Multifunctional aquatic brasenia schreberi harvesting catamaran

Abstract

The utility model discloses a multifunctional aquatic brasenia schreberi harvesting catamaran, and mainly relates to the technical field of aquatic brasenia schreberi harvesting. Comprising a supporting frame, floating barrels are arranged at the left end and the right end of the supporting frame, a rectangular coordinate robot is arranged on the supporting frame, the positions of a suction type end effector in the X-axis direction, the Y-axis direction and the Z-axis direction are adjusted through the rectangular coordinate robot, and the suction type end effector is located on the inner side of the supporting frame. A suction pipe is arranged at the bottom of the suction type end effector, a shearing bin is arranged at the top of the suction pipe, a vertical pipe is arranged at the top of the shearing bin, a cutting mechanism is arranged in the shearing bin, a sensor is arranged in the shearing bin or the vertical pipe, and the top end of the vertical pipe is connected with a negative pressure suction device through a conveying pipeline. A driving device is arranged at the rear end of the supporting frame; according to the water shield picking machine, a negative pressure suction shearing type nondestructive picking mode is adopted, the water shield picking efficiency can be improved, and the labor intensity of vegetable farmers is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of aquatic water shield harvesting, in particular to a multifunctional aquatic water shield harvesting catamaran. Background Art

[0002] Brasenia schrenkiana is a perennial aquatic herb. When it is artificially planted, it is generally planted in paddy fields with a water depth of about 20-60 cm. The edible part of Brasenia schrenkiana is the young and tender curled leaves that are rich in colloid and not unfolded. The traditional picking method mainly uses a water chestnut bucket commonly known as a "long-foot basin" or a small boat, which is labor-intensive, and the hands or legs of the vegetable farmers are immersed in water for a long time, which also poses the risk of skin ulcers or rheumatic diseases. To solve the above problems, the invention patent with the publication number of CN111844009A discloses a Brasenia schrenkiana picking and collection device and method based on machine vision. Although it can complete the automatic picking of Brasenia schrenkiana, it uses the cooperation of a picking manipulator and a grasping manipulator to complete the picking of Brasenia schrenkiana. At the same time, a collecting device is provided at the front end of the hull, and its structure is relatively complex. The movement of the hull will also cause the Brasenia schrenkiana to swing in the water, thereby affecting the grasping effect of the grasping manipulator and the picking efficiency. Utility Model Content

[0003] The utility model aims to solve the problems existing in the prior art and provides a multifunctional aquatic water shield harvesting catamaran, which adopts a negative pressure suction and shearing type non-destructive picking method, can improve the picking efficiency of water shield and reduce the labor intensity of vegetable farmers.

[0004] In order to achieve the above purpose, the utility model is implemented through the following technical solutions:

[0005] A multifunctional aquatic water shield harvesting catamaran comprises a supporting frame, buoys are provided at both ends of the supporting frame, a rectangular coordinate robot is provided on the supporting frame, the position of a suction-type end effector in the directions of the X-axis, the Y-axis and the Z-axis is adjusted by the rectangular coordinate robot, the suction-type end effector is located on the inner side of the supporting frame, a suction tube is provided at the bottom of the suction-type end effector, a shearing bin is provided at the top of the suction tube, a vertical tube is provided at the top of the shearing bin, a cutting mechanism is provided in the shearing bin, a sensor for determining the length of the water shield sucked into the vertical tube is provided in the shearing bin or the vertical tube, the top of the vertical tube is connected to a negative pressure suction device through a conveying pipeline, the negative pressure suction device is fixed on the supporting frame, a driving device is provided at the rear end of the supporting frame, a first visual camera is provided on one side of the suction tube, and the first visual camera, the driving device, the negative pressure suction device and the rectangular coordinate robot are all connected to controller signals.

[0006] Preferably, the buoy is cylindrical, and is provided with pointed ends at both the front and rear ends of the buoy.

[0007] Preferably, the rectangular coordinate robot includes a Z-axis linear module for driving the suction end effector to move up and down, an X-axis linear module for driving the Z-axis linear module to move along the X-axis, and a Y-axis linear module for driving the X-axis linear module to move along the Y-axis, and the Y-axis linear module is fixed on the support frame.

[0008] Preferably, the cutting mechanism includes two cutting blades symmetrically arranged in the shearing bin, a slide groove adapted to the cutting blades is horizontally provided in the shearing bin, a pull rod is hinged on the top of the cutting blade, the top ends of the two pull rods are connected by a hinge shaft, and the hinge shaft is connected to a lifting device for driving the hinge shaft to move up and down.

