside the water surface cleaning robot, which facilitates the collection of garbage into the collection frame 12. The rotating rod 33 can rotate inside the auxiliary block 32. After the bottom gear 35 rotates, the central gear 36 and the rotating gear 37 can mesh and drive, thereby achieving the effect of rotating and closing the baffle 18.

[0042] Reference Figure 7 , Figure 8 and Figure 9 Small gears 38 are rotatably connected to both sides of the collection frame 12. A second bevel gear 39 is fixedly connected to one side of the small gear 38. The second bevel gear 39 meshes with the top of the first bevel gear 34. The small gear 38 is connected to a transmission chain 40 through a large gear 42. When the electric push rod 27 is activated to facilitate the removal of the collection frame 12, the transmission gear 41 rotates, which in turn causes the large gear 42 to rotate. The transmission chain 40 then drives the small gear 38 to rotate. The second bevel gear 39 meshes with the first bevel gear 34, which in turn causes the first bevel gear 34 to rotate, driving the bottom gear 35 to rotate. This allows the baffle 18 to close synchronously during the retraction of the locking body 31, effectively preventing the garbage inside the collection frame 12 from flowing out along the baffle 18.

[0043] Reference Figure 9 and Figure 10 A central rod 44 is fixedly connected to the inner surface wall of the snap-fit ​​body 31, and an outer rod 45 is slidably connected to the outer surface wall of the central rod 44. By setting the snap-fit ​​body 31, the outer rod 45 can slide guided by the outer surface wall of the central rod 44.

[0044] Reference Figure 9 and Figure 10An inner slider 46 is fixedly connected to one end of the outer rod 45, and a locking block 47 is fixedly connected to one end of the inner slider 46. A spring 48 is fixedly connected to the inner slider 46 through the locking body 31. The locking block 47 is set so that during the installation of the collection frame 12, the locking block 47 will first contact the limiting post 20. The inclined edge at the bottom of the locking block 47 will cause the locking block 47 to retract into the interior of the locking body 31. This will cause the inner slider 46 to compress the spring 48 after moving until the locking block 47 moves to the bottom of the limiting post 20. The compressed spring 48 will then cause the locking block 47 to pop out and be positioned at the bottom of the limiting post 20. At this time, the collection frame 12 is limited and fixed by the limiting post 20. At the same time, the retraction of the locking body 31 will cause the locking block 47 to no longer be at the bottom of the limiting post 20, which facilitates the removal of the collection frame 12.

[0045] Reference Figure 3 and Figure 5 A hydrophobic plate 14 is fixedly connected to one side of the collection frame 12, and a drainage plate 13 is fixedly connected to the bottom of the collection frame 12. Through the hydrophobic plate 14 and the drainage plate 13, the water can flow normally inside the water surface cleaning robot during its movement. At the same time, the garbage on the water surface will be blocked by the hydrophobic plate 14 and collected into the inside of the collection frame 12. The drainage plate 13 will filter out the water inside the collection frame 12 during the lifting process of the collection frame 12.

[0046] Reference Figure 1 and Figure 2 The main body 1 of the cleaning robot has pre-set slots 15 on both sides. A servo motor 8 is installed on one side of the main body 1 of the cleaning robot. The output end of the servo motor 8 is fixedly connected to a motor rod 9. The outer wall of the motor rod 9 is fixedly connected to a feeding auxiliary plate 10. The feeding auxiliary plate 10 has water flow holes 11. Through the servo motor 8, when the water surface cleaning robot is working, the servo motor 8 starts, causing the motor rod 9 and the feeding auxiliary plate 10 to rotate, so that the feeding auxiliary plate 10 takes the shape of a funnel, so that more garbage can enter the interior of the main body 1 of the cleaning robot along the feeding auxiliary plate 10.

[0047] Reference Figure 1 and Figure 2 A lightweight frame 2 is fixedly connected to the outer wall of the main body 1 of the cleaning robot. A float bladder 3 is fixedly connected to the bottom of the lightweight frame 2. A drive paddle 4 is installed on the top of the lightweight frame 2. The float bladder 3 enables the main body 1 of the cleaning robot to float on the water surface, and the drive paddle 4 can drive the main body 1 of the cleaning robot to move.

[0048] Reference Figure 1 and Figure 2A processor 5 is installed on the top of the cleaning robot body 1. A vision detector 16 is installed on one side of the processor 5. A signal receiver 7 is installed on the top of the cleaning robot body 1. The output end of the processor 5 is electrically connected to a connecting line 6. The connecting line 6 is electrically connected to the input end of the drive paddle 4. Through the settings of the processor 5, the processor 5 can drive the drive paddle 4 through the connecting line 6. By adjusting the rotational differential of the drive paddle 4, the steering and movement speed of the cleaning robot body 1 can be adjusted.

[0049] Please see Figure 11 This invention provides a waste identification method, comprising the following steps:

[0050] S1: Visual detector 16 is used to identify transparent or reflective waste, such as plastic bags or glass images. It collects external information under different lighting conditions through dynamic white balance adjustment. At the same time, it adopts a ripple suppression algorithm, uses wavelet transform to reduce the impact of water surface ripples, and uses the CLAHE algorithm to improve contrast and highlight the edges of the waste.

