A linkage cleaning type water surface operation ship

Abstract

This invention discloses a linked cleaning surface operation vessel, relating to the field of aquatic environment management technology. The system includes a shore-based handheld controller, a teaching pendant, and a single-hulled vessel. The single-hulled vessel integrates a propulsion device, a floating debris cleaning device, a pH water quality testing device, a camera assembly, and a feeding robotic arm. A cleaning drive motor drives a rotary transmission unit and an inclined conveying device in coordinated operation. The rotary transmission unit drives a fan-shaped gathering device and a rotary weed cutter to rotate synchronously, achieving integrated operation of floating debris gathering and weed cutting. The shore-based handheld controller has a built-in target recognition module that uses a pre-trained surface target detection model to identify real-time surface images captured by the camera assembly and generate target recognition information. This invention integrates surface cleaning, weed cutting, water quality testing, and targeted feeding functions into one unit, offering advantages such as compact structure, good operational continuity, and high feeding accuracy.

Description

Technical Field

[0001] This invention relates to the field of aquatic environment management technology, specifically to a joint cleaning surface operation vessel. Background Technology

[0002] Currently, floating debris such as plastic bags, beverage bottles, foam, and fallen leaves are common in landscape lakes, ponds, small waterways, and aquaculture areas, along with tangled aquatic plants and floating-leaved aquatic plants that hinder surface operations. Existing technologies primarily employ manual dredging and mowing to clean up these floating objects and aquatic plants. However, these methods are limited in scope, labor-intensive, and inefficient, making them unsuitable for the daily cleaning needs of large water areas.

[0003] Although some small surface cleaning vessels have emerged, existing cleaning vessels typically only have a single garbage collection function and have the following shortcomings:

[0004] (1) Aquatic plants are easy to entangle the cleaning mechanism, causing the cleaning device to be blocked or even damaged, affecting the continuity of the operation;

[0005] (2) Cleaning operations, water quality testing, and subsequent treatment material feeding often need to be completed by different equipment, resulting in fragmented work processes and low efficiency in comprehensive treatment;

[0006] (3) Water quality testing is mainly based on manual sampling or fixed-point testing, which makes it difficult to reflect the water quality status of the cleaned area in a timely manner and to achieve rapid location of areas with abnormal water quality.

[0007] (4) When it is necessary to release water quality conditioning materials into specific water areas, the main method of releasing materials is still to manually bring them to the shore or manually scatter them. The controllability of the release location is poor, the release accuracy is low, and there are certain operational safety risks.

[0008] Therefore, there is an urgent need in the existing technology for a water surface operation system that can simultaneously perform water quality testing during the cleaning of floating debris on the water surface, and can be remotely controlled by shore personnel to complete the fixed-point feeding based on the water quality test results, in order to solve the technical problems of existing equipment having limited functions, easy entanglement of aquatic plants, disconnect between water quality testing and cleaning operations, and difficulty in fixed-point feeding. Summary of the Invention

[0009] In view of the problems existing in the prior art, the present invention discloses a coordinated cleaning surface operation vessel, comprising: a shore-based handheld controller, a teaching pendant, and a single vessel.

[0010] The shore-based handheld controller is communicatively connected to the monohull vessel and is used to send operation instructions to the monohull vessel; the shore-based handheld controller is also communicatively connected to a teach pendant and is used to receive operation instructions from shore-based personnel.

[0011] The monohull includes:

[0012] Propulsion devices, installed on the sides and rear of the monohull, are used to provide power for movement;

[0013] The floating debris removal device, installed at the front of the monohull, is used to remove floating debris and aquatic plants from the water surface and transport them to the garbage collection bin.

[0014] The pH water quality testing device is installed at the bottom of the monohull and extends into the water to detect the pH data of the operating area and send the pH data to a handheld controller on the shore.

[0015] A camera assembly, mounted above the monohull and facing the bow working area, is used to collect water surface image information and send it to the shore-based handheld controller; the camera assembly includes a camera and a mounting base;

[0016] The first and second storage tanks are symmetrically located at the stern of the monohull; the first storage tank is used to store conventional aquaculture materials, and the second storage tank is used to store water quality conditioning materials.

[0017] A feeding robotic arm is installed at the stern of the monohull and positioned between the first and second storage bins; the feeding range of the feeding robotic arm covers the first and second storage bins, and the feeding range of the feeding robotic arm extends to the target water area outside the monohull.

[0018] The storage battery is fixedly installed in a battery mounting bracket inside the monohull.

[0019] As a preferred embodiment of the present invention, the floating debris cleaning device includes a cleaning drive motor, which is connected to a pulley transmission assembly via a reducer. The pulley transmission assembly is connected to a rotary transmission unit and an inclined conveying device.

