Unmanned ship water area cleaning system

Abstract

The application discloses an unmanned ship water area cleaning system, which comprises a master control ship, at least one pair of auxiliary ships and a trawl device.The master control ship is provided with a first positioning module, a first navigation module, a central control module, a first power module and a master control ship body, and a collecting opening is formed in the front of the master control ship body, and a garbage storage cabin is arranged on the master control ship body and communicated with the collecting opening.The auxiliary ships are located in front of the master control ship running route, and are in communication connection with the master control ship, and are provided with a second power module and a second positioning module.The trawl device is connected between each auxiliary ship and the master control ship, and comprises a buoyancy member for keeping the trawl device at least partially above the water surface and a filter screen connected below the buoyancy member.The application adopts the operation mode that the master control ship cooperates with the pair of auxiliary ships, the path is planned uniformly by the master control ship, the pair of auxiliary ships are in front, the master control ship is in back, the garbage on the water surface is gathered in the filter screen through the trawl device, and is finally collected into the garbage storage cabin of the master control ship.

Description

Technical Field

[0001] This application relates to the field of aquatic environment management, and in particular to an unmanned vessel aquatic cleaning system. Background Technology

[0002] With the increasing prominence of eutrophication, cyanobacterial blooms have become a widespread aquatic ecological and environmental problem globally. To address this challenge, domestic and international research institutions and companies have successively launched various forms of unmanned cyanobacterial harvesting equipment and are attempting its engineering application in rivers, lakes, and reservoirs. However, based on publicly available information and market feedback, current mainstream products are still largely limited to "single boat + manual labor" or "single boat + semi-automatic" systems. Their technical architecture, operating modes, and system capabilities have significant limitations, making it difficult to meet the actual working conditions of rapid cyanobacterial blooms, large diffusion areas, uneven distribution, and complex shorelines. Specifically, existing technologies mainly suffer from the following five shortcomings:

[0003] 1. Low work efficiency

[0004] Existing unmanned salvage vessels generally operate in a single-machine, independent mode. Due to limitations in hull size, power configuration, and sailing speed, the area covered by a single vessel in a single operation is very limited. When faced with large-scale cyanobacteria accumulation zones that can easily cover tens of square kilometers, a single vessel needs to make dozens of round trips, resulting in a lengthy operation cycle and an exponential decrease in salvage efficiency. If the cyanobacteria proliferate again or drift due to wind, the cleaned area is highly susceptible to "secondary pollution," further negating the previous salvage results.

[0005] 2. High labor costs

[0006] Despite being labeled as "unmanned," existing equipment still heavily relies on human intervention in deployment, retrieval, path planning, remote obstacle avoidance, attitude adjustment of the salvage mechanism, and waste unloading.

[0007] 3. Insufficient level of intelligence

[0008] Most existing control systems can only achieve extensive operations such as "uniform speed along a preset route and algae collection at a fixed depth," making it difficult to adjust the retrieval depth, net angle, and speed in real time based on dynamic environmental parameters such as water transparency, algae concentration gradient, current velocity, and wind direction. When encountering sudden changes in algae layer thickness or entanglement with floating debris, the system lacks adaptability and is prone to "idling and missed retrieval" or "overload shutdown," failing to automatically adjust its operational strategy according to changes in the aquatic environment.

[0009] 4. Lack of multi-ship coordination

[0010] Currently, there is no mature "multi-ship cluster" operation solution on the market. There is a lack of effective communication links and task scheduling protocols between the ships, making it impossible to form a "partitioned parallel and dynamic complementary" collaborative mode, resulting in insufficient overall resource utilization.

[0011] 5. Weak treatment of the shoreline area

[0012] Traditional dredging vessels, due to their deep draft and large turning radius, are ineffective in handling complex boundary areas such as shallow waters (<0.8 m), under bridges, areas with dense aquatic vegetation, and vertical hard shorelines. Blue-green algae easily accumulates in these areas due to wind and waves, forming a "shore pollution belt." Manual dredging, on the other hand, faces problems such as limited operating space, high labor intensity, and high safety risks. Some manufacturers have attempted to compensate by adding telescopic arms or lateral collection devices, but due to limitations in mechanical structure and hull stability, the actual retrieval range is still less than 2 m, resulting in a generally low shoreline cleanup rate, becoming the "last mile" pain point in blue-green algae control projects.