[0051] S2: Through the processor 5, the information collected by the visual detector 16 is output to the processor 5 for processing. The processor 5 uses a lightweight YOLOv5s model for initial garbage localization and outputs potential garbage bounding boxes. The processor 5 uses an improved Mask R-CNN for pixel-level segmentation and adds an attention mechanism module to enhance the sensitivity to small garbage. The processor 5 outputs accurate garbage masks and preliminary classification results.

[0052] S3: By setting up signal receiver 7 to exchange information data with the external network, and with the help of online incremental learning, after obtaining external light information for newly emerging types of garbage, the detection parameters are automatically adjusted according to time and weather, and optimized according to regional specificity: the identification strategy is adjusted for different water areas.

[0053] Working principle: The electric actuator 27 is used so that when the collection box 12 needs to be disassembled for waste disposal, the water surface cleaning robot will activate the electric actuator 27. This causes the rising connecting plate 21 to lift the lifting gear 25, which meshes with the transmission gear 41. The rise of the lifting gear 25 drives the transmission gear 41 to rotate, which in turn drives the external gear 43. The transmission gear 30 meshes with the external gear 43, allowing the transmission gear 30 to slide within the guide block 26 using the limiting post 20 for guidance. This further retracts and locks the main body 31, freeing its internal structure from the limiting post 20. The collection box 12 is no longer limited and fixed by the main body 1 of the cleaning robot. The user can lift the collection box 12 by pulling the handle 23 for easy dumping of garbage. The baffle 18 is set so that when the baffle 18 is inside the water cleaning robot, the baffle 18 will be in the open state, which makes it easy for garbage to enter the collection box 12 for collection. The rotating rod 33 can rotate inside the auxiliary block 32. After the bottom gear 35 rotates, it can make the central gear 36 and the rotating gear 37 mesh and drive, thereby achieving the effect of rotating and closing the baffle 18. The small gear 38 is set so that when the electric push rod 27 is activated to facilitate the removal of the collection box 12, the transmission gear 41 rotates, which can make the large gear 42 rotate. Then, the transmission chain 40 drives the small gear 38 to rotate, and the second bevel gear 39 meshes with the first bevel gear 34. This rotation of the small gear 38 causes the first bevel gear 34 to rotate, which in turn drives the bottom gear 35 to rotate. This allows the baffle 18 to close synchronously during the retraction of the locking body 31, effectively preventing waste inside the collection frame 12 from flowing out along the baffle 18. The locking body 31 allows the outer rod 45 to slide guided by the outer wall of the central rod 44. The locking block 47 ensures that during installation, the locking block 47 first contacts the limiting post 20, and then the inclined edge at the bottom of the locking block 47 causes it to retract into the inner part of the locking body 31. The inner slider 46 compresses the spring 48 after moving until the locking block 47 moves to the bottom of the limiting post 20. The compressed spring 48 then causes the locking block 47 to pop out, placing it at the bottom of the limiting post 20. At this point, the collection frame 12 is fixed by the limiting post 20. Simultaneously, the retraction of the locking body 31 causes the locking block 47 to no longer be at the bottom of the limiting post 20, facilitating the release of the collection frame 12. Through the hydrophobic plate 14 and the drainage plate 13, water can flow normally inside the water surface cleaning robot during movement. Meanwhile, debris on the water surface is blocked by the hydrophobic plate 14 and collected inside the collection frame 12. Furthermore, the drainage plate 13 is used during the lifting of the collection frame 12.The water inside the collection box 12 is filtered out. A servo motor 8 is activated, causing the motor rod 9 and the feeding auxiliary plate 10 to rotate during operation. This causes the feeding auxiliary plate 10 to form a funnel shape, allowing more debris to enter the main body of the cleaning robot 1 along the feeding auxiliary plate 10. A float bladder 3 is then installed to allow the main body of the cleaning robot 1 to float on the water surface. A drive propeller 4 propels the main body of the cleaning robot 1. A processor 5, connected to a connecting cable 6, drives the drive propeller 4. By adjusting the differential rotation speed of the drive propeller 4, the turning and moving speed of the main body of the cleaning robot 1 can be adjusted.