[0020] The belt drive assembly includes a first driving belt pulley and a first driven belt pulley. The first driving belt pulley is fixedly mounted on the output shaft of the reducer, and the first driven belt pulley is fixedly sleeved on the inclined conveyor. The first driving belt pulley and the first driven belt pulley are connected by a first belt drive.

[0021] As a preferred embodiment of the present invention, the rotary transmission unit includes:

[0022] The upper and lower front support frames are both fixedly installed at the front of the monohull by the second bolt, and are used to provide an installation platform.

[0023] A transverse drive shaft is mounted on the upper surface of the upper front support frame via a vertical bearing seat. A second driven pulley is fixedly mounted on the transverse drive shaft. The first driven pulley is connected to the second driven pulley via a second belt.

[0024] Two sets of bevel gear pairs, each set of bevel gear pairs includes a driving bevel gear and a driven bevel gear that mesh with each other. The driving bevel gear is fixed at both ends of the transverse transmission shaft, and the driven bevel gear is fixed on the corresponding vertical rotation shaft.

[0025] Two vertical rotating shafts are rotatably connected to the upper front support frame and the lower front support frame via a second deep groove ball bearing. Each vertical rotating shaft is equipped with an upper rotating wheel and a lower rotating wheel. A fan-shaped gathering device is evenly arranged circumferentially between the upper rotating wheel and the lower rotating wheel. The fan-shaped gathering device is a rectangular perforated plate structure, and six fan-shaped gathering devices are provided between each set of upper rotating wheels and lower rotating wheels.

[0026] As a preferred embodiment of the present invention, the lower end of the vertical rotating shaft is fixedly connected to a shaft segment, and the bottom outer circumferential surface of the shaft segment is provided with an external thread. A first bushing and a second bushing are threadedly connected to the external thread, and a rotating aquatic plant cutter is clamped and fixed between the first bushing and the second bushing.

[0027] As a preferred embodiment of the present invention, the inclined conveying device includes an inclined conveyor belt arranged at an angle, a drive roller located at the bottom of the front side of the monohull and a passive roller located in the upper middle part of the monohull. The inclined conveyor belt is wound between the drive roller and the passive roller, and a plurality of material-pulling plates are also vertically arranged on the outer surface of the inclined conveyor belt.

[0028] The first driven pulley is fixed to the roller shaft of the transmission roller. The first driven pulley is used to drive the transmission roller to rotate. The transmission roller drives the passive roller to rotate through the inclined conveyor belt. Both the transmission roller and the passive roller are mounted on the single vessel through the first deep groove ball bearing and the conveyor bearing seat.

[0029] The inclined conveyor belt is provided with multiple drainage holes.

[0030] As a preferred embodiment of the present invention, the garbage collection bin is detachably installed inside the monohull and located below the output end of the inclined conveyor.

[0031] Two garbage collection bins are symmetrically arranged, and an inclined plate for guidance is provided at the output end of the inclined conveyor in the middle position; the bottom of the garbage collection bin is provided with a drain hole and the top is provided with a handle.

[0032] As a preferred embodiment of the present invention, the monohull is further provided with a positioning module, an obstacle avoidance module and an attitude detection module. The positioning module includes a GPS receiver and an attitude sensor, which are used to obtain the actual coordinate position and spatial attitude data of the monohull in real time.

[0033] The positioning module, obstacle avoidance module, and attitude detection module are all communicatively connected to the shore-based handheld controller, and are used to send real-time operating information to the shore-based handheld controller.

[0034] As a preferred embodiment of the present invention, the propulsion device includes three propulsion motors and three corresponding propellers. The three propulsion motors are respectively located on both sides and the stern of the monohull, and the output end of the propulsion motors is connected to the corresponding propellers via propulsion shafts.

[0035] All three propulsion motors are connected to a shore-based handheld controller. The shore-based handheld controller adjusts the speed and direction of rotation of the three propulsion motors according to real-time operating conditions to control the boat's forward, backward, turning, automatic obstacle avoidance, and adaptive balancing.

[0036] As a preferred embodiment of the present invention, the feeding robotic arm is communicatively connected to a teach pendant. Onshore personnel control the feeding robotic arm to retrieve materials from the first storage tank and release them across the entire water area via the teach pendant, or control the feeding robotic arm to retrieve materials from the second storage tank and release them at a fixed point in the target water area based on the pH data detected by the pH water quality detection device.

[0037] This invention also discloses the above-mentioned target identification method for a joint cleaning surface operation vessel, comprising the following steps:

[0038] Acquire water surface images of different water surface environments, and label the target to be identified in the water surface images with type and location to form a water surface target training dataset. The target to be identified includes at least floating objects and aquatic plants.

[0039] The training dataset of water surface targets is input into the basic target detection model for iterative training. After each round of iterative training, the model evaluation index of the basic target detection model is calculated using the validation dataset, and the model parameters of the basic target detection model are updated according to the calculation results.