[0009] Preferably, the negative pressure suction device includes a pump group installed at the rear end of the support frame through a pump group bracket, the inlet of the pump group is connected to the delivery pipeline, the outlet is provided with a one-way water outlet pipe, and a water shield collection box is provided at the outlet of the one-way water outlet pipe.

[0010] Preferably, the one-way water outlet pipe is a three-way pipe, the top end of the three-way pipe is connected to the outlet of the pump group, the left and right ends of the three-way pipe are provided with closed end covers, the closed end covers are hinged to the three-way pipe, and a spring is provided between the closed end cover and the three-way pipe for pulling the closed end cover toward the three-way pipe.

[0011] Preferably, a push plate is provided in the water shield collection box, and the push plate is connected to a translation mechanism for driving the push plate to move left and right. The left and right sides of the water shield collection box are provided with placement grooves for placing the water shield transport box, and the water shield transport box is provided with a detachable end baffle at one end close to the water shield collection box.

[0012] Preferably, a plurality of solar panels are provided at the rear end of the support frame, and some of the solar panels are placed horizontally, and some of the solar panels are placed obliquely.

[0013] Preferably, a duckweed cleaning device is provided at the front end of the support frame, and the duckweed cleaning device is provided at the front end of the support frame with a second visual camera, a rake-shaped duckweed cleaning nail plate, and a linear moving mechanism for driving the duckweed cleaning nail plate to move left and right.

[0014] Preferably, the driving device is two paddle wheel driving devices arranged at the rear end of the supporting frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The utility model adopts a negative pressure suction shearing type non-destructive picking method. The suction end effector cooperates with the rectangular coordinate robot to realize the positioning and harvesting of water shield. The rectangular coordinate robot moves the suction end effector to the vicinity of the water shield according to the detection result of the first visual camera. The suction end effector uses negative pressure to suck the water shield. The water shield is sucked above the cutting mechanism. The sensor senses the length of the sucked long stem, and then the stem is cut by the cutting mechanism. The stem is then transported to the negative pressure suction device through a conveying pipeline, thereby realizing the non-destructive harvesting of water shield, reducing the labor intensity of water shield picking, and improving the water shield picking efficiency.

[0017] 2. The negative pressure suction device of the utility model generates negative pressure through the operation of the pump group, and sucks water and the cut water shield into the temporary storage box. When the pressure in the temporary storage box exceeds the bearing capacity of the spring on the one-way water outlet pipe, the spring stretches, the closed end cover opens, and the water and water shield flow out. Then the spring resets, and the pump group continues to work to achieve suction and harvesting.

[0018] 3. The utility model opens the end baffles on the water shield transport box through the cooperation of the water shield collection box, the water shield transport box and the translation mechanism. After the water shield falls into the water shield collection box, the translation mechanism drives the push plate to move left and right, and the push plate is used to push the water shield into the water shield transport boxes on both sides, and then the end baffles are installed for transport.

[0019] 4. The walking device of the utility model adopts a catamaran structure, which can adapt to the water shield picking environment, making the picking equipment easy to arrange, flexible to operate and the overall stability of the device strong.

[0020] 5. The driving device of the utility model adopts a paddle wheel drive, which can meet the needs of walking in shallow water ponds and reduce the damage caused by the driving device to the stems of water shield.

[0021] 6. The utility model cleans the duckweed on the water surface through the duckweed cleaning device, which can facilitate the first vision camera to clearly see the position of the underwater water shield, thereby creating conditions for smooth picking operations, and can also reduce the damage caused to the water shield stems by the rear paddle wheel drive device during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is one of the overall structural schematic diagrams of the utility model;

[0023] Figure 2 This is the second schematic diagram of the overall structure of the utility model;

[0024] Figure 3 It is a schematic diagram of the structure of a rectangular coordinate robot;

[0025] Figure 4 It is a structural schematic diagram of a suction-type end effector;

[0026] Figure 5 It is a structural schematic diagram of the cutting mechanism;

[0027] Figure 6 It is a structural schematic diagram of a negative pressure suction device;

[0028] Figure 7 It is a schematic diagram of the connection structure between the pump unit and the one-way water outlet pipe;

[0029] Figure 8 It is a structural schematic diagram of a one-way water outlet pipe;

[0030] Fig. 9 It is a schematic diagram of the cooperation between the water shield transport box and the water shield collection box;

[0031] Fig.10 is a schematic diagram of the structure of the driving device;

[0032] Fig.11 It is a structural schematic diagram of a duckweed cleaning device.

