Multifunctional intelligent cleaning unmanned ship

Abstract

A multifunctional intelligent cleaning unmanned surface vessel (USV) belongs to the technical field of water surface cleaning equipment. It includes a hull, with a first power structure located at the rear bottom of each of the two hulls, and a through-hole laterally opened at the front bottom of each of the two hulls, within which a second power structure is installed. The two hulls are symmetrically arranged, and a waste hopper for loading waste materials is located between the two hulls, with a bottom plate at the bottom of the waste hopper. This invention, by incorporating a visual detection device and an antenna, allows for direct manual control of the small boat, eliminating the need for onboard weeding operations and enhancing overall safety and reliability. Furthermore, a feeding and conveying structure between the two hulls, utilizing a conveyor belt, a reduction motor, and conveyor baffles, achieves automatic transport of materials to the rear waste hopper. The two rollers connecting the conveyor belt are synchronized via sprockets and chains.

Description

Technical Field

[0001] This invention belongs to the technical field of water surface cleaning equipment, specifically relating to a multifunctional intelligent cleaning unmanned surface vessel. Background Technology

[0002] Current water environment management relies heavily on manual dredging and traditional dredging vessels, which suffers from low efficiency, high labor costs, difficulty in clearing underwater weeds, limited operational scope, and high safety risks for personnel working on the water. Conventional surface cleaning equipment has limited functionality, mostly only able to dredge surface floating garbage, unable to simultaneously harvest underwater weeds, and lacks sufficient automation, making it difficult to achieve large-scale, long-term, routine water area cleaning. Summary of the Invention

[0003] The present invention mainly addresses the technical problems existing in the prior art and provides a multifunctional intelligent cleaning unmanned surface vessel.

[0004] The above-mentioned technical problems of the present invention are mainly solved by the following technical solution: a multifunctional intelligent cleaning unmanned surface vessel, including a hull, characterized in that: a first power structure is provided at the rear bottom of each of the two hulls, a through hole is opened laterally at the front bottom of each of the two hulls, a second power structure is provided in the through hole, the two hulls are arranged symmetrically to each other, a waste hopper for loading waste is provided between the two hulls, a bottom plate is provided at the bottom of the waste hopper, the bottom plate is connected to the top of the two hulls, a feeding conveying structure is provided at the front side of the waste hopper, a bottom bracket is provided at the front bottom of the feeding conveying structure to support it, the two sides of the bottom bracket are fixed to the two sides of the hull, an installation cavity is opened at the front end of each of the two hulls, and a material receiving structure is provided in the installation cavity.

[0005] Preferably, both hulls are provided with anti-collision side edges on their outer sides, both hulls are provided with mooring bollards on both sides of their tops, and both hulls are provided with removable inspection plates on their tops.

[0006] Preferably, the bottom of the bottom plate is provided with cross-shaped reinforcing members, the ends of which are fixed to the two sides of the hull, and the bottom plate has multiple through holes for drainage.

[0007] Preferably, the waste hopper includes a main frame, and the sides of the main frame are provided with a plurality of first side plates. Slide grooves are provided on both sides of the waste hopper below the feeding and conveying structure. Tracks are provided on the inner side of the slide grooves. Electric push rods are provided on both sides of the waste hopper. The output length of the electric push rods is set to correspond to the slide grooves. A hinge sleeve is rotatably provided on the output end of the electric push rod. Two hinge sleeves slide through the slide grooves and are inserted into the interior of the waste hopper. A push frame is provided between the two hinge sleeves and is located inside the waste hopper.

[0008] Preferably, the feeding and conveying structure includes two side frames arranged on the left and right. The bottom of the two side frames is supported by a waste hopper and a bottom bracket, respectively. A conveyor belt is arranged between the two side frames. Multiple conveying baffles are installed on the conveyor belt. The rollers at both ends of the conveyor belt are fixed to the two side frames by bearing seats. A reduction motor is connected to one side roller and the reduction motor is installed on the side frame.

[0009] Preferably, each of the two side frames is provided with a fixed frame at its front end, and a first connecting shaft is provided at the top between the two fixed frames. The first connecting shaft is installed to the fixed frame via a bearing seat. A first fixed cutting tooth is installed on the front side of the fixed frame. Turntables are sleeved on both ends of the first connecting shaft. A fixed shaft is installed on the side of the turntable. A downwardly oriented first bearing connecting rod is sleeved on the surface of the fixed shaft. A first connecting seat is provided at the bottom end of the first bearing connecting rod. A first movable cutting tooth that fits against the first fixed cutting tooth is fixedly installed on the first connecting seat.