[0013] In summary, existing unmanned cyanobacteria harvesting equipment has significant shortcomings in terms of efficiency, cost, intelligence, collaboration, and shoreline adaptability, and can no longer meet the needs of large-scale, high-intensity, and refined cyanobacteria control. There is an urgent need for a new type of unmanned cyanobacteria harvesting system with the capabilities of "large-scale cluster collaboration, fully autonomous intelligent decision-making, and integrated shore-water operation". Summary of the Invention

[0014] The purpose of this application is to solve the above-mentioned problems in the prior art and provide a multi-vessel collaborative unmanned vessel waterway cleaning system that can improve waterway cleaning efficiency and effectively clean the shoreline area.

[0015] To achieve the above objectives, this application adopts the following technical solution:

[0016] This application provides an unmanned surface vessel (USV) waterway cleaning system, comprising:

[0017] The main control vessel has a first positioning module, a first navigation module, a central control module, a first power module, and a main control hull. The front of the main control hull is provided with a collection port, and the main control hull has a garbage storage compartment that communicates with the collection port.

[0018] At least one pair of auxiliary vessels are located ahead of the main control vessel in its course and are in communication with the main control vessel. The auxiliary vessels are equipped with a second power module and a second positioning module.

[0019] A trawler is connected between each auxiliary vessel and the main control vessel. The trawler includes a buoyancy member for keeping the trawler at least partially above the water surface and a filter screen connected below the buoyancy member.

[0020] In a possible implementation, the master ship further has a first obstacle avoidance module, and the first obstacle avoidance module includes an obstacle avoidance radar and a vision system.

[0021] In a possible implementation, the auxiliary ship further has a second navigation module and a second obstacle avoidance module, and the second obstacle avoidance module includes an obstacle avoidance radar.

[0022] In a possible implementation, the central control module is further configured to receive feedback from the first obstacle avoidance module or the second obstacle avoidance module, and dynamically adjust the movement trajectories of the master ship and the auxiliary ship.

[0023] In a possible implementation, the first power module includes a pair of first thrusters located at the tail of the master ship and a battery pack for supplying power to the pair of first thrusters.

[0024] In a possible implementation, the second power module includes a second thruster, and the trawling device further includes a power supply cable connecting the master ship and the auxiliary ship.

[0025] In a possible implementation, the buoyancy member is buoyancy cotton, and the buoyancy cotton is wrapped outside the power supply cable.

[0026] In a possible implementation, each of the auxiliary ships further has a water spraying device, and the water spraying device includes a housing, a pump, a spray pipe communicated with the water outlet of the pump, and a steering gear for driving the spray pipe to rotate.

[0027] In a possible implementation, the spray pipe and the steering gear are located on the top surface of the housing.

[0028] In a possible implementation, the master ship further has a pair of door guide plates at the collection port, and the door guide plates form a guiding inclined plane with a smooth transition at the collection port.

[0029] In a possible implementation, the garbage storage cabin is welded by a plurality of perforated steel plates, and a tipping bucket is rotatably connected to one side of the garbage storage cabin close to the collection port.

[0030] This application adopts an operation mode of cooperation between the master ship and a pair of auxiliary ships. The master ship uniformly plans the path, and the master ship and the auxiliary ships travel in a "pin" shape, with a pair of auxiliary ships in the front and the master ship in the back. The trawling device is used to gather the surface garbage in the filter net and finally collect it into the garbage storage cabin of the master ship.

[0031] The advantages of this application compared with the prior art are: the main control vessel and a pair of auxiliary vessels work together, the cleaning coverage is wide, the work efficiency and resource utilization are improved, autonomous navigation and positioning can be achieved, and unmanned operation can be realized. Attached Figure Description

[0032] Figure 1 This is a three-dimensional schematic diagram of an unmanned vessel waterway cleaning system provided in an embodiment of this application.

[0033] Figure 2 This is a top view schematic diagram of an unmanned vessel waterway cleaning system provided in an embodiment of this application.

[0034] Figure 3 This is a three-dimensional structural diagram of the main control ship provided in the embodiments of this application.

[0035] Figure 4 This is a front view schematic diagram of the main control ship provided in an embodiment of this application.

[0036] Figure 5 This is a cross-sectional schematic diagram of the main control vessel provided in an embodiment of this application.

[0037] Figure 6 This is a three-dimensional structural diagram of the auxiliary vessel provided in an embodiment of this application.

[0038] Figure 7 This is a three-dimensional structural diagram of the water spraying device provided in the embodiments of this application.