[0033] Numbers in the attached drawings: 1. Support frame; 2. Float; 3. Cartesian coordinate robot; 31. Z-axis linear module; 32. X-axis linear module; 33. Y-axis linear module; 4. Suction-type end effector; 41. Suction tube; 42. Shearing bin; 43. Vertical tube; 44. First vision camera; 45. Cutting blade; 46. Pull rod; 47. Articulated shaft; 48. Lifting device; 5. Conveying pipeline; 6. Negative pressure suction device; 61. Pump group bracket; 62. Pump group; 63. One-way water outlet pipe; 64. Water shield collection box; 65. Closed end cover; 66. Spring; 67. Push plate; 68. Translation mechanism; 69. Water shield transport box; 691. End baffle; 7. Driving device; 8. Solar panel; 9. Duckweed cleaning device; 91. Second vision camera; 92. Duckweed cleaning nail board; 93. Linear moving mechanism; 10. Loading table. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention. In addition, it should be understood that after reading the content taught by the present invention, those skilled in the art can make various changes or modifications to the present invention, and these equivalent forms also fall within the scope defined by the present application.

[0035] Example: As attached Figure 1-11 As shown, the utility model is a multifunctional aquatic water shield harvesting catamaran, comprising a supporting frame 1. The supporting frame 1 can be a polygonal frame, a circular frame, and is preferably a rectangular frame.

[0036] The left and right ends of the support frame 1 are both provided with buoys 2, and the buoys 2 can be fixed to the support frame 1 by screws. Preferably, in order to reduce the driving resistance, the buoys 2 are cylindrical, and pointed ends are provided at the front and rear ends of the buoys 2.

[0037] The support frame 1 is provided with a rectangular coordinate robot 3, through which the position of the suction-type end effector 4 in the X-axis, Y-axis and Z-axis directions is adjusted. The rectangular coordinate robot 3 is mainly composed of three groups of standard linear modules to form an orthogonal gantry rectangular coordinate structure. The end of the Z-axis is equipped with a suction-type end effector 4, which has the advantages of simple structure, high dynamic performance, high motion accuracy and low cost. Specifically, the rectangular coordinate robot 3 includes a Z-axis linear module 31 for driving the suction-type end effector 4 to move up and down, an X-axis linear module 32 for driving the Z-axis linear module 31 to move along the X-axis, and a The Y-axis linear module 33 drives the X-axis linear module 32 to move along the Y-axis. The Y-axis linear module 33 is fixed on the supporting frame 1 and can adopt the existing rectangular coordinate robot structure, wherein the Y-axis is composed of a ball screw linear module, an SS rail-type linear bearing guide and an optical axis opening slider to form a Y-axis synchronous linear motion, and a gantry structure is formed by cooperating with the X-axis linear module, which has a strong load-bearing capacity; the Y-axis motor is connected to the ball screw linear module through a coupling. When working, the driving motor drives the Y-axis linear module and the bearing guide slider to move synchronously, thereby driving the X-axis linear module installed on the slider to move. The Z-axis linear module is installed orthogonally to the X-axis linear module, and the X-axis motor is connected to the X-axis linear module through a coupling. The X-axis movement can drive its slider and the Z-axis linear module installed on the X-axis slider to move left and right; the Z-axis motor is connected to the Z-axis linear module through a coupling, and can drive the Z-axis linear module to move up and down; the end of the Z-axis is connected to the suction-type end effector 4. After the X-axis, Y-axis and Z-axis complete the movement to the known target picking point, the suction-type end effector 4 connected to the end of the Z-axis completes the suction, cutting and picking of one bud and one leaf of water shield.