[0010] Preferably, the conveyor belt has an inclined feeding plate at its front end, and a second fixed cutting tooth is laid flat at the front end of the inclined feeding plate. The bottom end of the first bearing connecting rod is coaxially connected to a second bearing connecting rod. The top and bottom bushings of the second bearing connecting rod are arranged in a cross shape. A double-headed connecting seat is sleeved on the bottom of the second bearing connecting rod. The middle section of the double-headed connecting seat is rotatably connected to a fixed frame, and a third bearing connecting rod is coaxially connected to the other end of the double-headed connecting seat. The third bearing connecting rod is positioned laterally below the inclined feeding plate, and a second connecting seat is provided on the other end of the third bearing connecting rod. A second movable cutting tooth is provided on the front side of the second connecting seat, and the second movable cutting tooth is positioned close to the bottom of the second fixed cutting tooth.

[0011] Preferably, a first sprocket is provided on one side of one of the turntables, the first sprocket is sleeved on a first connecting shaft, and a second sprocket is sleeved on the roller shaft of the conveyor belt on the same side, and the first sprocket and the second sprocket are connected by chain drive.

[0012] Preferably, the material receiving structure includes a motor, which is fixedly installed above the hull and above the mounting cavity. The output end of the motor extends downward through the hull into the mounting cavity, and a second connecting shaft is provided through a coupling. A guide plate is sleeved on the surface of the second connecting shaft. The guide plate extends forward and has multiple holes on its surface.

[0013] Preferably, a lifting frame is installed between the two hulls, and the lifting frame is equipped with display lights, a visual monitoring device and an antenna, and the antenna and the visual monitoring device are electrically connected to each other.

[0014] The beneficial effects of this invention are as follows:

[0015] By installing a visual detection device and an antenna, the small boat can be directly controlled manually, eliminating the need for personnel to perform weeding operations on board. This makes the overall operation safer and more reliable. At the same time, by setting up a feeding and conveying structure between the two hulls, the feeding and conveying structure achieves automatic transport of waste material to the rear waste hopper through a conveyor belt, a reduction motor, and a conveying baffle. The two rollers connecting the conveyor belt are synchronized through sprockets and chains, and the side frames on both sides prevent waste material from falling to the sides during transport.

[0016] By setting a second fixed cutting tooth on the inclined feeding plate of the feeding and conveying structure, a second movable fixed cutting tooth is set at the bottom of the first fixed cutting tooth, and a first fixed cutting tooth is set on the fixed frame on both sides. A first movable cutting tooth is set on the outer side of the first fixed cutting tooth on both sides. By moving the second movable cutting tooth left and right, the aquatic plants in the underwater part can be cut. At the same time, the up and down movement of the first movable cutting tooth on both sides can prevent the waste from blocking the feed port when the waste is fed. The waste is fed by automatic cutting.

[0017] By setting up material collection structures on both sides of the feed inlets of the two hulls, the second connecting shaft is driven by a motor to rotate. In conjunction with the guide plate rotating around the second connecting shaft, the floating objects on the water surface are slowly gathered toward the feed inlet, making it easier to feed more concentratedly.

[0018] By setting up hulls on both sides, the waste hopper between the two hulls is hollowed out, and the feeding and transport structure is lowered underwater on the side corresponding to the feed inlet, which can cover the hollow bottom, making the waste feeding faster. At the same time, setting up hulls on both sides makes the entire transport ship lighter and easier to move.

[0019] By setting up visual monitoring devices, mainly a forward-looking camera and a lidar, the forward-looking camera and lidar mounted on the ship's end form an integrated collaborative perception system: the lidar is responsible for close-range high-precision three-dimensional detection, accurately acquiring obstacle outlines, distance and position information, and achieving 360° panoramic perception; the forward-looking camera works together to complete target detail identification and classification, accurately distinguishing different targets such as floating garbage, reefs, and navigation marks on the water surface, supporting the unmanned vessel's autonomous obstacle avoidance and fixed-point cleaning operations. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the back of the present invention;

[0021] Figure 2 This is a three-dimensional structural diagram of the front of the present invention;

[0022] Figure 3 This is a three-dimensional structural diagram of the bottom of the present invention;

[0023] Figure 4 This is a three-dimensional structural diagram of a portion of the structure of the present invention;

[0024] Figure 5 This is a three-dimensional structural diagram of the feeding and conveying structure of the present invention;

[0025] Figure 6 yes Figure 3 A magnified structural diagram at point A in the middle;

[0026] Figure 7 yes Figure 5 A magnified structural diagram at point B in the middle;

[0027] Figure 8 This is a schematic diagram of a signal transmission process according to the present invention.