[0040] The model evaluation index is statistically analyzed in each round of iterative training. When the model evaluation index reaches a preset threshold, or when the model evaluation index does not show significant improvement in multiple rounds of iterative training, the iterative training is stopped, and the trained water surface target detection model is obtained.

[0041] The real-time water surface images captured by the camera component are input into the water surface target detection model to identify the type and location of floating objects and aquatic plants on the water surface, generate target recognition information, and display it on the handheld controller at the shore.

[0042] The water surface target training dataset is divided into a training set, a validation set, and a test set in a ratio of 7:2:1. During model training, at least one data augmentation process is applied to the water surface environment images in the training set, including random rotation, horizontal flipping, brightness adjustment, contrast adjustment, water surface reflection simulation, water ripple simulation, noise addition, and target occlusion simulation. The iterative training includes an initial training phase, a fine-tuning phase, and an early stopping phase.

[0043] By adopting the above technical solution, the present invention has the following beneficial effects:

[0044] 1. This invention integrates the functions of cleaning floating debris, cutting aquatic plants, pH water quality testing, and material delivery onto a single vessel, enabling water area inspection, cleaning floating debris, cutting aquatic plants, and improving water quality in the same operation, thereby improving the efficiency of comprehensive water area management.

[0045] 2. This invention simultaneously drives the rotary transmission unit and the inclined conveying device by cleaning the drive motor, reducer and belt pulley transmission assembly, so that the floating objects gathering, water plants cutting and garbage conveying actions are coordinated by the same power source. It has the advantages of compact structure, stable power transmission and good operation continuity.

[0046] 3. The upper and lower rotating wheels and the fan-shaped gathering device gather floating objects and aquatic plants on the water surface, and cut the tangled aquatic plants with a rotating aquatic plant cutter, which can reduce the blockage and tangling of aquatic plants and improve the cleaning effect of floating objects; at the same time, the rotating fan-shaped gathering device can also generate a certain amount of auxiliary thrust on the hull when it rotates and pushes the water, which helps the hull move forward.

[0047] 4. The inclined conveyor belt and material-pulling plate continuously transport the gathered floating debris and cut aquatic plants to the garbage collection bin, facilitating centralized garbage collection and manual cleaning after docking; the drainage holes on the inclined conveyor belt and the drainage holes at the bottom of the garbage collection bin can effectively remove the moisture carried in the material, reducing the load on the hull.

[0048] 5. The shore-based handheld controller can receive information from the camera module, pH water quality detection device, positioning module, obstacle avoidance module and attitude detection module to realize the identification of floating objects and aquatic plants, positioning of the work area, automatic obstacle avoidance and adaptive balancing of the hull, thereby improving the intelligence of the operation and navigation safety.

[0049] 6. The present invention is equipped with a first storage box and a second storage box, which can store conventional aquaculture materials for distribution throughout the water area and water quality conditioning materials for improving water quality, respectively, to avoid mixing of different materials and to select appropriate materials according to operational needs; the feeding robotic arm can realize the cruise distribution throughout the water area as well as the fixed-point distribution to the target water area, improve the accuracy of feeding, and reduce the workload and safety risks of manual boarding and feeding. Attached Figure Description

[0050] Figure 1 This is a top view of the overall structure of the present invention;

[0051] Figure 2 This is a side perspective view of the overall structure of the present invention;

[0052] Figure 3 This is a schematic diagram of the floating debris cleaning device at the front end of the present invention;

[0053] Figure 4 This is an exploded view of the connection structure between the rotary aquatic plant cutter and the vertical rotation axis of the present invention.

[0054] Figure 5 This is an exploded view of the inclined conveyor belt connection structure of the present invention;

[0055] Figure 6 This is an exploded view of a partial structure of the rotary transmission unit of the present invention;

[0056] Figure 7 This is a system block diagram of the present invention.

[0057] In the diagram: 1. First storage bin; 2. Feeding robotic arm; 3. Propulsion shaft; 4. Second storage bin; 5. Waste collection bin; 6. Inclined plate; 7. Propulsion motor; 8. Battery; 9. Upper front support frame; 10. Horizontal transmission shaft; 11. Second driven pulley; 12. Second belt; 13. Inclined conveyor belt; 14. Cleaning drive motor; 15. Propeller; 16. Reducer; 17. First driving pulley; 18. First driven pulley; 19. Vertical bearing seat; 20. Upper rotating wheel; 21. Single-hull boat; 22. Camera; 221. Fixed base; 23. Material feeding plate; 241. Driving bevel gear. ; 242. Driven bevel gear; 25. No. 1 belt; 26. Fan-shaped gathering device; 28. Lower front end support frame; 29. ​​pH water quality detection device; 30. Lower rotating wheel; 31. Vertical rotating shaft; 32. Shaft section; 33. First bushing; 34. Rotary aquatic plant cutter; 35. Second bushing; 100. Passive roller; 101. Conveyor bearing seat; 102. First deep groove ball bearing; 103. Transmission roller; 104. Pulley pressure pad; 105. Socket head cap screw; 106. Roller shaft; 200. First bolt; 201. Washer; 202. Second deep groove ball bearing; 203. Second bolt. Detailed Implementation

[0058] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0059] Example 1

[0060] like Figures 1 to 7 As shown, a specific embodiment of the linkage cleaning surface operation vessel of the present invention includes a shore-based handheld controller, a teaching pendant, and a single vessel 21.

