A kind of automatic receiving and releasing of junk bin of junk recovery unmanned ship and automatic hoisting and placing loading and unloading system and method

Abstract

The application discloses a kind of automatic receiving and releasing of garbage can of cleaning and fishing unmanned ship and automatic lifting and placing of wharf unloading system and method, specifically relates to water area intelligent environmental sanitation equipment field, a kind of automatic receiving and releasing of garbage can of cleaning and fishing unmanned ship and automatic lifting and placing of wharf unloading system include: standard garbage can module, unmanned ship garbage can bearing module, wharf automatic lifting and placing module, ship shore control module;Standard garbage can module is used to provide uniform specification container carrier, adapts to unmanned ship loading and wharf lifting and placing operation;Unmanned ship garbage can bearing module is arranged in the deck designated position of cleaning and fishing unmanned ship, for positioning, locking, fixed limiting and in position detection to garbage can;Wharf automatic lifting and placing module is deployed at wharf shore, for automatically identifying, grabbing, hoisting and placing garbage can.The application realizes whole-process unmanned automatic change of barrel, positioning is accurate, safe and reliable, and has strong versatility, can 24 hours continuous operation, greatly improves cleaning and fishing efficiency and reduces operation and maintenance cost.

Description

Technical Field

[0001] This invention relates to the field of intelligent sanitation equipment for waterways, and more specifically, to a system and method for the automatic collection and placement of garbage bins on unmanned vessels and the automatic hoisting and loading / unloading at docks. Background Technology

[0002] With the increasing demand for aquatic environmental protection, unmanned cleaning vessels have become the core equipment for cleaning up garbage in waterways such as rivers, lakes, and reservoirs.

[0003] Currently, most unmanned garbage collection vessels on the market rely on manual labor for loading, unloading, and replacing garbage bins. When the vessel is full, staff must board and move the bins to shore, resulting in low efficiency, high labor costs, and safety hazards such as falling into the water in windy and wave conditions. Some devices that attempt mechanically assisted placement lack standardized garbage bin interfaces and precise positioning structures, leading to large deviations between the unmanned vessel and the dock, and making it prone to garbage bin collisions and falling during placement. In addition, the garbage bins on board lack reliable locking and status detection mechanisms, making them prone to shaking and displacement during navigation, further reducing the success rate of placement operations. Furthermore, existing systems lack a complete ship-shore collaborative control and risk warning mechanism, making it impossible to monitor the equipment's operating status in real time and failing to meet the actual needs of 24-hour uninterrupted garbage collection.

[0004] To address the aforementioned problems, a technical solution is provided. Summary of the Invention

[0005] In order to overcome the above-mentioned defects of the prior art, embodiments of the present invention provide an automatic collection and placement system and method for unmanned vessel garbage bins and an automatic hoisting and loading / unloading system at the dock to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] An automated garbage bin collection and unloading system for unmanned surface vessels (USVs) includes: a standard garbage bin module, an USV garbage bin carrying module, an automated dock lifting module, and a ship-shore control module.

[0008] The standard trash can module provides a standardized container carrier, suitable for loading by unmanned vessels and hoisting operations at docks;

[0009] The unmanned vessel's trash can carrying module is located at a designated position on the deck of the unmanned vessel for positioning, locking, fixing, limiting, and detecting the placement of the trash can;

[0010] The automated hoisting module is deployed on the shore of the dock to automatically identify, grab, hoist and lower trash cans, so as to lift full trash cans from the unmanned boat to the full trash can area on the shore and put empty trash cans back to the designated position on the unmanned boat.

[0011] The ship-shore control module sets a pre-evaluation coefficient threshold and performs early warning processing after comparison.

[0012] In a preferred embodiment, the standard trash can module operates specifically including the following:

[0013] The top of the trash can is symmetrically equipped with lifting lugs, and a positioning cone hole is opened in the center of the bottom of the trash can;

[0014] The trash can has a locking slot on the side.