[0039] The components are as follows: 100, Main control vessel; 10, Main control vessel hull; 101, Hull; 102, Connecting bridge; 11, Collection port; 12, Garbage storage compartment; 13, Hinge shaft; 14, Door guide plate; 141, Hinge; 16, Tipping bucket; 17, Rotating shaft; 18, Motor; 19, First thruster; 200, Auxiliary vessel; 20, Auxiliary vessel hull; 21, Water spray device; 211, Steering gear; 212, Spray nozzle; 213, Outer shell; 214, Connecting block; 215, Pump; 216, Suction pipe; 300, Trawl net device; 31, Buoyancy component; 32, Filter screen. Detailed Implementation

[0040] To illustrate the technical content, structural features, achieved objectives, and effects of the invention in detail, the technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. In the following description, for illustrative purposes, numerous specific details are set forth to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may also be implemented without these specific details or in one or more equivalent arrangements. Furthermore, the various exemplary embodiments may differ, but are not necessarily exclusive. For example, the specific shape, construction, and characteristics of the exemplary embodiments may be used or implemented in another exemplary embodiment without departing from the inventive concept.

[0041] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] Furthermore, in this application, spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side” (e.g., as in a “sidewall”) are used to describe the relationship between one element and another (other) element as shown in the accompanying drawings. Spatial relative terms are intended to include different orientations of the device in use, operation, and / or manufacture other than those depicted in the drawings. For example, if the device in the drawings is flipped, an element described as “below” or “under” another element or feature would then be positioned “above” said other element or feature. Thus, the exemplary term “below” can include both above and below orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0043] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed connection, a detachable connection, or an integral part; it may be a direct connection or an indirect connection through an intermediate medium.

[0044] This application provides a system for waterway cleaning and aquatic environment management using unmanned surface vessels (USVs). The system includes a main control vessel and a pair of auxiliary vessels, connected to each other via a trawl net. This application is applicable to cleaning open water areas such as rivers, lakes, and reservoirs, particularly for the removal and collection of fallen leaves, blue-green algae, and aquatic plants from the water surface.

[0045] Please see Figure 1 , 2 This diagram illustrates the structure of the unmanned surface vessel (USV) waterway cleaning system provided in an embodiment of this application. It includes:

[0046] The main control vessel 100 includes a first positioning module, a first navigation module, a central control module, a first power module, a first obstacle avoidance module, and a main control hull 10.

[0047] Please continue reading. Figure 3 , 4 5. The main control hull 10 adopts a twin-hull structure, including a pair of parallel hulls 101 and a connecting bridge 102 connecting the pair of hulls 101. A collection port 11 for water to pass through is formed between the pair of hulls 101. The main control hull 10 has a garbage storage compartment 12 located in the collection port 11 in the middle. The garbage storage compartment 12 is welded from several perforated steel plates, so the sides, bottom, front and rear of the garbage storage compartment 12 can drain water to avoid water accumulation.

[0048] A motor 18 is installed on the front side of the garbage storage compartment 12. The output shaft of the motor 18 is fixedly connected to a horizontal rotating shaft 17, which is also fixedly connected to a tipping bucket 16. Therefore, the tipping bucket 16 can rotate up and down around the horizontal rotating shaft 17 under the control of the motor 18. Specifically, the garbage storage compartment 12 includes a pair of side plates, a front compartment plate, a rear compartment plate, and a bottom plate connecting the front compartment plate, the rear compartment plate, and the pair of side plates. The height of the front compartment plate is approximately 1 / 5 to 1 / 2 of the height of the side plates. The rotating shaft 17 is installed above and in front of the front compartment plate. When the unmanned vessel water cleaning system is in motion, the tipping bucket 16 rotates from bottom to top, tipping garbage and other debris from the water into the garbage storage compartment 12.

[0049] In one embodiment of this application, the draft of the main control vessel 100 is slightly lower than the upper edge of the forward deck 122, and the lower compartment of the garbage storage compartment 12 is located below the waterline. When the tipper 16 rotates, it can continuously dump aquatic plants and algae, such as cyanobacteria, from below the water surface into the garbage storage compartment. The compartment below the waterline, due to the constraints of the forward deck, aft deck, side decks, and bottom deck, prevents cyanobacteria from scattering. When there is a large amount of garbage inside the unmanned vessel, or when the unmanned vessel has finished its operation, the tipper 16 tilts upwards, blocking the front of the garbage storage compartment 12 to prevent garbage from scattering.