[0038] The suction end effector 4 is located inside the support frame 1 , and is driven by the rectangular coordinate robot 3 to move the suction end effector 4 horizontally or up and down inside the support frame 1 . A suction tube 41 is provided at the bottom of the suction end effector 4, a shearing bin 42 is provided at the top of the suction tube 41, a vertical tube 43 is provided at the top of the shearing bin 42, the suction tube 41, the shearing bin 42 and the vertical tube 43 are connected in sequence from bottom to top, a cutting mechanism is provided in the shearing bin 42, the cutting mechanism can adopt a blade driven by a motor, one end of the blade is fixed on the output shaft of the motor, the motor drives the blade to rotate, and then completes the cutting of the water shield, preferably, in order to ensure the cutting effect of the water shield, the cutting mechanism includes a pair of cutting blades 45 symmetrically arranged in the shearing bin 42, a slide groove adapted to the pair of cutting blades 45 is horizontally provided in the shearing bin 42, a pull rod 46 is hinged on the top of the pair of cutting blades 45, the top ends of the two pull rods 46 are connected by a hinge shaft 47, the hinge shaft 47 is connected to a lifting device 48 for driving the hinge shaft 47 to move up and down, the lifting device 48 can be fixed on the outside of the shearing bin 42, the lifting device 48 can adopt a micro electric push cylinder, an electric push rod, etc.

[0039] The shearing bin 42 or the vertical tube 43 is provided with a sensor for determining the length of the water shield sucked into the vertical tube 43. The top of the vertical tube 43 is connected to the negative pressure suction device 6 through the conveying pipeline 5. The suction-type end effector 4 is combined with the rectangular coordinate robot 3 to realize the positioning and harvesting of the water shield. The rectangular coordinate robot 3 is based on negative pressure suction, and the sensor senses the sucked long stems, and the long stems are cut off through the internal cutting mechanism. The complete water shield can be sucked into the conveying pipeline 5 under negative pressure conditions and enter the interior of the suction box of the negative pressure suction device 6, and finally fall into the collection box of the negative pressure suction device 6.

[0040] Preferably, the negative pressure suction device 6 includes a pump group 62 installed at the rear end of the support frame 1 through a pump group bracket 61, the pump group 62 includes a pump body and a temporary storage box, the air inlet end of the pump body is connected to the temporary storage box, the inlet of the temporary storage box of the pump group 62 is connected to the conveying pipeline 5, and the outlet is provided with a one-way water outlet pipe 63, and a water shield collection box 64 is provided at the outlet of the one-way water outlet pipe 63. The one-way water outlet pipe 63 adopts a one-way outflow structure. After the pressure in the temporary storage box reaches a certain value, the one-way water outlet pipe 63 is opened to discharge water and water shield into the water shield collection box 64.

[0041] Furthermore, in order to improve the collection efficiency of water shield, the one-way water outlet pipe 63 is a three-way pipe, the top of the three-way pipe is connected to the outlet of the pump group 61, and the left and right ends of the three-way pipe are provided with closed end caps 65, the closed end caps 65 are hinged with the three-way pipe, and a spring 66 for pulling the closed end cap 65 toward the three-way pipe is provided between the closed end cap 65 and the three-way pipe. The one-way water outlet pipe 63 has two outlets. When the pressure in the temporary storage box reaches the upper limit of the spring 66, the closed end cap 65 is pushed open, and the water and water shield in the temporary storage box are discharged from the left and right directions into the water shield collection box 64. The spring 66 can also be replaced by an electric push rod, which controls the opening of the closed end cap 65 according to the detection result of the pressure sensor set in the three-way pipe.

[0042] At the same time, a plurality of drainage holes are provided at the bottom of the water shield collecting box 64 to drain the carried water into the planting pond.

[0043] Furthermore, in order to facilitate the removal of the collected water shield from the utility model, a push plate 67 is provided in the water shield collection box 64, and the push plate 67 is connected to a translation mechanism 68 for driving the push plate 67 to move left and right. The left and right sides of the water shield collection box 64 are provided with placement grooves for placing the water shield transport box 69. The water shield transport box 69 is provided with a detachable end baffle 691 at one end close to the water shield collection box 64. The water shield transport box 69 is a box body with an open top and a detachable end baffle 691 at one end. A plug adapted to the end baffle 691 can be provided on the inner wall of the water shield transport box 69. Slot, insert the end baffle 691 into the slot from top to bottom, or other detachable methods can be used, and a locking mechanism can be set between the end baffle 691 and the water shield transport box 69. When in use, the water shield transport box 69 is placed in the placement slot, with one end of the end baffle 691 close to the water shield collection box 64, remove the end baffle 691, and the translation mechanism 68 drives the push plate 67 to move left and right, and then push the water shield collected in the water shield collection box 64 into the water shield transport box 69. After the water shield is pushed, the end baffle 691 is installed back into the water shield transport box 69, and the water shield transport box 69 can be transported.