[0015] In a preferred embodiment, the operation of the unmanned vessel trash can carrying module specifically includes the following:

[0016] Using a conical positioning guide groove as the placement benchmark for the trash can, the trash can is guided to automatically center and fall into the preset position;

[0017] The locking pin, driven by an electromagnetic force, engages with the locking slot on the side of the trash can to lock and unlock it.

[0018] Equipped with a positioning detection sensor, it can detect in real time whether the trash can is fully in place and output a trigger signal to the ship-shore control module.

[0019] In a preferred embodiment, the operation of the automated dock lifting module specifically includes the following:

[0020] Equipped with a lifting boom and telescopic joints, it provides freedom of movement in both horizontal and vertical directions;

[0021] It integrates an automatic gripper that is mechanically compatible with the lifting lugs on the top of the trash can to complete the gripping and lifting.

[0022] In a preferred embodiment, the ship-shore control module operation specifically includes the following:

[0023] Real-time data collection of unmanned vessel navigation parameters, garbage bin load status, and dock equipment operation data; categorized storage and time-sensitive labeling.

[0024] Historical operation data exceeding the preset period is archived and compressed, and high-frequency associated fault warning data is prioritized for storage.

[0025] Establish a mapping table between equipment operating parameters and operation and maintenance manuals, record the abnormal judgment criteria, troubleshooting steps and maintenance guidelines for each parameter, and directly retrieve the relevant manual index when a parameter is abnormal.

[0026] In a preferred embodiment, the docking attitude of the unmanned vessel and the force vibration signal of the trash can are collected by an attitude sensor to construct a state feature time series and calculate the state fluctuation index.

[0027] By combining historical operational failure data, a weighted evaluation of the state fluctuation index is performed to obtain the pre-evaluation coefficient;

[0028] If the amplitude of vibration of the trash can exceeds the preset threshold, it is marked as an abnormal force event, and the corresponding timestamp and operating parameters are associated to update the pre-evaluation coefficient synchronously.

[0029] In a preferred embodiment, three pre-assessment coefficient thresholds are preset, corresponding to low-risk, medium-risk, and high-risk levels, respectively.

[0030] When the pre-evaluation coefficient is lower than the first-level pre-evaluation coefficient threshold, a normal operation signal is output.

[0031] When the pre-assessment coefficient is between the first-level pre-assessment coefficient threshold and the second-level pre-assessment coefficient threshold, a low-risk warning is output, along with a list of equipment components that need attention;

[0032] When the pre-assessment coefficient is between the threshold of the second-level pre-assessment coefficient and the threshold of the third-level pre-assessment coefficient, a medium-risk warning is output and a related chapter of the fault troubleshooting manual is pushed.

[0033] When the pre-assessment coefficient is higher than the level 3 pre-assessment coefficient threshold, a high-risk alarm is output, triggering an emergency shutdown and associating the nearest maintenance site information;

[0034] The work process is dynamically adjusted according to the warning level. When a high-risk warning is issued, the scope of equipment self-inspection is expanded to the entire system, and the troubleshooting steps are returned first.

[0035] When a low-to-medium risk warning is issued, the scope of self-inspection is narrowed down to the subsystem to which the current warning component belongs, and fuzzy matching mode is used to assist in the investigation.

[0036] A method for automatically retrieving and unloading garbage bins from unmanned aerial vehicles (UAVs) and for automatically hoisting and loading / unloading garbage bins at a dock, used to implement the aforementioned automatic retrieving and unloading system for UAVs, includes the following steps:

[0037] Step S1: After the unmanned boat detects that the trash can is full, it automatically generates a return command, navigates to the designated docking position at the pier and docks precisely. The ship-shore control module establishes a communication connection, collects the unmanned boat's navigation attitude, the trash can's load status and the pier equipment's operating data in real time, constructs a state feature time series and calculates a pre-evaluation coefficient. If the pre-evaluation coefficient is within the normal range, after confirming that the unmanned boat has docked in place, the electromagnetic locking pin at the end of the boat automatically retracts, completing the unlocking of the trash can.