[0028] In the diagram: 1. Hull; 11. Anti-collision side edge; 12. First power structure; 13. Through hole; 14. Second power structure; 15. Reinforcing member; 16. Bottom plate; 17. Bottom bracket; 18. Inspection plate; 19. Mooring bollard; 2. Waste hopper; 21. Main frame; 22. First side plate; 23. Push frame; 24. Electric push rod; 241. Hinge sleeve; 25. Slide; 251. Track; 3. Feeding and conveying structure; 31. Side frame; 32. Second side plate; 33. Gear motor; 34. Conveyor belt; 35. Conveyor baffle; 36. Fixed frame; 37. First connecting shaft; 38. Turntable; 3 9. First sprocket; 310. Fixed shaft; 311. First bearing connecting rod; 312. Second sprocket; 313. First movable cutting tooth; 314. First connecting seat; 315. First fixed cutting tooth; 316. Inclined feed plate; 317. Second fixed cutting tooth; 318. Second bearing connecting rod; 319. Double-headed connecting seat; 320. Third bearing connecting rod; 321. Second connecting seat; 322. Second movable cutting tooth; 41. Motor; 42. Mounting cavity; 43. Second connecting shaft; 44. Guide plate; 5. Lifting frame; 51. Display light; 52. Visual monitoring device; 53. Antenna. Detailed Implementation

[0029] The technical solution of the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings.

[0030] Example: A multifunctional intelligent cleaning unmanned surface vessel, such as Figures 1-7As shown, the vessel includes a hull 1. A first power structure 12 is provided at the rear bottom of each of the two hulls 1. A through hole 13 is laterally opened at the front bottom of each of the two hulls 1. A second power structure 14 is installed inside the through hole 13. The through hole 13 is sealed at the corresponding location of the hull 1 to prevent water from flowing into the interior of the hull 1. The two hulls 1 are arranged symmetrically to each other. A waste hopper 2 for loading waste materials is provided between the two hulls 1. A bottom plate 16 is provided at the bottom of the waste hopper 2, and the bottom plate 16 is connected to the top of the two hulls 1. A feeding conveying structure 3 is provided on the front side of the waste hopper 2. A bottom bracket 17 is provided at the bottom front of the feeding conveying structure 3 to support it. The bottom front of the feeding conveying structure 3 extends downwards to 0.2-0.5m underwater. The bottom bracket 17 is fixed on both sides of the hull 1. An installation cavity 42 is provided at the front of each of the two hulls 1, and a material receiving structure is provided inside the installation cavity 42.

[0031] The specific implementation method is as follows: The first power structure 12 at the bottom of the two hulls 1 provides power for the forward and backward movement of the hulls 1, enabling the hulls 1 to move forward and backward quickly. At the same time, through holes 13 are opened on the left and right sides of the front end of each hull 1, and a second power structure 14 is installed in the through holes 13. The second power structure 14 is positioned horizontally and is used to control the left and right movement of the bow. In conjunction with the through holes 13, the second power structure 14 is placed inside the hull 1 and acts directly underwater, preventing floating objects from damaging the second power structure 14 when the bow moves, and also effectively controlling the left and right direction of the bow. Then, the feeding and transporting structure can transport floating objects and aquatic plants on the water surface to the waste hopper 2 located at the rear, achieving a good collection effect. The entire drive mode is electric, combined with a high-performance electronically controlled pump propulsion system. The electric drive has low noise and zero exhaust emissions, making it green and environmentally friendly, in line with the requirements of aquatic ecological protection; the electronically controlled pump propulsion structure is suitable for complex working conditions on water, with stable power output, flexible operation, and rapid start-stop and speed change response, taking into account the needs of low-speed operation and high-speed navigation.

[0032] Example 2: Based on Example 1, this example further specifies that both hulls 1 are provided with anti-collision side edges 11 on their outer sides, the anti-collision side edges 11 protrude outward beyond the side of the hull 1, both sides of the top of the two hulls 1 are provided with mooring bollards 19, both tops of the two hulls 1 are provided with detachable inspection plates 18, the bottom of the bottom plate 16 is provided with cross-shaped reinforcing members 15, the ends of the reinforcing members 15 are fixed to the two hulls 1, and multiple through holes 13 for drainage are opened on the bottom plate 16.