[0044] The translation mechanism 68 can adopt an electric push rod, etc., and movable sliders are provided at the front and rear ends of the push plate 67. A slide groove adapted to the movable slider is provided on the outer wall of the water shield collection box 64. The translation mechanism 68 is located outside the water shield collection box 64, and a connecting plate connected to the push plate 67 is provided at the output end of the translation mechanism 68.

[0045] The negative pressure suction device 6 is fixed on the supporting frame 1, and a laser radar can also be arranged on the top of the supporting frame 1. A driving device 7 is provided at the rear end of the supporting frame 1. Since the stems of the water shield in the pond grow intricately and the pond is deep, in order to meet the needs of walking in the submerged pond and reduce the damage of the driving device to the stems of the water shield, the driving device 7 is preferably two paddle wheel driving devices arranged at the rear end of the supporting frame 1.

[0046] A first visual camera 44 is provided on one side of the suction tube 41. The first visual camera 44, the driving device 7, the negative pressure suction device 6, and the rectangular coordinate robot 3 are all connected to the controller signal. The first visual camera 44 detects the growth position of the water shield and sends the detection signal to the controller. The controller controls the action of the driving device 7 and / or the coordinate robot 3, moves the suction end effector 4 to the corresponding position, and completes the harvesting of the water shield.

[0047] The location of water shield can also be determined by combining the above-water search camera and the underwater camera.

[0048] The water mobile carrier of the utility model is a catamaran structure composed of a supporting frame 1, buoys 2 at the left and right ends of the supporting frame 1, and a driving device 7 installed at the tail of the supporting frame 1. On the one hand, it can provide a moving space for the suction end effector 4, and on the other hand, it can also adapt to the picking environment of water shield. The equipment layout is convenient, the device operation is flexible, and the overall stability of the device is high.

[0049] The harvesting catamaran can realize automatic navigation for harvesting. The determined position of the harvesting boat can be obtained through inertial navigation and GPS navigation. The ROS robot operating system open source library is used for position calculation and path planning, and the drive system is used for coordination to realize automatic navigation of the harvesting catamaran.

[0050] Preferably, a plurality of solar panels 8 are provided at the rear end of the support frame 1, and some of the solar panels 8 are placed horizontally, and some of the solar panels 8 are placed at an angle. The use of electric drive can reduce pollution, and placing solar panels at different angles can make full use of the lighting conditions in the picking area and realize efficient use of clean energy.

[0051] A loading platform 10 may also be installed at the left and right ends of the support frame 1. The loading platform 10 may be used to place batteries, controllers, etc., and the stability and balance of the hull may be ensured by placing relevant objects.

[0052] Since duckweed on the water surface will affect the search, positioning and marking of underwater water shield, the utility model provides a duckweed cleaning device 9 at the front end of the support frame 1 to imitate the manual scraping and cleaning of the surface duckweed, so that the water search camera or the first visual camera 44 can see the position of the underwater water shield more clearly, thereby creating conditions for the smooth picking operation, and at the same time, it can also reduce the damage to the water shield stems caused by the paddle wheel drive device at the rear of the hull during work. Specifically, the duckweed cleaning device 9 includes a second visual camera 91 arranged at the front end of the support frame 1, a rake-shaped duckweed cleaning nail plate 92 and a linear moving mechanism 93 for driving the duckweed cleaning nail plate 92 to move left and right. Structure 93 can adopt structures such as cylinders and electric push rods. Preferably, the linear moving structure 93 includes a synchronous belt arranged at the front end of the supporting frame 1, synchronous pulleys arranged at the left and right ends of the front end of the supporting frame 1, and a driving motor for driving the synchronous rotation. The duckweed cleaning nail plate 92 is fixed to the synchronous belt by screws, and two guide holes are provided on the top of the duckweed cleaning nail plate 92. A guide rod adapted to the guide holes is provided at the front end of the supporting frame 1. The driving motor drives the forward and reverse rotation of the synchronous belt and then drives the duckweed cleaning nail plate 92 to move left and right to complete the cleaning of the duckweed. At the same time, in order to ensure the belt transmission capacity, the driven end of the device has a tensioning function to ensure the normal and stable operation of the front end duckweed cleaning.