[0038] In step S2, the dock automatic lifting module controls the automatic gripper to close and grip, the lifting arm lifts the full bucket away from the unmanned boat and transfers it to the dock full bucket recycling area, the lifting arm moves to the empty bucket storage area to grab the empty bucket, lifts it to the top of the unmanned boat garbage can carrying mechanism, controls the automatic gripper to lower, so that the empty bucket automatically centers and falls into the preset position along the conical positioning guide groove, and after the position detection sensor detects that the empty bucket is completely in place, it outputs a trigger signal to the ship-shore control module;

[0039] In step S3, after receiving the positioning signal, the ship-shore control module controls the electromagnetic locking pin to extend automatically and engage with the locking slot on the side of the empty bin. The system re-verifies the pre-evaluation coefficient and sends a release command after confirming that the equipment is in normal condition. The unmanned vessel departs from the port to continue the cleaning operation. The system continuously monitors the load status of each unmanned vessel's garbage bins. When a new full load signal is detected, steps S1 to S3 are executed in a loop to achieve 24-hour uninterrupted fully automatic bin changing operation.

[0040] The technical effects and advantages of the present invention regarding an automatic collection and placement system and method for unmanned surface vessel garbage bins and an automatic hoisting and loading / unloading system at the dock are as follows:

[0041] 1. Through the coordinated operation of standard trash can modules, unmanned boat carrying modules, dock hoisting modules and ship-shore control modules, the entire process of returning fully loaded trash cans, automatically unlocking, hoisting and transferring them, to accurately placing empty trash cans, automatically locking them, and releasing them to the unmanned boat, is fully automated. No human intervention is required throughout the process, which completely avoids the safety risks of manual boarding and handling and greatly improves the efficiency of trash can replacement operations.

[0042] 2. The positioning cone hole at the bottom of the standard trash can and the cone-shaped guide groove of the unmanned vessel form a mechanical self-centering structure. Combined with the flexible joints and precise gripping design of the dock lifting module, even if there are slight deviations in the lifting and lowering, it can guide the trash can to automatically center and fall into place, reducing the requirements for control precision and significantly improving the success rate of lifting and lowering. The standardized trash can interface design allows one set of dock equipment to be adapted to multiple models of cleaning unmanned vessels, enhancing the standardization and versatility of the system and reducing equipment modification costs.

[0043] 3. The ship-shore control module can accurately identify risks such as abnormal stress and equipment failure through comprehensive data acquisition, status feature analysis and a three-level early warning mechanism. It can dynamically adjust the operation process according to the risk level, and shut down the machine in case of high risk and push maintenance instructions. In case of medium and low risk, it can accurately troubleshoot, avoid the escalation of the fault, reduce unnecessary process interruption and greatly improve the safety of system operation. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the structure of an automatic garbage bin collection and placement system for unmanned boats and an automatic loading and unloading system at the dock, according to the present invention.

[0045] Figure 2 This is a flowchart illustrating the automatic collection and placement of garbage bins from unmanned vessels and the automatic hoisting and loading / unloading method at the dock, as per the present invention. Detailed Implementation

[0046] 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0047] Example 1

[0048] Figure 1 The present invention discloses an automatic collection and placement system for unmanned surface vessel garbage bins and an automatic hoisting and loading system at the dock, comprising: a standard garbage bin module, an unmanned surface vessel garbage bin carrying module, an automatic dock hoisting module, and a ship-shore control module;

[0049] The standard trash can module provides a standardized container carrier, suitable for loading by unmanned vessels and hoisting operations at docks;

[0050] The unmanned vessel's trash can carrying module is located at a designated position on the deck of the unmanned vessel for positioning, locking, fixing, limiting, and detecting the placement of the trash can;

[0051] The automated hoisting module is deployed on the shore of the dock to automatically identify, grab, hoist and lower trash cans, so as to lift full trash cans from the unmanned boat to the full trash can area on the shore and put empty trash cans back to the designated position on the unmanned boat.