[0061] The shore-based handheld controller is connected to the monohull 21 for sending operation instructions; the shore-based handheld controller is also connected to the teach pendant for receiving operation instructions from shore personnel.

[0062] The single vessel 21 is equipped with a propulsion device, a floating debris removal device, a pH water quality detection device 29, a camera assembly, a first storage tank 1, a second storage tank 4, a feeding robotic arm 2, a battery 8, a positioning module, an obstacle avoidance module, and an attitude detection module.

[0063] like Figure 1 As shown, the propulsion system is installed on the sides and rear of the monohull 21, and includes three propulsion motors 7, three propulsion shafts 3, and three propellers 15. The three propulsion motors 7 are respectively located on both sides and the stern of the monohull 21, and are connected to the corresponding propellers 15 via the corresponding propulsion shafts 3. All three propulsion motors 7 are communicatively connected to a shore-based handheld controller. Based on the real-time operating information from the positioning module, obstacle avoidance module, and attitude detection module, the shore-based handheld controller adjusts the speed and direction of rotation of the three propulsion motors 7, thereby controlling the monohull 21 to move forward, backward, turn, automatically avoid obstacles, and adaptively balance.

[0064] like Figure 1 , 2 As shown in Figure 3, the floating debris removal device is installed at the front of the monohull 21 and includes a removal drive motor 14, a reducer 16, a pulley drive assembly, a rotary transmission unit, and an inclined conveyor. The output end of the removal drive motor 14 is connected to the input end of the reducer 16, and the output end of the reducer 16 is connected to the rotary transmission unit and the inclined conveyor via the pulley drive assembly. The pulley drive assembly includes a first driving pulley 17, a first driven pulley 18, and a first belt 25. The first driving pulley 17 is fixed on the output shaft of the reducer 16, and the first driven pulley 18 is fixedly sleeved on the inclined conveyor. The first driving pulley 17 and the first driven pulley 18 are connected by the first belt 25.

[0065] like Figure 1 , 3As shown in Figure 6, the rotary transmission unit includes an upper front support frame 9, a lower front support frame 28, a transverse transmission shaft 10, a vertical bearing seat 19, two sets of bevel gear pairs, two vertical rotating shafts 31, an upper rotating wheel 20, a lower rotating wheel 30, and a fan-shaped gathering device 26. The upper front support frame 9 and the lower front support frame 28 are respectively fixed to the front end of the monohull 21 by second bolts 203. The vertical bearing seat 19 is fixed to the upper front support frame 9 by a washer 201 and a first bolt 200. The transverse transmission shaft 10 is mounted on the upper front support frame 9 by the vertical bearing seat 19, and a second driven pulley 11 is fixed on the transverse transmission shaft 10. The first driven pulley 18 is connected to the second driven pulley 11 by a second belt 12. Each set of bevel gear pairs includes a driving bevel gear 241 and a driven bevel gear 242 that mesh with each other. The driving bevel gear 241 is fixed to both ends of the transverse transmission shaft 10, and the driven bevel gear 242 is fixed to the corresponding vertical rotating shaft 31. Two vertical rotating shafts 31 are rotatably connected to the upper front support frame 9 and the lower front support frame 28 via a second deep groove ball bearing 202. Each vertical rotating shaft 31 is equipped with an upper rotating wheel 20 and a lower rotating wheel 30. Fan-shaped gathering devices 26 are evenly arranged circumferentially between the upper rotating wheel 20 and the lower rotating wheel 30. The fan-shaped gathering devices 26 are rectangular perforated plate structures. There are six fan-shaped gathering devices 26 between each group of upper rotating wheels 20 and lower rotating wheels 30, for a total of twelve.

[0066] like Figure 4 As shown, the lower end of the vertical rotating shaft 31 is provided with a shaft section 32, and the bottom of the shaft section 32 is provided with an external thread. A first bushing 33 and a second bushing 35 are threadedly connected to the external thread. A rotating aquatic plant cutter 34 is clamped and fixed between the first bushing 33 and the second bushing 35. The first bushing 33 is a bushing with an internal thread, which presses the rotating aquatic plant cutter 34 from above; the second bushing 35 is a bottom-closed bushing with an internal thread, which axially fixes the rotating aquatic plant cutter 34 from below.