[0033] The specific implementation method is as follows: The reinforcing member 15 set on the bottom plate 16 increases the load-bearing capacity of the entire waste hopper 2, and at the same time achieves a better connection effect between the two hulls 1 and the bottom plate 16. The multi-hole through holes 13 opened on the surface of the bottom plate 16 are used for the discharge of floating objects and water from the weeds after collection. At the same time, the anti-collision side edge 11 is set to increase the protection of the sides of the two hulls 1. The mooring bollard 19 set on the boat is used to tie the boat 1 with ropes after it is moored. The detachable maintenance plate 18 is set for the maintenance of electrical equipment and battery packs inside the hull 1.

[0034] The other parts of this embodiment are the same as those in Embodiment 1 above, and will not be described again.

[0035] Example 3: This example further defines the waste hopper 2 based on Example 1, including a main frame 21. Multiple first side plates 22 are provided on the sides of the main frame 21. Slide grooves 25 are provided on both sides of the waste hopper 2 below the feeding conveying structure 3. Tracks 251 are correspondingly provided inside the slide grooves 25. Electric push rods 24 are provided on both sides of the waste hopper 2. The output length of the electric push rods 24 corresponds to the slide grooves 25, and a hinged sleeve 241 is rotatably provided on the output end of the electric push rods 24. Two hinged sleeves 241 slide through the groove 25 and are inserted into the waste hopper 2. A pusher 23 is provided between the two hinged sleeves 241. The pusher 23 is located at one end of the groove 25 in the waste hopper 2 and extends to the end of the waste hopper 2 located below the feeding conveyor structure 3. When feeding, the electric push rod 24 is pushed to its maximum range, so that the pusher 23 is located below the material being fed by the feeding conveyor structure 3. The electric push rod 24 retracts and drives the pusher 23 to push the fallen collection material to the rear side of the waste hopper 2 for collection.

[0036] The specific implementation method is as follows: The waste hopper 2 is assembled by the main frame 21, the bottom plate 16 and multiple first side plates 22 to facilitate better loading. Then, the chutes 25 are opened on both sides below the discharge side of the corresponding feeding and conveying structure, and the slide rails are used to increase the strength of the chutes 25. When the electric push rods 24 on both sides are pushed forward to the maximum range, the top waste falls and the electric push rods 24 retract backward. The push frame 23 transports the waste towards the rear of the waste hopper 2, so that it can be better collected, effectively avoiding the problem of local accumulation of materials and blockage of the channel, maximizing the use of storage space, greatly extending the single continuous operation time, and improving the overall operation efficiency and hull load utilization rate.

[0037] The other parts of this embodiment are the same as those in Embodiment 1 above, and will not be described again.

[0038] Example 4: This example further defines the feeding conveyor structure 3 based on Example 1, including two side frames 31 arranged on the left and right. The bottoms of the two side frames 31 are supported by the waste hopper 2 and the bottom support frame 17, respectively. A conveyor belt 34 is arranged between the two side frames, and multiple conveying baffles 35 are installed on the conveyor belt. The rollers at both ends of the conveyor belt 34 are fixed to the two side frames 31 by bearing seats. The rollers at both ends of the conveyor belt 34 are driven by sprockets and chains. The front end of the conveyor belt is lower than the rear end, and a reduction motor 33 is connected to one of the rollers. The reduction motor 33 is installed... On the side frame 31, a fixed frame 36 is provided at the front end of each of the two side frames 31. A first connecting shaft 37 is provided at the top between the two fixed frames 36, and the first connecting shaft 37 is installed to the fixed frame 36 through a bearing seat. A first fixed cutting tooth 315 is installed on the front side of the fixed frame 36. Turntables 38 are sleeved on both ends of the first connecting shaft 37. A fixed shaft 310 is installed on the side of the turntable 38. A downwardly oriented first bearing connecting rod 311 is sleeved on the surface of the fixed shaft 310. A first connecting seat 314 is provided at the bottom end of the first bearing connecting rod 311. A fixed mounting is installed on the first connecting seat 314. The conveyor belt is equipped with a first movable cutting tooth 313 that fits the first fixed cutting tooth 315. An inclined feeding plate 316 is provided at the front end of the conveyor belt. A second fixed cutting tooth 317 is laid flat at the front end of the inclined feeding plate 316. A second bearing connecting rod 318 is coaxially connected to the bottom end of the first bearing connecting rod 311. Two bushings at the top and bottom ends of the second bearing connecting rod 318 are arranged in a cross shape. A double-headed connecting seat 319 is sleeved on the bottom of the second bearing connecting rod 318. The middle section of the double-headed connecting seat 319 is rotatably connected to the fixed frame 36, and a third bearing connecting seat 319 is coaxially connected to the other end of the double-headed connecting seat 319. The third bearing connecting rod 320 is positioned laterally below the inclined feeding plate 316, and a second connecting seat 321 is provided on the other end of the third bearing connecting rod 320. A second movable cutting tooth 322 is provided on the front side of the second connecting seat 321. The second movable cutting tooth 322 is positioned below the second fixed cutting tooth 317. A first sprocket 39 is provided on one side of one of the turntables 38. The first sprocket 39 is sleeved on the first connecting shaft 37. A second sprocket 312 is sleeved on the roller shaft of the conveyor belt on the same side. The first sprocket 39 and the second sprocket 312 are connected by chain drive.