[0052] The ship-shore control module sets a pre-evaluation coefficient threshold and performs early warning processing after comparison.

[0053] The standard trash can module operation includes the following:

[0054] The top of the trash can is symmetrically equipped with lifting lugs, and a positioning cone hole is opened in the center of the bottom of the trash can;

[0055] The trash can has a locking slot on the side.

[0056] The operation of the unmanned vessel trash can carrying module includes the following:

[0057] Using a conical positioning guide groove as the placement benchmark for the trash can, the trash can is guided to automatically center and fall into the preset position;

[0058] The locking pin, driven by an electromagnetic force, engages with the locking slot on the side of the trash can to lock and unlock it.

[0059] Equipped with a positioning detection sensor, it can detect in real time whether the trash can is fully in place and output a trigger signal to the ship-shore control module.

[0060] The bottom positioning cone hole of the trash can and the cone-shaped positioning guide groove of the unmanned surface vessel (USV) form a conical surface fit, achieving mechanical self-centering using the inclined plane guidance principle. Even with slight deviations during dock hoisting and lowering, the trash can can be guided to automatically slide into the preset placement position, significantly reducing the requirements for visual positioning and mechanical control precision, improving the fault tolerance and success rate of hoisting and lowering operations, and avoiding trash can collisions, falls, or placement misalignments caused by misalignment. The electromagnetic drive locking pin is precisely matched with the locking slot on the side of the trash can, and the unlocking and locking actions can be remotely triggered by the ship-shore control module. With the real-time status feedback of the positioning detection sensor, it is ensured that the locking operation is performed only when the trash can is fully in place, avoiding accidental actions. After the locking pin is engaged in the slot, it forms a rigid constraint, which, together with the anti-sway limit baffle of the USV's carrying module, effectively limits the horizontal displacement and capsizing risk of the trash can during navigation, preventing the trash can from swaying and colliding with the ship or the trash from spilling in windy and wavy conditions. The linkage design of the positioning detection sensor and the locking mechanism also prevents trash cans that are not properly placed or locked from being released.

[0061] The operation of the automated hoisting module at the dock includes the following:

[0062] Equipped with a lifting boom and telescopic joints, it provides freedom of movement in both horizontal and vertical directions;

[0063] It integrates an automatic gripper that is mechanically compatible with the lifting lugs on the top of the trash can to complete the gripping and lifting.

[0064] With its combined design of lifting boom and telescopic joints, it flexibly provides freedom of movement in both horizontal and vertical directions, covering the spatial span of the unmanned vessel docking area and the empty and full bin storage area on the dock. It can precisely adjust the lifting height and horizontal position to adapt to the differences in deck height and bin spacing of unmanned vessels of different tonnages, greatly improving the equipment's adaptability to different operating scenarios. At the same time, the integrated automatic gripper and the lifting lug on the top of the bin achieve precise mechanical adaptation, enabling quick closing gripping and stable release of the bin, avoiding malfunctions such as gripping deviation and falling off. With the flexible adjustment of the moving joints, it can achieve efficient transfer of full bins from unmanned vessels to the full bin area on the dock and empty bins from the storage area to unmanned vessels, without the need for manual assistance in alignment or gripping, significantly improving the efficiency of bin changing operations.

[0065] The ship-to-shore control module operation specifically includes the following:

[0066] Real-time data collection of unmanned vessel navigation parameters, garbage bin load status, and dock equipment operation data; categorized storage and time-sensitive labeling.

[0067] Historical operation data exceeding the preset period is archived and compressed, and high-frequency associated fault warning data is prioritized for storage.