[0067] like Figure 1 , 2As shown in Figure 5, the inclined conveyor device includes an inclined conveyor belt 13, a drive roller 103, a driven roller 100, a material-pushing plate 23, a conveyor bearing seat 101, and a first deep groove ball bearing 102. The inclined conveyor belt 13 is wound between the drive roller 103 and the driven roller 100. The drive roller 103 is located at the bottom front side of the monohull 21, and the driven roller 100 is located in the upper middle part of the monohull 21. Both the drive roller 103 and the driven roller 100 are mounted on the monohull 21 through the first deep groove ball bearing 102 and the conveyor bearing seat 101. The first driven pulley 18 is fixed to the roller shaft 106 of the drive roller 103 and is axially pressed and fixed by the pulley pressure pad 104 and the hexagon socket head cap screw 105. The drive roller 103 drives the driven roller 100 to rotate through the inclined conveyor belt 13. Multiple material-pushing plates 23 are vertically arranged on the outer surface of the inclined conveyor belt 13, and multiple drainage holes are provided on the inclined conveyor belt 13.

[0068] like Figure 1 As shown, the waste collection bin 5 is detachably installed inside the monohull 21, located below the output end of the inclined conveyor belt 13. Two waste collection bins 5 are symmetrically arranged, with an inclined plate 6 in the middle corresponding to the output end of the inclined conveyor belt 13 for diversion and guidance. The waste collection bin 5 has a drain hole at the bottom and a handle at the top.

[0069] like Figure 3 , 7 As shown, the pH water quality detection device 29 is installed at the bottom of the monohull 21 and extends into the water to detect pH data and send it to the shore-based handheld controller. The shore-based handheld controller associates the pH data detected by the pH water quality detection device 29 with the location coordinates collected by the positioning module and averages the continuously collected pH data. When the pH data exceeds the preset pH range for multiple consecutive collection cycles, the shore-based handheld controller marks the corresponding abnormal water area and issues a prompt; shore-based personnel control the monohull 21 to retest according to the prompt, or control the feeding robotic arm 2 to retrieve material from the second storage tank 4 through the teach pendant and release water quality conditioning material into the abnormal water area.

[0070] like Figure 2 As shown, the camera assembly includes a camera 22 and a mounting base 221. The mounting base 221 is fixed to the upper middle part of the monohull 21. The camera 22 is mounted on the upper part of the mounting base 221 and faces the bow working area. It is used to collect water surface image information and send it to the shore handheld controller.

[0071] like Figure 7As shown, the positioning module, obstacle avoidance module, and attitude detection module are all communicatively connected to the shore-based handheld controller to send real-time operational information. The positioning module includes a GPS receiver for real-time acquisition of the coordinates of the monohull 21. Based on the coordinates sent by the positioning module and the attitude data from the attitude detection module, the shore-based handheld controller calculates the deviation between the monohull 21 and the surface debris position. It then generates operational instructions based on a path planning algorithm, achieving adaptive balance adjustment by adjusting the rotational speeds of the propulsion motors 7 located on the left and right sides of the monohull 21, while the propulsion motor 7 at the stern provides forward propulsion. The path planning algorithm updates every 100ms, with obstacle avoidance having a higher priority than debris tracking. The obstacle avoidance module includes multiple infrared and ultrasonic sensors arranged around the monohull 21 to collect real-time information on the position, size, and motion of obstacles around the monohull. Upon receiving information from the obstacle avoidance module, the shore-based handheld controller generates obstacle avoidance instructions using its built-in obstacle avoidance algorithm and controls the rotational speed and direction of the three propulsion motors 7 to change the speed and direction of travel of the monohull 21.

[0072] Preferably, ultrasonic sensors and infrared sensors are installed at the bow, stern, port side, and starboard side of the monohull 21. The obstacle avoidance module fuses the obstacle distance and orientation information collected by each sensor with the hull attitude data collected by the attitude detection module, and determines the obstacle avoidance status based on the obstacle distance and the expected collision time: when the obstacle is within the monitoring range, the monohull 21 reduces its speed; when the obstacle enters the warning range, the shore-based handheld controller controls the monohull 21 to turn differentially towards the side with more passable space; when the obstacle enters the close-range safe range, the monohull 21 stops moving forward and avoids the obstacle by turning in place or reversing at low speed, and resumes the original operating path after the obstacle moves out of the warning range.

[0073] like Figure 1 As shown, the first storage tank 1 and the second storage tank 4 are symmetrically arranged at the stern of the monohull 21. The first storage tank 1 is used to store conventional aquaculture materials (such as fish feed, corn, wheat, etc.), and the second storage tank 4 is used to store water quality conditioning materials (such as activated carbon, zeolite, etc.). The feeding robotic arm 2 is installed at the stern of the monohull 21, positioned between the first storage tank 1 and the second storage tank 4, with a feeding range covering both storage tanks and a feeding range extending to the outside of the monohull 21.