[0039] The specific implementation method is as follows: the conveyor belt rotates through rollers on both sides, and a reduction motor 33 on one side roller is connected to it. The two rollers are synchronously driven by sprockets and chains, which drives the conveyor belt to transport. At the same time, multiple conveying baffles 35 are set on the conveyor belt, which are evenly distributed when the conveyor belt moves backward, so that the floating objects and aquatic plants on its surface can be better driven backward, preventing the floating objects and aquatic plants from being unable to be transported backward due to the front-low and rear-high setting of the conveyor belt.

[0040] Next, a second sprocket 312 is fitted onto the side of another roller shaft without a reduction motor 33. A first sprocket 39 is installed on one side of the first connecting shaft 37 between the two fixed frames 36. The first sprocket 39 and the second sprocket 312 are connected by a chain, so that when the conveyor belt transports, it can synchronously drive the rotation of the first connecting roller. When the first connecting shaft 37 rotates, the turntables 38 at both ends of it rotate synchronously. Since the fixed shaft 310 is installed on the side of the turntable 38, the fixed shaft 310 and the turntable 38 rotate around the first connecting shaft 37. This causes the top of the first bearing connecting rod 311 fitted on the fixed shaft 310 to move up and down, causing the first connecting seat 314 and the first moving cutter teeth connected to its bottom to move up and down. Thus, the first moving cutter 313, together with the first fixed cutter 315, can remove floating objects and aquatic plants from the water surface. The cutting is achieved by simultaneously connecting the bottom of the first bearing connecting rod 311 with the second bearing connecting rod 318 coaxially. The sleeve at the bottom end of the second bearing connecting rod 318 is set at a 90-degree angle with the sleeve at the top end, allowing one end of the double-headed connecting seat 319, which is rotatably mounted on the fixed frame 36, to be coaxially connected with the bottom end of the second bearing connecting rod 318. The third bearing connecting rod 320 on the other side of the double-headed connecting seat 319 extends to the bottom of the inclined feeding plate 316 and moves left and right through the second connecting seat 321 and the second movable cutting tooth 322 connected to the other end. This allows the second movable cutting tooth 322, in conjunction with the second fixed cutting tooth 317, to cut the aquatic plants and floating objects below the water surface, enabling them to be better fed onto the rear conveyor belt through the smooth inclined feeding plate 316. This allows one power source to drive multiple devices, greatly saving energy.

[0041] The other parts of this embodiment are the same as those in Embodiment 1 above, and will not be described again.

[0042] Example 5: This example further defines the material receiving structure based on Example 1, including a motor 41. The motor 41 is fixedly installed above the hull 1 and above the mounting cavity 42. The output end of the motor 41 passes downward through the hull 1 into the mounting cavity 42, and a second connecting shaft 43 is provided through a coupling. A guide plate 44 is sleeved on the surface of the second connecting shaft 43. The guide plate 44 extends forward and has multiple holes on its surface.

[0043] The specific implementation method is as follows: By setting up a material receiving structure on both sides of the feed inlet of the two hulls 1, the second connecting shaft 43 is driven to rotate by the motor 41, and the guide plate 44 rotates with the second connecting shaft 43 as the center. Thus, the floating objects on the water surface are slowly gathered towards the feed inlet, which facilitates more concentrated feeding. The holes on the surface are used to reduce the force area of ​​the guide plate 44 when it shrinks, making it more stable to shrink, and also reducing the torque on the motor 41.