[0068] Establish a mapping table between equipment operating parameters and operation and maintenance manuals, record the abnormal judgment criteria, troubleshooting steps and maintenance guidelines for each parameter, and directly retrieve the relevant manual index when a parameter is abnormal.

[0069] By collecting the docking attitude of the unmanned vessel and the force vibration signal of the trash can through attitude sensors, a state characteristic time series is constructed, and the state fluctuation index is calculated.

[0070] By combining historical operational failure data, a weighted evaluation of the state fluctuation index is performed to obtain the pre-evaluation coefficient;

[0071] If the amplitude of vibration of the trash can exceeds the preset threshold, it is marked as an abnormal force event, and the corresponding timestamp and operating parameters are associated to update the pre-evaluation coefficient synchronously.

[0072] Three pre-assessment coefficient thresholds are preset, corresponding to low-risk, medium-risk, and high-risk levels, respectively;

[0073] When the pre-evaluation coefficient is lower than the first-level pre-evaluation coefficient threshold, a normal operation signal is output.

[0074] When the pre-assessment coefficient is between the first-level pre-assessment coefficient threshold and the second-level pre-assessment coefficient threshold, a low-risk warning is output, along with a list of equipment components that need attention;

[0075] When the pre-assessment coefficient is between the threshold of the second-level pre-assessment coefficient and the threshold of the third-level pre-assessment coefficient, a medium-risk warning is output and a related chapter of the fault troubleshooting manual is pushed.

[0076] When the pre-assessment coefficient is higher than the level 3 pre-assessment coefficient threshold, a high-risk alarm is output, triggering an emergency shutdown and associating the nearest maintenance site information;

[0077] The work process is dynamically adjusted according to the warning level. When a high-risk warning is issued, the scope of equipment self-inspection is expanded to the entire system, and the troubleshooting steps are returned first.

[0078] When a low-to-medium risk warning is issued, the scope of self-inspection is narrowed down to the subsystem to which the current warning component belongs, and fuzzy matching mode is used to assist in the investigation.

[0079] By collecting real-time navigation parameters of unmanned vessels, the load status of garbage bins, and the operating data of dock equipment, and combining classified storage, time-sensitive marking, and priority management, the integrity of data traceability is ensured. High-frequency fault early warning data is stored at the top to improve the efficiency of anomaly response. Key signals are collected by attitude sensors to construct a state characteristic time series and calculate the state fluctuation index. Combined with historical fault data, a pre-evaluation coefficient is obtained by weighting. It can also accurately mark and correct coefficients for abnormal force events. The setting of three-level early warning thresholds enables fine differentiation of risk levels. Different levels correspond to different early warning feedback and handling plans. The gradient response from normal signals to emergency shutdown avoids process interruption caused by excessive early warning. By dynamically adjusting the self-inspection scope and investigation mode according to the early warning level, the system is fully covered and solutions are returned first when there is high risk. When there is medium or low risk, the focus is on the target subsystem and fuzzy matching is used to assist in the investigation, which improves the pertinence and efficiency of fault handling.

[0080] A method for automatically retrieving and unloading garbage bins from unmanned aerial vehicles (UAVs) and for automatically hoisting and loading / unloading garbage bins at a dock, used to implement the aforementioned automatic retrieving and unloading system for UAVs, includes the following steps:

[0081] Step S1: After the unmanned boat detects that the trash can is full, it automatically generates a return command, navigates to the designated docking position at the pier and docks precisely. The ship-shore control module establishes a communication connection, collects the unmanned boat's navigation attitude, the trash can's load status and the pier equipment's operating data in real time, constructs a state feature time series and calculates a pre-evaluation coefficient. If the pre-evaluation coefficient is within the normal range, after confirming that the unmanned boat has docked in place, the electromagnetic locking pin at the end of the boat automatically retracts, completing the unlocking of the trash can.