[0074] like Figure 1 , 7As shown, the feeding robotic arm 2 includes a robotic arm control module, a joint drive unit, and an end-effector material handling mechanism. The robotic arm control module is communicatively connected to both the teach pendant and the joint drive unit. Onshore personnel input rotation, lifting, extension, material handling, and material release commands via the teach pendant. The robotic arm control module converts these commands into motion control signals for each joint, controlling the feeding robotic arm 2 to perform the corresponding actions. The feeding robotic arm 2 is communicatively connected to the teach pendant, allowing onshore personnel to control it to retrieve material from the first storage tank 1 for cruising and releasing throughout the entire waterway, or to retrieve material from the second storage tank 4 based on pH data detected by the pH water quality testing device 29 and release it at a specific point in the target waterway. The battery 8 is fixedly installed on a battery mounting bracket inside the monohull 21, used to supply power to various electrical devices.

[0075] The camera module sends the acquired real-time water surface images to the shore-based handheld controller. The target recognition module in the shore-based handheld controller performs the following target recognition method on the received images:

[0076] Pre-training:

[0077] Acquire water surface images under different water surface environments, label the types and locations of the targets to be identified, and form a water surface target training dataset. The targets to be identified include at least floating objects and aquatic plants. Input the dataset into the basic target detection model for iterative training, use the validation dataset to calculate the model evaluation index and update the model parameters, and statistically analyze the changes in the model evaluation index. When the preset threshold is reached or there is no significant improvement after several consecutive rounds, training is stopped, and the water surface target detection model is obtained.

[0078] The water surface target training dataset is divided into a training set, a validation set, and a test set in a 7:2:1 ratio. During training, at least one data augmentation process is applied to the training set images, including random rotation, horizontal flipping, brightness adjustment, contrast adjustment, water surface reflection simulation, water ripple simulation, noise addition, and target occlusion simulation. Iterative training includes an initial training phase, a fine-tuning phase, and an early stopping phase. The initial training phase is the preliminary training phase, the fine-tuning phase is the phase of adjusting the model parameters based on the evaluation metrics of the validation set, and the early stopping phase is the phase of stopping training when the evaluation metrics reach a preset threshold or when there is no significant improvement after several consecutive rounds.

[0079] Preferably, the water surface target training dataset includes water surface environment images collected under sunny, cloudy, rainy, and different light intensities, water surface reflections, and water surface ripples. The water surface environment images are labeled with the type information and location box information of targets to be identified, such as plastic bottles, plastic bags, foam, dead branches and fallen leaves, and aquatic plants.

[0080] Actual call:

[0081] The model inputs real-time water surface images to identify the types and locations of floating objects and aquatic plants, generates target identification information, and displays it on the screen of the handheld controller on the shore.

[0082] Working principle of the invention:

[0083] Battery 8 supplies power to propulsion motor 7 and cleaning drive motor 14. Propulsion motor 7 drives propeller 15 to rotate via propulsion shaft 3, enabling the monohull vessel 21 to enter the operating area.

[0084] Upon reaching the work area, the cleaning drive motor 14 is started, and the power is transmitted to the pulley drive assembly via the reducer 16. The first driving pulley 17 drives the first driven pulley 18 to rotate via the first belt 25. The first driven pulley 18 drives the transmission roller 103 to run the inclined conveyor belt 13, and drives the second driven pulley 11 and the transverse drive shaft 10 to rotate via the second belt 12. The transverse drive shaft 10 transmits power to the two vertical rotating shafts 31 through two sets of bevel gear pairs.

[0085] Two vertical rotating shafts 31 drive the upper rotating wheel 20, the lower rotating wheel 30, the fan-shaped gathering device 26, and the rotating weed cutter 34 to rotate synchronously. The rotating weed cutter 34 cuts the weeds, and the fan-shaped gathering device 26 gathers floating debris and cut weeds to the input end of the inclined conveyor belt 13. The inclined conveyor belt 13 and the material guide plate 23 transport the material upwards to the waste collection bin 5, completing the collection operation.

[0086] During the cleanup process, camera 22 captures images of the water surface and sends them to a handheld controller on the shore, while pH water quality detection device 29 detects pH data and sends it to the handheld controller. The handheld controller on the shore identifies the type and location of floating objects and aquatic plants on the water surface using a target recognition method, and controls the navigation and cleanup operation of the single vessel 21 by combining real-time operating information from the positioning module, obstacle avoidance module, and attitude detection module.

[0087] During feeding, the shore personnel control the feeding robot arm 2 to take materials from the first storage box 1 or the second storage box 4 through the teaching pendant, and complete the actions of taking materials, lifting, rotating, extending and feeding. After feeding, it returns to the initial position.

[0088] After the operation is completed, the cleaning drive motor 14 stops running, and the propulsion device drives the single-hull boat 21 back to the shore. After docking, the propulsion motor 7 and the cleaning drive motor 14 are stopped, the power supply of the battery 8 is disconnected, the garbage collection box 5 is taken out for centralized cleaning, and the residual debris on the fan-shaped gathering device 26, the rotating water weed cutter 34 and the inclined conveyor belt 13 is removed. The remaining materials are recycled and the storage box is cleaned.