[0050] Of course, the tipping bucket component provided in this application embodiment is not limited to the structure shown in the figure, but can also be at the bottom of the garbage storage compartment, tipping materials from bottom to top.

[0051] Furthermore, the first power module includes a pair of first thrusters 19 located at the stern of the main control vessel 10 and a battery pack (not shown) that powers the pair of first thrusters. In some embodiments of this application, the first power module may also include a solar power supply device that provides power to the first thrusters and control circuitry.

[0052] In one embodiment of this application, the first obstacle avoidance module of the main control vessel 100 includes multiple obstacle avoidance radars and a vision system. The vision system can identify aquatic environmental conditions (such as the distribution of cyanobacteria concentration, garbage distribution, etc.), and can also identify obstacles, waterways, or dams, which helps the central control module perform AI calculations and navigation. The obstacle avoidance radars can perceive the surrounding environment in real time during the unmanned vessel's navigation, automatically identify and avoid static or dynamic obstacles, accurately measure the distance to obstacles, and determine the relative speed, thereby assisting the central control module in navigation and propulsion, while ensuring navigation safety and mission continuity.

[0053] The main control vessel is also equipped with a pair of door guide plates 14 at the collection port 11. The door guide plates 14 are rotatably connected to the front of the main control vessel hull 10 via a pair of hinges, and the collection port is opened or closed by a cylinder. The door guide plates 14 are flat and can form a smooth transition guide slope at the collection port 11, which can prevent garbage from accumulating at the connection between the collection port 11 and the trawl net device 300.

[0054] In one embodiment, the first positioning module can employ a GPS positioning chip or a BeiDou positioning chip, and the first navigation module employs an inertial navigation system (INS). An INS is a navigation parameter calculation system that uses gyroscopes and accelerometers as sensing devices. This system establishes a navigation coordinate system based on the gyroscope output and calculates the vehicle's velocity and position within the navigation coordinate system based on the accelerometer output. An INS is an autonomous navigation system that does not rely on external information or radiate energy externally. The basic working principle of INS is based on Newton's laws of motion. By measuring the acceleration of the vehicle in the inertial reference frame, integrating it over time, and transforming it into the navigation coordinate system, information such as velocity, yaw angle, and position in the navigation coordinate system can be obtained.

[0055] The central control module of the main control vessel acts as a command center. The main control vessel can receive aquatic environmental data (such as blue-green algae concentration distribution and garbage distribution) from the outside via Bluetooth, Wi-Fi, data cards, and data cables. It can also use the first obstacle avoidance module and a vision system to analyze aquatic environmental data and obstacle information in real time through visual recognition, and generate task strategies (including optimal operation paths) using AI algorithms. It is also responsible for overall task allocation, path planning, navigation and positioning, speed adjustment, and obstacle avoidance. The main control vessel controls the movement direction and speed of the auxiliary vessels via power cables and communication lines.

[0056] Please see Figure 6 The unmanned surface vessel (USV) water cleaning system also includes at least one pair of auxiliary vessels 200. There are two auxiliary vessels, and they are located in front of the main control vessel, forming a triangular configuration. The function of the auxiliary vessels 200 is to enter the water area to be cleaned and, in conjunction with the trawling net device 300, trap the debris on the water surface, which then enters the collection port 11 as the main control vessel 100 moves naturally.

[0057] A pair of auxiliary vessels 200 are communicatively connected to the main control vessel 100, and the main control vessel 100 plans and navigates the route. During the journey, the auxiliary vessels maintain synchronized speeds with the main control vessel. Each auxiliary vessel 100 includes an auxiliary hull 20, a second navigation module, a second obstacle avoidance module, a second power module, and a second positioning module (not shown in the figure). The second obstacle avoidance module includes obstacle avoidance radar, and the second power module includes a second propeller. In one embodiment, the second power module may include a battery pack, a permanent magnet synchronous motor, and a propeller or waterjet propulsion system.

[0058] In this embodiment, the auxiliary vessel 200 and the main control vessel 100 are connected via a communication cable. However, this application does not limit the form of communication. In some other embodiments, the auxiliary vessel and the main control vessel can also be connected via wireless communication, such as Zigbee, Bluetooth, or Wi-Fi.