[0082] In step S2, the dock automatic lifting module controls the automatic gripper to close and grip, the lifting arm lifts the full bucket away from the unmanned boat and transfers it to the dock full bucket recycling area, the lifting arm moves to the empty bucket storage area to grab the empty bucket, lifts it to the top of the unmanned boat garbage can carrying mechanism, controls the automatic gripper to lower, so that the empty bucket automatically centers and falls into the preset position along the conical positioning guide groove, and after the position detection sensor detects that the empty bucket is completely in place, it outputs a trigger signal to the ship-shore control module;

[0083] In step S3, after receiving the positioning signal, the ship-shore control module controls the electromagnetic locking pin to extend automatically and engage with the locking slot on the side of the empty bin. The system re-verifies the pre-evaluation coefficient and sends a release command after confirming that the equipment is in normal condition. The unmanned vessel departs from the port to continue the cleaning operation. The system continuously monitors the load status of each unmanned vessel's garbage bins. When a new full load signal is detected, steps S1 to S3 are executed in a loop to achieve 24-hour uninterrupted fully automatic bin changing operation.

[0084] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0085] In conclusion, the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A system for automatically collecting and placing garbage bins from unmanned aerial vehicles (UAVs) and for automatically loading and unloading garbage at docks, characterized in that: include: Standard trash can module, unmanned boat trash can carrying module, dock automatic hoisting module, ship-shore control module; The standard trash can module provides a standardized container carrier, suitable for loading by unmanned vessels and hoisting operations at docks; The unmanned vessel's trash can carrying module is located at a designated position on the deck of the unmanned vessel for positioning, locking, fixing, limiting, and detecting the placement of the trash can; The automated hoisting module is deployed on the shore of the dock to automatically identify, grab, hoist and lower trash cans, so as to lift full trash cans from the unmanned boat to the full trash can area on the shore and put empty trash cans back to the designated position on the unmanned boat. The ship-shore control module sets a pre-evaluation coefficient threshold and performs early warning processing after comparison.

2. The automatic collection and placement system for unmanned surface vessel garbage bins and the automatic hoisting and loading / unloading system at the dock as described in claim 1, characterized in that: The standard trash can module operation includes the following: The top of the trash can is symmetrically equipped with lifting lugs, and a positioning cone hole is opened in the center of the bottom of the trash can; The trash can has a locking slot on the side.

3. The automatic collection and placement system for garbage bins on unmanned surface vessels and the automatic hoisting and loading / unloading system at the dock, as described in claim 2, is characterized in that: The operation of the unmanned vessel trash can carrying module includes the following: Using a conical positioning guide groove as the placement benchmark for the trash can, the trash can is guided to automatically center and fall into the preset position; The locking pin, driven by an electromagnetic force, engages with the locking slot on the side of the trash can to lock and unlock it. Equipped with a positioning detection sensor, it can detect in real time whether the trash can is fully in place and output a trigger signal to the ship-shore control module.

4. The automatic collection and placement system for unmanned surface vessel garbage bins and the automatic hoisting and loading / unloading system at the dock as described in claim 3, characterized in that: The operation of the automated hoisting module at the dock includes the following: Equipped with a lifting boom and telescopic joints, it provides freedom of movement in both horizontal and vertical directions; It integrates an automatic gripper that is mechanically compatible with the lifting lugs on the top of the trash can to complete the gripping and lifting.

5. The automatic collection and placement system for unmanned surface vessel garbage bins and the automatic hoisting and loading / unloading system at the dock as described in claim 4, characterized in that: The ship-to-shore control module operation specifically includes the following: Real-time data collection of unmanned vessel navigation parameters, garbage bin load status, and dock equipment operation data; categorized storage and time-sensitive labeling. Historical operation data exceeding the preset period is archived and compressed, and high-frequency associated fault warning data is prioritized for storage. Establish a mapping table between equipment operating parameters and operation and maintenance manuals, record the abnormal judgment criteria, troubleshooting steps and maintenance guidelines for each parameter, and directly retrieve the relevant manual index when a parameter is abnormal.