[0054] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A water surface cleaning robot, comprising a cleaning robot body (1); characterized in that: The inner wall of the cleaning robot body (1) is provided with an installation groove (19). A limit post (20) is fixedly connected to the inner wall of the cleaning robot body (1). A collection frame (12) is slidably connected to the inner wall of the cleaning robot body (1). A protective plate (17) is fixedly connected to the outer wall of the collection frame (12). A transmission groove (24) is provided on both sides of the collection frame (12). Guide blocks (26) are fixedly connected to both sides of the collection frame (12). Electric push rods (27) are installed on the top of each guide block (26). A connecting plate (21) is fixedly connected to the output end of the electric push rod (27). The electric push rods (27) are electrically connected to each other. An auxiliary frame (22) is fixedly connected to one side of the connecting plate (21). A handle is fixedly connected between the auxiliary frames (22). The bottom of the connecting plate (21) is fixedly connected to the hand (23), and a lifting toothed rod (25) is fixedly connected between the lifting toothed rods (25). A connecting rod (28) is fixedly connected between the two sides of the collection frame (12). A transmission gear (41) is rotatably connected to both sides of the collection frame (12). The transmission gear (41) meshes with one side of the lifting toothed rod (25). A large gear (42) is fixedly connected to one side of the transmission gear (41). An external gear (43) is fixedly connected to one side of the large gear (42). A guide rod (29) is slidably connected to the inner surface of the guide block (26). A transmission toothed rod (30) is fixedly connected to one end of the guide rod (29). The transmission toothed rod (30) meshes with the bottom of the external gear (43). A snap-fit ​​body (31) is fixedly connected to one end of the transmission toothed rod (30).

2. The water surface cleaning robot according to claim 1, characterized in that: A baffle (18) is rotatably connected to one side of the collection frame (12). A rotating gear (37) is fixedly connected to the outer wall of the baffle (18). A central gear (36) is rotatably connected to both sides of the collection frame (12). The central gear (36) meshes with one side of the rotating gear (37). An auxiliary block (32) is fixedly connected to the outer wall of the collection frame (12). A rotating rod (33) is rotatably connected to the inner wall of the auxiliary block (32). A bottom gear (35) is fixedly connected to the bottom of the rotating rod (33). The bottom gear (35) meshes with one side of the central gear (36). A first bevel gear (34) is fixedly connected to the top of the rotating rod (33).

3. The water surface cleaning robot according to claim 2, characterized in that: Small gears (38) are rotatably connected to both sides of the collection box (12). A second bevel gear (39) is fixedly connected to one side of the small gear (38). The second bevel gear (39) meshes with the top of the first bevel gear (34). The small gear (38) is connected to a transmission chain (40) via a large gear (42).

4. A water surface cleaning robot according to claim 1, characterized in that: The inner wall of the snap-fit ​​body (31) is fixedly connected to a central rod (44), and the outer wall of the central rod (44) is slidably connected to an outer rod (45).

5. A water surface cleaning robot according to claim 4, characterized in that: One end of the external rod (45) is fixedly connected to an inner slider (46), one end of the inner slider (46) is fixedly connected to a locking block (47), and the inner slider (46) is fixedly connected to a spring (48) through a locking body (31).

6. A water surface cleaning robot according to claim 1, characterized in that: A hydrophobic plate (14) is fixedly connected to one side of the collection frame (12), and a drainage plate (13) is fixedly connected to the bottom of the collection frame (12).

7. A water surface cleaning robot according to claim 6, characterized in that: The cleaning robot body (1) has preset slots (15) on both sides. A servo motor (8) is installed on one side of the cleaning robot body (1). A motor rod (9) is fixedly connected to the output end of the servo motor (8). A feeding auxiliary plate (10) is fixedly connected to the outer wall of the motor rod (9). A water flow hole (11) is opened on the feeding auxiliary plate (10).

8. A water surface cleaning robot according to claim 1, characterized in that: The outer wall of the main body (1) of the cleaning robot is fixedly connected to a lightweight frame (2), the bottom of the lightweight frame (2) is fixedly connected to a float bladder (3), and the top of the lightweight frame (2) is equipped with a drive paddle (4).

9. A water surface cleaning robot according to claim 1, characterized in that: A processor (5) is installed on the top of the cleaning robot body (1), a vision detector (16) is installed on one side of the processor (5), a signal receiver (7) is installed on the top of the cleaning robot body (1), and a connecting line (6) is electrically connected to the output end of the processor (5). The connecting line (6) is electrically connected to the input end of the drive paddle (4).

10. A waste identification method, applicable to a water surface cleaning robot according to claims 1 to 9, characterized in that: Includes the following steps: S1: Visual detector (16) is used to identify transparent or reflective waste, such as plastic bags or glass images. It collects external information under different lighting conditions through dynamic white balance adjustment. At the same time, it uses a ripple suppression algorithm, uses wavelet transform to reduce the impact of water surface ripples, and uses the CLAHE algorithm to improve contrast and highlight the edges of the waste. S2: Through the processor (5), the information collected by the visual detector (16) will be output to the processor (5) for processing. The lightweight YOLOv5s model is used for preliminary garbage localization, outputting potential garbage bounding boxes. The improved Mask R-CNN is used for pixel-level segmentation, and an attention mechanism module is added to enhance the sensitivity to small-sized garbage. The accurate garbage mask and preliminary classification results are output. S3: By setting up a signal receiver (7) to exchange information data with the external network, and at the same time cooperating with online incremental learning, after obtaining external light information for newly emerging garbage types, the detection parameters are automatically adjusted according to time and weather, and optimized according to regional specificity: the identification strategy is adjusted for different water areas.

Images