[0044] The other parts of this embodiment are the same as those in Embodiment 1 above, and will not be described again.

[0045] Example 6: This example further defines the embodiment based on Example 1, wherein a lifting frame 5 is installed between the two hulls 1, and a display light 51, a visual monitoring device 52 and an antenna 53 are respectively installed on the lifting frame 5. The antenna 53 and the visual monitoring device 52 are electrically connected to each other. The visual monitoring device 52 mainly consists of a camera, a device that can transmit video in real time, and a lidar.

[0046] LiDAR: 1 unit, responsible for high-precision three-dimensional detection at close range, accurately acquiring obstacle outlines, distance and position information, and is installed on the front of the hull at the same plane as the forward-looking camera.

[0047] Forward-facing camera: 1 unit, working with LiDAR to identify and classify target details, supporting high-definition imaging during the day.

[0048] Specific communication method: This system adopts a three-layer distributed architecture of "autonomous operation at the ship end - two-way communication between ship and shore - remote control at shore". Each layer has a clear division of labor and works together to realize intelligent operation of the unmanned ship throughout the entire process.

[0049] 1. Unmanned Surface Vessel System: The unmanned surface vessel system integrates the ship's perception, decision-making, control and sensor system, and is the core carrier for the autonomous navigation and operation of unmanned surface vessels.

[0050] Shipboard perception: Integrates data from multiple heterogeneous sensors to complete environmental detection, target identification, and situation building, providing comprehensive environmental input for the decision-making system.

[0051] Shipboard decision-making: Centered on the central computing host, it receives data from the perception system and completes obstacle calculation, trajectory planning, control logic operations, and task scheduling.

[0052] The bow control system consists of two stern thrusters and two bow thrusters. It receives instructions from the decision-making system, precisely executes course, speed, and propulsion attitude control, and simultaneously transmits the execution status back in real time, forming a closed-loop control system.

[0053] Core sensors include GPS, inertial navigation, IMU attitude sensor, gyrocompass, lidar, and forward-looking camera, covering all dimensions of navigation and positioning, environmental perception, and status monitoring.

[0054] GNSS receiver: 1 unit, responsible for high-precision position measurement, with positioning accuracy of horizontal ≤1m and vertical ≤2.5m, outputting standard NMEA 0183 protocol data, installed in an open and unobstructed location on the top of the ship.

[0055] Inertial navigation system: 1 unit, integrating attitude, velocity and position measurement functions, providing continuous and stable attitude and navigation data for unmanned vessels, and resisting short-term GNSS signal loss.

[0056] IMU attitude sensor: 1 unit, which collects real-time data on hull roll, pitch, angular velocity and acceleration to assist in attitude calculation and navigation control.

[0057] Electromagnetic gyroscope: 1 unit, providing high-precision heading measurement, with a heading measurement accuracy of ≤0.1 degrees. It is installed in the center of the hull in a stable area, away from ferromagnetic and strong electromagnetic interference sources.

[0058] 2. Ship-shore communication system: The ship-shore communication link is built using 5G industrial routers and self-organizing network. It relies on cloud server to realize MQTT protocol data interaction to ensure bidirectional low latency and high reliability encrypted transmission of video streams, navigation data and control commands. The system monitors the link operation status in real time. Once the 5G communication link fails or the signal is interrupted, it can report to the shore-based control terminal in a timely manner and trigger the ship's safety shutdown protection mechanism simultaneously.

[0059] 3. Shore-based control system: It consists of three parts: flat panel display unit, hand controller, and shore-based communication equipment. It is the command issuance and status monitoring center for remote operation of the system.

[0060] The tablet serves as the core human-computer interaction terminal, enabling visualization of navigation status, mission planning, alarm management, and data query.

[0061] After the system switches to manual remote control operation mode, the entire ship's manual navigation and cleaning mechanism can be controlled via the matching control handle;

[0062] Shore-based communication equipment is responsible for sending and receiving ship-to-shore data and supporting the stable operation of the two-way communication link.

[0063] 4. The shore-based system consists of three parts: a flat panel display unit, a handheld controller, and shore-based communication equipment. It works together to complete the entire process of remote monitoring, task management, manual takeover, and core control of the unmanned vessel.

[0064] Shore-based communication equipment is the core hub for ship-shore information interaction. Relying on 5G+ self-organizing network communication, it completes the bidirectional encrypted transmission of control commands and ship-side data in accordance with standardized marine protocols. At the same time, it is responsible for link status monitoring and automatic switching of primary and backup links to ensure low latency and stability of information transmission.