[0089] The image recognition, path planning, obstacle avoidance control, attitude detection, and water quality data processing functions in these embodiments of the invention can be implemented using hardware, software, or a combination of both. The computer program used to implement these functions can be executed by a shore-based handheld controller, an embedded processor, or other programmable data processing devices.

[0090] The computer program includes program instructions for receiving water surface image information, identifying floating objects and aquatic plants, acquiring the position and attitude information of a single vessel, processing obstacle detection information, processing pH water quality data, and generating corresponding control commands. When executed by a processor, the program instructions can realize the corresponding functions of the control system described in the embodiments of this application.

[0091] Computer programs can be stored in computer-readable storage media, including but not limited to memory, disks, optical discs, and other media capable of storing program instructions. Program instructions can also be loaded into a computer, embedded processor, or other programmable data processing device to execute corresponding data acquisition, information processing, and control steps.

[0092] It should be noted that the control modules described in the embodiments of this application can be set separately or integrated according to actual needs; data transmission between the modules can be carried out by wired or wireless communication, and the specific implementation form does not constitute a limitation on the scope of protection of this application.

[0093] While the specific embodiments of the present invention have been described in detail above, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention, and modifications or variations without creative effort are still within the protection scope of the present invention.

Claims

1. A linked cleaning surface operation vessel, characterized in that, include: Shore-based handheld controllers, teach pendants, and monohull vessels (21): The shore-based handheld controller is communicatively connected to the monohull vessel (21) and is used to send operation instructions to the monohull vessel (21); the shore-based handheld controller is also communicatively connected to the teach pendant and is used to receive operation instructions from shore-based personnel. The monohull (21) includes: Propulsion devices, installed on the sides and rear of the monohull (21), are used to provide power for movement; A floating debris removal device is installed at the front of the monohull (21) to remove floating debris and aquatic plants from the water surface and transport them to the garbage collection bin (5). pH water quality detection device (29) is installed at the bottom of the monohull (21) and extends into the water body to detect pH data of the working water area and send the pH data to the shore handheld controller. A camera assembly is mounted above the monohull (21) and faces the bow working area to collect water surface image information and send it to the shore-based handheld controller. The first storage tank (1) and the second storage tank (4) are symmetrically arranged at the stern of the monohull (21); the first storage tank (1) is used to store conventional aquaculture materials, and the second storage tank (4) is used to store water quality conditioning materials. The feeding robot arm (2) is installed at the stern of the monohull (21) and positioned between the first storage tank (1) and the second storage tank (4); the feeding range of the feeding robot arm (2) covers the first storage tank (1) and the second storage tank (4), and the feeding range of the feeding robot arm (2) extends to the target water area outside the monohull (21). The storage battery (8) is fixedly installed on the battery mounting bracket inside the monohull (21).

2. The linked cleaning surface operation vessel according to claim 1, characterized in that: The floating debris cleaning device includes a cleaning drive motor (14), which is connected to a pulley transmission assembly via a reducer (16). The pulley transmission assembly is connected to a rotary transmission unit and an inclined conveyor. The belt drive assembly includes a first driving belt pulley (17) and a first driven belt pulley (18). The first driving belt pulley (17) is fixedly installed on the output shaft of the reducer (16), and the first driven belt pulley (18) is fixedly sleeved on the inclined conveyor. The first driving belt pulley (17) and the first driven belt pulley (18) are connected by a first belt (25).

3. The linked cleaning surface operation vessel according to claim 2, characterized in that: The rotary transmission unit includes: The upper front support frame (9) and the lower front support frame (28) are both fixedly installed at the front of the monohull (21) by the second bolt (203) to provide an installation platform; A transverse drive shaft (10) is mounted on the upper surface of the upper front support frame (9) via a vertical bearing seat (19). A second driven pulley (11) is fixedly mounted on the transverse drive shaft (10). The first driven pulley (18) is connected to the second driven pulley (11) via a second belt (12). Two sets of bevel gear pairs, each set of bevel gear pairs includes a driving bevel gear (241) and a driven bevel gear (242) that mesh with each other. The driving bevel gear (241) is fixed at both ends of the transverse transmission shaft (10), and the driven bevel gear (242) is fixed on the corresponding vertical rotation shaft (31). Two vertical rotating shafts (31) are rotatably connected to the upper front support frame (9) and the lower front support frame (28) via a second deep groove ball bearing (202). Each vertical rotating shaft (31) is provided with an upper rotating wheel (20) and a lower rotating wheel (30). A fan-shaped gathering device (26) is uniformly arranged circumferentially between the upper rotating wheel (20) and the lower rotating wheel (30). The fan-shaped gathering device (26) is a rectangular perforated plate structure. Six fan-shaped gathering devices (26) are provided between each set of upper rotating wheels (20) and lower rotating wheels (30).