[0059] In addition, in order to better clean up the garbage on the shallow beach, each auxiliary vessel 200 in this application is also equipped with a water spraying device 21. The water spraying device 21 can draw water from below and spray water outward at high pressure from above the auxiliary vessel hull 20. It can also sweep the garbage from the outside into the enclosure area of ​​the trawl net device by rotating the sweeping water.

[0060] Please see Figure 7The water spray device 21 includes a housing 213, a pump 215, a nozzle 212 connected to the outlet of the pump 215, and a servo motor 211 that drives the nozzle to rotate. In the figure, to more clearly show the internal structure of the water spray device, part of the structure of the housing 213 is hidden; the nozzle 212 and the servo motor 211 are both mounted on the top surface of the housing 213. The auxiliary vessel 200 has mounting holes extending through the upper and lower parts of its hull 20, and the water spray device 21 is installed within these holes. The pump 215 has a suction pipe 216, the end of which is always below the water surface, allowing it to draw in river and lake water, pressurize it, and then spray it out through the nozzle 212.

[0061] The nozzle 212 is fixedly mounted on the connecting block 214 and is connected to the water outlet of the pump 215. The servo motor 211 has an output shaft. When the servo motor 211 is working, the output shaft can rotate the connecting block 214, thereby driving the nozzle 212 to perform a fan-shaped sweeping motion on the water area.

[0062] A trawling device 300 is connected between each auxiliary vessel 200 and the main control vessel 100. The trawling device 300 includes a buoyancy member 31 for keeping the trawling device at least partially above the water surface, a filter screen 32 connected below the buoyancy member 31, and power supply cables and communication cables (not shown in the figure) connecting the main control vessel 100 and the auxiliary vessels 200.

[0063] In this embodiment, the buoyancy component 31 is buoyancy cotton, which is wrapped around the power supply cable and communication cable. A filter screen is replaceably fixed below the buoyancy cotton. The filter screen is made of materials such as woven mesh, spiral filter screen, and perforated plastic sheet. In some embodiments of this application, the filter screen can also be made of perforated metal mesh, which has a certain rigidity and can be adapted to the collection of aquatic floating plants in a large area of ​​water, such as water hyacinth and duckweed.

[0064] The main control vessel 100 is connected to the two auxiliary vessels 200 by a 6-meter-long trawling net device 300. Buoyancy cotton ensures that the cables float on the water surface. The filter screen is used to intercept blue-green algae and garbage. The filter screen can be adjusted and replaced according to different application scenarios. A filter screen with a large mesh can be used to collect floating garbage and fallen leaves. When collecting small floating objects such as blue-green algae, a denser filter screen of about 100 mesh can be used.

[0065] The application specifies a pair of auxiliary vessels 200 as execution units responsible for the actual collection of cyanobacteria and debris. The main control vessel 100 transmits task instructions and real-time data to the auxiliary vessels via power and communication cables. The auxiliary vessels relay their operational status back to the main control vessel via communication cables. Buoyancy cotton and filters serve as auxiliary tools to assist in the collection of cyanobacteria and debris.

[0066] The working process for this application is as follows:

[0067] The main control vessel receives aquatic environmental data (such as cyanobacteria concentration distribution and garbage distribution) and generates the optimal operational path using AI algorithms. Then, based on the first and second positioning modules, as well as the first and second navigation modules, the main control vessel plans its own and the auxiliary vessel's movement trajectory. The main control vessel controls the auxiliary vessel's direction and speed via power and communication cables. The auxiliary vessel's spray system uses high-pressure water jets to flush the area near the shore, sweeping in a fan-shaped pattern to ensure that cyanobacteria and garbage are washed into the filter area. Buoyancy foam and the filter intercept cyanobacteria and garbage, achieving centralized collection. As the auxiliary vessel and main vessel move forward, a pair of hatch guides at the front of the main control vessel collect the garbage and gradually bring it into the main control vessel's collection port. The tipper reverses from bottom to top, dumping surface or underwater garbage into the garbage storage compartment. Once the garbage storage compartment is full, the tipper at the front of the compartment flips upward, sealing the front opening. The main control vessel and auxiliary vessel then slowly approach the shore, facilitating the cleaning of the main control vessel's garbage storage compartment by shore-based garbage transfer equipment or personnel.

[0068] The main control vessel and the auxiliary vessel detect obstacles using obstacle avoidance radar vision system and obstacle avoidance radar, respectively, and dynamically adjust their paths to avoid collisions. The main control vessel monitors the operational status of the auxiliary vessel and environmental changes in real time, and dynamically adjusts its operational strategies accordingly.