6. The automatic collection and placement system for unmanned surface vessel garbage bins and the automatic hoisting and loading / unloading system at the dock as described in claim 5, characterized in that: By collecting the docking attitude of the unmanned vessel and the force vibration signal of the trash can through attitude sensors, a state characteristic time series is constructed, and the state fluctuation index is calculated. By combining historical operational failure data, a weighted evaluation of the state fluctuation index is performed to obtain the pre-evaluation coefficient; If the amplitude of vibration of the trash can exceeds the preset threshold, it is marked as an abnormal force event, and the corresponding timestamp and operating parameters are associated to update the pre-evaluation coefficient synchronously.

7. The automatic collection and placement system for unmanned surface vessel garbage bins and the automatic hoisting and loading / unloading system at the dock as described in claim 6, characterized in that: Three pre-assessment coefficient thresholds are preset, corresponding to low-risk, medium-risk, and high-risk levels, respectively; When the pre-evaluation coefficient is lower than the first-level pre-evaluation coefficient threshold, a normal operation signal is output. When the pre-assessment coefficient is between the first-level pre-assessment coefficient threshold and the second-level pre-assessment coefficient threshold, a low-risk warning is output, along with a list of equipment components that need attention; When the pre-assessment coefficient is between the threshold of the second-level pre-assessment coefficient and the threshold of the third-level pre-assessment coefficient, a medium-risk warning is output and a related chapter of the fault troubleshooting manual is pushed. When the pre-assessment coefficient is higher than the level 3 pre-assessment coefficient threshold, a high-risk alarm is output, triggering an emergency shutdown and associating the nearest maintenance site information; The work process is dynamically adjusted according to the warning level. When a high-risk warning is issued, the scope of equipment self-inspection is expanded to the entire system, and the troubleshooting steps are returned first. When a low-to-medium risk warning is issued, the scope of self-inspection is narrowed down to the subsystem to which the current warning component belongs, and fuzzy matching mode is used to assist in the investigation.

8. A method for automatically retrieving and placing garbage bins on unmanned aerial vehicles (UAVs) and automatically loading and unloading garbage bins at a dock, used to implement the automatic retrieving and placing garbage bins on unmanned aerial vehicles and automatically loading and unloading garbage bins at a dock as described in any one of claims 1-7, characterized in that, Includes the following steps: Step S1: After the unmanned boat detects that the trash can is full, it automatically generates a return command, navigates to the designated docking position at the pier and docks precisely. The ship-shore control module establishes a communication connection, collects the unmanned boat's navigation attitude, the trash can's load status and the pier equipment's operating data in real time, constructs a state feature time series and calculates a pre-evaluation coefficient. If the pre-evaluation coefficient is within the normal range, after confirming that the unmanned boat has docked in place, the electromagnetic locking pin at the end of the boat automatically retracts, completing the unlocking of the trash can. In step S2, the dock automatic lifting module controls the automatic gripper to close and grip, the lifting arm lifts the full bucket away from the unmanned boat and transfers it to the dock full bucket recycling area, the lifting arm moves to the empty bucket storage area to grab the empty bucket, lifts it to the top of the unmanned boat garbage can carrying mechanism, controls the automatic gripper to lower, so that the empty bucket automatically centers and falls into the preset position along the conical positioning guide groove, and after the position detection sensor detects that the empty bucket is completely in place, it outputs a trigger signal to the ship-shore control module; In step S3, after receiving the positioning signal, the ship-shore control module controls the electromagnetic locking pin to extend automatically and engage with the locking slot on the side of the empty bin. The system re-verifies the pre-evaluation coefficient and sends a release command after confirming that the equipment is in normal condition. The unmanned vessel departs from the port to continue the cleaning operation. The system continuously monitors the load status of each unmanned vessel's garbage bins. When a new full load signal is detected, steps S1 to S3 are executed in a loop to achieve 24-hour uninterrupted fully automatic bin changing operation.

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