[0065] As the core human-machine interaction terminal, the tablet receives and analyzes all data transmitted back from the ship in real time, including positioning and navigation, ship attitude, multi-channel video, equipment status, and fault alarms, and displays them centrally in a visual interface. Operators can complete operations such as route planning, task configuration, and alarm confirmation on the tablet, and related instructions are simultaneously uploaded to the communication equipment and forwarded to the ship.

[0066] The accompanying control handle serves as the core of the shore-based physical control system, integrating a navigation joystick, propulsion speed control lever, and equipment start / stop buttons. Various physical manipulation actions performed by operators via the handle are converted into standardized control commands, which are then transmitted to the ship for execution via a communication link. Operational data transmitted from the ship, such as rudder angle, propulsion speed, cleaning mechanism operating conditions, and equipment fault codes, are relayed back along the original link and displayed in real-time on a tablet terminal, thus constructing a complete ship-shore two-way control closed loop.

[0067] The shore-based system supports remote monitoring, mission management, manual takeover assistance, and status alarms for unmanned vessels. The HMI uses a top drop-down menu for page switching and retains a unified status bar at the top of each page, constantly displaying key status information such as steering mode, signal quality, positioning status, highest alarm level, battery level, and system time.

[0068] Core performance indicators of this invention:

[0069] ① Navigation control indicators:

[0070] A. Operation Mode: Supports remote control and autonomous navigation modes with a distance of no less than 10km. Manual remote control can be performed via a handle.

[0071] B. Integrated navigation and positioning: Equipped with BeiDou + inertial dual integrated navigation, outputting heading, speed, hull attitude, and video image information; horizontal positioning accuracy ≤2m, elevation accuracy ≤2.5m, navigation positioning error ±1m, and heading measurement error ≤0.1°.

[0072] Track control: The mean square error of track tracking is better than 15m in sea state 3; the position control accuracy is ≤±4m and the heading control is ≤±90° in stationary mode.

[0073] C. Autonomous control capability: All core equipment on the submarine supports autonomous control at the component level.

[0074] D. Autonomous obstacle avoidance logic: It can actively issue an alarm when an obstacle is detected, and supports manual intervention to change course; in emergency scenarios without manual operation, it can autonomously avoid obstacles on the water surface.

[0075] ② Environmental perception and recognition indicators:

[0076] A. Multi-source detection hardware: Equipped with photoelectric and radar dual sensing devices, it can detect obstacles on the water surface at a distance of 1km and identify small floating objects with a vertical projection area of ​​≤15㎡.

[0077] B. Debris and Obstacle Recognition: It can identify seaweed, various floating debris, reefs and other water surface targets; the detection range is ≥50m and the effective recognition range is ≥20m.

[0078] C. Sensing performance parameters: water surface target positioning accuracy is better than 15m, target detection rate is ≥90%, and garbage / obstacle recognition rate is ≥80%.

[0079] D. Early Warning and Response: After the sensing system detects an obstacle, it automatically sends an alarm message to prompt manual intervention or triggers a program to autonomously adjust the flight path.

[0080] The other parts of this embodiment are the same as those in Embodiment 1 above, and will not be described again.

[0081] Finally, it should be noted that the above embodiments are merely representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments and many variations are possible. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention should be considered within the protection scope of the present invention.

Claims

1. A multifunctional intelligent cleaning unmanned surface vessel, comprising a hull (1), characterized in that: A first power structure (12) is provided at the rear bottom of each of the two hulls (1), and a through hole (13) is provided at the front bottom of each of the two hulls (1). A second power structure (14) is provided in the through hole (13). The two hulls (1) are arranged symmetrically to each other. A waste hopper (2) for loading waste is provided between the two hulls (1). A bottom plate (16) is provided at the bottom of the waste hopper (2). The bottom plate (16) is connected to the top of the two hulls (1). A feeding conveying structure (3) is provided on the front side of the waste hopper (2). A bottom bracket (17) is provided at the bottom front of the feeding conveying structure (3) to support it. The bottom bracket (17) is fixed on both sides of the hulls (1). An installation cavity (42) is provided at the front end of each of the two hulls (1). A material receiving structure is provided in the installation cavity (42).

2. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 1, wherein: Both of the hulls (1) are provided with anti-collision side edges (11) on their outer sides, both of the top of the two hulls (1) are provided with mooring bollards (19) on both sides, and both of the top of the two hulls (1) are provided with detachable inspection plates (18).

3. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 1, wherein: The bottom of the base plate (16) is provided with cross-shaped reinforcing members (15), the ends of which are fixed to the two sides of the hull (1). The base plate (16) has multiple through holes (13) for drainage.

4. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 1, wherein: The waste hopper (2) includes a main frame (21). The main frame (21) has multiple first side plates (22) on its side. Slide grooves (25) are provided on both sides of the waste hopper (2) below the feeding and conveying structure (3). Tracks (251) are provided on the inner side of the slide grooves (25). Electric push rods (24) are provided on both sides of the waste hopper (2). The output length of the electric push rods (24) is set according to the slide grooves (25). A hinge sleeve (241) is rotatably provided on the output end of the electric push rods (24). The two hinge sleeves (241) slide through the slide grooves (25) and are inserted into the waste hopper (2). A push frame (23) is provided between the two hinge sleeves (241). The push frame (23) is set inside the waste hopper (2).

5. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 4, wherein: The feeding and conveying structure (3) includes two side frames (31) arranged on the left and right. The bottom of the two side frames (31) is supported by a waste hopper (2) and a bottom bracket (17) respectively. A conveyor belt (34) is arranged between the two side frames. Multiple conveying baffles (35) are installed on the conveyor belt. The rollers at both ends of the conveyor belt (34) are fixed on the two side frames (31) by bearing seats. A reduction motor (33) is connected to one side roller. The reduction motor (33) is installed on the side frame (31).

6. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 5, wherein: A fixed frame (36) is provided at the front end of each of the two side frames (31). A first connecting shaft (37) is provided at the top between the two fixed frames (36). The first connecting shaft (37) is installed with the fixed frame (36) through a bearing seat. A first fixed cutting tooth (315) is installed on the front side of the fixed frame (36). Turntables (38) are sleeved on both ends of the first connecting shaft (37). A fixed shaft (310) is installed on the side of the turntable (38). A downwardly arranged first bearing connecting rod (311) is sleeved on the surface of the fixed shaft (310). A first connecting seat (314) is provided at the bottom end of the first bearing connecting rod (311). A first movable cutting tooth (313) that fits the first fixed cutting tooth (315) is fixedly installed on the first connecting seat (314).

7. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 6, wherein: The conveyor belt has an inclined feeding plate (316) at its front end, and a second fixed cutting tooth (317) is laid flat at the front end of the inclined feeding plate (316). The bottom end of the first bearing connecting rod (311) is coaxially connected to a second bearing connecting rod (318). The top and bottom bushings of the second bearing connecting rod (318) are arranged in a cross shape. A double-headed connecting seat (319) is sleeved on the bottom of the second bearing connecting rod (318). The middle section of the double-headed connecting seat (319) is rotatably connected to... A third bearing connecting rod (320) is coaxially connected to the other end of the fixed frame (36) and the double-headed connecting seat (319). The third bearing connecting rod (320) is positioned horizontally below the inclined feeding plate (316). A second connecting seat (321) is provided on the other end of the third bearing connecting rod (320). A second movable cutting tooth (322) is provided on the front side of the second connecting seat (321). The second movable cutting tooth (322) is positioned close to the lower part of the second fixed cutting tooth (317).

8. The multifunctional intelligent cleaning unmanned surface vessel according to claim 7, characterized in that: One of the turntables (38) is provided with a first sprocket (39) on one side, the first sprocket (39) is sleeved on the first connecting shaft (37), and a second sprocket (312) is sleeved on the roller shaft of the conveyor belt on the same side. The first sprocket (39) and the second sprocket (312) are connected by chain drive.

9. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 1, wherein: The material receiving structure includes a motor (41), which is fixedly installed above the hull (1) and above the mounting cavity (42). The output end of the motor (41) extends downward through the hull (1) into the mounting cavity (42), and a second connecting shaft (43) is provided through a coupling. A guide plate (44) is sleeved on the surface of the second connecting shaft (43). The guide plate (44) extends forward and has multiple holes on its surface.

10. The multi-functional intelligent cleaning unmanned surface vehicle according to claim 1, wherein: A lifting frame (5) is installed between the two hulls (1). The lifting frame (5) is equipped with a display light (51), a visual monitoring device (52) and an antenna (53). The antenna (53) and the visual monitoring device (52) are electrically connected to each other. The visual monitoring device (52) is mainly a camera and a device that can transmit video in real time.

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