4. The linked cleaning surface operation vessel according to claim 3, characterized in that: The lower end of the vertical rotating shaft (31) is fixedly connected to a shaft segment (32). The bottom outer circumferential surface of the shaft segment (32) is provided with an external thread. The external thread is threaded with a first bushing (33) and a second bushing (35). A rotating aquatic plant cutter (34) is clamped and fixed between the first bushing (33) and the second bushing (35).

5. A joint cleaning surface operation vessel according to claim 2, characterized in that: The inclined conveying device includes an inclined conveyor belt (13) arranged at an angle, a drive roller (103) located at the bottom front side of the monohull (21), and a passive roller (100) located in the upper middle part of the monohull (21). The inclined conveyor belt (13) is wound between the drive roller (103) and the passive roller (100). The outer surface of the inclined conveyor belt (13) is also vertically provided with multiple material-pulling plates (23). The first driven pulley (18) is fixed on the roller shaft (106) of the transmission roller (103). The first driven pulley (18) is used to drive the transmission roller (103) to rotate. The transmission roller (103) drives the passive roller (100) to rotate through the inclined conveyor belt (13). The transmission roller (103) and the passive roller (100) are both mounted on the monohull (21) through the first deep groove ball bearing (102) and the conveyor bearing seat (101). The inclined conveyor belt (13) is provided with multiple drainage holes.

6. The linked cleaning surface operation vessel according to claim 1, characterized in that: The garbage collection bin (5) is detachably installed inside the monohull (21) and located below the output end of the inclined conveyor. Two garbage collection bins (5) are symmetrically arranged, and an inclined plate (6) for guidance is provided at the output end of the inclined conveying device in the middle position; a drain hole is provided at the bottom of the garbage collection bin (5) and a handle is provided at the top.

7. The linked cleaning surface operation vessel according to claim 1, characterized in that: The monohull (21) is also equipped with a positioning module, an obstacle avoidance module and an attitude detection module. The positioning module includes a GPS receiver and an attitude sensor, which are used to obtain the actual coordinate position and spatial attitude data of the monohull (21) in real time. The positioning module, obstacle avoidance module, and attitude detection module are all communicatively connected to the shore-based handheld controller, and are used to send real-time operating information to the shore-based handheld controller.

8. The linked cleaning surface operation vessel according to claim 1, characterized in that: The propulsion device includes three propulsion motors (7) and three corresponding propellers (15). The three propulsion motors (7) are respectively located on both sides and the stern of the monohull (21). The output end of the propulsion motors (7) is connected to the corresponding propellers (15) through the propulsion shaft (3). All three propulsion motors (7) are connected to the shore-based handheld controller. The shore-based handheld controller adjusts the speed and direction of rotation of the three propulsion motors (7) according to real-time operating conditions to control the forward, backward, turning, automatic obstacle avoidance and adaptive balance of the single vessel (21).

9. A joint cleaning surface operation vessel according to claim 1, characterized in that: The feeding robot arm (2) is connected to the teaching pendant. The shore personnel control the feeding robot arm (2) to take materials from the first storage tank (1) and release them to the entire water area through the teaching pendant, or control the feeding robot arm (2) to take materials from the second storage tank (4) and release them to the target water area according to the pH data detected by the pH water quality detection device (29).

10. A target identification method for a linked cleaning surface operation vessel as described in any one of claims 1 to 9, executed by a target identification module in a shore-based handheld controller, characterized in that... Includes the following steps: Acquire water surface images in different water environments, label the target to be identified in the water surface images with type and location, and form a water surface target training dataset. The target to be identified includes at least floating objects and aquatic plants. The training dataset of water surface targets is input into the basic target detection model for iterative training. After each round of iterative training, the model evaluation index of the basic target detection model is calculated using the validation dataset, and the model parameters of the basic target detection model are updated based on the calculation results. The changes in the model evaluation index during each round of iterative training are statistically analyzed. When the model evaluation index reaches the preset threshold, or when the model evaluation index does not show significant improvement after multiple rounds of iterative training, the iterative training is stopped, and the trained water surface target detection model is obtained. The real-time water surface images captured by the camera component are input into the water surface target detection model to identify the type and location of floating objects and aquatic plants on the water surface, generate target recognition information, and display it on the handheld controller at the shore. The water surface target training dataset is divided into training set, validation set and test set in a ratio of 7:2:

1. During the model training process, at least one of the following data augmentation processes is applied to the water surface environment images in the training set: random rotation, horizontal flipping, brightness adjustment, contrast adjustment, water surface reflection simulation, water ripple simulation, noise addition and target occlusion simulation. The iterative training includes an initial training phase, a fine-tuning phase, and an early stopping phase.

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