Claims

1. A multifunctional catamaran for harvesting aquatic water shield, characterized by: The invention comprises a support frame (1), wherein both left and right ends of the support frame (1) are provided with buoys (2), and a rectangular coordinate robot (3) is provided on the support frame (1), and the position of a suction end effector (4) in the directions of the X-axis, the Y-axis and the Z-axis is adjusted by the rectangular coordinate robot (3), and the suction end effector (4) is located on the inner side of the support frame (1), and a suction tube (41) is provided at the bottom of the suction end effector (4), and a shearing bin (42) is provided at the top of the suction tube (41), and a vertical tube (43) is provided at the top of the shearing bin (42), and a shearing bin (42) is provided inside the shearing bin (42). A cutting mechanism is provided, wherein a sensor for determining the length of water shield sucked into the vertical tube (43) is provided in the shearing bin (42) or the vertical tube (43), the top end of the vertical tube (43) is connected to a negative pressure suction device (6) through a conveying pipeline (5), the negative pressure suction device (6) is fixed on a support frame (1), a driving device (7) is provided at the rear end of the support frame (1), a first visual camera (44) is provided on one side of the suction tube (41), and the first visual camera (44), the driving device (7), the negative pressure suction device (6), and the rectangular coordinate robot (3) are all connected to the controller signal.

2. The multifunctional aquatic water shield harvesting catamaran according to claim 1 is characterized by: The buoy (2) is cylindrical, and is provided with pointed ends at both the front and rear ends of the buoy (2).

3. The multifunctional aquatic water shield harvesting catamaran according to claim 1 is characterized by: The rectangular coordinate robot (3) comprises a Z-axis linear module (31) for driving the suction-type end effector (4) to move up and down, an X-axis linear module (32) for driving the Z-axis linear module (31) to move along the X-axis, and a Y-axis linear module (33) for driving the X-axis linear module (32) to move along the Y-axis, wherein the Y-axis linear module (33) is fixed on the support frame (1).

4. The multifunctional aquatic water shield harvesting catamaran according to claim 1 is characterized by: The cutting mechanism comprises a pair of cutting blades (45) symmetrically arranged in a shearing bin (42), a slide groove adapted to the pair of cutting blades (45) being horizontally arranged in the shearing bin (42), a pull rod (46) being hinged at the top of the pair of cutting blades (45), the top ends of the two pull rods (46) being connected by a hinge shaft (47), and the hinge shaft (47) being connected to a lifting device (48) for driving the hinge shaft (47) to move up and down.

5. The multifunctional aquatic water shield harvesting catamaran according to claim 1 is characterized by: The negative pressure suction device (6) comprises a pump group (62) mounted on the rear end of the support frame (1) via a pump group bracket (61); the inlet of the pump group (62) is connected to the delivery pipeline (5); the outlet is provided with a one-way water outlet pipe (63); and a water shield collection box (64) is provided at the outlet of the one-way water outlet pipe (63).

6. The multifunctional aquatic water shield harvesting catamaran according to claim 5, characterized in that: The one-way water outlet pipe (63) is a three-way pipe, the top end of which is connected to the outlet of the pump group (62), and closed end covers (65) are provided at both left and right ends of the three-way pipe. The closed end cover (65) is hinged to the three-way pipe, and a spring (66) is provided between the closed end cover (65) and the three-way pipe for pulling the closed end cover (65) toward the three-way pipe.

7. The multifunctional aquatic water shield harvesting catamaran according to claim 6 is characterized by: The water shield collection box (64) is provided with a push plate (67), the push plate (67) being connected to a translation mechanism (68) for driving the push plate (67) to move left and right, and both left and right sides of the water shield collection box (64) are provided with placement grooves for placing a water shield transport box (69), and one end of the water shield transport box (69) close to the water shield collection box (64) is provided with a detachable end baffle (691).

8. The multifunctional aquatic water shield harvesting catamaran according to claim 1 is characterized by: A plurality of solar panels (8) are arranged at the rear end of the support frame (1), and a portion of the solar panels (8) are placed horizontally, while a portion of the solar panels (8) are placed obliquely.

9. The multifunctional aquatic water shield harvesting catamaran according to claim 1, characterized in that: The front end of the support frame (1) is provided with a duckweed cleaning device (9), and the duckweed cleaning device (9) is arranged at the front end of the support frame (1) with a second visual camera (91), a rake-shaped duckweed cleaning nail plate (92), and a linear moving mechanism (93) for driving the duckweed cleaning nail plate (92) to move left and right.

10. The multifunctional aquatic water shield harvesting catamaran according to claim 1, characterized in that: The driving device (7) is two paddle wheel driving devices arranged at the rear end of the supporting frame (1).

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