[0069] To facilitate waste collection, in this embodiment, the waste storage compartment is constructed from multiple welded stainless steel plates, with perforations punched on the surface to allow for the removal of water adhering to the waste. The excellent properties of stainless steel give it a significant advantage in cleaning wet waste in aquatic environments. It should be noted that in alternative embodiments, the waste storage compartment may also be made of high-strength engineering plastics, etc., which does not limit the scope of protection claimed.

[0070] When the main control vessel's garbage storage compartment is full, the main control compartment can be brought close to the shore, and the garbage in the garbage storage compartment can be manually transferred to the shore. To facilitate the transfer of garbage, in some embodiments of this application, the garbage storage compartment can also be separated from the main control vessel's hull. This can help shore workers directly transfer the garbage storage compartment to the shore for dumping or replacement.

[0071] This application employs a three-vessel coordinated operation mode, which boasts advantages such as wide coverage and high work efficiency, significantly improving the efficiency of blue-green algae removal and water area cleaning. Furthermore, the unmanned design reduces labor costs and lowers long-term operating expenses. Simultaneously, by incorporating AI algorithms, this application can automatically adjust its operational strategy based on changes in the aquatic environment, demonstrating a high degree of intelligence. Additionally, a pair of auxiliary vessels utilize high-pressure fan-shaped water jets for cleaning, effectively addressing the problem of blue-green algae and debris removal near the shore, demonstrating strong processing capabilities in this area. This application achieves unmanned blue-green algae removal and water area cleaning, significantly improving the effectiveness and efficiency of water management.

[0072] The foregoing has shown and described the basic principles, main features, and advantages of this application. Those skilled in the art should understand that this application is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this application. Various changes and modifications can be made to this application without departing from the spirit and scope of the invention. The scope of protection claimed by this application is defined by the appended claims, specification, and their equivalents.

Claims

1. An unmanned surface vessel (USV) waterway cleaning system, characterized in that, include: The main control vessel has a first positioning module, a first navigation module, a central control module, a first power module, and a main control hull. The front of the main control hull is provided with a collection port, and the main control hull has a garbage storage compartment that communicates with the collection port. At least one pair of auxiliary vessels are located ahead of the main control vessel in its course and are in communication with the main control vessel. The auxiliary vessels are equipped with a second power module and a second positioning module. A trawler is connected between each auxiliary vessel and the main control vessel. The trawler includes a buoyancy member for keeping the trawler at least partially above the water surface and a filter screen connected below the buoyancy member.

2. The unmanned surface vessel waterway cleaning system according to claim 1, characterized in that, The main control vessel also has a first obstacle avoidance module, which includes obstacle avoidance radar and a vision system.

3. The unmanned surface vessel waterway cleaning system according to claim 2, characterized in that, The auxiliary vessel also has a second navigation module and a second obstacle avoidance module, the second obstacle avoidance module including obstacle avoidance radar.

4. The unmanned surface vessel waterway cleaning system according to claim 3, characterized in that, The central control module is also configured to receive feedback from the first obstacle avoidance module or the second obstacle avoidance module and dynamically adjust the motion trajectories of the main control ship and the auxiliary ship.

5. The unmanned surface vessel waterway cleaning system according to claim 1, characterized in that, The first power module includes a pair of first thrusters located at the stern of the main control vessel and a battery pack that powers the pair of first thrusters.

6. The unmanned surface vessel waterway cleaning system according to claim 1, characterized in that, The second power module includes a second thruster, and the trawling device also includes a power supply cable connecting the main control vessel and the auxiliary vessel.

7. The unmanned surface vessel waterway cleaning system according to claim 6, characterized in that, The buoyancy component is buoyancy cotton, which is wrapped around the power supply cable.

8. The unmanned surface vessel waterway cleaning system according to claim 1, characterized in that, Each of the aforementioned auxiliary vessels is also equipped with a water spraying device, which includes a casing, a pump, a nozzle connected to the outlet of the pump, and a servo motor for driving the nozzle to rotate.

9. The unmanned surface vessel waterway cleaning system according to claim 1, characterized in that, The main control vessel is also equipped with a pair of door guide plates at the collection port, which form a smooth transition guide slope at the collection port.

10. The unmanned surface vessel waterway cleaning system according to claim 1, characterized in that, The garbage storage compartment is welded from several perforated steel plates, and a tipping bucket is rotatably connected to the side of the garbage storage compartment near the collection port.

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